JP2524535B2 - Position measuring method for shield excavator - Google Patents

Description

Description: TECHNICAL FIELD The present invention relates to a method for measuring the position of a shield excavator, which measures the horizontal position of the shield excavator when excavating a tunnel with the shield excavator. Is.

(Prior Art) Conventionally, during shield excavation work of a small diameter by a shield excavator, it is difficult to directly collimate the shield excavator due to underground facilities during excavation, and 2-3 times a day when the excavation is stopped. A surveyor surveyed the position of the shield excavator.

On the other hand, at the time of large-diameter shield excavation work, the position of the shield excavator was measured using a laser emitting machine that emits a laser beam in a spot system.

(Problems to be solved by the invention) However, the surveying accuracy of the shield excavator does not increase in the surveying by the surveyor about 2 to 3 times a day, and the surveying engineer is always on standby at the construction site during the excavation. There was a problem that it had to be kept.

Further, in the surveying method using the spot type laser beam, there is a problem that it takes time to find a very small spot of the laser beam on the light receiving side and the surveying cannot be performed efficiently.

An object of the present invention is to provide a position measurement method for a shield excavator capable of constantly measuring the horizontal position in real time even in a small-diameter shield excavation work, and capable of efficiently performing the measurement.

(Means for Solving the Problem) A feature of the present invention for achieving the above object is to provide a position measurement method for a shield excavator, which measures the position of the shield excavator when excavating a tunnel with the shield excavator. In, a first light receiver composed of electronic staff that emits an electric signal when receiving light at a measuring point whose position is known inside or outside the tunnel behind the shield excavator is installed, and the shield excavator also receives light. Then, a second light receiver consisting of an electronic staff that outputs an electric signal is installed, and a swivel base is horizontally placed with a rotation axis in the vertical direction at a known point between the shield excavator and the measuring point in the tunnel. Installed on the swivel base, the swivel base emits a laser beam while swiveling around an axis orthogonal to the swivel center line of the swivel base, and a rangefinder for measuring the distance. A swivel angle detector for measuring a swivel angle of the swivel base is provided, the swivel base is swung, and a swirl laser beam from the swivel laser light emitter is received by the first light receiver of the measuring point. The angle between the swivel position of the swivel base and the swivel position of the swivel base when received by the second light receiver of the shield excavator is measured by the swivel angle detector, and The distance from the position of the distance measuring device to the position of the first light receiving device and the distance to the second light receiving device are measured by the distance measuring device, and these measurement data, known swivel position data, and the first The position of the shield excavator in the horizontal direction is obtained from the light receiver position data.

(Operation) When a revolving laser that emits a revolving laser beam is placed on a revolving base, and the revolving laser beam is revolved around the axis orthogonal to the revolving center of the revolving base to be emitted, Since the beam crosses the first and second photodetectors while rotating not as a spot, it becomes easy to detect the laser beam at the first and second photodetectors. Therefore,
Real-time survey is possible by automation.

(Example) Hereinafter, an example of the present invention will be described in detail with reference to FIGS. 1 and 2.

In the present embodiment, the tunnel 2 behind the shield excavator 1
A first electronic staff 4 as a first light receiver that emits an electric signal by receiving light is installed at a measuring point 3 whose position (X, Y) is known inside or outside the tunnel opening. The electronic staff 4 is installed with its longitudinal direction oriented horizontally, its center aligned with the measuring point 3, and its light-receiving surface facing the inside of the tunnel 2. A first reflecting prism 5 as a first reflector is installed at the measuring point 3. Further, on the rear surface of the shield excavator 1, a second electronic staff 6 as a second light receiver, which outputs an electric signal when receiving light, is installed with its longitudinal direction oriented horizontally. At the position of the second electronic staff 6, a second reflecting prism 7 as a second reflector is installed. Further, a swivel base 8 that swivels horizontally around a vertical rotation axis is installed at an intermediate position between the shield excavator 1 and the measuring point 3 in the tunnel 2. The swivel base 8 has
A rotary encoder 9 as a swivel angle detector for measuring the swivel angle of the swivel base 8, and a swivel laser light emitting device 10 for emitting a laser beam on a vertical surface while swiveling around a horizontal rotation axis α. A lightwave type rangefinder 11 as a rangefinder for measuring a distance is provided.

The outputs of the first and second electronic staffs 4, 6 described above, the rotary encoder 9, and the lightwave type rangefinder 11 are computer-generated.
Enter in 12 respectively.

Next, a method for measuring the horizontal position (X, Y coordinates) of the shield excavator 1 using such a surveying device will be described.

When the swivel base 8 is installed, the X and Y coordinates of the center position of the swivel base 8 are measured in advance by hand from a surveyor from the measurement point 3 whose position is known.

The swivel base 8 is swung to irradiate the measuring point 3 with the laser beam swung in the vertical direction from the swivel laser light emitting device 10. The arrival of the laser beam at the measuring point 3 is detected by the traversing laser beam crossing the first electronic staff 4 in the horizontal direction in the vertical direction. When the turning laser beam is emitted, the first electronic staff 4 makes a computer
Signals to 12.

The computer 12 resets the angle value of the turning angle detector 9 which is a rotary encoder to 0 by a signal when the turning laser beam is applied to the measuring point 3.

The swivel base 8 is swung horizontally, and the swirling laser beam swiveling vertically is directed to the second electronic staff 6 of the shield excavator 1.

When the turning laser beam crosses the second electronic stuff 6, a signal indicating the position where the second electronic stuff 6 crossed is output to the computer 12, and the angle of the turning angle detector 9 at this time is measured.

That is, the swivel position of the swivel base 8 when the swivel laser beam from the swivel laser emitter 10 is received by the first electronic staff 4 at the measuring point 3 and the second electronic staff 6 of the shield excavator 1 are detected. A computer 12 measures an angle measurement value with respect to a turning position of the turning base 8 when the light is received, based on a signal from the turning angle detector 9.

The distance from the center of the swivel to the first reflecting prism 5 is measured by the light wave type distance measuring device 11 and is input to the computer 12.

The distance from the center of the swivel base to the second reflecting prism 7 is measured by the lightwave distance measuring device 11 and is input to the computer 12. The horizontal X and Y coordinates of the shield excavator 1 are calculated from the X and Y coordinate values of the measuring point 3, the angle measurement value, the distance, and the position where the turning laser beam crosses the electronic staffs 4 and 6, and the deviation from the planned line is obtained. Is calculated in real time.

In this device, the position and orientation of the swivel base 8 may fluctuate when the installation position of the swivel base 8 is still unstable, etc. After excavating the laser beam, the laser beam is emitted in accordance with the angle of the swivel laser light emitting device 10 with respect to the swivel base 8 when the electronic staff 4 is crossed at the start of measurement, and the electronic staff 4 of the laser beam is emitted. If the crossing position has changed compared to the beginning of the measurement, it can be determined that there is a change.

Further, the swivel base 8 is installed so as to swivel about a vertical or horizontal rotating shaft, and the swivel laser beam is swung about a horizontal or vertical rotating shaft.
If the first and second electronic staffs 4 and 6 are installed vertically, the vertical position of the shield excavator 1 can be obtained.

(Effects of the Invention) As described above, in the position surveying method for a shield excavator according to the present invention, a swivel laser light emitting device that emits a swirl laser beam is placed on a swivel base, and the swirl laser beam is swung by the swivel base to generate the swirl laser beam. Since the laser beam is swung in the direction orthogonal to the swivel direction of the swivel base, the laser beam crosses the first and second photodetectors while swirling instead of the spot. The detection can be easily performed. Therefore, this swivel laser, the first and second light receivers,
By using the turning angle detector, range finder, and computer, the position of the shield excavator can be measured in real time, and even in the shield excavation work of a small-diameter tunnel, the number of surveys can be performed without much effort. You can proceed with the construction accurately.

Moreover, the number of surveys by the measurer can be reduced as compared with the conventional case.

[Brief description of drawings]

FIG. 1 is a plan view showing the positional relationship of an embodiment of an apparatus for carrying out the surveying method of the present invention, and FIG. 2 is a front view of a central surveying instrument used in this embodiment. 1 ... Shield excavator, 2 ... tunnel, 3 ... station,
4 ... First electronic stuff (first light receiver), 5 ... First reflecting prism (first reflector), 6 ... Second electronic stuff (second light receiver), 7 ... … Second reflective prism (second reflector), 8 …… Swivel base, 9 …… Rotary encoder (swivel angle detector), 10 …… Swivel laser emitter, 11 …… Lightwave rangefinder ( Rangefinder), 12 ... Computer.

Claims (1)

(57) [Claims] 1. A method of measuring the position of a shield excavator when excavating a tunnel with the shield excavator, wherein a position inside or outside a tunnel behind the shield excavator is known in advance. Installed a first light receiver consisting of an electronic staff that outputs an electric signal when receiving light at a measuring point, and also installing a second light receiver consisting of an electronic staff that outputs an electric signal when receiving light into the shield excavator, At a known point between the shield excavator and the measuring point in the tunnel, a swivel base is installed in a horizontal arrangement with a rotation axis in the vertical direction, and the swivel base has a swivel centerline of the swivel base. A swivel laser light emitting device that emits a laser beam while swiveling around an orthogonal axis, a rangefinder that measures the distance, and a swivel angle detector that measures the swivel angle of the swivel base are provided, and Whirl It said pivoting laser beam the measuring point from the pivoting laser emitting apparatus by pivoting the platform first
The swivel position of the swivel base when received by the light receiver of
The angle between the turning position of the turning base and the turning position when the light is received by the second light receiver of the shield excavator is measured by the turning angle detector, and the first angle is measured from the position of the rangefinder. The distance to the position of the light receiver and the distance to the second light receiver are measured by the rangefinder, and the measured data, known swivel position data, and first light receiver position data are used to detect the shield excavator. A method for measuring the position of a shield excavator, characterized by obtaining a horizontal position.