Coordinate unified measurement system and coordinate unified measurement method

Abstract

To provide a measurement apparatus which can execute tail clearance measurement at any position, segment roundness measurement and / or surface orientation measurement of segment front end parts.SOLUTION: A coordinate unified measurement system U comprises: plural measurement parts 40 having a non-contact type distance sensor 41, a rotation mechanism 42 for rotating the distance sensor 41 and a rotation position detection part 43 for detecting the rotation position of the distance sensor 41 by the rotation mechanism 42; one or more collimation parts 30 for specifying the respective positions and rotation directions of the plural measurement parts 40; a total station TS for measuring the position(s) and orientation(s) of the one or more collimation parts 30; and a control part 60 for calculating a tail clearance or the like based on the measurement results of plural points on end faces of segments and the measurement results of plural points on an inner face of a skin plate. The control part 60 specifies the positions and rotation directions of the plural measurement parts 40 in a unified coordinate system based on the position(s) and orientation(s) of the one or more collimation parts 30.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] The present invention relates to a coordinate-unified measurement system having a plurality of measurement devices for measuring tail clearance at any position, roundness of a segment, and / or surface orientation of a segment in a non-contact manner. [Background technology]

[0002] Conventionally, there is known a technique for measuring the tail clearance, segment roundness, or segment face orientation without contact when a shield machine is used to excavate a tunnel. Here, "tail clearance" refers to the gap between the skin plate of the shield machine and the segment, "segment roundness" refers to the degree of flattening compared to the normal shape, and "segment face orientation" refers to the direction of the front end face of the segment. Each measurement item must be managed so that the skin plate and the segment do not come into contact during curve construction, and so that the finished dimensions are within the allowable range.

[0003] For example, the tail clearance measurement device described in Patent Document 1 includes a measurement unit including a non-contact distance sensor, a rotation mechanism for rotating the distance sensor, and a rotation detection unit, and a control unit that calculates the tail clearance, and the control unit is configured to obtain the position of a first line segment on the inner surface of the segment based on the measurement results of multiple points on the inner surface of the segment, obtain the position of a second line segment on the inner surface of the skin plate based on the measurement results of multiple points on the inner surface of the skin plate, and calculate the tail clearance based on the positions of the first and second line segments and the thickness of the segment. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] JP 2019-214834 A Summary of the Invention [Problem to be solved by the invention]

[0005] However, conventional tail clearance measurement devices, including that described in Patent Document 1, are unable to measure the entire circumference of a segment with a single measurement device due to the measurement method, machine capacity, and obstacles (equipment, workers, etc.). Therefore, it is necessary to use multiple measurement devices on a circumference to complement the capabilities and eliminate the risk of interference. Even in this case, each measurement device can only obtain independent coordinate measurement values.

[0006] SUMMARY OF THE PRESENT EMBODIMENTS An object of the present invention is to provide a coordinate unified measurement system capable of unifying the coordinates of a plurality of measuring devices. [Means for solving the problem]

[0007] In order to achieve the above-mentioned object, the coordinate-unified measurement system of the present invention is a coordinate-unified measurement system for measuring the tail clearance of a shield tunneling machine and / or the end face of a segment, and comprises: a plurality of measurement units having a non-contact distance sensor, a rotation mechanism for rotating the distance sensor, and a rotation position detection unit for detecting the rotation position of the distance sensor by the rotation mechanism; one or more collimation units for identifying the position and rotation direction of each of the plurality of measurement units; a total station for measuring the position and orientation of the one or more collimation units; and a calculation unit for calculating the tail clearance, the roundness of the segment, and / or the surface orientation of the segment based on the measurement results of a plurality of points on the end face of the segment and the measurement results of a plurality of points on the inner surface of the skin plate, and the calculation unit is configured to identify the position and rotation direction of the plurality of measurement units in a unified coordinate system based on the position and orientation of the one or more collimation units. Effect of the Invention

[0008] The coordinate-unified measurement system of the present invention is a coordinate-unified measurement system for measuring the tail clearance of a shield machine and / or the end face of a segment, and includes: a plurality of measurement units each having a distance sensor, a rotation mechanism, and a rotation position detection unit; one or more collimation units for identifying the position and rotation direction of each of the plurality of measurement units; a total station for measuring the position and orientation of the one or more collimation units; and a calculation unit for calculating the tail clearance, the roundness of the segment, and / or the surface orientation of the segment based on the measurement results of a plurality of points on the end face of the segment and the measurement results of a plurality of points on the inner surface of the skin plate; and the calculation unit is adapted to identify the positions and rotation directions of the plurality of measurement units in a unified coordinate system based on the positions and orientations of the one or more collimation units. With this configuration, the coordinates of a plurality of measurement devices can be unified. [Brief description of the drawings]

[0009] [Figure 1] FIG. 2 is a cross-sectional view illustrating the internal structure of a shield tunneling machine. [Diagram 2] FIG. 2 is a side view of a measurement unit of the tail clearance measurement device. [Diagram 3] FIG. 2 is a perspective view of a measurement unit of the tail clearance measurement device. [Figure 4] FIG. 2 is a block diagram illustrating a system configuration of a tail clearance measurement device. [Diagram 5] FIG. 10 is an explanatory diagram of a method for calculating the tail clearance on the face side of a segment. [Figure 6] FIG. 13 is an explanatory diagram of a method for calculating the tail clearance on the wellhead side of a segment. [Figure 7] FIG. 11 is a vertical sectional view for explaining the configuration of a unified coordinate measuring system U according to a second embodiment. [Figure 8] 11 is a cross-sectional view illustrating the arrangement of four measurement units 40 in the second embodiment. [Figure 9] FIG. 11 is a conceptual diagram for explaining the concept of a coordinate unified measurement system U according to a second embodiment. [Figure 10] FIG. 4 is a front view illustrating the configuration of a collimation unit. [Figure 11] FIG. 2 is a perspective view for explaining how to use the collimation unit (measurement method). [Figure 12] FIG. 11 is an explanatory diagram for explaining the flattening amount in the method for estimating an ellipse. [Figure 13] FIG. 11 is an explanatory diagram illustrating the estimation accuracy in the method for estimating an ellipse. [Figure 14] 13 is a table showing the amount of correction that varies depending on the angle in the method of estimating an ellipse. [Figure 15] FIG. 13 is a front view illustrating the circularity of the segments and the shield machine. [Figure 16] FIG. 11 is an explanatory diagram for explaining a tail clearance at an arbitrary position on a circumference. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0010] Hereinafter, an embodiment of the present invention will be described with reference to the drawings. However, the components described in the following embodiments are merely examples, and are not intended to limit the technical scope of the present invention to these alone. Note that, although an earth pressure shield 1 will be described below as an example, the present invention can also be applied to other types of shield tunneling machines. Below, in embodiment 1, the configuration of a single tail clearance measurement device S, which is a basic element, will be described, and in embodiment 2, a coordinate unified measurement system U equipped with multiple measurement units 40, ... will be described. EXAMPLES

[0011] (Shield tunneling machine configuration) FIG. 1 is a vertical cross-sectional side view showing a first embodiment of the present invention. As shown in FIG. 1, an earth pressure shield 1 as a shield tunneling machine of this embodiment includes a skin plate (shield body tube) 2, a bulkhead 3, a cutter head 5, a cutter rotating shaft 10, a cutter driving unit 12, a chamber 16, an earth removal device 17, a shield propulsion jack 18, a mud material supply pipe 21, an earth pressure gauge 22, a monitor (71; see FIG. 4) arranged inside an operation room, and a control unit (60; see FIG. 4) including a calculation unit. The tail clearance measurement device (S) used in the coordinate unified measurement system (U) described in the second embodiment is not limited to the tail clearance measurement device (S) described in the first embodiment.

[0012] The cutter head 5 has cutter spokes 51, a plurality of cutter bits 52, ... provided on the front surface of the cutter spokes 51, a fishtail bit 53 provided in the center of the front surface of the cutter spokes 51, and a plurality of stirring blades 54 provided on the back surface of the cutter spokes 51. The cutter head 5 is attached integrally to the cutter rotation shaft 10.

[0013] The cutter rotating shaft 10 is rotatably supported by a bearing 11 provided in the partition 3 and a bearing provided at the rear of a gear box 13 described below. The cutter rotating shaft 10 is connected to a cutter driving unit 12. The cutter driving unit 12 has a gear box 13 installed on the rear side of the partition 3, a rotational drive source 14 connected to the gear box 13, and a reduction gear (arranged in the gear box 13; not shown) interposed between the output shaft of the rotational drive source 14 and the cutter rotating shaft 10.

[0014] The chamber 16 is formed by a space surrounded by the hood portion of the skin plate 2, the partition wall 3, and the face F. A screw conveyor is used as the soil discharge device 17. The mud intake port of the soil discharge device 17 is open and installed so as to face the chamber 16. Furthermore, an erector 15 for assembling the segments 90 is installed at the tail portion of the skin plate 2.

[0015] A plurality of shield propulsion jacks 18 are installed at required intervals in the circumferential direction inside the skin plate 2. Each shield propulsion jack 18 is composed of a piston portion 18a and a spreader portion 18b. In addition, a tail seal 19 is provided at the rear end portion of the skin plate 2. A measuring portion 40 of a tail clearance measuring device S is installed near the shield propulsion jack 18 of this embodiment.

[0016] That is, the distance sensor 41 constituting the measurement unit 40 is disposed radially outward of the inner surface of the segment 90 as shown in Fig. 2. Specifically, the measurement unit 40 including the distance sensor 41 is disposed near the center position of the shield propulsion jack 18 in the radial direction of the shield by a bracket 40a protruding from the bulkhead 3. The measurement unit 40 including the distance sensor 41 may be fixed to the skin plate 2 side, or may be directly attached to the bulkhead 3 without the bracket 40a.

[0017] (Configuration of a single tail clearance measurement device) Next, the configuration of a single tail clearance measurement device S will be described with reference to Fig. 2 to Fig. 4. As shown in Fig. 4, the tail clearance measurement device S is composed of a measurement unit 40 and a control unit 60 serving as a calculation unit. Then, as will be described later in a second embodiment, a unified coordinate measurement system (U) of the second embodiment is configured by adding a collimation unit (30) and a total station (TS) to each of these components.

[0018] 2 to 4, the measurement unit 40 has a non-contact distance sensor 41, a rotation mechanism 42 such as a motor and gears that rotates the distance sensor 41, and a rotation position detection unit 43 that detects the rotation position of the distance sensor 41 by the rotation mechanism 42. Of these, the rotation mechanism 42 has a rotation axis perpendicular to the shield radial direction. Therefore, the distance sensor 41 of the measurement unit 40 can scan the face-facing end face 90a of the segment 90 and the inner surface of the tail part of the skin plate 2 along a plane parallel to the tunnel longitudinal direction (a plane passing through the shield central axis).

[0019] As described above with reference to Fig. 2, the measurement unit 40 including the distance sensor 41 is positioned radially outward of the inner surface of the segment 90. Furthermore, the measurement unit 40 (distance sensor 41) in this embodiment is positioned exactly in the vicinity of the center of the two shield propulsion jacks 18, 18 in the circumferential direction of the earth pressure shield 1 as a shield tunneling machine, as shown in Fig. 3.

[0020] The position of the distance sensor 41 in the tunnel longitudinal direction (shield excavation direction) may be closer to the tunnel face (front side) than the spreader section 18b when the shield propulsion jack 18 is in the most shortened state. Although not shown, it is preferable that the measurement section 40 including the distance sensor 41 is installed in at least three or more locations in the shield circumferential direction. More specifically, as described later in Example 2, it is preferable that the measurement section 40 is installed in four locations: near the top (0 o'clock; 90 degrees), near the left end (9 o'clock; 180 degrees), near the bottom (6 o'clock; 270 degrees), and near the right end (3 o'clock; 0 degrees) (see FIG. 8).

[0021] The control unit 60 as a calculation unit is, for example, a general-purpose personal computer having a memory, a CPU, an SSD, etc. The control unit 60 has an La calculation unit 61 that calculates a line segment La based on the measurement results of multiple points on the end face 90a of the segment 90, and an Lb calculation unit 62 that calculates a line segment Lb based on the measurement results of multiple points on the inner surface of the skin plate 2. The control unit 60 as a calculation unit may be installed on the shield trailing cart, on the ground, or both. The measurement data from the distance sensor 41 is sent to the control unit 60 through a cable. Furthermore, the data sent to the ground can be transferred to a remote terminal through the Internet, etc.

[0022] In addition, the control unit 60 is connected to input means such as a keyboard 65 and a mouse 66, as well as input values ​​from the measurement unit 40. Furthermore, the control unit 60 is connected to a monitor 71 and a separate PC 72 for excavation management as output means. The point cloud data acquired on the segment end face 90a has singular points at points A and B, so the upper and lower end points (points A and B) of the segment end face 90a can be clearly recognized on the coordinate axes of the distance sensor 41.

[0023] Furthermore, the control unit 60 as a calculation unit in this embodiment has an intersection C calculation unit 63 that determines the intersection between the calculated line segments La and Lb based on these. This intersection C calculation unit 63 calculates the tail clearance c based on the coordinate value of the intersection C between the line segments La and Lb and the coordinate values ​​of the singular points A and B. That is, as shown in FIG. 5, since the line segments La and Lb are expressed in a mathematical formula on the coordinate axes, it is possible to calculate the intersection C between the line segments La and Lb. In this way, it is possible to calculate the tail clearance from points B and C. At the same time, the angle θ between the line segments La and Lb is calculated. L can be calculated.

[0024] In addition, the control unit 60 as a calculation unit has a point D calculation unit 64 that calculates the coordinate value of point D based on the intersection point C calculation unit 63. In other words, since the outer surface of the segment 90 and the line segment La are basically in a right-angle relationship, the relative angle θx between the line of the outer surface of the segment 90 and the line segment Lb of the tail portion can be calculated.

[0025] Then, by calculating the relative angle θx, it is possible to calculate not only the tail clearance c1 at the end face 90a on the front side of the segment 90, but also the tail clearance c2 at the end point (point D) on the rear side of the segment 90, which cannot be seen with the naked eye. In other words, if the angle θx and the width of the segment 90 (the length in the longitudinal direction of the tunnel) are known, the coordinates of point D can be identified, and therefore the tail clearance c2 at this point D can be calculated.

[0026] In this way, the relative angle θx between the inner surface (line segment Lb) of the tail portion and the outer surface of the segment 90 can be quantified. When calculating this relative angle θx, if the segment 90 to be measured is a tapered segment 90T, the shape (angle θy) and installation direction can be input in advance as shown in FIG. 6 to correct the angle calculation. In other words, after scanning the end face 90a to obtain the line segment La from the point cloud data, the relative angle θx can be calculated by taking into account the taper angle θy of the tapered segment 90T itself. After that, point D is obtained based on the width of the tapered segment 90T, and the tail clearance c2 at point D is calculated.

[0027] As mentioned above, the data on the tail clearance c obtained by the tail clearance measuring device S can be transmitted to another PC 72 and incorporated into software that performs comprehensive management of the shield excavation, thereby enabling more advanced linear excavation management.

[0028] (effect) Next, the effects achieved by the stand-alone tail clearance measurement device S of this embodiment will be listed and explained.

[0029] (1) As described above, the tail clearance measurement device S includes a measurement unit 40 having a non-contact distance sensor 41 arranged radially outward of the inner surface position of the segment 90 in the shield radial direction, a rotation mechanism 42, and a rotation position detection unit 43, and a control unit 60 as a calculation unit that calculates the tail clearance c based on the measurement results of multiple points on the end face of the segment 90 and the measurement results of multiple points on the inner surface of the skin plate 2. In this way, by arranging the distance sensor 41 radially outward of the inner surface position of the segment 90, the tail clearance measurement device S is less likely to come into contact with machines or people and can perform reliable scanning.

[0030] In addition, the installation position of the distance sensor 41 is where the segment 90 is installed, so there is nothing blocking the distance sensor 41 and it is suitable for constant measurement. Furthermore, the end face 90a of the segment 90 can be scanned and measured from the front, so the distance can be measured accurately. Therefore, the angle of the end face 90a can be measured accurately.

[0031] (2) The distance sensor 41 is disposed in the approximate middle of the two shield propulsion jacks 18, 18 of the earth pressure shield 1 in the circumferential direction of the earth pressure shield 1 as a shield tunneling machine. In other words, the shield propulsion jack 18 may be an obstacle to scanning, but by disposing the measuring unit 40 between the two shield propulsion jacks 18, 18, this problem can be solved. This location is not easily affected by the equipment of the shield tunneling machine or the work range of segment assembly, etc., and is easy to install and maintain. Another advantage is that it is not easily affected by vibrations during operation of the erector 15, which is the shield equipment.

[0032] (3) Furthermore, the distance sensor 41 is arranged at at least three locations in the circumferential direction of the earth pressure shield 1 as a shield tunneling machine, so that the tail clearance c around the entire circumference of the shield can be grasped.

[0033] (4) Furthermore, the control unit 60 as a calculation unit calculates a line segment La based on the measurement results of multiple points on the end face 90a of the segment 90, calculates a line segment Lb based on the measurement results of multiple points on the inner surface of the skin plate 2, and calculates a tail clearance c1 on the face side of the segment 90 based on an intersection C of the line segment La and the line segment Lb. According to this calculation method, the tail clearance c1 on the face side (front end position) of the segment 90 can be calculated based on the measurement values, based on the point cloud data of the end face 90a and the point cloud data of the inner surface of the skin plate 2.

[0034] (5) Furthermore, the control unit 60 as a calculation unit calculates a line segment La based on the measurement results of multiple points on the end face 90a of the segment 90, calculates a line segment Lb based on the measurement results of multiple points on the inner surface of the skin plate 2, and calculates a tail clearance c2 on the mouth side of the segment 90 based on an intersection C of the line segments La and Lb and the angle θx between the line segments La and Lb. According to this calculation method, the tail clearance c2 on the mouth side (rear end position) of the segment 90 can be calculated based on the measurement values, based on the point cloud data of the end face 90a and the point cloud data of the inner surface of the skin plate 2.

[0035] (Configuration when a standalone tail clearance measurement device is considered as an invention) If the standalone tail clearance measurement device S described in this embodiment is considered as an invention, it can be explained as follows.

[0036] (1) a measurement unit having a non-contact distance sensor arranged radially outward of an inner surface position of a segment, a rotation mechanism that rotates the distance sensor, and a rotation position detection unit that detects a rotation position of the distance sensor caused by the rotation mechanism; a calculation unit that calculates a tail clearance based on the measurement results of a plurality of points on the end face of the segment and the measurement results of a plurality of points on the inner surface of the skin plate; A tail clearance measuring device comprising:

[0037] (2) A tail clearance measuring device as described in (1) above, wherein the distance sensor is arranged at approximately the midpoint between the two shield propulsion jacks of the shield tunneling machine in the circumferential direction of the shield tunneling machine.

[0038] (3) A tail clearance measuring device as described in (2) above, wherein the distance sensors are arranged at at least three locations in the circumferential direction of the shield tunneling machine.

[0039] (4) A tail clearance measuring device as described in any one of (1) to (3) above, wherein the calculation unit calculates a line segment La based on the measurement results of multiple points on the end face of the segment, calculates a line segment Lb based on the measurement results of multiple points on the inner face of the skin plate, and calculates a tail clearance (C1) on the face side of the segment based on the intersection of the line segment La and the line segment Lb.

[0040] (5) A tail clearance measuring device as described in any one of (1) to (3) above, wherein the calculation unit calculates a line segment La based on the measurement results of multiple points on the end face of the segment, calculates a line segment Lb based on the measurement results of multiple points on the inner surface of the skin plate, and calculates a tail clearance (C2) on the portal side of the segment based on the intersection of the line segment La and the line segment Lb and the angle between the line segment La and the line segment Lb. EXAMPLES

[0041] The unified coordinate measuring system U of this embodiment will be described below with reference to Figures 7 to 16. Note that the same reference numerals will be used to denote the same or equivalent parts as those described in the first embodiment.

[0042] (composition) First, the configuration of the unified coordinate measurement system U of the embodiment will be described with reference to Fig. 7 to Fig. 11. As shown in Fig. 7 to Fig. 9, the unified coordinate measurement system U is composed of the multiple measurement units 40, ... described in the first embodiment, one (or multiple) collimation unit 30 for identifying the position and rotation direction of each of the multiple measurement units 40, a total station TS for measuring the position and orientation of the one (or multiple) collimation unit 30, and a control unit 60 including a calculation unit that calculates the tail clearance as a functional unit (see also Fig. 4).

[0043] As in the first embodiment, the measurement unit 40 has a non-contact distance sensor 41, a rotation mechanism 42 such as a motor and gear for rotating the distance sensor 41, and a rotation position detection unit 43 for detecting the rotation position of the distance sensor 41 by the rotation mechanism 42. Of these, the rotation mechanism 42 has a rotation axis perpendicular to the shield radial direction. Therefore, the distance sensor 41 of the measurement unit 40 can scan the face-facing end face 90a of the segment 90 and the inner surface of the tail part of the skin plate 2 along a plane parallel to the tunnel longitudinal direction (a plane passing through the shield central axis) (see Figs. 2 to 4).

[0044] In the coordinate-integrated measurement system U of this embodiment, the measurement units 40 are installed at four locations spaced apart by approximately 90 degrees in the circumferential direction, as shown in Fig. 8. Specifically, the four measurement units 40 are preferably installed at four locations: near the top end position (0 o'clock; 90 degrees), near the left end position (9 o'clock; 180 degrees), near the bottom end position (6 o'clock; 270 degrees), and near the right end position (3 o'clock; 0 degrees). However, the number of measurement units 40 should be at least three, and may be five or more. Furthermore, the arrangement of the measurement units 40 is not limited to the example described here.

[0045] The collimation unit 30 is composed of a plurality of measuring units 40, a specifying means for specifying the position and rotation direction of each of them, and a measured means for measuring the position and orientation of the collimation unit 30 itself by the total station TS. When in use, the collimation unit 30 is abutted and fixed to the front end face (the end face facing the face) of the segment 90. Note that the collimation unit 30 is not limited to being placed on the front end face of the segment 90, and may be placed anywhere as long as it is placed in a position visible from both the total station TS and the plurality of measuring units 40,.... For example, the collimation unit 30 may be a single collimation unit 30 if there is a position shifted further toward the minehead and collimated from the four measuring units 40,....

[0046] As described later, the collimation unit 30 needs to be fixed in position so as not to shift between scanning by the measurement unit 40 and measurement by the total station TS. As a fixing means, for example, a method using a joint structure between the rings of the segment 90 can be considered.

[0047] Specifically, as shown in Fig. 10, the collimation unit 30 has a collimation plate 31 on which a lattice-like scale is drawn as a specifying means, and a pole 32 fixed to the collimation plate 31 and two prisms 33 and 34 fixed to the pole 32 as a measured means. The collimation plate 31 is a flat plate on which a lattice (scale) is drawn in which vertical and horizontal lines intersect perpendicularly. A long and thin rod-like pole 32 is attached along the center line of the flat plate of the collimation plate 31. The pole 32 protrudes from one edge of the collimation plate 31, and two prisms 33 and 34 are installed on the protruding portion with a slight gap between them.

[0048] 11, when in use, the collimation plate 31 is abutted against the front end face of the segment 90, and the prisms 33, 34 protrude toward the tunnel center from the inner surface of the segment 90. Then, as will be described later, the measurement unit 40 illuminates and measures (measures the angle and distance) at least two points on the collimation plate 31 from the tunnel face side, and then the total station TS measures the direction and distance from the tunnel entrance side to the two prisms 33, 34.

[0049] The calculation unit, which is a functional unit of the control unit 60, has a function of calculating the tail clearance and a function of unifying the coordinates of the multiple measurement units 40, ... (i.e., a function of identifying the positions and rotation directions of the multiple measurement units 40, ... in a unified coordinate system). The control unit 60's function of calculating the tail clearance and the function of unifying the coordinates of the multiple measurement units 40, ... make it possible to accurately measure (actually measure and estimate) the shape of the earth pressure shield 1 as a shield tunneling machine. Of these, the function of calculating the tail clearance has been explained in the first embodiment, so an explanation of it will be omitted. Below, a method of unifying the coordinates of the multiple measurement units 40, ... will be explained.

[0050] (Method of coordinate unification) Here, an example of a coordinate standardization method will be described when a plurality of measuring units 40, ... are used to measure a segment 90. This coordinate standardization method is realized by executing each of the following steps 1) to 5).

[0051] 1) After the assembly of the shield machine is completed, multiple measurement units 40 (range measurement sensors),... are fixed in the planned positions. Specifically, four measurement units 40,... are installed in four locations: near the top end position, near the left end position, near the bottom end position, and near the right end position.

[0052] 2) A vane 31 (dedicated surface) for unifying coordinates is placed against the front end face of the segment 90, and measurement lines are projected from each measurement unit 40 (range measurement sensor) to at least two points on the vane 31 (dedicated surface), and the angle and distance are measured. That is, the distance sensor 41 is rotated by the rotation mechanism 42 to measure the distance, while the rotation position detection unit 43 measures the rotation angle. The collimation plate 31 (dedicated plate surface) for unifying coordinates has a square grid drawn on it, and at its center is attached a pole 32 to which prisms 33, 34 for the total station TS can be attached. Therefore, the positional relationship between the position illuminated by the measurement unit 40 and the prisms 33, 34 can be recognized (see FIG. 10).

[0053] 3) Without moving the position of the sighting plate 31 (dedicated panel), use a total station TS installed in a position overlooking the four sighting plates 31, ... to measure the two prisms 33, 34 (see Figure 11). At this time, the prisms 33, 34 are facing the mine entrance.

[0054] 4) The three-dimensional coordinates of each measuring unit 40 are analyzed from the measurement results of 2) and 3) above, and the coordinates are unified (see FIG. 9). The steps of 2) and 3) may be performed by moving one sighting plate 31 to four locations, or may be performed by using four sighting plates 31. Furthermore, the sighting plate 31 may be electronically implemented using a commercially available tablet terminal or the like. Regarding the coordinate unification method, it is possible to simplify the calculation conditions by using various assumptions if necessary. The coordinate unification is performed at the start of excavation, and may also be performed in the middle of construction for the purpose of calibration. Also, as mentioned above, if there is a position that can be sighted from both the total station TS and the four measuring units 40, ..., it is possible to use one sighting unit 30.

[0055] A specific calculation can be performed as follows. a) Based on the measurement values, the relative positional relationship between the positions and angles of the four measurement units 40 (distance sensors 41) and the positions of the four sighting plates 31, . . . is calculated. b) Based on the measurement values, the relative positional relationship between the positions of the four sighting plates 31, ... and the total station TS is calculated. c) Based on the two positional relationships calculated in a) and b), the relative positional relationship between the position of the total station TS and the positions and angles of the four measuring units 40 (distance sensors 41) is calculated.

[0056] 5) In order to unify the coordinates, four points on the inside of the shield machine (surfaces perpendicular to the axis of the shield machine: for example, the girder surface) are directly measured using a total station TS, and the center point of the shield machine is recognized in the same coordinate system as the measurement unit 40. At this time, since the axis direction of the shield machine is perpendicular to the four measurement positions mentioned above, it is possible to recognize it as the unified coordinate axis direction (Z axis) (see FIG. 7).

[0057] (Method of ellipse estimation) Next, assuming that the coordinate unification has been completed, a method for estimating an ellipse (the cross-sectional shape of the segment 90 and the earth pressure shield 1) using the measurement values ​​by the four measurement units 40, ... will be described. This method for estimating an ellipse is realized by executing each of the following steps 1) to 7).

[0058] 1) The measurement unit 40 (range sensor) measures the shield machine tail and the segment end faces, and determines the coordinates of four points on the segment end faces and the coordinates of four points on the shield machine tail that are on the same plane as the segment end faces.

[0059] 2) Find the intersection point between the segment end face (on a plane) and the line oriented in the direction of the shield machine's central axis (Z-axis), and consider this to be the center point of the shield machine's elliptical shape.

[0060] 3) The vertical (Y-axis) radius and horizontal (X-axis) radius of the ellipse are calculated from the coordinates of the four tail points calculated in 1) and the center point calculated in 2), and the elliptical shape and coordinates of the tail are determined (see Figure 12).

[0061] 4) From the tail clearance measurement, estimate in which direction the segment is leaning vertically and horizontally, and use the estimate to find the coordinates of the center point of the segment end face.

[0062] 5) Based on the segment end face coordinates obtained in 1) and the segment center point coordinates obtained in 4), the elliptical shape and coordinates of the segment end face are determined in the same manner as in 3).

[0063] 6) The elliptical shape of the shield machine tail and the elliptical shape of the segment end face are located on the same plane, so by superimposing the two ellipses, the tail clearance at any point can be estimated.

[0064] 7) In addition, the method of estimating the flatness of the vertical axis (Y axis) and horizontal axis (X axis) of the ellipse shown in Fig. 12 is more accurate as the angle between the direction (Rn) connecting the position measured by the measuring unit 40 (range sensor) and the center point and the vertical and horizontal axes becomes acuter, so it is desirable that the angle be 20 degrees or less with respect to each axis direction (X and Y axes) (see Fig. 13). Also, when installing the device, it is desirable that the measuring units 40 (range sensors) located diagonally have similar angles. It is also possible to improve accuracy by calculating the correction amount of flatness in advance as shown in Table 1 (see Fig. 14).

[0065] (effect) Next, the effects achieved by the unified coordinate measuring system U of this embodiment will be listed and explained.

[0066] (1) As described above, the coordinate-unified measurement system U of this embodiment is a coordinate-unified measurement system U that measures the tail clearance and / or the end face of a segment of a shield tunneling machine, and includes a plurality of measurement units 40, each having a non-contact distance sensor 41, a rotation mechanism 42 that rotates the distance sensor 41, and a rotation position detection unit 43 that detects the rotation position of the distance sensor 41 by the rotation mechanism 42; and one or more collimation units 30 for identifying the position and rotation direction of each of the plurality of measurement units 40; The shield includes a total station TS for measuring the position and orientation of one or more collimation units 30; and a control unit 60 as a calculation unit that calculates the tail clearance, the roundness of the segment, and / or the surface orientation of the segment based on the measurement results of multiple points on the end face of the segment and the measurement results of multiple points on the inner surface of the skin plate. The control unit 60 as a calculation unit is configured to specify the position and rotation direction of the multiple measurement units 40 in a unified coordinate system based on the position and orientation of one or more collimation units 30. With this configuration, the coordinates of the multiple measurement units 40, ... can be unified. And, by unifying the coordinates in this way, the multiple measurement values ​​can be linked with other multiple measurement values, and the deformation of the entire shield cross section can be predicted based on the measurement values. In addition, it becomes possible to manage the skin plate and the segment so that they do not come into contact with each other during curve construction, and to ensure that the finished dimensions are within the allowable range.

[0067] That is, as shown in Fig. 15, the assembled segments and the tail part of the shield machine are not necessarily perfectly round because they are affected by assembly accuracy, product errors, and soil and water pressure. Therefore, the coordinate unified measurement system U of this embodiment unifies the coordinates, making it possible to estimate the roundness of the segments and the shield machine. The roundness of the segments is one of the important management items in terms of ensuring the durability of the tunnel structure and the finished shape of the cross section of the finished tunnel. Normally, measurements are taken using surveying equipment, scales, etc. after the end of excavation work (to accommodate overtime work) or by interrupting excavation work, but by using this method, it is possible to obtain information on roundness in parallel with excavation work.

[0068] Furthermore, as shown in Figure 16, when measuring the tail clearance of a segment, only information on the measurement line of each measuring device can be obtained due to circularity issues (if a measuring device is attached at the 3 o'clock position, only the segment tail clearance at the 3 o'clock position can be obtained). For this reason, if information on eight locations on the circumference is required, for example, eight measuring devices are required, which is very uneconomical. By measuring using multiple measuring units 40, ... converted into unified coordinates, the circularity of the segments and the shield machine can be estimated, and by understanding the respective elliptical shapes from the estimated circularity, it is possible to estimate the tail clearance at any position on the circumference.

[0069] Furthermore, in shield excavation work, if the axial directions of the shield machine and the segments are different, it can lead to a decrease in tail clearance, making it impossible to assemble the segments or causing damage to the segments. For this reason, the segment face is measured to determine whether to correct the direction (use of corrected segments) in the next ring and onwards, and to measure the segment face (segment face orientation). Conventionally, this was done by stopping the excavation work using a plumb bob or total station TS, but with this method, the coordinates of four segment end faces can be identified, making it possible to simultaneously measure the segment face (segment face orientation), which leads to the elimination of the conventional method.

[0070] (2) Furthermore, one or more collimation units 30 are provided with an identifying means for identifying the position and rotation direction of each of the multiple measurement units 40, etc., and a measured means for measuring the position and orientation of the collimation unit 30 itself by the total station TS. In this way, by using the identifying means and the measured means along the way, it becomes possible to measure and calculate the relative positions of the multiple measurement units 40, etc. from the total station TS.

[0071] (3) Furthermore, one or more collimation units 30 have a collimation plate 31 on which a grid-like scale is drawn as the identifying means, and a pole 32 fixed to the collimation plate 31 and prisms 33, 34 fixed to the pole 32 as the measured means, thereby making it possible to realize the identifying means and the measured means with a relatively simple configuration.

[0072] (4) In addition, there are at least three measuring units 40,... (four in this embodiment), each of which is positioned, for example, near the upper end position, near the right end position, near the lower end position, and near the left end position on the cross section of the shield tunneling machine. Therefore, by positioning the four measuring units 40,... at four key locations, the deformed shape of the shield machine's exterior can be accurately measured and estimated.

[0073] (5) Furthermore, the control unit 60 as a calculation unit is configured to calculate an elliptical shape as the cross-sectional shape of the segment based on the calculated tail clearance, so that the cross-sectional shape of the entire segment can be accurately estimated, including positions that are not directly measured.

[0074] (6) Furthermore, the control unit 60 as a calculation unit calculates an elliptical shape as the cross-sectional shape of the shield machine based on the calculated tail clearance, so the cross-sectional shape of the shield machine at positions that are not directly measured can be estimated relatively accurately. Therefore, when combined with the above-mentioned (5), the tail clearance of the entire cross section, including positions that are not directly measured, can be estimated relatively accurately.

[0075] (7) Furthermore, since the distance sensor 41 is disposed approximately midway between the two shield propulsion jacks of the shield tunneling machine in the circumferential direction of the shield tunneling machine, the shield propulsion jack 18 may hinder scanning, but by disposing the measuring unit 40 between the two shield propulsion jacks 18, 18, this problem can be eliminated. This location is unlikely to be affected by the installation of the shield tunneling machine or the range of work such as segment assembly, and is easy to install and maintain. Another advantage is that it is unlikely to be affected by vibrations during operation of the erector 15, which is the shield equipment.

[0076] (8) Furthermore, the control unit 60 as a calculation unit calculates a line segment La based on the measurement results of multiple points on the end face of the segment, calculates a line segment Lb based on the measurement results of multiple points on the inner surface of the skin plate, and calculates the tail clearance on the face side of the segment based on the intersection of the line segments La and Lb. According to this calculation method, the tail clearance c1 on the face side (front end position) of the segment 90 can be calculated based on the measurement values, based on the point cloud data of the end face 90a and the point cloud data of the inner surface of the skin plate 2.

[0077] (9) Furthermore, the control unit 60 as a calculation unit calculates the line segment La based on the measurement results of multiple points on the end face of the segment, calculates the line segment Lb based on the measurement results of multiple points on the inner surface of the skin plate, and calculates the tail clearance on the mouth side of the segment based on the intersection of the line segments La and Lb and the angle between the line segments La and Lb. According to this calculation method, the tail clearance c2 on the mouth side (rear end position) of the segment 90 can be calculated based on the measurement values, based on the point cloud data of the end face 90a and the point cloud data of the inner surface of the skin plate 2.

[0078] (10) On the other hand, a coordinate unified measurement method using the coordinate unified measurement system U of this embodiment includes the steps of: installing a plurality of measuring units 40,...; measuring one or more collimation units 30 with the plurality of measuring units 40,...; measuring one or more collimation units 30 with a total station TS; specifying the positions and rotation directions of the plurality of measuring units 40,... in a unified coordinate system with a control unit 60 as a calculation unit; and measuring the tail clearance and / or the end face of a segment with the plurality of measuring units 40,..., whose positions and rotation directions are specified in the unified coordinate system. With this configuration, the coordinates of the plurality of measuring units 40,... can be unified. By unifying the coordinates in this way, the plurality of measurement values ​​can be linked with other plurality of measurement values, and the deformation of the entire shield cross section can be predicted based on the measurement values. In addition, it becomes possible to manage the skin plate and the segment so that they do not come into contact with each other during curve construction, and to ensure that the finished dimensions are within the allowable range.

[0079] (11) Furthermore, the control unit 60 as a calculation unit further includes a process for calculating an elliptical shape as the cross-sectional shape of the segment based on the measured tail clearance and / or the end face of the segment, so that the cross-sectional shape of the entire segment can be accurately estimated, including positions that are not directly measured.

[0080] (12) Furthermore, the control unit 60 as a calculation unit further comprises a step of calculating an elliptical shape as the cross-sectional shape of the shield machine based on the measured tail clearance and / or the end faces of the segments, so that the cross-sectional shape of the shield machine at positions not directly measured can be estimated relatively accurately. Therefore, when combined with the above-mentioned (11), the tail clearance of the entire cross section, including positions not directly measured, can be estimated relatively accurately.

[0081] (13) Furthermore, by further providing a process in which the control unit 60 as a calculation unit calculates the face orientation of the segment based on the measured tail clearance and / or the end face of the segment, it becomes possible to manage the skin plate and the segment so that they do not come into contact with each other during curved construction, and to ensure that the finished dimensions are within the allowable range.

[0082] Other configurations and effects are substantially the same as those of the above-described embodiment, and therefore description thereof will be omitted.

[0083] Although an embodiment of the present invention has been described in detail above with reference to the drawings, the specific configuration is not limited to this embodiment, and design changes that do not deviate from the gist of the present invention are included in the present invention. [Explanation of symbols]

[0084] 1: Earth pressure shield; 2: skin plate; 3: bulkhead; 5: cutter head; 10: cutter rotating shaft; 11: bearing; 12: cutter drive unit; 13: gearbox; 14: rotary drive source; 15: erector; 16: chamber; 17: soil discharge device; 18: Shield propulsion jack; 18a: Piston part; 18b: Spreader part; 19: tail seal; 21: mud supply pipe; 22: earth pressure gauge; 30: collimation part; 31: collimation plate; 32: pole; 33, 34: prism; 40: measuring part; 40a: bracket; 41: distance sensor; 42: rotation mechanism; 43: rotation position detection unit; 51: cutter spoke; 52: cutter bit; 53: Fishtail bit; 54: Mixing blade; 60: control unit; 61: La calculation section; 62: Lb calculation section; 63: Intersection C calculation section; 64: Point D calculation section; 65: keyboard; 66: mouse; 71: monitor; 90: segment; 90T: tapered segment; 90a: segment end face; A: Singular point; B: Singular point; C: Intersection; D: Back end point; La: line segment; Lb: line segment; S: tail clearance measuring device; TS: Total Station; U: Coordinate unified measurement system; c: tail clearance; c1: tail clearance; c2: tail clearance; θ L : The angle between line segments La and Lb; θx: relative angle; θy: taper angle

Claims

1. A coordinate unified measurement system for measuring the tail clearance and / or end face of a segment of a shield tunneling machine, a plurality of measuring units each having a non-contact distance sensor, a rotation mechanism for rotating the distance sensor, and a rotation position detection unit for detecting a rotation position of the distance sensor caused by the rotation mechanism; One or more collimation units for identifying the position and rotation direction of each of the plurality of measurement units; a total station for measuring the position and orientation of one or more of the collimation units; a calculation unit that calculates a tail clearance, a roundness of the segment, and / or a surface orientation of the segment based on the measurement results of a plurality of points on the end face of the segment and the measurement results of a plurality of points on the inner surface of the skin plate; A coordinate unified measurement system, wherein the calculation unit is configured to determine positions and rotational directions of the multiple measurement units in a unified coordinate system based on the positions and orientations of one or more of the collimation units.

2. 2. The coordinate-unified measurement system according to claim 1, wherein one or more of the collimation units comprises an identification means for identifying the position and rotational direction of each of the plurality of measurement units, and a measurement means for measuring the position and orientation of the collimation unit itself by the total station.

3. 3. The coordinate unified measurement system according to claim 2, wherein the one or more collimation units have a collimation plate on which a lattice-shaped scale is drawn as the identifying means, and a pole fixed to the collimation plate and a prism fixed to the pole as the measured means.

4. The coordinate unified measurement system according to claim 3, wherein there are at least three measurement units, each of which is positioned near the top end position, the right end position, the bottom end position, or the left end position on the cross section of the shield tunneling machine.

5. 5. The coordinate unified measurement system according to claim 1, wherein the calculation unit is configured to calculate an elliptical shape as the cross-sectional shape of the segment based on the calculated tail clearance.

6. 6. The coordinate unified measurement system according to claim 5, wherein the calculation unit calculates an elliptical shape as the cross-sectional shape of the shield machine based on the calculated tail clearance.

7. 7. The coordinate unified measurement system according to claim 6, wherein the distance sensor is disposed at a substantially midpoint between two shield propulsion jacks of the shield machine in the circumferential direction of the shield machine.

8. The coordinate unified measurement system of claim 7, wherein the calculation unit calculates a line segment La based on the measurement results of multiple points on the end face of the segment, calculates a line segment Lb based on the measurement results of multiple points on the inner face of the skin plate, and calculates a tail clearance on the face side of the segment based on the intersection of the line segment La and the line segment Lb.

9. The coordinate unified measurement system of claim 7, wherein the calculation unit calculates a line segment La based on the measurement results of multiple points on the end face of the segment, calculates a line segment Lb based on the measurement results of multiple points on the inner surface of the skin plate, and calculates the tail clearance on the portal side of the segment based on the intersection of the line segment La and the line segment Lb and the angle between the line segment La and the line segment Lb.

10. A coordinate unified measurement method using the coordinate unified measurement system according to claim 5, A step of installing a plurality of the measurement units; A step in which the plurality of measurement units measure one or a plurality of collimation units; The total station measures one or more collimation portions; The calculation unit specifies positions and rotation directions of the plurality of measurement units in a unified coordinate system; A step in which a plurality of the measurement units, whose positions and rotational directions are specified in a unified coordinate system, measure tail clearances and / or end faces of segments; A coordinate unified measurement method comprising:

11. The coordinate unified measurement method according to claim 10 , further comprising a step of calculating an elliptical shape as the cross-sectional shape of the segment based on the measured tail clearance and / or an end face of the segment, by the calculation unit.

12. The coordinate unified measurement method according to claim 10, further comprising a step of the calculation unit calculating an elliptical shape as the cross-sectional shape of the shield machine based on the measured tail clearance and / or the end face of the segment.

13. The coordinate unified measurement method according to claim 10 , further comprising a step of: the calculation unit calculating a face orientation of the segment based on the measured tail clearance and / or an end face of the segment.

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