Measurement system for opening shield drive method

Abstract

To provide an opening shield drive method measurement system capable of calculating at real time, a normal line and displacement of a height by automatic calculation, therefore easily reflecting the normal line and displacement of a height in propulsion work, and eliminating need of operators related to measurement work.SOLUTION: On two or three points in the vicinity of a top end face corner of an opening shield machine 1, prisms 4 are installed. By an automatic tracking type total station 3, circulation and measurement on each point are performed, coordinate values on the prisms 4 are measured, and on the basis of a positional relationship between a position of a top end face corner of the opening shield machine 1 registered in an initial setting, and the installed prisms 4, coordinates on positions of the prisms 4 are measured, thereby calculating the positional coordinate of the top end face corner position of the opening shield machine 1. On the opening shield machine 1, an inclination meter 7 using a two-axes inclination sensor is installed, and the coordinate value on the top end face corner position of the opening shield machine 1 calculated by measurement of the positions of the prisms 4 using the value of the inclination which is measured always, is corrected, for calculating a measurement value close to an actual value.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] The present invention relates to a surveying system for an open shield construction method. [Background technology]

[0002] The open shield method is a construction method in which a box or open conduit is buried underground using an open shield machine while retaining the earth under difficult conditions such as narrow places in urban areas or on soft ground.

[0003] The open shield machine used in this open shield method has a retaining wall that reaches down to the ground surface, has a rectangular cross section, and has an open top.

[0004] This method is used when a box conduit needs to be laid in an area with low soil coverage; excavation is carried out from above ground using a backhoe or similar tool, and the open shield machine moves forward in accordance with the excavation.

[0005] There are four types of open shield tunneling methods: Backfill injection type The thrust reaction force is applied to the construction box, and only the open shield machine advances. The gaps on the sides and bottom of the box and the ground that arise as the open shield machine advances are filled with backfill injection material, and construction is carried out while suppressing the settlement of the box and the impact on the surrounding area.

[0006] No backfill injection type The thrust reaction force is applied to the construction box body, and only the open shield machine moves forward. The bottom of the box-construction section inside the open shield machine does not have a bottom plate, and the foundation is built directly on the bedrock surface with crushed stone and PC boards, and the box-construction box is then installed. The gaps on the sides of the box-construction box and the bedrock that occur as the open shield machine advances are filled with sand from above, and construction is carried out while minimizing the impact on the surrounding area.

[0007] Propulsion type The open shield machine connected to the end of the box and the box are advanced forward by the push equipment installed in the starting shaft. After the box has been advanced, new box and box components are placed in the starting shaft again, and the same process is repeated to set the box in the designated position.

[0008] Self-propelled type The open shield machine is divided into multiple sections in the forward and backward directions, and it moves forward on its own. The bottom of the box-and-drain installation section inside the open shield machine does not have a bottom plate, so the foundation is built directly on the bedrock surface with crushed stone and PC panels, and the box-and-drain is then installed. The gaps on the sides of the box-and-drain and the ground that are generated as the open shield machine advances are filled with sand from above, minimizing the impact on the surrounding area.

[0009] One of the surveys carried out to grasp the orientation of the open shield machine and its rolling and pitching state when it is excavating is to place a mirror on four corners of each component of the shield machine (four points at the front and four points at the jack tail) while the shield machine is stopped, and calculate the coordinate values ​​using a total station. The normal and height displacement are then calculated from the coordinate values.

[0010] Another method is to construct a reference line for the center line's escape at a certain distance from the center line using a water line or the like, and then measure the distance from the reference line for the escape to the side of the shield machine using a scale to calculate the normal displacement.

[0011] In addition, the following patent documents have been proposed as methods for surveying and confirming the excavation progress of a shield machine in a shield construction method, and methods for detecting the position of a shield machine, rather than an open shield machine. [Patent Document 1] Japanese Patent Application Publication No. 8-75464 [Patent Document 2] Japanese Patent Application Publication No. 4-310818 [Patent Document 3] JP 2000-352297 A

[0012] Patent Document 1 describes a method for surveying and confirming excavation progress of a shield machine, which is characterized by shining laser light emitted from a visible light laser rangefinder fixed to the shield machine through the gap between the rear equipment of the shield machine and the segments onto a semi-transparent, semi-reflective screen installed at the rear of the rear equipment, and measuring the position of the shield machine by collimating the irradiation point on the screen with a total station installed at a point of known coordinates further rearward of the screen.

[0013] Patent document 2 describes a method for surveying and confirming excavation progress of a shield machine, which is characterized by shining laser light emitted from a visible light laser rangefinder fixed to the shield machine through the gap between the rear equipment of the shield machine and the segments onto a semi-transparent, semi-reflective screen installed at the rear of the rear equipment, and measuring the position of the shield machine by sighting the irradiation point on the screen with a total station installed at a point of known coordinates further rearward of the screen.

[0014] The aforementioned Patent Document 3 describes a tunnel boring machine position detection system that is equipped with a prism and an inclinometer on the shield machine and an automatic tracking transit outside the shield machine, and detects the position of the shield machine in the overall coordinate system by measuring the position coordinates of the prism and the inclination of the shield machine. Summary of the Invention [Problem to be solved by the invention]

[0015] The conventional surveying method using an open shield machine had the following problems. Surveying could not be done unless the shield machine was stopped. In addition, it was necessary to place a surveyor at the point to be measured, which required manpower.

[0016] It should be noted that the above-mentioned Patent Documents 1 and 2 relate to measurements using a shield machine for the shield construction method, and are not suitable for surveying methods using an open shield machine for the open shield construction method.

[0017] The automatic tracking transit in Patent Document 3 has a laser light source, an optical system, and a light receiving and measuring unit. With this configuration, laser light is emitted and the reflected light reflected back by a prism or the like is received at a light receiving position (observation position).

[0018] Therefore, the automatic tracking transit in Patent Document 3 is limited to being installed in a position that is linear horizontally in relation to the prism, and the prism in the exposed part of the open shield machine above ground, which is rectangular, cannot properly grasp the forward posture of the shield machine.

[0019] The shield method uses a circular cutting edge and shield machine, and since the shield machine is subjected to earth and water pressure from all around its cross section, extreme distortion does not occur on the left and right sides of the cross section of the shield machine, and there is no significant impact on construction accuracy.

[0020] In contrast, in an open shield machine, which has an open top and a rectangular shape, there is no load on the top of the shield machine, and loads such as earth pressure from the sides can vary greatly between the left and right sides depending on the current topography.

[0021] Therefore, in open shield machines, distortions and other problems are likely to occur in the shield machine components due to differences in shape and the loads acting from the surroundings.

[0022] In addition, because of its rectangular shape, the orientation of the open shield machine's components has a large effect on the subsequent direction of advancement, and as the open shield machine moves forward, the effects of these distortions must also be taken into consideration, and the behavior of the open shield machine (rolling, pitching, yawing) at the position of each component must be understood and managed.

[0023] When using conventional automated surveying systems that use multiple prisms and total stations, it is necessary to install prisms in at least four locations near the corners of the top surface of each of the front and rear sections of the open shield machine in order to grasp the behavior of the shield machine taking into account the effects of distortion.

[0024] However, in the open shield method, in which excavation work is performed from the ground surface using a backhoe or other equipment, excavation machinery and other heavy machinery may be placed on top of the open shield machine, making it difficult to place the total station in a position where all of the prisms can be seen.

[0025] Furthermore, when repairing existing waterways, the water flowing through the existing waterway may be passed through the open shield machine, making it difficult to place a prism inside the shield machine.

[0026] The object of the present invention is to provide a surveying system for open shield construction which eliminates the disadvantages of the conventional examples, and which can automatically measure the coordinates of the four corners of each component using a mirror fixed in a position that does not interfere with the excavation work of the shield machine, making it possible to survey in real time even during excavation work, and which can easily reflect the normal and height displacements in the excavation work as they are automatically calculated in real time, eliminating the need for workers on hand for the surveying work. [Means for solving the problem]

[0027] In order to achieve the above-mentioned object, the present invention described in claim 1 relates to posture management of an open shield machine, and uses measurement values ​​obtained from an automatic tracking total station and a two-axis tilt sensor installed on the open shield machine to check the posture of the open shield machine in real time even while the open shield machine is moving forward, and performs surveying management. Prisms are installed at two to three points near the top surface corner of the open shield machine, and each point is measured in turn using an automatic tracking total station to measure the coordinate value of the prism position. By measuring the coordinate value of the prism position based on the positional relationship between the top surface angle position of the open shield machine registered in the initial setting and the installed prism, the position coordinate of the top surface angle position of the open shield machine is calculated, and a two-axis tilt sensor is installed on the open shield machine, and the constantly measured tilt value is used to correct the coordinate value of the top surface angle position of the open shield machine calculated by the prism measurement, thereby calculating a measurement value that is close to the actual measurement value.

[0028] According to the present invention as set forth in claim 1, automatic measurement is performed using a total station, mirror, and inclinometer. Rather than placing mirrors at the four corners of each component to be measured, mirrors are placed and fixed at two or three locations that do not interfere with excavation work on the shield machine, and the coordinates of the four corners are calculated by measuring the coordinate values ​​of the mirror, determining the relationship between the mirror and the four corners of the shield machine, and measuring the gradient of the shield machine with an inclinometer. From the calculated coordinate values, the system is capable of automatically calculating, displaying, and outputting the normal and height displacements.

[0029] An open shield machine is a rectangular shield machine exposed at the ground surface, and since rolling and pitching at the front and rear parts of the shield machine components are also important factors in controlling the shield machine, it is possible to calculate the coordinate values ​​of the four corners and calculate the displacement corresponding to the rectangular shield.

[0030] In addition, the coordinates of the four corners of each component can be automatically measured using a mirror fixed in a position that does not interfere with the shield machine's excavation work, making it possible to survey in real time even during excavation work.

[0031] Since the normal and height displacements are calculated automatically in real time, it is easy to reflect them in the construction work. There is no need for workers on-site for the survey work.

[0032] The present invention described in claim 2 is characterized in that the positional relationship between the top end surface angle position of the open shield machine and the installed prism is such that the position coordinate value of the top end surface angle position of the open shield machine is corrected by constructing a straight line perpendicular to the prism fixing position.

[0033] According to the present invention described in claim 2, the coordinate positions of points A', B', C', which are vertically projected from the prism position points A, B, C onto the top plane of the open shield machine, are positions vertically projected from the prism position onto the top plane of the open shield machine, and are approximately the same position as the part where the support pillar of the installed prism is fixed.

[0034] The need to calculate A', B', C' is due to the fact that if points A, B, C are directly related to points 1, 2, and 3, which are the top corners of the shield machine, when distortion of the shield machine occurs, the distances between A to B, A to C, and B to C of the prism being measured will change, making the correction calculations for calculating the coordinate values ​​of points 1, 2, and 3, which are the top corners of the shield machine, complicated and difficult to calculate.

[0035] Therefore, first, a virtual shield machine top plane is constructed by calculating points A', B', and C' on the shield machine top plane (on the same plane as points 1, 2, and 3) calculated from the relationship between prism points A, B, and C and the distance between the shield machine top plane calculated in the initial setting and prism points A, B, and C.

[0036] After that, the coordinate value of 1 on the virtual plane is calculated from the direction between A'-B' and the X-axis distance and Y-axis distance between A'-1. From there, the coordinates of points 2 and 3 on the current virtual shield machine top plane are calculated using the direction between A'-B' and A'-C' and the X-axis distance and Y-axis distance between points 1-2 and 1-3 in the initial setting.

[0037] By following this calculation flow, it is possible to smoothly calculate approximate values ​​even if the relationship between prism points A, B, and C and the shield machine top corner points 1, 2, and 3 is not completely rigid. Effect of the Invention

[0038] As described above, the surveying system for the open shield construction method of the present invention can automatically measure the coordinates of the four corners of each component using a mirror fixed in a position that does not interfere with the excavation work of the shield machine, making it possible to survey in real time even during excavation work.Since normal and height displacements are automatically calculated in real time, they can be easily reflected in the excavation work and there is no need for workers on hand for the surveying work.

[0039] Compared to conventional technology, the position and behavior of the shield machine can be grasped in a timely and accurate manner, which greatly improves the quality of the surveying. As a result, the construction accuracy of the open shield machine as it moves forward is improved, and the construction accuracy of the box and drain installed inside the open shield machine is also improved, so we can expect an improvement in construction quality.

[0040] When performing measurements during normal forward movement, no operator is required on-site; measurements can be taken and the results confirmed from a safe location using a laptop or tablet, dramatically improving the safety of surveying work.

[0041] Surveying work while the shield machine is moving forward can be greatly simplified, improving workability including an increase in the amount of daily progress. In addition, since the measurement data can be output as daily construction management data, the amount of work required not only for actual on-site work but also for compiling management data can be reduced.

[0042] Compared to surveying using an optical distance meter with a transit, which is used as applicable conventional technology, and surveying that combines level surveying with measurement of normal displacement using a convex or the like from the reference line of the relief pile, it is possible to reduce manpower because there is no need to have the surveyor's hands near the shield machine when conducting surveying to grasp its posture. [Brief description of the drawings]

[0043] [Figure 1] 1 is a perspective view showing an overview of a surveying system for an open shield construction method according to the present invention. [Diagram 2] 1 is a plan view showing an outline of a surveying system for an open shield construction method according to the present invention. [Diagram 3] FIG. 13 is an explanatory diagram for performing initial settings. [Figure 4] FIG. 11 is an explanatory diagram showing a first step of the calculation. [Diagram 5] FIG. 11 is an explanatory diagram showing a second step of the calculation. [Figure 6] FIG. 11 is an explanatory diagram showing a third step of the calculation. [Figure 7] FIG. 11 is an explanatory diagram showing a fourth step of the calculation. [Figure 8] FIG. 11 is an explanatory diagram showing a fifth step of the calculation. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0044] Hereinafter, an embodiment of the present invention will be described in detail with reference to the drawings. Fig. 1 is a perspective view showing an outline of a surveying system for an open shield construction method according to the present invention, and Fig. 2 is a plan view of the same, in which 1 indicates an open shield machine.

[0045] The open shield machine 1 is a rectangular-shaped shield machine consisting of a front section 1a with an open top, which consists of left and right side wall panels and a bottom plate connected to these side wall panels, and a tail section 1b with an open top, which also consists of left and right side panels and a bottom plate like the front section 1a.

[0046] A sliding retaining plate 6 extending forward is attached to the left and right cutting edges of the open shield machine 1, and propulsion jacks extending from the rear end of the front part 1a toward the tail part are arranged in a row facing backward, one above the other.

[0047] In the open shield machine 1, the tail 1b is fitted into the rear end of the front part 1a, and a bent part 2 is formed at the fitting part, making it possible to carry out curved construction.

[0048] The open shield machine 1 is advanced by extending the shield jack attached to the open shield machine 1 while the excavator is excavating the ground at the face, and by using the thrust reaction force of the open shield machine 1 against the concrete box, it is advanced forward.

[0049] In the present invention, for posture management of the open shield machine 1, an automatic tracking total station 3 (one unit), prisms 4 (five units), inclinometers 7 (two units) using two-axis tilt sensors, and a personal computer 8 (one unit) are used.

[0050] The prism 4 is a full-circle mirror machine that is installed at a predetermined height on supports at two or three points near the top surface corners of the open shield machine 1. The top of the open shield machine 1 is exposed above ground.

[0051] The automatic tracking total station 3 has a laser light source, an optical system, and a light receiving / measuring unit, and with this configuration, it emits laser light and receives the reflected light that is reflected back by a prism or the like at a light receiving position (observation position).

[0052] The inclinometers 7 were installed at the front part 1 a and the tail part 1 b of the open shield machine 1 .

[0053] Although the tablet PC for remote management and illustration will be simplified, power (inclinometer / PC) and Wi-Fi environment will also be provided.

[0054] The present invention is carried out in the following manner. 1. Measure each point with coordinate values ​​and manage height and normals 2.Display the measurement results in a simple diagram 3. Real-time calculations with automatic tracking 4. Check survey results using a tablet or smartphone 5. Check the measurement results from within the company if you have a Wi-Fi environment

[0055] The automatic tracking total station 3 measures each point cyclically, and measures the coordinate value of the position of the prism 4.

[0056] In the case of three-point prism measurement, the initial value setting is performed by constructing the relationship between points 1, 2, and 3 and prism fixing position points A′, B′, and C′ on the virtual plane 123 based on the input dimensional values, as shown in FIG.

[0057] Then, by inputting the prism height and constructing straight lines AA', BB', and CC' perpendicular to the plane 123, the relationship (spatial model) between the plane 123 and points A, B, and C, and points A', B', and C' is constructed.

[0058] (1) Adjust the coordinate values ​​of points A', B', and C to obtain the coordinate values ​​of points A', B', and C' on the virtual plane at the top of the shield machine using the following procedure. i) Measure the coordinates of points A, B, and C at the prism position. ii) The coordinates of point A at the prism position are set as the reference point of the relationship established by the initial input. iii) Adjust the coordinate values ​​of points A, B, and C based on the positional relationship between the coordinate values ​​of actual measurement points B and C and reference point A.

[0059] If the triangle ABC in the spatial model and the triangle ABC in the actual measurement are not congruent, a plane ABC is constructed from the actual measurement points A, B, and C.

[0060] Also, assuming that the shape of triangle ABC does not change, the coordinate values ​​of the actual measurement points B and C are adjusted using the following method: On plane ABC, align the orientation of point A of the spatial model and the actual measurement value with the orientation of line AB, place triangle ABC, and adjust the coordinate values ​​of points B and C.

[0061] (2) As shown in Figure 5, calculate the coordinate values ​​of points A', B', C', points 1, 2, and 3 using the following procedure. i) (1) Calculate the coordinates of points A', B', and C' from the relationship established by the initial input from points A, B, and C adjusted in (1). ii) Calculate the coordinates of points 1, 2, and 3 from the relationship established in the initial input and the coordinates of points A, B, C, and points A', B', and C'.

[0062] The coordinate positions of points A', B', and C' are the positions vertically lowered from the prism position onto the top surface of the open shield machine. They are almost the same positions as the parts where the supports of the installed prism are fixed.

[0063] The need to calculate points A', B', and C' is as follows: if points A, B, and C were directly related to points 1, 2, and 3, when distortion of the shield machine occurs, the distances between A~B, A~C, and B~C of the prism being measured will change, making correction calculations for calculating the coordinate values ​​of points 1, 2, and 3, which are the corners of the top end of the shield machine, complicated and difficult to calculate.

[0064] Therefore, first, a virtual shield machine top plane is constructed by calculating points A', B', and C' on the shield machine top plane (on the same plane as points 1, 2, and 3) calculated from the relationship between prism points A, B, and C and the distance between the shield machine top plane calculated in the initial setting and prism points A, B, and C.

[0065] Next, the coordinate value of 1 on the virtual plane is calculated from the direction between A'-B' and the X-axis distance and Y-axis distance between A'-1. From there, the coordinates of points 2 and 3 on the current virtual shield machine top plane are calculated using the direction between A'-B' and A'-C' and the X-axis distance and Y-axis distance between points 1-2 and 1-3 in the initial setting.

[0066] By following this calculation flow, it is possible to smoothly calculate approximate values ​​even if the relationship between prism points A, B, and C and the shield machine top corner points 1, 2, and 3 is not completely rigid.

[0067] (3) As shown in Figure 6, calculate the coordinate value of point 4 using the following procedure. i) When setting the initial value, establish relationships with points A, B, C, A', B', and C' for point 4 as well. ii) Using method (2), the plane coordinate values ​​(x, y) of point 4 are also calculated as a point on the same plane as plane 123. iii) Plane A'+ inclination angle is constructed using the gradient measured by the dual-axis inclinometer installed on the shield machine and the coordinate value of point A'. iv) As a point on plane A' + tilt angle, the plane coordinate values ​​(x, y) of point 4 are superimposed to calculate the z coordinate of point 4. v) Correct the plane coordinate value of point 4 based on its positional relationship with points 1, 2, and 3. A, 1, B, 2, C, A', B', C', plane A' + measured oblique angle.

[0068] (4) As shown in Figure 7, the normal displacement is calculated using the following procedure. i) The plane coordinates of the midpoint FF between points 1 and 2 are calculated from the plane coordinate values ​​(x, y) of points 1 and 2. ii) Calculate the distance perpendicular to the center line from the midpoint FF, and use this as the normal displacement at point FF. iii) Similarly, for the rear points 3 and 4, calculate the midpoint FR plane coordinates, calculate the distance perpendicular to the center line, and use this as the normal displacement.

[0069] (5) As shown in FIG. 8, the height displacement is calculated according to the following procedure. i) Calculate the planned height of the shield machine at position point CF, which is perpendicular to the center line from the respective planar coordinate values ​​(x, y) of point 1, from the input values. ii) Compare the heights (z) of points 1 and 2 with the height of the shield machine at the CF position to calculate the displacement. iii) Calculate the planned height of the shield machine at point CR, which is the input dimension behind the CF position between points 1 and 3, from the input values. iv) Compare the heights (z) of points 3 and 4 with the height of the shield machine at the CR position to calculate the displacement.

[0070] (6) Calculate the rolling value using the following procedure. i) Calculate the rolling dimension by subtracting the height (z) of point 2 from the height (z) of point 1. ii) Calculate the rolling angle by dividing the rolling dimension calculated using tan-1(i) by the input dimension of the shield machine width. iii) Calculate the rolling dimension by subtracting the height (z) of point 4 from the height (z) of point 3. iv) Calculate the rolling angle by tan-1 (iii) (calculated rolling dimension / input dimension of shield machine width).

[0071] (7) Calculate the pitching value using the following procedure. i) Calculate the pitching dimension by subtracting the height of point 3 from the height (z) of point 1. ii) Calculate the pitching angle by tan-1 (i) (calculated pitching dimension / input dimension of shield machine length). iii) Calculate the pitching dimension by subtracting the height (z) of point 4 from the height (z) of point 2. iv) Calculate the pitching angle by dividing the pitching dimension calculated using tan-1 (iii) by the input dimension of the shield machine length. [Explanation of symbols]

[0072] 1...Open shield machine 1a...Front part 1b…Tail section 2…Bent section 3...Automatic tracking total station 4...Prism 6...Sliding retaining plate 7... Tilt meter using two-axis tilt sensor 8... Computer

Claims

1. Regarding the posture management of the open shield machine, the automatic tracking total station and the measurement values ​​of the two-axis tilt sensor installed on the open shield machine are used to check the posture of the open shield machine in real time while it is moving forward, and to manage the surveying. Prisms are installed at two or three points near the top surface corner of the open shield machine, and each point is measured by an automatic tracking total station to measure the coordinate value of the prism position. The coordinate measurement of the prism position is performed based on the positional relationship between the top surface corner position of the open shield machine registered in the initial settings and the installed prism, and the position coordinate of the top surface corner position of the open shield machine is calculated. A surveying system for open shield construction, characterized by installing a two-axis tilt sensor on the open shield machine and using the constantly measured tilt value to correct the coordinate value of the top surface angle position of the open shield machine calculated by the prism measurement, thereby calculating a measurement value that is close to the actual measurement value.

2. A surveying system for open shield construction as described in claim 1, wherein the positional relationship between the top end surface angle position of the open shield machine and the installed prism is such that the position coordinate value of the top end surface angle position of the open shield machine is corrected by constructing a straight line perpendicular to the prism fixing position.

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