Tunnel inner surface shape measurement system

Abstract

To measure an inner shape of a tunnel with high accuracy.SOLUTION: A system 20 for measuring an inner shape of a tunnel constructed by a shield machine 1 along a reference line SL includes a carriage 10a capable of moving within the tunnel following the excavation of the shield machine 1, a first distance sensor E1 provided on the carriage 10a and used to measure the inner shape of the tunnel, and a first identification unit for identifying a deviation of an orientation u1 of the carriage 10a relative to an orientation u0 of the reference line SL. In the system 20, the distance measurement value of the first distance sensor E1 is corrected based on the deviation identified by the first identification unit.SELECTED DRAWING: Figure 2

Description

[Technical field]

[0001] The present invention relates to a system for measuring the inner shape of a tunnel constructed by a shield machine. [Background technology]

[0002] Shield tunnels used as pipelines for roads, railways, etc. are constructed by the shield method. A shield machine is used in the shield method. The shield machine comprises, for example, a cylindrical skin plate, a cutter head, and a driving jack. The skin plate forms the outer shell of the main body of the shield machine. The cutter head is provided at the front end (face side end) of the skin plate and excavates the natural ground. The driving jack is provided inside the skin plate.

[0003] In the shield method, for example, a starting shaft and a destination shaft are constructed in the natural ground, and while the shield machine is used to excavate the natural ground from the starting shaft to the destination shaft, segments are assembled one after another inside the rear of the skin plate in the circumferential direction of the tunnel to construct a segment ring. Adjacent segment rings are then connected in the axial direction of the tunnel to construct a cylindrical lining. The shield machine pushes the segment ring at the rear of the shield machine backwards with a thrust jack. The shield machine moves forward while excavating the natural ground using thrust generated as a reaction force to the thrust force of the thrust jack.

[0004] Patent document 1 discloses that a distance sensor placed in the tail portion of the skin plate of a shield machine is used to measure the distance to a segment ring, and the roundness of the segment ring is determined based on the measurement results. [Prior art documents] [Patent documents]

[0005] [Patent Document 1] Patent No. 5969964 Summary of the Invention [Problem to be solved by the invention]

[0006] A shield tunnel may be constructed so as to follow a reference line corresponding to its design alignment. This reference line may include straight and curved sections. In measuring the roundness of a tunnel, it is preferable that the design cross section, which is a cross section perpendicular to the reference line, coincides with the measurement cross section, which is a cross section where the roundness of the tunnel is actually measured. However, during construction of the curved section of the tunnel, the measurement cross section may deviate from the design cross section. This deviation causes an error in the measurement of the roundness of the tunnel.

[0007] In view of the above circumstances, an object of the present invention is to accurately measure the inner shape of a tunnel, including grasping the roundness of the tunnel. [Means for solving the problem]

[0008] Therefore, according to one aspect of the present invention, there is provided a system for measuring the inner shape of a tunnel constructed by a shield machine along a reference line. The system includes a first carriage capable of moving within the tunnel following the excavation of the shield machine, a first distance sensor provided on the first carriage and used to measure the inner shape of the tunnel, and a first determination unit for determining a deviation of the orientation of the first carriage from the orientation of the reference line. In this system, the distance measurement value of the first distance sensor is corrected based on the deviation determined by the first determination unit. Effect of the Invention

[0009] According to one aspect of the present invention, the inner shape of a tunnel can be measured with high accuracy. [Brief description of the drawings]

[0010] [Figure 1] 1 is a diagram showing a schematic configuration of a shield machine according to a first embodiment of the present invention. FIG. [Diagram 2] FIG. 2 is a plan view of the tunnel during curve construction in the first embodiment. [Diagram 3]FIG. 2 is a diagram showing a schematic configuration of a first distance sensor in the first embodiment. [Figure 4] 5A to 5C are diagrams showing a measurement cross section and a design cross section of the first distance sensor in the first embodiment. [Diagram 5] FIG. 2 is a diagram showing a schematic configuration of a system according to the first embodiment. [Figure 6] 6 is a flowchart showing a method for correcting a distance measurement value of a first distance sensor in the first embodiment. [Figure 7] 5 is a flowchart showing a method for identifying a direction angle difference in the first embodiment. [Figure 8] 5 is a diagram for explaining a method of calculating a correction value in the first embodiment. FIG. [Figure 9] 4 is a table showing an example of correction values ​​in the first embodiment. [Figure 10] 5 is a diagram showing an example of a measurement result of an inner surface shape of a tunnel in the first embodiment. FIG. [Figure 11] FIG. 11 is a diagram showing a schematic configuration of a shield machine according to a second embodiment of the present invention. [Figure 12] FIG. 11 is a plan view of the tunnel during curve construction in the second embodiment. [Figure 13] FIG. 11 is a diagram showing a schematic configuration of a second distance sensor in the second embodiment. [Figure 14] 13 is a diagram showing a measurement cross section and a design cross section of a second distance sensor in the second embodiment. FIG. [Figure 15] FIG. 11 is a diagram showing a schematic configuration of a system according to the second embodiment. [Figure 16] 10 is a flowchart showing a method for correcting a distance measurement value of a second distance sensor in the second embodiment. [Figure 17] 10 is a flowchart showing a method for identifying a direction angle difference in the second embodiment. [Figure 18] FIG. 11 is a plan view of a tunnel during curved construction in the third embodiment of the present invention. [Figure 19] FIG. 13 is a plan view of a tunnel during curved construction in the fourth embodiment of the present invention. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0011] Hereinafter, an embodiment of the present invention will be described with reference to the drawings.

[0012] FIG. 1 shows a schematic configuration of a shield machine in a first embodiment of the present invention. In this embodiment, for convenience, the front, rear, left and right are defined with the tunnel excavation direction ED as the forward direction. In this embodiment, the configuration of the shield machine will be described using a so-called mud pressure type shield machine as an example. However, the shield machine is not limited to the mud pressure type.

[0013] The shield machine 1 is used for constructing shield tunnels. The shield machine 1 comprises a cylindrical skin plate 2, a cutter head 3 for excavation, and a shield bulkhead 4. The skin plate 2 forms the outer shell of the main body of the shield machine 1. The cutter head 3 is provided at the front end of the skin plate 2. The shield bulkhead 4 is positioned rearward and spaced from the cutter head 3.

[0014] The cutter head 3 is rotatably supported by the shield bulkhead 4. The cutter head 3 excavates the natural ground while rotating, using a drive motor (not shown) installed on the rear surface of the shield bulkhead 4 as a drive source.

[0015] A cutter chamber is defined between the cutter head 3 and the shield bulkhead 4 and by the skin plate 2. Excavated soil generated by excavation by the cutter head 3 accumulates in this cutter chamber. The shield machine 1 is equipped with a screw conveyor (not shown) that conveys the excavated soil in the cutter chamber to the rear of the shield bulkhead 4.

[0016] The shield machine 1 is equipped with an erector device (not shown) in the skin plate 2 behind the shield bulkhead 4. This erector device constructs a segment ring by assembling segments 7 having an arc-shaped cross section, and constructs a cylindrical lining body 8 by connecting adjacent segment rings in the tunnel axial direction. Here, the tunnel including the lining body 8 is constructed by the shield machine 1 so as to follow a reference line SL corresponding to the design alignment. The reference line SL is a virtual line extending in the tunnel axial direction.

[0017] A number of propulsion jacks 5 are arranged on the inside of the skin plate 2 of the shield machine 1 at intervals in the circumferential direction of the skin plate 2 along the inner surface of the skin plate 2. The propulsion jacks 5 are hydraulic jacks consisting of a cylinder and a rod, and are freely extendable. The front end of the cylinder of the propulsion jack 5 is fixed to the skin plate 2, and the rod of the propulsion jack 5 can be advanced and retracted at the rear end. The shield machine 1 can obtain a propulsive force by extending the propulsion jack 5 with the rear end of the rod of the propulsion jack 5 abutting against the existing segment 7. In this way, the propulsion jack 5 receives a reaction force from the existing segment 7 to propel the shield machine 1.

[0018] A plurality of bogies (so-called trailing bogies) 10 are connected to the rear of the shield machine 1 within the lining body 8 via a towing rod 9. In this embodiment, an example is shown in which the plurality of bogies 10 are composed of four bogies 10a to 10d. However, the number of bogies 10 may be any number equal to or greater than one. The bogies 10 are provided with hydraulic equipment, electrical equipment, and the like for operating the shield machine 1.

[0019] The bogies 10a to 10d are connected in series along the tunnel axis direction. The bogies 10a to 10d are connected in series via a connecting means so that adjacent bogies can swing in the left-right direction relative to each other. The bogies 10a to 10d are arranged in the order of bogie 10a, bogie 10b, bogie 10c, and bogie 10d from rear to front. Here, the bogie 10a at the rearmost position among the bogies 10a to 10d corresponds to the "first bogie" of the present invention. The bogie 10d at the frontmost position among the bogies 10a to 10d corresponds to the "second bogie" of the present invention. The bogie 10d is disposed between the shield machine 1 and the bogie 10a and can move inside the lining 8 (inside the tunnel) together with the bogie 10a.

[0020] Sleepers 11 are provided on the bottom of the lining body 8. A pair of left and right rails 12 for the carriages 10a to 10d to run on are laid on the upper surface side of the sleepers 11 along the tunnel axial direction. Here, a track 13 is formed by the sleepers 11 and the rails 12. The carriages 10a to 10d can run on the track 13 (particularly on the rails 12).

[0021] The front end of the towing bar 9 is attached to the shield machine 1 via a hinge mechanism (not shown). The rear end of the towing bar 9 is attached to the front of the dolly 10d via a hinge mechanism (not shown). This allows the towing bar 9 to swing left and right relative to the shield machine 1, and further allows the dolly 10d to swing left and right relative to the towing bar 9.

[0022] The carriages 10a to 10d are guided by rails 12 and towed by the shield machine 1 via towing rods 9, and move forward on tracks 13, following the excavation of the shield machine 1.

[0023] Next, the method of constructing a shield tunnel will be explained with reference to FIG. First, with the propulsion jack 5 in a shortened state, the segments 7 are assembled in the skin plate 2 using the above-mentioned erector device to construct a new segment ring. This new segment ring constitutes the lining body 8.

[0024] Next, the propulsion jack 5 is extended to propel the shield machine 1 forward. By repeating the construction of the segment rings and the advancing of the shield machine 1 in this manner, a tunnel including a lining 8 is constructed.

[0025] Next, a system 20 for measuring the inner shape of a tunnel (tunnel interior shape measuring system) will be described with reference to Figs. 2 to 5 in addition to Fig. 1 mentioned above. Fig. 2 is a plan view of a tunnel during curve construction. Fig. 3 is a diagram showing a schematic configuration of a first distance sensor E1. Fig. 4 is a diagram showing a measurement section MP and a design section SP of the first distance sensor E1. Fig. 5 is a diagram showing a schematic configuration of the system 20. In Fig. 2, the aforementioned drawbar 9 and track 13, etc. are omitted for the sake of simplicity.

[0026] 1 and 2, a first total station M1 is provided on the upper rear portion of the carriage 10a. The first total station M1 is a so-called automatic tracking type distance and angle measuring instrument.

[0027] A pair of first targets TR1 and TR2 are arranged on the upper rear end of the carriage 10a at a distance from each other. The first targets TR1 and TR2 are composed of reflecting prisms or the like. The first total station M1 can automatically collimate the first targets TR1 and TR2. The technology related to this automatic collimation is well known, as described in, for example, Japanese Patent No. 5196725, and therefore a description thereof will be omitted.

[0028] In plan view, a straight line (virtual line) passing through the first targets TR1 and TR2 is set to be parallel to the measurement cross section MP shown in Fig. 4. The orientation of the bogie 10a shown in Fig. 2 (the orientation of the front and rear faces of the bogie 10a) u1 is perpendicular to the measurement cross section MP shown in Fig. 4. Here, the design cross section SP shown in Fig. 4 is perpendicular to the reference line SL. During linear construction of a tunnel along the straight line portion of the reference line SL, the design cross section SP and the measurement cross section MP approximately coincide with each other. In contrast, during curved construction of a tunnel along the curved portion of the reference line SL, the measurement cross section MP may be inclined with respect to the design cross section SP (for example, it may be inclined by a directional angle difference Δθ1 shown in Fig. 4, which will be described later).

[0029] A first distance sensor E1 is provided at the rear of the bogie 10a. In this embodiment, the first distance sensor E1 is attached to the bogie 10a so as to be located at the center of the segment ring that constitutes the lining body 8. However, the first distance sensor E1 may be disposed at a position shifted from the center of the segment ring.

[0030] As shown in FIG. 1 to FIG. 3, the first distance sensor E1 is a rotary type laser distance sensor including a main body 15 and a rotating part 16. The main body 15 is fixed to the carriage 10a. The rotating part 16 is located behind the main body 15. The rotating part 16 is rotatable relative to the main body 15. The rotation axis of the rotating part 16 is perpendicular to the measurement cross section MP. The first distance sensor E1 irradiates a laser light LZ from the rotating part 16 toward the inner surface of the lining body 8 (the inner surface of the tunnel) in the tunnel radial direction, and detects the distance between the first distance sensor E1 and the inner surface of the lining body 8 by the reflected light. The irradiation direction of this laser light LZ is perpendicular to the rotation axis of the rotating part 16. Here, when the rotating part 16 is rotated relative to the main body 15, the position on the inner surface of the lining body 8 where the laser light LZ is irradiated moves along the circumferential direction of the lining body 8. That is, the first distance sensor E1 is configured to be able to change the irradiation direction of the laser light LZ. When the laser light LZ is irradiated from the rotating part 16 while rotating the rotating part 16 relative to the main body part 15, the irradiable range of the laser light LZ can correspond to the measurement cross section MP.

[0031] A second target TE1 is provided at the rear end of the rotating part 16 of the first distance sensor E1. The second target TE1 is composed of a reflecting prism or the like. The first total station M1 can automatically collimate the second target TE1. Here, the second target TE1 is rotatable coaxially and integrally with the rotating part 16 with respect to the main body 15 of the first distance sensor E1.

[0032] As shown in Figures 1 and 2, a number of reference points N1, N2 are provided behind the bogie 10a (i.e., on the tunnel entrance side of the bogie 10a) within the lining body 8 (inside the tunnel). The reference points N1, N2 are constituted by reflecting prisms or the like. In this embodiment, two reference points are provided within the lining body 8. However, it goes without saying that three or more reference points may be provided within the lining body 8. The first total station M1 can automatically aim at each of the reference points N1, N2.

[0033] 5, a system 20 for measuring the inner shape of a tunnel includes a first total station M1, a first distance sensor E1, a processing device 21, a recording device 22, and a display device 23. The processing device 21, the recording device 22, and the display device 23 may be disposed, for example, in any of the carts 10a to 10d, or in a guardhouse or the like at the tunnel construction site.

[0034] The first total station M1 and the processing device 21 are connected via a signal line 31. The first distance sensor E1 and the processing device 21 are connected via a signal line 32. The processing device 21 and the recording device 22 are connected via a signal line 33. The processing device 21 and the display device 23 are connected via a signal line 34. In this embodiment, the first total station M1, the first distance sensor E1, the processing device 21, the recording device 22, and the display device 23 are connected by the signal lines 31 to 34 to communicate with each other. However, at least one of the signal lines 31 to 34 may be changed to a wireless communication device (transmitter and receiver) to perform wireless communication between them.

[0035] The processing device 21 includes a CPU, a memory, a hard disk, etc., and performs various calculation processes. The processing device 21 includes a tunnel design coordinate system setting unit 41, a coordinate information storage unit 42, a direction angle difference specifying unit 43, a distance measurement value correcting unit 44, and a tunnel inner surface shape specifying unit 45.

[0036] In this embodiment, the tunnel design coordinate system setting unit 41 sets a two-dimensional coordinate system (orthogonal coordinate system) for the tunnel design. However, it goes without saying that the tunnel design coordinate system setting unit 41 may set a three-dimensional coordinate system for the tunnel design.

[0037] The coordinate information memory unit 42 stores the position (coordinates) of the reference line SL in the coordinate system set by the coordinate system setting unit 41 for tunnel design, the position (coordinates) of the center (center of curvature) of the curved portion of the reference line SL, and the positions (coordinates) of the reference points N1 and N2.

[0038] The direction angle difference determination unit 43 determines the direction angle difference Δθ1 (see FIG. 2) between the reference line SL and the carriage 10a, which represents the deviation of the direction u1 of the carriage 10a from the direction u0 of the reference line SL. Here, as described above, the reference line SL is perpendicular to the design cross section SP. Also, as described above, the direction of the carriage 10a (the direction of the front and rear faces of the carriage 10a) u1 is perpendicular to the measurement cross section MP. Therefore, this direction angle difference Δθ1 corresponds to the angle between the design cross section SP and the measurement cross section MP (see FIG. 4). Note that the "first determination unit" of the present invention may include the first total station M1, the first targets TR1 and TR2, the second target TE1, and the reference points N1 and N2.

[0039] Based on the direction angle difference Δθ1 identified by the direction angle difference identifying unit 43, the distance measurement value correcting unit 44 corrects the distance measurement value of the first distance sensor E1 (the distance measurement value measured by the first distance sensor E1).

[0040] The tunnel inner surface shape specifying unit 45 uses the distance measurement value corrected by the distance measurement value correcting unit 44 to specify the inner surface shape of the lining 8 at the design cross section SP (the inner surface shape of the tunnel).

[0041] The recording device 22 includes at least one of a printer and a storage device. When the recording device 22 includes a printer, the printer prints the inner shape of the lining body 8 at the design cross section SP (the inner shape of the tunnel) on paper or the like. When the recording device 22 includes a storage device, the storage device stores the inner shape of the lining body 8 at the design cross section SP (the inner shape of the tunnel).

[0042] The display device 23 displays the inner surface shape of the lining body 8 (the inner surface shape of the tunnel) at the design cross section SP, and is, for example, a display.

[0043] 6 is a flowchart showing a method for correcting the distance measurement value of the first distance sensor E1, which is performed in the system 20. This flow may be repeated at a predetermined distance interval or time interval (for example, after each excavation of one segment ring). This flow is preferably performed during the construction of a curved tunnel.

[0044] First, when the shield machine 1 stops excavating, the rotating part 16 of the first distance sensor E1 is rotated while laser light LZ is emitted from the rotating part 16 to measure the distance between the first distance sensor E1 and the inner surface of the covering body 8 at multiple points around the circumferential direction of the covering body 8.

[0045] Next, in step S1, the distance measurement value correction unit 44 of the processing device 21 acquires the distance measurement value of the first distance sensor E1. The distance measurement value of the first distance sensor E1 can be acquired by the distance measurement value correction unit 44 in a state associated with an angle α (see FIGS. 8 and 9 described later) corresponding to the irradiation direction of the laser light LZ.

[0046] Next, in step S2, the direction angle difference specifying unit 43 of the processing device 21 specifies the direction angle difference Δθ1 between the reference line SL and the cart 10a.

[0047] Here, the determination of the direction angle difference Δθ1 performed in step S2 will be described with reference to Fig. 7. Fig. 7 is a flowchart showing a method of determining the direction angle difference Δθ1.

[0048] First, in step S11, the first total station M1 sights the reference points N1 and N2, thereby identifying the position (coordinates) of the first total station M1.

[0049] Next, in step S12, the first total station M1 sights the second target TE1, thereby identifying the position (coordinates) of the first distance sensor E1.

[0050] Next, in step S13, the first targets TR1 and TR2 are collimated by the first total station M1. This allows the positions (coordinates) of the first targets TR1 and TR2 to be identified. Note that step S13 may be performed prior to step S12.

[0051] Next, in step S14, the direction angle difference Δθ1 is determined based on the coordinates of the first distance sensor E1 (the coordinates of the second target TE1) and the coordinates of the first targets TR1 and TR2.

[0052] Here, an example of the process performed in step S14 will be described with reference to Fig. 2. Here, the coordinates of the first targets TR1, TR2 and the first distance sensor E1 are assumed to be as follows, and the coordinates of the center (center of curvature) CC of the curved portion of the reference line SL are assumed to be as follows:

[0053] TR1:(x,y)=(x1,y1) TR2:(x,y)=(x2,y2) E1:(x,y)=(x3,y3) CC:(x,y)=(0,0)

[0054] The equation of a straight line (virtual line) passing through the first targets TR1 and TR2 is given by the following formula (1).

[0055] y = Ax + y1 - Ax1 … (1) Where: A=(y2-y1) / (x2-x1) It is.

[0056] The equation of the straight line (imaginary line) passing through the center of curvature CC and the first distance sensor E1 is given by the following equation (2).

[0057] y = Bx … (2) Where: B=y3 / x3 It is.

[0058] Here, the straight line (imaginary line) passing through the first targets TR1 and TR2 corresponds to the measurement cross section MP in Figure 4. Also, the straight line (imaginary line) passing through the center of curvature CC and the first distance sensor E1 corresponds to the design cross section SP in Figure 4. Therefore, the angle between the line expressed by equation (1) and the line expressed by equation (2) corresponds to the direction angle difference Δθ1 shown in Figure 4. Therefore, the direction angle difference Δθ1 is expressed by the following equation (3), which is a formula for finding the angle between two lines.

[0059] Δθ1=arctan{(AB) / (1+A·B)} …(3) Where: A=(y2-y1) / (x2-x1) B=y3 / x3 It is.

[0060] That is, by using the formula (3), the direction angle difference Δθ1 can be determined based on the coordinates of the first distance sensor E1 and the coordinates of the first targets TR1 and TR2.

[0061] As an example, assume that the coordinates (in meters) of the first targets TR1, TR2 and the first distance sensor E1 are respectively as follows:

[0062] TR1:(x,y)=(x1,y1)=(11798,96285) TR2:(x,y)=(x2,y2)=(12158,102275) E1:(x,y)=(x3,y3)=(12327,99259)

[0063] Substituting the above values ​​into equation (3), we get Δθ1=3.6[deg] It becomes.

[0064] After the direction angle difference Δθ1 is specified in step S2 (steps S11 to S14), in step S3, the distance measurement value correction unit 44 of the processing device 21 corrects the distance measurement value of the first distance sensor E1 based on the direction angle difference Δθ1.

[0065] The relationship between the corrected distance measurement value W1, which is the result of this correction, the distance measurement value before correction (the original distance measurement value) W0, and the correction value C obtained based on the direction angle difference Δθ1 is expressed by the following equation (4).

[0066] W1 = C W0 …(4)

[0067] That is, in the distance measurement correction unit 44, by multiplying the original distance measurement value W0 of the first distance sensor E1 by the correction value C, a corrected distance measurement value W1 can be obtained.

[0068] Here, a method for calculating the correction value C will be described with reference to Fig. 8 in addition to Fig. 4. Fig. 8 is a diagram for explaining a method for calculating the correction value C.

[0069] FIG. 8 shows a two-dimensional coordinate system (Cartesian coordinate system) at the design cross section SP as viewed from the face side of the shield machine 1. The m-axis shown in FIG. 8 corresponds to the width direction (left-right direction) of the shield machine 1. The n-axis shown in FIG. 8 corresponds to the vertical direction (up-down direction) of the shield machine 1. The origin O of the coordinate system shown in FIG. 8 corresponds to the reference line SL. The angle α shown in FIG. 8 is set so that the positive direction of the n-axis (directly above) is 0 degrees, and increases clockwise around the origin O as viewed from the face side. Here, in this embodiment, the first distance sensor E1 may be located at the origin O. Therefore, the angle α may correspond to the irradiation direction of the laser light LZ in the first distance sensor E1.

[0070] 8 indicates the design shape of the inner surface of the lining 8 (the inner surface of the tunnel) at the design cross section SP. The circle S1 is a circular shape with the origin O as its center and a radius r.

[0071] The ellipse L1 shown by a solid line in Fig. 8 indicates the mapping of the circle S1 onto the measurement cross section MP. As shown in Fig. 8, if the length of the major axis of the ellipse L1 is "a x 2" and the length of the minor axis is "b x 2", the equation of the ellipse L1 is expressed by the following formula (5).

[0072] (m 2 / a 2 )+(n 2 / b 2 )=1 …(5)

[0073] Here, when the angle (directional angle difference Δθ1) between the design cross section SP and the measurement cross section MP is taken into consideration, the following equations (6) and (7) are obtained.

[0074] a = r / cosΔθ1 … (6) b = r … (7)

[0075] On the other hand, the equation for measuring the shape of the inner surface of the lining 8 (the inner surface of the tunnel) is the following equation (8), which corresponds to the straight line L2 in FIG.

[0076] n = m tan(270-α) …(8)

[0077] When the direction angle difference Δθ1 and the angle α are determined using the formulas (5) to (8), the coordinates (m, n) of the point P (see FIG. 8) on the ellipse L1 are calculated accordingly. An example of the calculation result is shown in FIG. 9.

[0078] In FIG. 9, the following assumptions are made regarding equations (5) to (8). Δθ1=3.6[deg] r=5000[m]

[0079] 9, the coordinates (m, n) of point P on ellipse L1 are calculated according to angle α. Based on the coordinates (m, n), the distance (converted distance) r' from origin O to point P on ellipse L1 is calculated. The correction value C is calculated by the following formula (9).

[0080] C=r / r' …(9)

[0081] In this manner, the correction value C according to the direction angle difference Δθ1 and the angle α is calculated. That is, FIG.

[0082] In this embodiment, the correction value C is calculated after step S2 (steps S11 to S14). However, prior to step S2 (steps S11 to S14), the correction value C corresponding to every direction angle difference Δθ1 and angle α may be calculated in advance and stored in the distance measurement value correction unit 44. For example, a map showing the relationship between the direction angle difference Δθ1, the angle α, and the correction value C may be stored in the distance measurement value correction unit 44.

[0083] In this way, the distance measurement value of the first distance sensor E1 is corrected.

[0084] Thereafter, the tunnel inner surface shape specifying unit 45 of the processing device 21 specifies the inner surface shape of the lining 8 (the inner surface shape of the tunnel) at the design cross section SP based on the corrected distance measurement value W1 of the first distance sensor E1.

[0085] Fig. 10 shows an example of the measurement result of the inner surface shape of a tunnel. Specifically, Fig. 10 shows the inner surface shape T of the lining body 8 (the inner surface shape of the tunnel) at the design cross section SP and the above-mentioned circle S1, which are displayed on the display device 23. This inner surface shape T is obtained by plotting coordinates obtained from the corrected distance measurement value W1 of the first distance sensor E1. For example, based on the display shown in Fig. 10, the roundness of the inner surface of the lining body 8 (the inner surface of the tunnel) can be easily measured. In other words, the roundness of the lining body 8 (the roundness of the tunnel) can be easily measured.

[0086] According to this embodiment, a system 20 for measuring the inner shape of a tunnel constructed by a shield machine 1 along a reference line SL includes a carriage 10a (first carriage) that can move in the tunnel following the excavation of the shield machine 1, a first distance sensor E1 provided on the carriage 10a and used to measure the inner shape of the tunnel, and a first determination unit that determines the deviation of the orientation u1 of the carriage 10a relative to the orientation u0 of the reference line SL. In the system 20, the distance measurement value of the first distance sensor E1 is corrected based on the deviation determined by the first determination unit. This allows the inner shape of the tunnel to be measured with high accuracy.

[0087] According to this embodiment, the first identification unit includes a first total station M1 provided on the cart 10a (first cart), first targets TR1 and TR2 provided on the cart 10a and sighted by the first total station M1, and reference points N1 and N2 provided in the tunnel and sighted by the first total station M1. This allows the position and orientation u1 of the cart 10a to be grasped easily and accurately.

[0088] According to the present embodiment, the first identifying unit further includes a second target TE1 that is provided on the first distance sensor E1 and is sighted by the first total station M1, thereby making it possible to easily and accurately grasp the position of the first distance sensor E1.

[0089] In this embodiment, the first identification unit directly grasps the position of the first distance sensor E1 by sighting the second target TE1 provided on the first distance sensor E1 with the first total station M1. However, when the position and orientation u1 of the dolly 10a are grasped, the first identification unit may indirectly grasp the position of the first distance sensor E1 based on the grasped position and orientation u1 of the dolly 10a.

[0090] Furthermore, the position and orientation u1 of the carriage 10a in the first identification unit may be grasped based on the displacement of the carriage 10a (the transition of the position change over time). The displacement of the carriage 10a may be calculated based on the extension amount of the propulsion jack 5 of the shield machine 1. The displacement of the carriage 10a may be calculated based on the extension amount of the propulsion jack 5 of the shield machine 1 and the coordinates of the track 13 (the laying position of the rail 12). The coordinate information storage unit 42 may store the coordinate information.

[0091] In this embodiment, a two-dimensional coordinate system is set for the tunnel design, and the distance measurement value of the first distance sensor E1 is corrected based on the deviation of the orientation u1 of the bogie 10a from the orientation u0 of the reference line SL (directional angle difference Δθ1). In this regard, it goes without saying that a three-dimensional coordinate system may be set for the tunnel design, and the distance measurement value of the first distance sensor E1 may be corrected based on the deviation of the orientation u1 of the bogie 10a from the orientation u0 of the reference line SL.

[0092] Next, a second embodiment of the present invention will be described with reference to FIGS. Fig. 11 shows a schematic configuration of the shield machine 1 in this embodiment. Fig. 12 is a plan view of a tunnel during curved construction in this embodiment. Fig. 13 is a diagram showing a schematic configuration of the second distance sensor E2. Fig. 14 is a diagram showing a measurement section MP and a design section SP of the second distance sensor E2. Fig. 15 is a diagram showing a schematic configuration of the system 20. In Fig. 12, for simplification of the illustration, the aforementioned tow bar 9, track 13, etc. are omitted. The points that differ from the first embodiment will be described.

[0093] 11 and 12, a second total station M2 is provided on the upper front portion of the dolly 10d. The second total station M2 is a so-called automatic tracking type distance and angle measuring instrument.

[0094] A pair of third targets TF1 and TF2 are arranged on the upper front end of the carriage 10d with a gap between them. The third targets TF1 and TF2 are composed of reflecting prisms or the like. The second total station M2 can automatically collimate the third targets TF1 and TF2.

[0095] In plan view, a straight line (virtual line) passing through the third targets TF1 and TF2 is set to be parallel to the measurement cross section MP shown in Fig. 14. The orientation of the bogie 10d shown in Fig. 12 (the orientation of the front and rear faces of the bogie 10d) u2 is perpendicular to the measurement cross section MP shown in Fig. 14. Here, the design cross section SP shown in Fig. 14 is perpendicular to the reference line SL. During linear construction of a tunnel along the straight line portion of the reference line SL, the design cross section SP and the measurement cross section MP approximately coincide with each other. In contrast, during curved construction of a tunnel along the curved portion of the reference line SL, the measurement cross section MP may be inclined with respect to the design cross section SP (for example, it may be inclined by a directional angle difference Δθ2 shown in Fig. 14, which will be described later).

[0096] A second distance sensor E2 is provided at the front of the bogie 10d. In this embodiment, the second distance sensor E2 is attached to the bogie 10d so as to be located at the center of the segment ring that constitutes the lining body 8. However, the second distance sensor E2 may be disposed at a position shifted from the center of the segment ring. The second distance sensor E2 may also be provided on a scaffolding, frame, etc. (not shown) between the shield machine 1 and the bogie 10d. This scaffolding, frame, etc. may be connected to at least one of the shield machine 1 and the bogie 10d.

[0097] As shown in Figs. 11 to 13, the second distance sensor E2 has the same configuration as the first distance sensor E1. The second distance sensor E2 is also a rotary type laser distance sensor including a main body 15 and a rotating part 16. The main body 15 is fixed to the carriage 10d. The rotating part 16 is located forward of the main body 15. The rotation axis of the rotating part 16 is perpendicular to the measurement cross section MP. The second distance sensor E2 irradiates a laser light LZ from the rotating part 16 toward the inner surface of the lining body 8 (the inner surface of the tunnel) in the tunnel radial direction, and detects the distance between the second distance sensor E2 and the inner surface of the lining body 8 by the reflected light. The irradiation direction of this laser light LZ is perpendicular to the rotation axis of the rotating part 16. Here, when the rotating part 16 is rotated relative to the main body 15, the position on the inner surface of the lining body 8 where the laser light LZ is irradiated moves along the circumferential direction of the lining body 8. That is, the second distance sensor E2 is also configured to be able to change the irradiation direction of the laser light LZ, similar to the first distance sensor E1. When the laser light LZ is irradiated from the rotating part 16 while rotating the rotating part 16 relative to the main body part 15, the irradiable range of the laser light LZ can correspond to the measurement cross section MP.

[0098] The second total station M2 is provided with a fourth target TA. The fourth target TA is configured with a reflecting prism or the like. The first total station M1 can automatically collimate the fourth target TA.

[0099] A fifth target TE2 is provided at the front end of the rotating part 16 of the second distance sensor E2. The fifth target TE2 is composed of a reflecting prism or the like. The second total station M2 can automatically collimate the fifth target TE2. Here, the fifth target TE2 is rotatable coaxially and integrally with the rotating part 16 with respect to the main body 15 of the second distance sensor E2.

[0100] As shown in Fig. 15, in this embodiment, the second total station M2 and the processing device 21 are connected via a signal line 35. The second distance sensor E2 and the processing device 21 are connected via a signal line 36. In this embodiment, the second total station M2, the second distance sensor E2, and the processing device 21 are connected via the signal lines 35 and 36 to communicate with each other. However, at least one of the signal lines 35 and 36 may be changed to a wireless communication device (transmitter and receiver) to perform wireless communication between them.

[0101] The direction angle difference determination unit 43 determines the direction angle difference Δθ2 (see FIG. 12) between the reference line SL and the carriage 10d, which indicates the deviation of the direction u2 of the carriage 10d from the direction u0 of the reference line SL. Here, as described above, the reference line SL is perpendicular to the design cross section SP. Also, as described above, the direction of the carriage 10d (the direction of the front and rear faces of the carriage 10d) u2 is perpendicular to the measurement cross section MP. Therefore, this direction angle difference Δθ2 corresponds to the angle between the design cross section SP and the measurement cross section MP (see FIG. 14). Note that the "second determination unit" of the present invention may include the second total station M2, the third targets TF1 and TF2, the fourth target TA, and the fifth target TE2. In this embodiment, the direction angle difference Δθ1 may be determined by the direction angle difference determination unit 43.

[0102] The distance measurement value corrector 44 corrects the distance measurement value of the second distance sensor E2 (the distance measurement value measured by the second distance sensor E2) based on the direction angle difference Δθ2 identified by the direction angle difference identifyr 43. Note that in this embodiment as well, the distance measurement value of the first distance sensor E1 can be corrected by the distance measurement value corrector 44.

[0103] 16 is a flowchart showing a method for correcting the distance measurement value of the second distance sensor E2, which is performed in the system 20. This flow may be repeated at predetermined distance or time intervals (for example, after each excavation of one segment ring). This flow is preferably performed during the construction of a curved tunnel.

[0104] First, when the shield machine 1 stops excavating, the rotating part 16 of the second distance sensor E2 is rotated while laser light LZ is emitted from the rotating part 16 to measure the distance between the second distance sensor E2 and the inner surface of the covering body 8 at multiple points around the circumferential direction of the covering body 8.

[0105] Next, in step S21, the distance measurement value correction unit 44 of the processing device 21 acquires the distance measurement value of the second distance sensor E2. The distance measurement value of the second distance sensor E2 can be acquired by the distance measurement value correction unit 44 in a state associated with the angle α (see FIGS. 8 and 9) corresponding to the irradiation direction of the laser light LZ.

[0106] Next, in step S22, the direction angle difference specifying unit 43 of the processing device 21 specifies the direction angle difference Δθ2 between the reference line SL and the cart 10d.

[0107] Here, the determination of the direction angle difference Δθ2 performed in step S22 will be described with reference to Fig. 17. Fig. 17 is a flowchart showing a method of determining the direction angle difference Δθ2.

[0108] First, in step S11, the first total station M1 sights the reference points N1 and N2, thereby identifying the position (coordinates) of the first total station M1.

[0109] Next, in step S31, the fourth target TA is collimated by the first total station M1, thereby identifying the position (coordinates) of the second total station M2.

[0110] Next, in step S32, the fifth target TE2 is sighted by the second total station M2, thereby identifying the position (coordinates) of the second distance sensor E2.

[0111] Next, in step S33, the third targets TF1 and TF2 are collimated by the second total station M2. This allows the positions (coordinates) of the third targets TF1 and TF2 to be identified. Note that step S33 may be performed prior to step S32.

[0112] Next, in step S34, the direction angle difference Δθ2 is determined based on the coordinates of the second distance sensor E2 (the coordinates of the fifth target TE2) and the coordinates of the third targets TF1 and TF2. The method of determining this direction angle difference Δθ2 is similar to the method of determining the direction angle difference Δθ1 described above, and therefore the description thereof will be omitted.

[0113] After the direction angle difference Δθ2 is specified in step S22 (steps S11, S31 to S34), in step S23, the distance measurement value correction unit 44 of the processing device 21 corrects the distance measurement value of the second distance sensor E2 based on the direction angle difference Δθ2. The method of correcting the distance measurement value of the second distance sensor E2 is similar to the method of correcting the distance measurement value of the first distance sensor E1 described above, and therefore description thereof will be omitted.

[0114] Thereafter, the tunnel inner surface shape identifying unit 45 of the processing device 21 identifies the inner surface shape of the lining 8 (the inner surface shape of the tunnel) at the design cross section SP based on the corrected distance measurement value of the second distance sensor E2.

[0115] Particularly, according to this embodiment, the system 20 further includes a carriage 10d (second carriage) arranged between the shield machine 1 and the carriage 10a (first carriage) and movable in the tunnel together with the carriage 10a, a second distance sensor E2 provided between the shield machine 1 and the carriage 10d or provided on the carriage 10d and used to measure the inner surface shape of the tunnel, and a second determination unit that determines the deviation of the orientation u2 of the carriage 10d relative to the orientation u0 of the reference line SL. In the system 20, the distance measurement value of the second distance sensor E2 is corrected based on the deviation determined by the second determination unit. This allows the inner surface shape of the tunnel to be measured with high accuracy.

[0116] According to this embodiment, the second specifying unit includes a second total station M2 provided on the cart 10d (second cart), third targets TF1 and TF2 provided on the cart 10d and collimated by the second total station M2, and a fourth target TA provided on the second total station M2 and collimated by the first total station M1. This makes it possible to easily and accurately grasp the position and orientation u2 of the cart 10d.

[0117] According to the present embodiment, the second specifying unit further includes a fifth target TE2 that is provided on the second distance sensor E2 and is collimated by the second total station M2. This makes it possible to easily and accurately grasp the position of the second distance sensor E2.

[0118] In this embodiment, the second identification unit directly grasps the position of the second distance sensor E2 by sighting the fifth target TE2 provided on the second distance sensor E2 with the second total station M2. However, when the position and orientation u2 of the dolly 10d are grasped, the second identification unit may indirectly grasp the position of the second distance sensor E2 based on the grasped position and orientation u2 of the dolly 10d.

[0119] Furthermore, the position and orientation u2 of the carriage 10d in the second identification unit may be grasped based on the displacement of the carriage 10d (the transition of the position change over time). The displacement of the carriage 10d may be calculated based on the extension amount of the propulsion jack 5 of the shield machine 1. The displacement of the carriage 10d may be calculated based on the extension amount of the propulsion jack 5 of the shield machine 1 and the coordinates of the track 13 (the laying position of the rail 12). The coordinate information storage unit 42 may store the coordinates of the track 13.

[0120] In this embodiment, a two-dimensional coordinate system is set for the tunnel design, and the distance measurement value of the second distance sensor E2 is corrected based on the deviation of the orientation u2 of the bogie 10d from the orientation u0 of the reference line SL (directional angle difference Δθ2). In this regard, it goes without saying that a three-dimensional coordinate system may be set for the tunnel design, and the distance measurement value of the second distance sensor E2 may be corrected based on the deviation of the orientation u2 of the bogie 10d from the orientation u0 of the reference line SL.

[0121] Next, a third embodiment of the present invention will be described with reference to FIG. Fig. 18 is a plan view of a tunnel during curve construction in this embodiment. Note that in Fig. 18, the drawing bar 9 and track 13 described above are omitted for the sake of simplicity. The points that differ from the above-described second embodiment will be described.

[0122] In this embodiment, a relay prism Q is provided at the upper right side of the dolly 10b and at the upper left side of the dolly 10c. That is, the relay prism Q is provided between the first total station M1 and the fourth target TA of the second total station M2. The first total station M1 can automatically collimate the fourth target TA via the relay prism Q. The relay prism Q is composed of a reflecting prism or the like.

[0123] Particularly, according to this embodiment, the fourth target TA is collimated by the first total station M1 via a relay prism Q provided between the first total station M1 and the fourth target TA. As a result, even if the first total station M1 cannot directly collimate the fourth target TA during curved tunnel construction, the first total station M1 can indirectly collimate the fourth target TA via the relay prism Q.

[0124] In the second and third embodiments described above, the second total station M2 is provided with a fourth target TA. In addition to this, or instead of this, a sixth target constituted by a reflecting prism or the like may be provided in the first total station M1. The sixth target is collimated by the second total station M2. The sixth target may also be collimated by the second total station M2 via a relay prism Q provided between the second total station M2 and the sixth target. In this way, the relative positional relationship between the first total station M1 and the second total station M2 may be grasped.

[0125] Next, a fourth embodiment of the present invention will be described with reference to FIG. Fig. 19 is a plan view of a tunnel during curve construction in this embodiment. Note that in Fig. 19, the drawing bar 9 and track 13 described above are omitted for the sake of simplicity. The points that differ from the first embodiment will be described.

[0126] In this embodiment, the first total station M1 is disposed behind the bogie 10a and ahead of the reference points N1 and N2 within the lining 8 (inside the tunnel). In this embodiment as well, the first specified portion may include the first total station M1, the first targets TR1 and TR2, the second target TE1, and the reference points N1 and N2.

[0127] In the above-described first to fourth embodiments, an example in which there are a plurality of dollies 10 has been shown. However, there may be only one dolly 10. When there is only one dolly 10, the dolly 10 may correspond to the "first dolly" and the "second dolly" of the present invention.

[0128] In the first to fourth embodiments described above, a mud pressure type shield machine 1 has been used. However, the shield machine 1 is not limited to the mud pressure type. For example, the shield machine 1 may be a mud water type. Also, in the first to fourth embodiments described above, the shield machine 1 may be a so-called center-bending type.

[0129] In the above-described first to fourth embodiments, the inner shape of the tunnel is a circle. However, the inner shape of the tunnel is not limited to a circle. For example, the inner shape of the tunnel may be an ellipse or a rectangle.

[0130] Furthermore, it goes without saying that the illustrated embodiments are merely illustrative of the present invention, and that the present invention encompasses various improvements and modifications made by those skilled in the art within the scope of the claims, in addition to those directly shown in the described embodiments. [Explanation of symbols]

[0131] 1. Shield machine 5. Propulsion jack 7 Segments 8 Lining body 9 Towbar 10 Carts 10a Cart (First Cart) 10b Trolley 10c Trolley 10d cart (second cart) 12 Rail 13 orbit 15 Main body 16 Rotating section 20 System (tunnel interior shape measurement system) 21 Processing equipment 22 Recording Devices 23 Display device 31~36 Signal lines 41 Coordinate system setting for tunnel design 42 Coordinate information storage unit 43 Direction angle difference identification part 44 Distance measurement value correction section 45 Tunnel inner surface shape specification section u0~u2 orientation E1 First distance sensor E2 Second Distance Sensor LZ Laser light M1 The first total station M2 Second Total Station MP measurement cross section N1,N2 Reference point SL Reference Line SP design cross section TR1, TR2 First Target TE1 2nd Target TF1, TF2 Third Target TA 4th Target TE2 5th target Q Relay Prism Δθ1,Δθ2 Direction angle difference

Claims

1. A system for measuring the inner shape of a tunnel constructed by a shield machine along a reference line, A first carriage capable of moving within the tunnel following the excavation of the shield machine; A first distance sensor provided on the first carriage and used to measure the inner surface shape of the tunnel; A first identification unit that identifies a deviation of an orientation of the first cart with respect to an orientation of the reference line; Equipped with A tunnel inner surface shape measurement system, in which the distance measurement value of the first distance sensor is corrected based on the deviation identified by the first identification unit.

2. The first specifying unit is a first total station provided on the first carriage; a first target provided on the first carriage and collimated by the first total station; a reference point provided within the tunnel and sighted by the first total station; The tunnel inner surface shape measurement system according to claim 1 .

3. The tunnel inner surface shape measuring system according to claim 2 , wherein the first identifying portion further comprises a second target provided on the first distance sensor and collimated by the first total station.

4. A second carriage disposed between the shield machine and the first carriage and movable within the tunnel together with the first carriage; A second distance sensor is provided between the shield machine and the second cart, or is provided on the second cart and used to measure the inner surface shape of the tunnel; A second identification unit that identifies a deviation of an orientation of the second cart with respect to an orientation of the reference line; Further comprising: A tunnel inner surface shape measuring system according to any one of claims 1 to 3, wherein the distance measurement value of the second distance sensor is corrected based on the deviation identified by the second identification unit.

5. A second carriage disposed between the shield machine and the first carriage and movable within the tunnel together with the first carriage; A second distance sensor is provided between the shield machine and the second cart, or is provided on the second cart and used to measure the inner surface shape of the tunnel; A second identification unit that identifies a deviation of an orientation of the second cart with respect to an orientation of the reference line; Further comprising: The distance measurement value of the second distance sensor is corrected based on the deviation identified by the second identification unit, The second specifying unit is a second total station provided on the second carriage; a third target provided on the second carriage and collimated by the second total station; a fourth target provided on the second total station and collimated by the first total station; The tunnel inner surface shape measuring system according to claim 2 or 3, comprising:

6. The tunnel inner surface shape measuring system according to claim 5 , wherein the second identifying portion further comprises a fifth target provided on the second distance sensor and collimated by the second total station.

7. 6. The tunnel inner surface shape measurement system according to claim 5, wherein the fourth target is collimated by the first total station via a relay prism provided between the first total station and the fourth target.

Images