Open shield surveying system

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 tunneling method. [Background technology]

[0002] The open shield method is a construction method that uses an open shield machine to bury box and open conduits underground while creating earth retaining walls under difficult conditions such as narrow areas in urban areas or on soft ground.

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

[0004] This method is used when laying a box conduit in an area with low soil cover. Excavation is carried out from the 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 moves forward. The gaps on the sides and bottom of the box and the ground that occur when the open shield machine moves forward are filled with backfill injection material, and construction is carried out while minimizing settlement of the box and the impact on the surrounding area.

[0006] No backfill injection type The thrust reaction force is applied to the laying box body, and only the open shield machine moves forward. The bottom of the box-laying section inside the open shield machine does not have a bottom plate, and the foundation is built directly on the bedrock surface using crushed stone and PC boards, and the box is then installed. The gaps on the sides of the box and the ground that occur when the open shield machine moves forward 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 tip of the culvert and the culvert are advanced forward by the main pushing equipment installed in the departure shaft. After the culvert has advanced, new culvert components are placed inside the departure shaft again, and the same process is repeated to install the culvert in the designated position.

[0008] Self-propelled type An open shield machine is used that is divided into multiple sections in the front and rear directions, and it moves forward on its own. The bottom of the culvert laying section inside the open shield machine does not have a bottom plate, and the foundation is built directly on the bedrock surface using crushed stone and PC boards, and the culvert is then installed. Any gaps on the sides of the culvert and the ground that occur as the open shield machine moves forward are filled with sand from above, and construction is carried out to minimize impact on the surrounding area.

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

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

[0011] In addition, the following patent documents have proposed methods for surveying and confirming the excavation progress of shield machines in shield construction methods, rather than open shield machines, and methods for detecting the position of shield machines. [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 the excavation progress of a shield machine, which involves irradiating 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 segment onto a semi-transparent, semi-reflective screen installed at the rear of the rear equipment, and measuring the position of the shield machine by aiming the irradiation point on the screen at a total station installed at a point with known coordinates further rearward of the screen.

[0013] Patent document 2 describes a method for surveying and confirming the excavation progress of a shield machine, which involves irradiating 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 segment onto a semi-transparent, semi-reflective screen installed at the rear of the rear equipment, and measuring the position of the shield machine by aiming the irradiation point on the screen at a total station installed at a point with known coordinates further rearward of the screen.

[0014] The above-mentioned Patent Document 3 describes a tunnel boring machine position detection system that installs a prism and an inclinometer in 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 open shield surveying method had the following problems: Surveying could only be done when the shield machine was stationary. Also, it required the surveyor to be stationary at the point to be measured, which required manual labor.

[0016] It should be noted that the above-mentioned Patent Documents 1 and 2 relate to measurements using a shield machine for a shield construction method, and are not suitable for use as a surveying method for an open shield machine for an 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 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 installation in a position that is horizontally linear in relation to the prism, and the prism in the exposed part of the open shield machine, which is rectangular, cannot properly grasp the forward posture of the shield machine.

[0019] The shield construction method uses a circular cutting edge and shield machine, and since the shield machine is subjected to earth pressure and water pressure from all around its cross section, extreme distortion does not occur on the left or 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, the top is open and rectangular in 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 surrounding area.

[0022] Furthermore, because of its rectangular shape, the orientation of the open shield machine's components has a large impact on the subsequent direction of advancement, and as the open shield machine moves forward, the effects of these distortions must 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 understand the behavior of the shield machine while 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 it can see all of the prisms.

[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 that eliminates the disadvantages of the above-mentioned conventional examples, and that 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 that can easily reflect normal and height displacements in the excavation work because the displacements are calculated automatically in real time, eliminating the need for workers on hand to carry out 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 measurements 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 machine is moving forward, and performs surveying management.Prisms are installed at three points near the top surface angle of the front body member of the open shield machine, and the automatic tracking total station measures each point in cycles to measure the coordinate values ​​of the prism position.By measuring the coordinates of the prism position based on the positional relationship between the top surface angle position of the front body member of the open shield machine registered in the initial settings and the installed prism, the position coordinate of the top surface angle position of the front body member of the open shield machine is calculated, and a two-axis tilt sensor is installed on the open shield machine, and the tilt value that is constantly being measured is used to correct the coordinate value of the top surface angle position of the front body member of the open shield machine calculated by the prism measurement, thereby calculating a measurement value that is close to the actual value.

[0028] According to the present invention as set forth in claim 1, automatic measurements are performed using a total station, mirrors, and inclinometers. Mirrors are not placed at the four corners of each component to be measured, but are placed and fixed at three locations on the front body of the shield machine where they will not interfere with excavation work, and the coordinates of the four corners are calculated by measuring the coordinate values ​​of the mirrors, determining the relationship between the mirrors 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 can automatically calculate, display, and output normal and height displacements.

[0029] An open shield machine is a rectangular shield machine exposed to the ground surface, and since rolling and pitching at the front and rear parts of the shield machine are also important factors in controlling the shield machine, it is possible to calculate the coordinate values ​​of the four corner points and calculate the displacement that matches 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 conduct surveys in real time even during excavation work.

[0031] Since normal and height displacements are calculated automatically in real time, they can be easily reflected in the excavation work. There is no need for workers on-site for surveying work.

[0032] The present invention described in claim 2 is characterized in that the positional relationship between the top surface angle position of the open shield machine and the installed prism is such that the position coordinate value of the top 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', and C', which are vertically projected from the prism position points A, B, and 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 positions as the parts where the supports of the installed prisms are fixed.

[0034] The need to calculate A', B', and C' is because if points A, B, and C are directly related to points 1, 2, and 3, which are the corners of the top end of the shield machine, when distortion of the shield machine occurs, the distances between A and B, A and C, and B and C of the measuring prism will change, making the 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.

[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 settings and prism points A, B, and C.

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

[0037] By following this calculation flow, approximate values ​​can be calculated smoothly even if the relationship between prism points A, B, and C and shield machine top corner points 1, 2, and 3 is not completely rigid. [Effects 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 calculated automatically in real time, they can be easily reflected in the excavation work, and there is no need for workers on hand to carry out the surveying work.

[0039] Compared to conventional technology, the shield machine's attitude and behavior can be grasped in a timely and accurate manner, greatly improving surveying quality. As a result, construction accuracy as the open shield machine moves forward is improved, and the accuracy of laying the box and drain installed inside the open shield machine is also improved, so improvements in construction quality can be expected.

[0040] Measurements during normal forward work do not require a worker on hand, and measurements and results can be confirmed from a safe location using a laptop or tablet, dramatically improving safety during surveying work.

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

[0042] Compared to surveying using an optical distance meter with a transit, which is a conventional applicable technology, and surveying that combines level surveying with measurement of normal displacement using a convex or other device from the reference line of the relief stake, surveying to grasp the position of the shield machine does not require the surveyor to be present, making it possible to reduce manpower. [Brief explanation 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. [Figure 2] 1 is a plan view showing an outline of a surveying system for an open shield construction method according to the present invention. [Figure 3] FIG. 10 is an explanatory diagram illustrating initial setting. [Figure 4] FIG. 10 is an explanatory diagram showing the first step of calculation. [Figure 5] FIG. 10 is an explanatory diagram showing a second step of the calculation. [Figure 6] FIG. 10 is an explanatory diagram showing a third step of the calculation. [Figure 7] FIG. 10 is an explanatory diagram showing the fourth step of the calculation. [Figure 8] FIG. 10 is an explanatory diagram showing the fifth step of calculation. DETAILED DESCRIPTION OF THE INVENTION

[0044] The present invention will be described in detail below 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, consisting 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, consisting of left and right side panels and a bottom plate similar to the front section 1a.

[0046] Sliding retaining plates 6 that extend forward are attached to the left and right cutting edges of the open shield machine 1, and propulsion jacks that extend from the rear end of the front section 1a toward the tail section are arranged in a row facing rearward.

[0047] The open shield machine 1 has a tail 1b fitted into the rear end of a 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 using the thrust reaction force of the open shield machine 1 against the concrete box body to advance the machine forward.

[0049] In the present invention, for posture management of the open shield machine 1, an automatic tracking total station 3 (1 unit), prisms 4 (5 units), inclinometers 7 (2 units) using two-axis tilt sensors, and a personal computer 8 (1 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 corners of the top surface 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 and 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 1a and the tail part 1b of the open shield machine 1, respectively.

[0053] Although the tablet PC for remote management and illustrations are labor-saving, power sources (inclinometer and PC) and a Wi-Fi environment are also required.

[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 measurement results in a simple diagram 3. Real-time calculations with automatic tracking 4. Check the survey results on a tablet or smartphone 5. If you have a Wi-Fi environment, you can check the measurement results from within the company.

[0055] The automatic tracking total station 3 measures each point cyclically, and measures the coordinate values ​​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 from the input dimension 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 coordinate values ​​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 measured 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 points A, B, and C of the actual measurement.

[0060] Additionally, assuming that the shape of triangle ABC does not change, the coordinate values ​​of points B and C of the actual measurement are adjusted using the following method: On plane ABC, align the orientation of point A of the spatial model and the actual measurement 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) 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 approximately the same positions as the part where the support pillar of the installed prism is 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, then when distortion of the shield machine occurs, the distances between A and B, A and C, and B and C of the measuring prism would change, making correction calculations for calculating the coordinate values ​​of points 1, 2, and 3, which are the corners of the top edge of the shield machine, complicated and difficult to perform.

[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 settings and prism points A, B, and C.

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

[0066] By following this calculation flow, approximate values ​​can be calculated smoothly even if the relationship between prism points A, B, and C and 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) In the initial value setting, establish the relationship between points A, B, C, A', B', and C' for point 4. 。 ii) Using method (2), point 4 is also calculated as a point on the same plane as plane l23, and its provisional plane coordinate values ​​(x, y) are calculated. iii) Measured by a biaxial tiltmeter installed on the shield machine The plane A'+slope angle is constructed using the slope and the coordinate value of point A'. iv) As a point on the plane A' + inclination angle, Virtual plane coordinate values ​​(x, y) of point 4 and Calculate the z coordinate of the overlapping point 4. v) From the calculated z coordinate value of point 4 and the distance relationship between points l, 2, 3 and point 4 in the initial setting, 、 The coordinate value of point 4 is calculated by correcting the virtual plane coordinate value (x, y) of point 4.

[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 from the midpoint FF perpendicular to the center line and use this as the normal displacement at point FF. iii) Similarly, calculate the midpoint FR plane coordinates for rear points 3 and 4, 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 in 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 plane coordinate values ​​(x, y) of point 1, using the input values. ii) Compare the height (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 between points 1 and 3 and behind the CF position, from the input values. iv) Compare the height (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 shield machine width (input dimension). 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 using tan-1 (iii) calculated rolling dimension divided by the shield machine width input dimension.

[0071] (7) The pitching value is calculated 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 using tan-1 (i) (calculated pitching dimension / input dimension of shield machine length). iii) Calculate the pitching dimension by subtracting the height 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 shield machine length input dimension. [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 wall 7...Clinometer with two-axis tilt sensor 8...PC

Claims

1. Regarding the posture management of the open shield machine, the posture of the open shield machine is checked in real time while the machine is moving forward using measurements from an automatic tracking total station and a two-axis tilt sensor installed on the open shield machine, and surveying management is carried out. Prisms are installed at three points near the top surface corner of the front body member of the open shield machine, and each point is measured using an automatic tracking total station to measure the coordinate values ​​of the prism positions.The coordinates of the prism positions are measured based on the positional relationship between the top surface corner position of the front body member of the open shield machine registered in the initial settings and the installed prisms, and the position coordinates of the top surface corner position of the front body member of the open shield machine are 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 front body member of the open shield machine calculated by the prism measurement, thereby calculating measurement values ​​that are close to the actual values.

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

Images