JP2004184094A - Device and method for measuring propulsion locus of propulsion object in shield pipe jacking method - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a measuring device which measures a propulsion locus of a propulsion object in a shield pipe jacking method, and is capable of measuring 2-dimensional displacement and rotational displacement with the same means. <P>SOLUTION: Each intermediate measuring apparatus 4a, 4b, 4c has a pair of CCD imaging means for imaging a front and a rear 2-dimensional targets 16, and 2-dimensional targets to be imaged by a front and a rear CCD imaging means. A measurement-reference-point measuring apparatus 6 has a CCD imaging means for imaging the target of the hindermost intermediate apparatus 4c, and a 2-dimensional target 16 to be imaged by the hindermost imaging means. The device is provided with the apparatuses 4a, 4b, 4c, the apparatus 6, a tip measuring apparatus 5 fitted with a 2-dimensional tip target to be imaged by the CCD imaging means of the forefront intermediate measuring apparatus, a distance measurement means which finds the distance between each target 16 and each measuring apparatus which images this, and a processing means 7. The processing means 7 finds displacement between individual targets or measuring apparatuses, on the basis of image displacement information obtained from individual CCD imaging means and distance information obtained from the distance measurement means. Moreover, propulsion loci of a shield machine 1 and a buried pipe 2 with respect to a measurement point are found. <P>COPYRIGHT: (C)2004,JPO&NCIPI

Description

[0001]
TECHNICAL FIELD OF THE INVENTION
The present invention relates to a measurement device and a measurement method of a propulsion trajectory of a propulsion body in a shield propulsion method.
[0002]
[Prior art]
When laying water and sewer pipes or the like in the ground, a shield propulsion method is often adopted in which a buried pipe connected to the shield digging machine is pushed forward and laid while excavating the ground with a shield digging machine.
[0003]
In the above-mentioned propulsion shield method, in order to lay a buried pipe at a planned position, it is necessary to manage the propulsion trajectory and propulsion attitude of a shield excavator that excavates underground. The following patent application has been filed as an apparatus for measuring the propulsion trajectory of the shield machine and the buried pipe.
[0004]
[Patent Document 1]
JP-A-11-2520
[Patent Document 2]
JP 2000-39320 A
[0005]
The position measurement device described in Patent Document 1 includes a base point measurement unit, a measured point measurement unit, and an intermediate measurement unit, and includes a lightwave distance meter and a light reflection unit that can measure a distance between these measurement units. It is configured with. Each of the measurement units includes a light source that emits diffused light forward and / or backward, and a light collecting unit and a light receiving unit that collects diffused light from the front and / or rear. On the basis of the direction of the light source detected by the light receiving means and the distance obtained by the distance meter, the position of each measurement unit with respect to the measurement base point is calculated and obtained by the calculation means.
[0006]
The position measuring device described in Patent Document 2 is configured so that a propulsion position can be measured by a laser beam generating means and a position detecting light receiving means capable of detecting a light receiving position of the laser beam, and a light source that emits diffused light. The propulsion body is configured to be able to detect the propulsion posture of the propulsion body by means of a posture detection light-receiving unit capable of detecting the direction of the light source based on the light-receiving position of the diffused light.
[0007]
[Problems to be solved by the invention]
The position measuring device described in Patent Document 1 uses diffused light generated from one light source to detect a propulsion position. The two-dimensional displacement of the light source can be detected by the light receiving means. However, the rotational displacement of the light source, that is, the rotation about the axis of the propulsion body cannot be detected. Therefore, when the propulsion body is propelling while rotating, it is determined whether the two-dimensional displacement of the light source is caused by a change in the propulsion direction of the propulsion body or caused by the rotation of the propulsion body around the axis. I can't judge. For this reason, it is necessary to separately provide a measuring device for detecting the rotational angular displacement around the axis, and to correct the two-dimensional displacement due to the rotational angular displacement to determine the propulsion position.
[0008]
In order to solve the problem described in the above-mentioned patent document 1, the position measuring device described in the above-mentioned patent document 2 has a laser beam generating means and a light receiving means for detecting a position, and a rotational attitude of the propulsion body. The light source and the light receiving means are provided. According to the above configuration, the rotation posture of the propulsion body can be detected.
[0009]
However, since diffused light is used as the light source, a means for detecting the position and a means for detecting the rotational displacement must be separately provided. For this reason, the apparatus becomes complicated and the manufacturing cost increases.
[0010]
The present invention solves the above-mentioned conventional problems, and solves the above-mentioned conventional problems. The propulsion trajectory of the propulsion body in the shield propulsion method can solve the two-dimensional displacement and the rotational displacement by the same means. Is provided.
[0011]
[Means for Solving the Problems]
In order to solve the above problems, the present invention takes the following technical measures.
[0012]
The invention described in claim 1 of the present application is a measuring device for measuring a propulsion position of a propulsion body in a propulsion shield method in which a buried pipe is connected to a rear side of a shield machine and a pipeline is laid while excavating. CCD imaging means capable of imaging a two-dimensional target and outputting image information, CCD imaging means capable of imaging a rear two-dimensional target and outputting image information, and two-dimensional target imaged by front and rear CCD imaging means And an intermediate measuring device provided at a predetermined interval in the buried pipe for propelling underground, and an image obtained by imaging the target of the intermediate measuring device disposed at the measurement base point and disposed at the rearmost position A measuring base point measuring machine having CCD imaging means capable of outputting information, and a two-dimensional target imaged by the imaging means of the intermediate measuring machine arranged at the rearmost position; A tip measuring machine provided with a two-dimensional tip target which is provided in a cold excavator or a buried pipe following the same, and which is imaged by a CCD image pickup means of the intermediate measuring machine arranged at the forefront, and images each target and this Based on distance measuring means capable of determining the distance between the measuring instruments, image displacement information obtained from each of the CCD imaging means, and distance information obtained from the distance measuring means, the distance between each of the targets or each of the measurements is measured. And calculating means for determining the displacement between the machines and calculating the propulsion trajectory of the shield machine and the buried pipe with respect to the measurement base point.
[0013]
As the CCD image pickup means, a commercially available image pickup element employed in a digital camera can be used. Further, in order to cause the image pickup means to receive an image of the entire target, an image pickup means can be configured by combining lenses.
[0014]
The form of the two-dimensional target is not particularly limited, and any form can be adopted as long as it can detect two-dimensional directional displacement and rotational angular displacement. For example, a cross-shaped or arrow-shaped target can measure displacements in the X and Y directions in a two-dimensional rectangular coordinate system, and can detect rotational angular displacements around the centroids of these shapes. Can be adopted as a target. On the other hand, since a rotational target cannot be detected with a circular target, these types of targets cannot be adopted as targets of the present invention. That is, in the present invention, the displacement of the target in the two-dimensional coordinate system and the rotational displacement are obtained by performing image processing on a figure obtained by imaging the target. Note that the target does not need to be integrated, and a target in which a plurality of parts are separated from each other may be employed.
[0015]
Further, a target that is imaged by the front CCD imaging unit and a target that is imaged by the rear CCD imaging unit can be separately provided, or one target that is imaged by both CCD imaging units can be adopted.
[0016]
For example, as in the invention as set forth in claim 2, the intermediate measuring device is integrated by connecting the two CCD image pickup units back to back, and from the outer peripheral portion at the axial center of the integrated image pickup unit. In addition, a two-dimensional target that can be imaged by the front CCD imaging unit and the rear CCD imaging unit can be extended.
[0017]
The material constituting the target is not particularly limited. A target can be provided which reflects light emitted from the vicinity of the CCD image pickup device and picks up an image. For example, while irradiating the target with an LED light source or the like, the target may be formed of a reflective sheet, and the light from the light source may be reflected by the sheet and received by the CCD imaging means.
[0018]
Also, various planar light-emitting bodies having a two-dimensional form can be adopted. Further, the target may be formed of a light-transmitting member so as to emit light in a planar manner by a backlight.
[0019]
Furthermore, the target can also be configured by arranging luminous bodies. For example, as in the invention described in claim 5, each of the two-dimensional targets can be configured by arranging a plurality of LED light emitters. Alternatively, the light of the light emitting body may be irradiated toward the front and the rear, and the image may be captured by the front and rear CCD imaging units.
[0020]
The interval at which the intermediate measuring device is provided is not particularly limited as long as the images of the front and rear targets can be imaged. In addition, it is not necessary to provide for each buried pipe. For example, an intermediate measuring machine can be provided at a ratio of one to five buried pipes.
[0021]
The measurement base point measuring device is disposed at a measurement base point, for example, at a position serving as a propulsion base point. The measurement base point measurement device includes a front intermediate measurement device, that is, a CCD imaging unit that can image the target of the intermediate measurement device disposed at the rear end of the propulsion trajectory at that time and output image information, And a two-dimensional target that is imaged by the imaging means of the intermediate measuring instrument disposed at the rear. This makes it possible to determine the displacement of each measuring device or target with reference to the position and direction of the propulsion base point measuring device.
[0022]
On the other hand, the excavator located at the forefront of the propulsion trajectory or the buried pipe following the excavator is provided with a tip measuring machine provided with a two-dimensional tip target imaged by the CCD imaging means of the intermediate measuring instrument arranged at the rear. Can be The two-dimensional tip target is also formed in the same form as the target provided in the intermediate measuring device. By imaging the target with the CCD imaging means at the rear and measuring these distances, it is possible to determine the displacement of the tip measuring instrument with respect to the imaging means and to determine the propulsion trajectory of the excavator and the buried pipe. Become.
[0023]
Further, by adopting the invention described in claim 3, the angular displacement of the excavator or the buried pipe provided with the tip measuring device is determined, and the direction of the tip of the propulsion trajectory is determined. Can be. According to a third aspect of the present invention, the tip measuring device is provided with CCD image pickup means capable of picking up an image of a target of the rear intermediate measuring device and outputting image information. By providing the above-mentioned CCD imaging means in the tip measuring instrument, it becomes possible to obtain the angular displacement with respect to the buried pipe provided with the rear intermediate measuring instrument.
[0024]
The distance measuring means is not particularly limited, and various means can be adopted as long as the distance between each target and each measuring device for imaging the target can be measured. The distance between each of the above targets and each of the measuring instruments for imaging the targets may be obtained directly or indirectly.
[0025]
For example, as in the invention as set forth in claim 6, the distance measuring means is provided in one of the facing measuring instruments, and is provided in a lightwave distance meter having a light source section and a light receiving section, and in the other facing measuring instrument. And a reflecting member that reflects light emitted from the light source unit toward the light receiving unit.
[0026]
The lightwave distance meter measures the change in the wavelength of the emitted light to determine the distance, and various types of lightwave distance meters can be employed. For example, the light source unit can be provided near the light receiving means of the lightwave distance meter, and a retroreflective sheet can be employed as the reflecting member.
[0027]
When the lightwave distance meter is employed, the two-dimensional target is irradiated with light emitted from the light source unit of the distance measuring means, and the image is captured by the CCD imaging means. It can be configured to be.
[0028]
Further, as in the invention as set forth in claim 8, the distance measuring means is provided with a scale member interposed between the measuring instruments and capable of measuring or setting the distance between the targets or between the measuring instruments. can do.
[0029]
For example, the intermediate measuring instrument can be arranged in a buried pipe while inserting a rod-shaped scale member connected to each of the intermediate measuring instruments via a universal joint at both ends. This makes it possible to easily determine the distance between the measuring instruments or the distance between the target to be imaged and the CCD imaging means.
[0030]
The calculating means obtains a displacement between the targets or between the measuring instruments based on image displacement information obtained from the CCD imaging means and distance information obtained from the distance measuring means, and calculates a displacement with respect to a measurement base point. The propulsion trajectory of the shield machine and the buried pipe can be determined.
[0031]
The present invention is configured to obtain two-dimensional relative displacement and relative angular displacement of a captured target image by two-dimensional image analysis. By adopting the image analysis, it is possible to obtain the above two data by one CCD imaging means, and the apparatus can be simply configured.
[0032]
For example, as in the invention as set forth in claim 4, the calculation means is configured to execute the processing of each of the targets or each of the intermediate measuring devices based on the distance information and the two-dimensional direction displacement and angular displacement of the captured target image. It can be configured to include a propulsion position calculating means for obtaining a relative displacement and for obtaining a propulsion position of the target or each intermediate measuring device with respect to the measurement base point.
[0033]
The imaging reference point of the target can be set to a position where a continuous buried pipe is propelled linearly, that is, a position at the start of propulsion. The image at the above-mentioned reference point is stored in advance in an arithmetic means or the like, and the two-dimensional displacement and the rotation angle displacement can be obtained by comparing the displacement and the position of the target image with the rotation angle.
[0034]
In the present invention, the displacement of the target image is caused by the bending displacement of the buried pipe or by the rotation about the axis of the buried pipe by imaging the target provided on the intermediate measuring instrument by the front and rear CCD imaging means. It is possible to determine whether it has occurred. This makes it possible to accurately measure the displacement of the adjacent measuring instrument tube. By converting the relative coordinate displacement between the measuring instruments into coordinates with respect to the measurement base point, the position of each measuring instrument can be obtained with high accuracy.
[0035]
The invention described in claim 9 of the present application is a measuring device for measuring a propulsion position of a propulsion body in a propulsion shield method in which a buried pipe is connected to a rear side of a shield machine and a pipeline is laid while excavating. CCD imaging means capable of imaging a rear target and outputting image information, and a pair of separated targets arranged at predetermined intervals in the axial direction of the buried pipe and imaged by the CCD imaging means arranged in front or rear. And a CCD image pickup means arranged at the measurement base point and capable of imaging the separation target of the intermediate measurement device disposed at the rearmost position and outputting image information, or the CCD measurement device of the rearmost intermediate measurement device. A measurement base point measurement device having a pair of spaced targets imaged by the CCD imaging means, and the shield excavation machine or the buried pipe connected to the shield excavation machine, the forefront A tip measuring machine having a pair of separated targets imaged by a CCD image pickup device of the arranged intermediate measuring device, or a CCD image pickup device provided in a rear intermediate measuring device and capable of picking up a pair of separated targets; Distance measuring means capable of measuring the distance between the respective measuring devices, image displacement information obtained from the CCD image capturing means, and distance information obtained from the distance measuring means based on distance information obtained from the distance measuring means. It is provided with calculating means for obtaining displacement between the measuring machines and calculating a propulsion locus of the shield excavator and the buried pipe with respect to the measurement base point.
[0036]
According to the first aspect of the present invention, the propulsion trajectory can be obtained by obtaining the coordinates with respect to the base point of each measuring instrument or target. However, if the propulsion direction of the excavator at the time of measurement is directed to the planned trajectory, it is not necessary to change the propulsion direction of the excavator, or even if it is changed, the control amount may be small. Therefore, by obtaining the propulsion direction of the excavator, the excavator can be accurately and easily controlled. In order to determine the propulsion direction of the excavator, the direction of the excavator must be estimated from the propulsion trajectory up to that point, or the tip measuring device according to the third aspect of the present invention must be provided. However, the technique of estimating the propulsion direction from the propulsion trajectory cannot perform highly accurate control. On the other hand, in the invention described in claim 3, the tip measuring machine must be provided on the excavator. However, the excavator is equipped with not only the excavation mechanism but also various devices, and the space for providing the CCD imaging means is limited. In some cases, it cannot be secured.
[0037]
According to a ninth aspect of the present invention, a pair of targets separated by a predetermined distance are imaged by one CCD imaging device. When a pair of images obtained by capturing these targets are at the reference position, the excavator or the buried pipe provided with the target and the buried pipe provided with the CCD imaging means are in a straight line. On the other hand, when the pair of images is displaced from the reference position, it means that the excavator or the buried pipe provided with the target has an angular displacement with respect to the buried pipe provided with the CCD imaging means. . Since the distance between the pair of targets and the distance between each target and the CCD imaging means for imaging the target are known, the excavator provided with the pair of targets or the buried pipe provided with the CCD imaging means of the buried pipe is provided. Can be obtained.
[0038]
The above-mentioned pair of targets are provided on each of the intermediate measuring devices, and the relative propulsion angle of the buried pipe provided with each of the intermediate measuring devices is obtained, and the tip target is provided on the excavator, and the propulsion direction with respect to the base point of the excavator is easily obtained. be able to. Since the propulsion direction can be measured only by providing the pair of targets on the excavator, it is possible to reduce the space required for installing the measuring machine. In addition, since the configuration of the device is simplified, the cost of the measuring device can be reduced.
[0039]
The CCD imaging means, the respective targets, and the distance measuring means may employ the same ones as those according to the first aspect of the present invention. The calculating means determines a relative angular displacement of an excavator or a buried pipe provided with the separated target from the image displacement information between the separated targets and the distance between the separated targets, and calculates the relative angular displacement and the distance measuring means. The propulsion position and the propulsion angle of the excavator and the buried pipe are obtained from the distance information from.
[0040]
The invention described in claim 10 of the present application is a method for measuring a propulsion position of a propulsion body in a propulsion shield method in which a buried pipe is connected to a rear side of a shield machine and a pipeline is laid while excavating. An imaging step of imaging the two-dimensional target and / or the rear two-dimensional target by the imaging means and outputting displacement image information thereof; a distance measurement step of determining a distance between each target and each imaging means for imaging the target; From the displacement image information and the distance information, a two-dimensional relative displacement calculation step for obtaining a two-dimensional relative displacement of each target, and, based on the displacement image information and the distance information, a relative angle of an excavator or a buried pipe in which each target is arranged A relative angle displacement calculation step for obtaining a displacement, the relative displacement information obtained in the two-dimensional relative displacement calculation step and the relative propulsion angle calculation step, and the relative displacement Proceeds based on the angle information, and includes a propulsion locus calculating step of obtaining a propulsion position and propulsion direction of the shield machine and buried pipe relative to the propulsion origin.
[0041]
The invention described in claim 11 of the present application is a method for measuring a propulsion position of a propulsion body in a propulsion shield method in which a buried pipe is connected to a rear side of a shield machine and a pipeline is laid while excavating. An imaging step of imaging a pair of separation targets provided on an excavator or a buried pipe propelling backward by an imaging unit and outputting displacement image information thereof, and a distance between the separation target and a CCD imaging unit for imaging the separation targets. The relative displacement calculation step for calculating the relative displacement of the excavator and the buried pipe from the displacement image information and the distance information, and the excavation using the relative displacement of the pair of separated targets. Relative propulsion angle calculation step for calculating the relative propulsion angle of the machine or buried pipe, and relative displacement information obtained in the relative displacement calculation step and the relative propulsion angle calculation step Based on the relative promotion angle information, and includes a propulsion locus calculating step of obtaining a propulsion position and propulsion direction of the shield machine and buried pipe relative to the propulsion origin.
[0042]
BEST MODE FOR CARRYING OUT THE INVENTION
Hereinafter, embodiments of the present invention will be specifically described with reference to the drawings.
[0043]
FIG. 1 is a plan view showing a state in which a propulsion body composed of an excavator 1 provided with a measuring device according to the present invention and a plurality of buried pipes 2 connected to the excavator 1 is propelled underground. . In addition, in order to facilitate understanding, the figures show displacements and angles in a direction along the paper surface, but actually, three-dimensional displacements occur. Further, in the embodiment, three intermediate measuring devices are provided, but a required number of intermediate measuring devices are used according to the propulsion distance and the like.
[0044]
The propulsion trajectory measuring device according to the present embodiment includes an intermediate measuring machine 4a, 4b, 4c arranged at a predetermined interval inside a buried pipe row, a tip measuring machine 5 provided on the excavator 1, a propulsion base point, The system is provided with a base point measuring device 6 provided in S, a computer 7 for executing a program capable of obtaining a propulsion position of each measuring device based on data obtained from each of the measuring devices, and a display 7a.
[0045]
FIG. 2 is a longitudinal sectional view showing the structure inside the buried pipe in which the intermediate measuring machines 4a, 4b, 4c in FIG. 1 are arranged. FIG. 3 is a sectional view taken along line III-III in FIG. As shown in these figures, each intermediate measuring device 4 includes a CCD imaging device 8 facing forward, a CCD imaging device 9 facing backward, a substrate 10 having targets 16 and 16 formed on both sides, and It comprises a forward-facing lightwave distance meter 11, a backward-facing lightwave distance meter 12, and a trolley 13 on which these devices are installed. The cart 13 is provided with four wheels 14 and is configured to be able to move in the buried pipe row in the axial direction. As shown in FIG. 3, a mud pipe 15 and a mud pipe 16 are arranged below each buried pipe 2, and the intermediate measurement is provided in a space above the mud pipe 15 and the mud pipe 16. Machine 4 is arranged.
[0046]
The front-facing CCD imaging device 8 and the rear-facing CCD imaging device 9 are integrated with the back surface bonded to the substrate 10. Further, a forward lightwave distance meter 11 and a backward lightwave distance meter 12 are integrated with their backs joined to the substrate 10 as in the case of the CCD imaging devices 8 and 9.
[0047]
As shown in FIG. 3, in the present embodiment, the substrate 10 is formed to have a size extending to the left and right sides from the portion holding the CCD imaging devices 8, 9 and the lightwave distance meters 11, 12. A target 16 is provided in each of the left and right extending portions. The targets 16 are formed on the front surface and the rear surface of the substrate 10, respectively. The target 16 is configured by attaching a reflective tape capable of reflecting the LED light emitted from the light source unit 17 of the optical distance meter 11. Further, the target 16 is formed in a shape capable of measuring the vertical deviation of the image obtained by the CCD image pickup device and the rotation angle around the centroid. The number and shape of the targets are not particularly limited.
[0048]
The lightwave distance meter 11 according to the present embodiment reflects the LED light emitted from the light source unit 17 toward the light receiving unit 19 by the target 16 and detects the lightwave distance meter 11 based on a shift in the wavelength of the LED light. The distance between the target 16 and the target 16 can be measured.
[0049]
In the present embodiment, the target 16 is imaged by the CCD imaging devices 8 and 9 using the LED light generated from the light source unit 17 of the optical distance meter 11 so that the displacement of the target 16 can be measured. It is composed. The CCD imaging devices 8 and 9 are adjusted so that the entire range of the target 16 can be imaged, and lenses are combined as needed.
[0050]
In the present embodiment, the image of the target is imaged using the LED light of the lightwave distance meters 11 and 12, but a light source for imaging may be separately provided. In this embodiment, the target image is captured by the CCD image sensor using the LED light of the lightwave distance meter. However, when measuring only the distance, a forward or backward lightwave distance meter is sufficient.
[0051]
In the present embodiment, as shown in FIG. 1, the intermediate measuring machines 4a, 4b, and 4c are installed at a ratio of one to five buried pipes. The excavator 1 is provided with a target 16 and a tip measuring device 5 having a CCD image sensor capable of imaging the target 16 of the rear intermediate measuring device 4a. Note that the CCD image pickup device provided in the tip measuring device 5 is the same as that of the above-described intermediate measuring device, and the description is omitted.
[0052]
FIG. 4 shows a screen 18 obtained by imaging the target 16 with a CCD image sensor. The image 16a captured at the center of the screen 18 is an image in a case where the axis of the buried pipe or the excavator on which the target 16 is arranged coincides with the axis of the buried pipe provided with the CCD image sensor for imaging this target. . That is, at the start of propulsion, the target 16 and the CCD imaging devices 8 and 9 are adjusted so that the target 16 is located at the origin O of the screen 18 and propulsion is started.
[0053]
When the excavator 1 and the buried pipe 2 are bent and propelled, the image of the target 16 is displaced from the reference position 16a to the position 16b. Further, the target image 16b after the displacement has an angular displacement θ with respect to the z-axis. Each of the images is output to the computer, and the displacement x and z in the X and Z directions and the rotational displacement θ of the target image are automatically obtained by the image processing program.
[0054]
As shown in FIGS. 1 and 2, each intermediate measuring device 4 is provided with a CCD image sensor 8 facing forward and a CCD image sensor 9 facing backward, and Targets 16 and 16 are provided. Thus, the targets of the intermediate measuring devices provided adjacent to each other are configured to be imaged with each other. Further, the target 16 of the tip measuring device 5 is imaged by the CCD image pickup device of the intermediate measuring device 4a disposed at the forefront, and the target of the intermediate measuring device 4a is imaged by the CCD image pickup device provided in the tip measuring device 5. It is configured to be able to.
[0055]
For example, when an image of the target of the intermediate measuring device 4c is picked up from the base point measuring device 6 shown in FIG. 5, the measurement values (x, z, θ) by the CCD image sensor and the distance data L from the lightwave distance meter are obtained. ₀ From the direction angle α of the target of the intermediate measuring machine 4c with respect to the axis 20 of the base measuring machine 6 ₀ And the position coordinates of the target are obtained. However, the direction angle α of the target ₀ The directional angle and the position coordinates of the intermediate measuring device 4b disposed in front of the intermediate measuring device 4c cannot be obtained only by obtaining the position coordinates. This is because it is not possible to determine in which direction the axis of the buried pipe in which the intermediate measuring device 4c is installed is oriented only from the above information.
[0056]
In the present embodiment, a rearward-facing CCD image pickup device is provided in the intermediate measuring device 4c to capture an image of a target provided in the base point measuring device 6, and the angle β of the intermediate measuring device 4c facing the axis 21 is set. ₀ Can be requested. Thereby, the opposing angle α of the intermediate measuring device 4c and the base point measuring device 6 with respect to the respective axes 20 and 21 is set. ₀ , Β ₀ Can be requested.
[0057]
As is clear from FIG. 5, each facing angle α of each of the intermediate measuring machines 4a, 4b, 4c and the excavator 1. ₁ , Β ₁ , Α ₂ , Β ₂ , Α ₃ , Β ₃ And the distance L ₁ , L ₂ , L ₃ Is obtained, it is possible to obtain the relative position and the relative propulsion angle of each of the adjacent intermediate measuring machines. When the relative displacement of each intermediate measuring device is sequentially converted based on the position and direction of the base measuring device 6 using the data of each intermediate measuring device, the position of the intermediate measuring device with respect to the base measuring device 6 is calculated. The propulsion position is determined, and the propulsion trajectory to the excavator is determined. The direction of the excavator 1 is also determined.
[0058]
Based on the flowchart shown in FIG. 6, a description will be given of a measuring method according to the present embodiment and a procedure for obtaining the direction of excavation of the excavator.
[0059]
First, at the start of the propulsion work (Y in S100), a preset design locus is read into a computer and set (S101). The design trajectory is displayed on a computer display (S102). The origin position, height, angle, and the like at the start of propulsion are set as propulsion base points of the design trajectory (S103).
[0060]
After excavating for a predetermined distance, the excavation work is stopped, measurement is performed by each intermediate measuring machine, and each data (x, z, θ, L) is collected (S104). The propulsion position and the propulsion direction of each intermediate measuring device with respect to the propulsion base point are calculated based on these measurement data (S105). Then, the positions of the intermediate measuring instruments and the tip measuring instruments, that is, the positions of the excavator and the buried pipe provided with the intermediate measuring instruments and the buried pipes, and the propulsion direction are displayed on the display. (S106).
[0061]
Further, the amount of deviation between the design trajectory and the measured propulsion trajectory is calculated and displayed on the display (S107, S108). Based on the amount of deviation, the direction of the excavator is controlled if necessary. Is performed (S109). In the present embodiment, the measurement and calculation of the data are automatically performed, and the deviation amount is obtained.
[0062]
The respective measurement data are sequentially stored (S110), and the above calculation is repeated at least until the machine reaches the target point (N in S111). When the vehicle reaches the target point, the final data is stored (S112), and the propulsion work ends.
[0063]
The propulsion work is often performed over several days. For this reason, when the construction is interrupted and restarted halfway (N in S100), the data stored in the above process (S110) is read (S113), and the measurement of new position data is started. (S104).
[0064]
With the above configuration, the position of each target or measuring instrument can be accurately obtained. In addition, since the relative propulsion direction is obtained from the image of the CCD image pickup device that images the opposing target, a separate device for obtaining the propulsion attitude is not required.
[0065]
7 to 12 show a second embodiment of the present invention.
[0066]
As shown in FIG. 7, the propulsion trajectory measuring device according to the second embodiment includes intermediate measuring machines 54 a to 54 c arranged at predetermined intervals inside a buried pipe row, and a tip provided on the excavator 1. A target 55, a base point measuring device 56 provided at the propulsion base point S, and a computer 57 storing a program capable of determining the propulsion position of each measuring device and the tip target based on data obtained from each of the measuring devices. It is configured with.
[0067]
FIG. 8 is a longitudinal sectional view of the buried pipe in which the intermediate measuring devices 54a to 54c in FIG. 7 are arranged. FIG. 9 is a sectional view taken along line IX-IX in FIG. As shown in these figures, each of the intermediate measuring devices 54a, 54b, 54c has a CCD image sensor 58 facing forward, a lightwave distance meter 61 facing forward, a pair of target substrates 60a, 60b, And a truck 63 on which the above devices are installed. Since the configuration of the carriage 63 is the same as that of the first embodiment, the description is omitted.
[0068]
The CCD imaging device 58 is joined to the front surface of the substrate 60b. Also, the light wave distance meter 61 has its back joined to the substrate 60b, similarly to the CCD image pickup device 58, and these devices are integrated.
[0069]
The board 60a and the board 60b are formed so as to extend from the upper surface of the carriage so as to be orthogonal to the axis of the buried pipe, and the back surfaces of the boards 60a and 60b are imaged by the CCD image pickup device of the rear intermediate measuring machine. A target 66 composed of a pair of targets 66a and 66b is formed.
[0070]
The pair of substrates 60a and 60b are set apart from each other by a distance l, and the large target 66b and the small target 66a formed on the rear surface of the front substrate 60b are also arranged with a distance of 1 therebetween.
[0071]
As shown in FIG. 9, the large target 66b and the small target 66a are formed by forming cross-shaped patterns having different sizes using a light reflecting sheet. The small target 66a and the large target 66b can be configured so that the color or the reflected light of the light reflecting sheet is set to be different so that the image picked up by the CCD image sensor can be easily processed. . Also, the present embodiment is configured such that an image of the target can be captured by light emitted from the light source of the lightwave distance meter 61, as in the first embodiment. In addition, the lightwave distance meter 61 is configured to measure a distance between the large target 66b or the small target 66a.
[0072]
10 to 13, a tip target 55 including a large target 56 b and a small target 56 a is provided inside the excavator 51, and an intermediate measurement is performed from the excavator 51 to the second buried pipe 52 behind the excavator 51. An example in which the excavator 54a is provided to determine the displacement of the excavator 51 will be described. The tip target 55 can be provided in the same manner as the target 66 of the intermediate measuring device.
[0073]
FIG. 10 is a diagram illustrating a state in which the axis of the excavator 51 and the axis provided with the intermediate measuring device 54a coincide with each other, and is a diagram illustrating an initial setting state. In this state, when the pair of targets 55a and 55b are imaged using the CCD image sensor 58, an image shown in FIG. 11 is obtained.
[0074]
On the screen 68 in FIG. 11, two cross-shaped images 77b and 77a overlapping the origin O, the Z axis, and the X axis of the screen are obtained.
[0075]
FIG. 12 shows a state in which the propulsion work is started from the state of FIG. 10 and the excavator 51 and the subsequent buried pipe are displaced. As is apparent from this figure, the excavator 51 and each buried pipe 52 are displaced relative to each other, and the CCD imaging element 58 and the target 55 are also displaced.
[0076]
As shown in FIG. 13, it can be seen that a displacement z in the Z direction from the origin O, a displacement x in the X direction, and a rotational displacement θ occur in the image 78a of the small target 55a. In the present embodiment, the distance L between the CCD image pickup device 58 and the small target 55a is obtained from the lightwave distance meter 61, as in the first embodiment. Then, as in the first embodiment, the relative propulsion position of the small target 55a of the excavator 51 with respect to the image sensor 58 is obtained from the displacement of the image 78a and the distance L.
[0077]
However, unless the angular attitude of the excavator 51 is determined, the propulsion direction cannot be determined. Unless the propulsion direction in each intermediate measuring machine is determined, coordinate conversion from the propulsion base point cannot be performed, and the positions and propulsion directions of the excavator and the buried pipe with respect to the propulsion base point cannot be determined.
[0078]
In the present embodiment, as shown in FIG. 13, the relative displacement x between images 78b and 78a obtained by capturing the large target 55b and the small target 55a. ₀ , Z ₀ Can be measured. In addition, the distance l between the large target 55b and the small target 55a is known.
[0079]
As shown in FIG. 14, the relative displacement x ₀ , Z ₀ The three-dimensional angular displacement γ of the shaft 71 of the excavator 51 and the shaft 72 of the buried pipe provided with the intermediate measuring device 54 can be obtained from the distance l and the distance l. Therefore, by applying the above method from the propulsion base point, the propulsion position and direction of the buried pipe provided with the excavator 51 and each intermediate measuring device can be obtained.
[0080]
In the second embodiment, the propulsion direction of the buried pipe provided with the excavator 51 and the intermediate measuring device 54 can be obtained by one CCD image sensor directed forward or backward. For this reason, it is possible to simplify the structure of the measuring device.
[0081]
The present invention is not limited to the above embodiments. In the first embodiment, the shield excavator is provided with the tip measuring machine including the CCD image pickup device for imaging the rear target. However, when obtaining the propulsion direction from the propulsion trajectory, it is not necessary to provide this.
[0082]
Further, in the first embodiment, a pair of separation targets according to the second embodiment can be provided in order to obtain the propulsion angle of the excavator.
[0083]
Further, in the embodiment, the distance between each target and each intermediate measuring device is measured by the lightwave distance meter, but between the excavator and each intermediate measuring device, the scale of the positioning rod that can define the distance between them. , The distance can be obtained.
[0084]
Further, it is also possible to form a measurement scale on the string-like body by various means, provide a scale reading device capable of reading the scale on each measuring machine, and obtain the distance between the targets or the intermediate measuring machines.
[0085]
Further, in the embodiment, the target is illuminated using the LED light of the lightwave distance meter, and an image of the target is obtained from the reflected light. However, the target is formed using a plurality of LED light sources, and the LED is used. Measurement can be performed using the image of the light source.
[Brief description of the drawings]
FIG. 1 is a plan view illustrating an outline of a propulsion trajectory measuring device according to a first embodiment.
FIG. 2 is a longitudinal sectional view showing a structure inside the buried pipe according to the first embodiment.
FIG. 3 is a sectional view taken along line III-III in FIG. 2;
FIG. 4 is an explanatory diagram illustrating a state of a screen captured by a CCD image sensor.
FIG. 5 is an explanatory diagram showing a method of obtaining a propulsion trajectory of the excavator and the buried pipe according to FIG.
FIG. 6 is a flowchart illustrating a method of measuring a propulsion trajectory according to the first embodiment.
FIG. 7 is a plan view illustrating an outline of a propulsion trajectory measuring device according to a second embodiment.
FIG. 8 is a longitudinal sectional view showing a structure inside a buried pipe according to a second embodiment.
FIG. 9 is a sectional view taken along line IX-IX in FIG.
FIG. 10 is an explanatory diagram of a measuring device according to a second embodiment.
FIG. 11 is an explanatory diagram illustrating a state of a measurement image according to the second embodiment.
FIG. 12 is an explanatory diagram of a measuring device according to a second embodiment.
FIG. 13 is an explanatory diagram illustrating a state of a measurement image according to the second embodiment.
FIG. 14 is a diagram illustrating a measurement method according to a second embodiment.
[Explanation of symbols]
1 excavator
2 buried pipe
4a Intermediate measuring machine
4b Intermediate measuring machine
4c Intermediate measuring machine
5 Advanced measuring equipment
6 Measurement base point measuring machine
16 Target

Claims (11)

A device for measuring the propulsion position of a propulsion body in the propulsion shield method, in which a buried pipe is connected to the back of a shield machine and laying a pipeline while excavating, imaging a two-dimensional target ahead and outputting image information A CCD imaging unit capable of imaging a rear two-dimensional target and outputting image information, and a two-dimensional target imaged by the front and rear CCD imaging units, and propelling underground. An intermediate measuring device provided at a predetermined interval in the buried pipe,
CCD imaging means which is arranged at the measurement base point and which can image the target of the intermediate measuring machine arranged at the rearmost side and output image information, and which is imaged by the imaging means of the intermediate measuring machine arranged at the rearmost side A measuring base point measuring machine having a two-dimensional target;
A tip measuring machine provided with the shield excavator or a buried pipe subsequent thereto, and a two-dimensional tip target provided with a two-dimensional tip target imaged by CCD imaging means of the intermediate measuring machine arranged at the forefront,
Distance measuring means for determining the distance between each target and each measuring device that images the target,
Based on the image displacement information obtained from each of the CCD imaging means and the distance information obtained from the distance measuring means, the displacement between each of the targets or between each of the measuring machines is obtained, and the shield excavator and the burial with respect to the measurement base point are obtained. An apparatus for measuring a propulsion trajectory of a propulsion body in a shield propulsion method, comprising: a calculation means for obtaining a propulsion trajectory of a pipe. The above-mentioned intermediate measuring machine connects the two CCD imaging means back to back and integrates them,
2. The propulsion body according to claim 1, wherein a two-dimensional target that can be imaged by a front CCD imaging unit and a rear CCD imaging unit is formed to extend from an axially outer peripheral portion of the integrated imaging unit. Measuring device for propulsion trajectory. The propulsion trajectory of the propulsion body in the propulsion shield method according to claim 1, wherein the tip measuring device includes a CCD imaging unit capable of capturing an image of a target of the rear intermediate measuring device and outputting image information. Measuring device. The calculating means calculates a relative displacement of each target or each intermediate measuring device based on the distance information and a two-dimensional displacement and an angular displacement of the captured target image. 4. The apparatus for measuring a propulsion locus of a propulsion body in the propulsion shield method according to claim 1, further comprising a propulsion position calculating means for obtaining a propulsion position with respect to the measurement base point. The apparatus according to claim 1, wherein each of the two-dimensional targets is configured by arranging a plurality of LED light emitters. The distance measuring means,
A lightwave distance meter provided on one of the facing measuring instruments and having a light source unit and a light receiving unit,
The light-emitting device according to claim 1, further comprising: a reflection member provided on the other facing measurement device and configured to reflect light emitted from the light source unit toward the light-receiving unit. For measuring the propulsion trajectory of the propulsion body in the propulsion shield method. 7. Propulsion of a propulsion body in the propulsion shield method according to claim 6, wherein the two-dimensional target is illuminated by light emitted from the light source unit of the distance measuring means, and is imaged by the CCD imaging means. Track measurement device. 6. The distance measuring means according to claim 1, further comprising a scale member interposed between the measuring devices and provided with a scale member capable of measuring or setting the distance between the targets or the measuring devices. A propulsion trajectory measuring device in the propulsion shield method described in the crab. A device for measuring the propulsion position of a propulsion body in a propulsion shield method in which a buried pipe is connected to the back of a shield machine and lays a pipeline while excavating, and images a target in front or behind and outputs image information. An intermediate measuring machine having a CCD imaging means capable of being provided, a pair of spaced targets which are arranged at predetermined intervals in the axial direction of the buried pipe, and which are imaged by the CCD imaging means arranged in front or behind, and arranged at a measurement base point CCD imaging means capable of imaging the separation target of the intermediate measurement device disposed at the rearmost position and outputting image information, or a pair of separation targets imaged by the CCD imaging device of the rearmost intermediate measurement device A measurement base point measuring machine having
A pair of separation targets provided on the shield excavator or the buried pipe connected thereto and imaged by the CCD imaging device of the intermediate measurement device disposed at the forefront, or a pair of separation targets provided on the rear intermediate measurement device A leading-edge measuring device having a CCD imaging device capable of imaging a separation target of
Distance measuring means for measuring the distance between each target and each measuring device for imaging the target,
Based on the image displacement information obtained from each of the CCD imaging means and the distance information obtained from the distance measuring means, the displacement between each of the targets or between each of the measuring machines is obtained, and the shield excavator and the burial with respect to the measurement base point are obtained. An apparatus for measuring a propulsion trajectory of a propulsion body in a shield propulsion method, comprising: a calculation means for obtaining a propulsion trajectory of a pipe. A method for measuring a propulsion position of a propulsion body in a propulsion shield method in which a buried pipe is connected behind a shield machine and a pipe is laid while excavating,
An imaging step of imaging the front two-dimensional target and / or the rear two-dimensional target by an imaging unit and outputting displacement image information thereof;
A distance measurement step for obtaining a distance between each target and each imaging means for imaging the target, a two-dimensional relative displacement calculation step for obtaining a two-dimensional relative displacement of each target from the displacement image information and the distance information,
From the displacement image information and the distance information, a relative angular displacement calculation step for determining the relative angular displacement of the excavator or buried pipe in which each target is placed,
Propulsion for determining the propulsion position and the propulsion direction of the excavator and the buried pipe based on the propulsion base point based on the relative displacement information obtained in the two-dimensional relative displacement calculation step and the relative propulsion angle calculation step and the relative propulsion angle information A method for measuring a propulsion position of a propulsion body in a propulsion shield method, including a trajectory calculation step. A method for measuring a propulsion position of a propulsion body in a propulsion shield method in which a buried pipe is connected behind a shield machine and a pipe is laid while excavating,
An imaging step of imaging a pair of spaced targets provided on an excavator or a buried pipe for propelling forward or backward by an imaging unit and outputting these displacement image information,
A distance measurement step for measuring a distance between the separation target and a CCD imaging unit for imaging the separation target;
From the displacement image information and the distance information, a relative displacement calculation step of calculating the relative displacement of the excavator and the buried pipe,
From the relative displacement of the pair of spaced targets, a relative propulsion angle calculation step for determining the relative propulsion angle of the excavator or buried pipe provided with this,
A propulsion locus for obtaining a propulsion position and a propulsion direction of an excavator and a buried pipe based on a propulsion base point based on the relative displacement information and the relative propulsion angle information obtained in the relative displacement calculation step and the relative propulsion angle calculation step. A method for measuring a propulsion position of a propulsion body in a propulsion shield method, including a calculation step.

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