Tunnel boring machine position and attitude measurement device

Abstract

To provide a position and orientation measuring device for a tunnel excavator that does not require replacing measurement equipment.SOLUTION: An excavation progress marker 21 is disposed at an excavation proceeding portion that progresses during excavation, and an excavation stop marker 22 is disposed at an excavation stop portion where the excavation stops during excavation. Imaging means 23 for capturing a marker image is arranged in a shield excavator 1. Relative positional relationship information acquisition means 201 acquires relative positional relationship information between the excavation progress marker 21 and the excavation stop marker 22 based on the marker image. Excavation stop marker absolute position information acquisition means 202 acquires excavation stop marker absolute position information. Excavation progress marker absolute position information acquisition means 203 acquires excavation progress marker absolute position information based on the excavation stop marker absolute position information and the relative position relationship information. Tunnel excavator position and orientation measuring means 205 determines at least one of the position and orientation of the shield excavator 1 based on the excavation progress marker absolute position information.SELECTED DRAWING: Figure 1

Description

Technical Field

[0001] The present invention relates to a position and attitude measuring device for a tunnel boring machine including a shield boring machine for excavating the ground in the shield method.

Background Art

[0002] In order to excavate the ground according to a predetermined tunnel alignment by the shield method or the like, it is necessary to grasp the position and attitude of the tunnel boring machine and to correct the position and attitude of the tunnel boring machine at any time.

[0003] To survey the position and attitude of a tunnel boring machine, it is common to install surveying instruments such as a total station in an existing tunnel, grasp the position of the surveying instrument by sighting a reference point at the rear, and then sight a target provided on the tunnel boring machine.

[0004] Further, Patent Document 1 discloses an automatic surveying method for a shield machine that images a target provided on the shield machine with two CCD cameras installed in the tunnel, processes the imaged target by image processing to obtain the position of the target, and measures the position of the shield machine while sequentially replacing the two CCD cameras as the shield machine advances.

[0005] Furthermore, Patent Document 2 discloses a surveying system for a tunneling machine that photographs targets provided at multiple locations on the tunneling machine with a camera installed in an existing tunnel, processes the image signal from the camera to detect the position coordinates of the targets, and obtains the deflection angle of the tunneling machine based on the initial values of the position coordinates of the targets and the interval between the targets obtained from the flexion and extension distances of the tunneling machine and the interval between the target images detected from the images photographed by the camera.

Prior Art Documents

Patent Documents

[0006]

Patent Document 1

Patent Document 2

[0007] The automatic surveying method for shield machines described in Patent Document 1 and the surveying system for tunnel boring machines described in Patent Document 2 involve installing surveying equipment equipped with cameras inside the tunnel. Therefore, when the tunnel diameter is small, it is difficult to maintain a sufficient distance from the transport carts for piping materials, segments, and vehicles for transporting excavated material that operate inside the tunnel. Furthermore, in curved sections of the tunnel, the equipment at the rear of the boring machine obstructs the view, making it impossible to conduct surveys during excavation. Furthermore, as the excavation progressed, the surveying equipment had to be moved, and this relocation work required a great deal of time and effort.

[0008] The problem that this invention aims to solve is to provide a tunnel boring machine position and attitude measuring device that can measure at least one of the position and attitude of the tunnel boring machine even if the tunnel is small in diameter or curved, and does not require changing the measuring equipment. [Means for solving the problem]

[0009] The invention according to claim 1 of this application is a position and attitude measuring device for a tunnel boring machine having a tunnel boring machine that is advancing during excavation and a tunnel boring machine that is stopped during excavation, comprising: a control unit; a tunnel boring machine marker disposed in the tunnel boring machine; a tunnel boring machine marker disposed in the tunnel boring machine; and an imaging means disposed in the tunnel boring machine and capable of capturing a marker image including the tunnel boring machine marker and the tunnel boring machine marker, wherein the control unit comprises an imaging control means for controlling the imaging means, and the imaging control means for indicating the relative positions of the tunnel boring machine marker and the tunnel boring machine marker based on the marker image captured by the imaging means. The tunnel boring machine position and attitude measuring device is characterized by comprising: relative position relationship information acquisition means for acquiring relative position relationship information; absolute position information acquisition means for acquiring absolute position information of a tunnel boring stop marker indicating the absolute position of a tunnel boring stop marker; absolute position information acquisition means for acquiring absolute position information of a tunnel boring progress marker indicating the absolute position of a tunnel boring progress marker based on the absolute position information of the tunnel boring stop marker and the relative position relationship information; and tunnel boring machine position and attitude measuring means for determining at least one of the position or attitude of the tunnel boring machine based on the absolute position information of the tunnel boring progress marker.

[0010] The invention according to claim 2 of this application is a position and attitude measuring device for a tunnel boring machine according to claim 1, characterized in that the control unit acquires an in-excavation marker image captured by the imaging means by the control of the imaging control means during excavation, and the relative position relationship information acquisition means acquires the relative position relationship information based on the in-excavation marker image.

[0011] The invention according to claim 3 of the present application is a position and attitude measuring device for a tunnel boring machine as described in claim 1, characterized in that the control unit acquires a marker image of the tunnel boring machine that has been captured by the imaging means by the control of the imaging control means when the machine is not boring and the tunnel boring stop unit is stopped, and the relative position relationship information acquisition means acquires the relative position relationship information based on the marker image of the tunnel boring machine.

[0012] The invention according to claim 4 of the present application is a position and attitude measuring device for a tunnel boring machine according to any one of claims 1 to 3, characterized in that the control unit includes means for acquiring absolute position information of a tunnel boring progress marker while the machine is not boring, which indicates the absolute position of the tunnel boring progress marker when the machine is not boring, and the imaging means acquires a tunnel boring stop marker image captured by the imaging control means when the machine is not boring and the tunnel boring stop unit is stopped, the relative position relationship information acquisition means acquires the relative position relationship information based on the tunnel boring stop marker image, and the tunnel boring stop marker absolute position information acquisition means acquires the tunnel boring stop marker absolute position information based on the tunnel boring stop marker absolute position information and the relative position relationship information. [Effects of the Invention]

[0013] According to the present invention, since the imaging means for measurement is attached to the tunnel boring machine's excavation section rather than the inner surface of the tunnel, even if the tunnel diameter is small, it does not obstruct the movement of transport vehicles or the like inside the tunnel, and even if the tunnel is curved, imaging is not obstructed by equipment installed behind the tunnel boring machine. Furthermore, since the imaging device moves along with the tunnel boring machine as it excavates, there is no need to reposition it as the tunnel excavation progresses, saving the time and effort required for repositioning. [Brief explanation of the drawing]

[0014] [Figure 1] This is a perspective view of a tunnel boring machine according to an embodiment of the present invention. [Figure 2] This is a block diagram of a position and attitude measuring device for a tunnel boring machine, illustrating an embodiment of the present invention. [Figure 3] This is a schematic diagram of a marker image according to an embodiment of the present invention. [Figure 4] This is a cross-sectional view of the main part of a tunnel boring machine before excavation, according to an embodiment of the present invention. [Figure 5]It is a sectional view of the main part at the start of tunneling of the tunnel boring machine according to an embodiment of the present invention. [Figure 6] It is a sectional view of the main part during tunneling of the tunnel boring machine according to an embodiment of the present invention. [Figure 7] It is a sectional view of the main part at the completion of tunneling of the tunnel boring machine according to an embodiment of the present invention. [Figure 8] It is a sectional view of the main part during segment assembly of the tunnel boring machine according to an embodiment of the present invention. [Figure 9] It is a flowchart of main control according to an embodiment of the present invention. [Figure 10] It is a flowchart of sub-control according to an embodiment of the present invention.

Embodiments for Carrying Out the Invention

[0015] Hereinafter, embodiments of the present invention will be described with reference to the drawings. Needless to say, the present invention is not limited to the embodiments.

[0016] FIG. 1 is a perspective view of a tunnel boring machine according to an embodiment, FIG. 2 is a block diagram of a position and attitude measuring device of the tunnel boring machine showing the embodiment, FIG. 3 is a schematic diagram of a marker image according to the embodiment, FIG. 4 is a sectional view of the main part before tunneling of the tunnel boring machine according to the embodiment, FIG. 5 is a sectional view of the main part at the start of tunneling of the tunnel boring machine according to the embodiment, FIG. 6 is a sectional view of the main part during tunneling of the tunnel boring machine according to the embodiment, FIG. 7 is a sectional view of the main part at the completion of tunneling of the tunnel boring machine according to the embodiment, FIG. 8 is a sectional view of the main part during segment assembly of the tunnel boring machine according to the embodiment, FIG. 9 is a flowchart of main control according to the embodiment, and FIG. 10 is a flowchart of sub-control according to the embodiment.

[0017] This embodiment is a position and attitude measuring device 2 of the shield tunneling machine 1, which measures the position and attitude of the shield tunneling machine 1. The attitude of the shield tunneling machine 1 refers to the amount of rotation, the inclination in the vertical direction, and the inclination in the width direction with respect to the central axis of the shield tunneling machine 1. In the following description, the front is the direction in which the shield tunneling machine 1 advances, and the rear is the opposite direction.

[0018] As shown in Figure 1, the shield tunneling machine 1 comprises a front section 10, a cutter head 11, a rear section 12, a skin plate 13, a segment assembly scaffold 14, a ring girder 15, and a shield jack 16.

[0019] A cutter head 11 is rotatably mounted at the front end of the front section 10, and the cutter head 11 is driven by a motor to excavate the ground. The rear section 12 is flexibly fitted into the inside of the rear end of the front section 10, and cylindrical skin plates 13, which form the outer shell of the shield tunneling machine 1, are provided on the outer circumferential surfaces of the front section 10 and the rear section 12.

[0020] The segment assembly scaffolding 14 is a frame-like structure fixed inside the rear section 12, and the ring girder 15 is installed on the rear section 12 along the circumferential direction of the tunnel. When the shield tunneling machine 1 moves forward a predetermined distance and stops, the segment piece is assembled onto the front end of the existing segment 3 by an erector (not shown) located inside the rear section 12. During the assembly of the segment piece, workers use a segment assembly scaffold 14.

[0021] Multiple shield jacks 16 are provided on the rear section 12 and are arranged at intervals in the circumferential direction. The shield jack 16 includes a cylinder 160 fixed to the rear body 12, a rod 161 that extends and retracts from the rear end of the cylinder 160, and a spreader 162 provided at the rear end of the rod 161.

[0022] The shield tunneling machine 1 excavates by bringing the spreader 162 of the shield jack 16 into contact with the front end surface of the segment 3, and extending the rod 161 of the shield jack 16 while rotating the cutter head 11. Once the shield tunneling machine 1 has advanced a predetermined distance, the cutter head 11 is stopped, and a new segment piece is attached to the front end of the existing segment 3 at the point where the rod 161 of the shield jack 16 has been retracted.

[0023] In other words, the front section 10, cutter head 11, rear section 12, skin plate 13, segment assembly scaffolding 14, ring girder 15, and the cylinder 160 of the shield jack 16 are included in the tunneling progress section that moves during the tunneling of the shield tunneling machine 1, while the rod 161 and spreader 162 of the shield jack 16 are included in the tunneling stop section that is stopped during the tunneling of the shield tunneling machine 1.

[0024] As shown in Figures 1 and 2, the position and attitude measuring device 2 of the shield tunneling machine 1 includes a control unit 20, a tunneling progress marker 21 positioned in the tunneling progress section, a tunneling stop marker 22 positioned in the tunneling stop section, and an imaging means 23 capable of capturing a marker image including the tunneling progress marker 21 and the tunneling stop marker 22.

[0025] The excavation progress marker 21 is, for example, equipped with a reflective sheet with a diameter of about 30 mm, and is attached to the excavation progress section of the shield tunneling machine 1. In this embodiment, the excavation progress markers 21 are arranged at three locations on the rear surface of the ring girder 15, spaced apart in the circumferential direction.

[0026] The excavation stop marker 22 is, for example, equipped with a reflective sheet with a diameter of about 30 mm, and is attached to the excavation stop section of the shield tunneling machine 1. In this embodiment, the excavation stop markers 22 are attached to the rear end faces of the rods 161 of the three shield jacks 16.

[0027] When the spreader 162 of the shield jack 16 is in contact with the front end surface of segment 3 and the excavation of the shield tunneling machine 1 has stopped, both the excavation progress marker 21 and the excavation stop marker 22 are stopped. When the shield tunneling machine 1 begins to excavate, the excavation stop marker 22 attached to the rear end face of the rod 161 of the shield jack 16 is stopped, but the excavation progress marker 21 attached to the excavation progress section moves forward.

[0028] When the tunneling of the shield tunneling machine 1 stops, the tunneling progress marker 21 and the tunneling stop marker 22 stop temporarily. Furthermore, when assembling the segment to which the segment piece is attached to the front end of segment 3, the rod 161 of the shield jack 16 is retracted, so the tunneling progress marker 21 stops and the tunneling stop marker 22 moves forward.

[0029] The imaging means 23 is a 3D camera such as a stereo camera used for optical motion capture, and in this embodiment, three cameras are fixed to the segment assembly scaffolding 14, which is the excavation progress section. Therefore, the imaging means 23 moves in conjunction with the excavation progress marker 21 in accordance with the excavation.

[0030] The imaging means 23 has a field of view that allows it to image both the excavation progress marker 21 and the excavation stop marker 22 before and after excavation, and is positioned to simultaneously image both the excavation progress marker 21 and the excavation stop marker 22.

[0031] The control unit 20 is built into a computer connected to the imaging means 23 and includes an imaging control means 200, a relative position relationship information acquisition means 201, an absolute position information acquisition means 202 for excavation stop markers, an absolute position information acquisition means 203 for excavation progress markers, an absolute position information acquisition means 204 for excavation progress markers while excavation is stopped, and a tunnel boring machine position and attitude measurement means 205.

[0032] The imaging control means 200 controls the imaging means 23 and triggers the stroke of the shield jack 16 or a timer to capture a marker image (see Figure 3) including the excavation progress marker 21 and the excavation stop marker 22.

[0033] The imaging control means 200 activates the imaging means 23 while the shield tunneling machine 1 is excavating (when the excavation progress marker 21 is moving forward and the excavation stop marker 22 is stopped) to capture an excavation marker image, which is an image of the markers in progress, including the excavation progress marker 21 and the excavation stop marker 22.

[0034] Furthermore, the imaging control means 200 activates the imaging means 23 when the shield tunneling machine 1 is not excavating and the excavation stop section is stopped (when the excavation progress marker 21 and the excavation stop marker 22 are stopped) to capture an excavation stop marker image, which is an image of the excavation stop that includes the excavation progress marker 21 and the excavation stop marker 22.

[0035] Furthermore, in order to make it easier to distinguish between the excavation progress marker 21 and the excavation stop marker 22 on the marker image, it is desirable to form the excavation progress marker 21 and the excavation stop marker 22 with different colors or shapes.

[0036] The relative positional relationship information acquisition means 201 acquires relative positional relationship information indicating the relative positions of the excavation progress marker 21 and the excavation stop marker 22 by image analysis based on the marker image captured by the imaging means 23. Relative positional information refers to information indicating the relative positions of the excavation progress marker 21 and the excavation stop marker 22, and can be represented, for example, by coordinate values ​​or vectors.

[0037] The relative positional relationship information acquisition means 201 acquires relative positional relationship information between the excavation progress marker 21 and the excavation stop marker 22 based on the excavation progress marker image captured by the imaging means 23 while the shield tunneling machine 1 is excavating. The relative positional relationship information acquisition means 201 acquires relative positional relationship information between the excavation progress marker 21 and the excavation stop marker 22 based on the excavation stop marker image captured by the imaging means 23 when the shield tunneling machine 1 is not excavating and the excavation stop section is stopped.

[0038] The drilling stop marker absolute position information acquisition means 202 acquires drilling stop marker absolute position information, which indicates the absolute position of the drilling stop marker 22. The drilling stop marker absolute position information is, for example, represented by coordinate values ​​in a predetermined coordinate system.

[0039] During the excavation of the shield tunneling machine 1, and immediately after the shield tunneling machine 1 has advanced a predetermined distance, when excavation is not taking place and the rods of the shield jacks 16 are not extending or retracting, the spreader 162 of the shield jacks 16 contacts the front end surface of the segment 3, and the absolute position of the excavation stop marker 22 attached to the rear end of the rod 161 does not change.

[0040] The excavation progress marker absolute position information acquisition means 203 acquires excavation progress marker absolute position information, which indicates the absolute position of the excavation progress marker 21, based on the excavation stop marker absolute position information acquired by the excavation stop marker absolute position information acquisition means 202 and the relative position relationship information acquired by the relative position relationship information acquisition means 201. The excavation progress marker absolute position information is, for example, represented by coordinate values ​​in a predetermined coordinate system.

[0041] The excavation progress marker absolute position information acquisition means 203 acquires the excavation progress marker absolute position information of the excavation progress marker 21 from the excavation stop marker absolute position information of the excavation stop marker 22 that is stopped during excavation by the shield tunneling machine 1 and relative positional relationship information based on the excavation progress marker image. On the other hand, when the tunneling machine 1 is not drilling and the tunneling stop section is stopped, the tunneling progress marker absolute position information acquisition means 203 acquires the tunneling progress marker absolute position information of the tunneling progress marker 21 from the tunneling stop marker absolute position information of the tunneling stop marker 22 and relative positional relationship information based on the marker image during tunneling stop.

[0042] The means 204 for acquiring absolute position information of the excavation progress marker while excavation is stopped acquires absolute position information of the excavation progress marker while excavation is stopped, which indicates the absolute position of the excavation progress marker 21 when the shield tunneling machine 1 is not excavating. When the shield tunneling machine 1 is not excavating, the excavation progress marker 21 is stopped. Therefore, even if the rod of the shield jack 16 extends or retracts and the excavation stop marker 22 moves, the absolute position of the excavation progress marker 21 does not change.

[0043] The tunnel boring machine position and attitude measuring means 205 determines the position and attitude of the shield tunneling machine 1 based on the absolute position information of the tunneling progress markers acquired by the tunneling progress marker absolute position information acquisition means 203 or the tunneling progress marker absolute position information acquisition means 204 while tunneling is stopped. The excavation progress marker 21 is attached to the excavation progress section of the shield tunneling machine 1 in such a way that its relative position to the shield tunneling machine 1 is known in advance. Therefore, the absolute position of the excavation progress marker 21 allows us to know the position and orientation of the excavation progress section, i.e., the shield tunneling machine 1.

[0044] The relative position relationship information acquisition means 201, the tunnel boring machine position and attitude measurement means 202, the tunnel boring machine absolute position information acquisition means 203, the tunnel boring machine absolute position information acquisition means 204, the tunnel boring machine position and attitude measurement means 205 are connected to the storage unit 24, which stores relative position relationship information, tunnel boring machine absolute position information, tunnel boring machine absolute position information, and tunnel boring machine absolute position information. Furthermore, the storage unit 24 is connected to the imaging means 23, and the marker images acquired by the imaging means 23 are stored in the storage unit 24.

[0045] The position and orientation measuring device 2 measures the position and orientation of the shield tunneling machine 1 as follows: As shown in Figure 4, the rod 161 of the shield jack 16 is retracted, and the measurement is performed from the state in which the assembly of a certain ring segment 3 is completed.

[0046] As shown in Figure 5, in order to start excavation, the spreader 162 of the shield jack 16 is brought into contact with the front end surface of the assembled segment 3, which is a pressing part for obtaining a reaction force.

[0047] In this state, the absolute position information (absolute coordinates) of the excavation progress marker 21 is acquired. This absolute position information is the absolute position information of the excavation progress marker 21 when excavation is not taking place, and is acquired by the excavation stop excavation progress marker absolute position information acquisition means 204. The absolute position information of the first excavation progress marker 21 is provided by existing surveys, etc.

[0048] For example, if the absolute position information of the shield tunneling machine 1, such as the center of the rear section 12 and the orientation such as rolling, can be obtained from existing surveys, then the relative position of the tunneling progress marker 21 with respect to the shield tunneling machine 1 is known, and the absolute position information of the first tunneling progress marker 21 while tunneling is stopped can be calculated and obtained based on the survey results. Specifically, the absolute position information of the first position and orientation of the shield tunneling machine 1 obtained by surveys is input and stored in the storage unit 24, and the absolute position information acquisition means 204 for the tunneling progress marker while tunneling is stopped acquires the absolute position information of the first tunneling progress marker while tunneling is stopped based on this information.

[0049] Furthermore, in the state shown in Figure 5 (when tunnel excavation has not started and the excavation stop section is stopped), the control unit 20 controls the imaging control means 200 to cause the imaging means 23 to image the excavation progress marker 21 and the excavation stop marker 22, and acquires an image of the marker while excavation is stopped. The relative positional relationship information acquisition means 201 acquires relative positional relationship information indicating the relative positions of the excavation progress marker 21 and the excavation stop marker 22 by image analysis based on the excavation stop marker image captured by the imaging means 23.

[0050] Then, the drilling stop marker absolute position information acquisition means 202 calculates and acquires drilling stop marker absolute position information, which indicates the absolute position of the drilling stop marker when drilling is not progressing and the drilling stop unit is stopped, based on the initial drilling stop drilling progress marker absolute position information and relative position relationship information indicating the relative positions of the initial drilling progress marker 21 and the drilling stop marker 22, and stores it in the storage unit 24.

[0051] Next, as shown in Figure 6, the tunneling of the shield tunneling machine 1 is started, and the rod 161 of the shield jack 16 is extended while the cutter head 11 is rotated. At this time, the excavation progress marker 21 and the imaging means 23 move forward, but the excavation stop marker 22 remains stationary and its absolute position does not change.

[0052] During excavation by the shield tunneling machine 1, for example, the imaging control means 200 of the control unit 20 controls the imaging means 23 at predetermined pitches in the stroke of the shield jack 16, and captures an image of the markers during excavation, including the excavation progress marker 21 and the excavation stop marker 22.

[0053] The relative positional relationship information acquisition means 201 acquires relative positional relationship information indicating the relative positions of the excavation progress marker 21 and the excavation stop marker 22 based on the captured excavation progress marker image and stores it in the storage unit 24.

[0054] The excavation progress marker absolute position information acquisition means 203 acquires excavation progress marker absolute position information, which indicates the absolute position (absolute coordinates) of the excavation progress marker 21 as it progresses during excavation, based on relative position relationship information, which indicates the relative position of the excavation progress marker 21 and the excavation stop marker 22, read from the storage unit 24, and excavation stop marker absolute position information, which indicates the absolute position of the excavation stop marker 22 when excavation is not progressing and the excavation stop unit is stopped, and stores this information in the storage unit 24.

[0055] The tunnel boring machine position and attitude measuring means 205 reads the absolute position information of the excavation progress marker during excavation from the storage unit 24, and determines the position and attitude of the shield tunneling machine 1 based on this information. The position and orientation of the shield tunneling machine 1, as determined by the tunnel boring machine position and orientation measuring means 205, are displayed on the monitor 25 connected to the control unit 20.

[0056] In this way, the position and orientation of the shield tunneling machine 1 can be measured in real time during excavation. The tunnel's linear plan and expected orientation can be pre-programmed into the memory unit 24, and the comparison with the measurement results can also be displayed on the monitor 25. In this case, any differences between the plan and the actual situation can be noticed very quickly.

[0057] When the shield tunneling machine 1 moves forward by the distance of one ring and stops, the tunneling progress marker 21, the tunneling stop marker 22, and the imaging means 23 will stop, as shown in Figure 7. At this time, the imaging control means 200 controls the imaging means 23, and an image of the markers during excavation stoppage, including the excavation progress marker 21 and the excavation stoppage marker 22, is captured.

[0058] The relative positional relationship information acquisition means 201 calculates relative positional relationship information between the excavation progress marker 21 and the excavation stop marker 22 based on the captured excavation stop marker image.

[0059] The means 204 for acquiring absolute position information of the excavation progress marker while excavation is stopped acquires absolute position information of the excavation progress marker while excavation is stopped (the absolute coordinates of the excavation progress marker 21 that is stopped) based on the calculated relative position relationship information and the absolute coordinates of the excavation stop marker 22, and stores it in the storage unit 24. By acquiring the absolute position information of the excavation progress marker while excavation is stopped, even if the excavation stop marker 22 moves due to the contraction of the rod 161 during the assembly process of segment 3, the absolute position information of the excavation stop marker can be restored for the next excavation without using existing surveys.

[0060] Next, as shown in Figure 8, the assembly process for segment 3 begins. The rod 161 of the shield jack 16 is retracted, and the new segment piece 3a is attached to the front end of the existing segment 3. During segment assembly, the imaging means 23 does not capture marker images.

[0061] Once the segment assembly is complete, the rod 161 of the shield jack 16 is extended, and the spreader 162 is brought into contact with the front end of segment 3, so that the shield jack 16 is in the state shown in Figure 5, and ready to begin excavating the next ring.

[0062] When the spreader 162 contacts the segment 3 and the excavation stop marker 22 stops, the imaging means 23 captures an image of the excavation stop markers, including the excavation progress marker 21 and the excavation stop marker 22. This image of the marker indicating that excavation has stopped is sent to the storage unit 24, and the relative positional relationship information acquisition means 201 calculates the relative positional relationship information between the excavation progress marker 21 and the excavation stop marker 22 based on the image of the marker indicating that excavation has stopped read from the storage unit 24.

[0063] The relative positional relationship information calculated from the marker image during excavation stoppage, and the absolute position information of the excavation progress marker during excavation stoppage, are sent to the storage unit 24. The excavation stoppage marker absolute position information acquisition means 202 acquires new excavation stoppage marker absolute position information based on the relative positional relationship information and the excavation progress marker absolute position information read from the storage unit 24. Then, the excavation of the next ring is started, and similarly, the absolute position information of the excavation progress marker is obtained based on the absolute position information of the excavation stop marker and the relative positional relationship information calculated from the excavation progress marker image acquired during excavation, and the position and orientation of the shield tunneling machine 1 are measured. This process is repeated thereafter.

[0064] According to the present invention, since the imaging means 23 for measurement is attached to the excavation progress section (segment assembly scaffolding 14) of the shield tunneling machine 1, rather than to the inner surface of the tunnel, even if the tunnel diameter is small, it does not obstruct the movement of transport vehicles and the like inside the tunnel, and even if the tunnel is curved, imaging is not obstructed by equipment installed behind the shield tunneling machine 1. Furthermore, since the imaging means 23 moves along with the excavation progress section (segment assembly scaffolding 14) even while the shield tunneling machine 1 is excavating, there is no need to reposition it as the tunnel excavation progresses, thus saving the time and effort required for repositioning work.

[0065] Figures 9 and 10 show the flow of position and attitude measurement of the shield tunneling machine 1 by the position and attitude measurement device 2.

[0066] First, as shown in Figure 9, when measurement begins, the control unit 20 starts main control, and in step 1 (S1), it detects that the spreader 162 of the shield jack 16 has come into contact with the front end surface of the assembled segment 3, which is the pressing part for obtaining the reaction force, in order to start excavation, as shown in Figure 5. This detection can be performed by known means.

[0067] Next, in step 2 (S2), the means for acquiring absolute position information of the excavation progress marker while excavation is stopped 204 acquires the absolute position information (absolute coordinates) of the first excavation progress marker 21. This absolute position information is the absolute position information of the excavation progress marker while excavation is stopped, indicating the absolute position of the excavation progress marker 21 when excavation is not taking place. As described above, the absolute position information of the first excavation progress marker 21 is provided based on existing surveys, etc.

[0068] Next, in step 3 (S3), sub-control is performed.

[0069] As shown in Figure 10, the sub-control process ends in step 100 (S100) when the imaging means 23 captures a marker image, and then in step 101 (S101), when the relative positional relationship information acquisition means 201 acquires relative positional relationship information indicating the relative positions of the excavation progress marker 21 and the excavation stop marker 22 based on the marker image.

[0070] In this sub-control, since it is before the start of excavation, the shield tunneling machine 1 is not excavating, and the excavation stop section is also stopped, the imaging means 23 captures an image of the excavation stop marker (step 100 (S100)), and the relative position relationship information acquisition means 201 acquires relative position relationship information indicating the relative positions of the excavation progress marker 21 and the excavation stop marker 22 before the start of excavation based on the excavation stop marker image (step 101 (S101)).

[0071] Returning to the main control, as shown in Figure 9, in step 4 (S4), the drilling stop marker absolute position information acquisition means 202 calculates and acquires drilling stop marker absolute position information, which indicates the absolute position of the drilling stop marker when drilling is not progressing and the drilling stop section is stopped, based on the initial drilling stop drilling progress marker absolute position information acquired in step 2 (S2) and the relative position relationship information indicating the relative positions of the initial drilling progress marker 21 and the drilling stop marker 22 acquired in step 3 (S3).

[0072] Next, when the rod 161 of the shield jack 16 is extended to advance the shield tunneling machine 1 (Figure 6), in step 5 (S5), the control unit 20 detects that the advancement has begun and activates the imaging means 23 when a predetermined pitch is reached in the stroke of the shield jack 16, and starts measuring the position and orientation of the shield tunneling machine 1 during advancement. The detection of the start of the advancement can be done by known means.

[0073] Next, in step 6 (S6), it is determined whether the shield tunneling machine 1 has excavated, for example, by a predetermined pitch within the jack stroke of one ring. If it has not excavated by the predetermined pitch, the determination in step 6 (S6) is repeated. If it has excavated by the predetermined pitch, the process proceeds to step 7 (S7).

[0074] Next, in step 7 (S7), sub-control is performed.

[0075] As shown in Figure 10, the sub-control process ends in step 100 (S100) when the imaging means 23 captures a marker image, and then in step 101 (S101), when the relative positional relationship information acquisition means 201 acquires relative positional relationship information indicating the relative positions of the excavation progress marker 21 and the excavation stop marker 22 based on the marker image.

[0076] In this sub-control, the shield tunneling machine 1 is drilling and the drilling stop section is stopped, so the imaging means 23 captures a drilling marker image (step 100 (S100)), and the relative position relationship information acquisition means 201 acquires relative position relationship information indicating the relative positions of the drilling progress marker 21 and the drilling stop marker 22 based on the drilling marker image (step 101 (S101)).

[0077] Returning to the main control, as shown in Figure 9, in step 8 (S8), the drilling progress marker absolute position information acquisition means 203 calculates and acquires drilling progress marker absolute position information, which indicates the absolute position of the drilling progress marker during drilling, based on the drilling stop marker absolute position information, which indicates the absolute position of the drilling stop marker acquired in step 4 (S4), and the relative position relationship information, which indicates the relative positions of the drilling progress marker 21 and the drilling stop marker 22 acquired in step 6 (S6).

[0078] Subsequently, in step 9 (S9), the tunnel boring machine position and attitude measuring means 205 determines the position and attitude of the shield tunneling machine 1 based on the absolute position information of the tunneling progress markers, and then in step 10 (S10), the control unit 20 displays the measurement results on the monitor 25 in an arbitrary display.

[0079] Next, in step 11 (S11), it is determined whether the shield tunneling machine 1 has completed excavating one ring. If it has not completed excavating one ring, the process returns to before step 6 (S6) to determine the next predetermined pitch of excavation, and the same measurement process during excavation is repeated. If it has completed excavating one ring, the process proceeds to step 12 (S12), which is the process for when the shield tunneling machine 1 is stopped excavating.

[0080] Next, in step 12 (S12), sub-control is performed.

[0081] As shown in Figure 10, the sub-control process ends in step 100 (S100) when the imaging means 23 captures a marker image, and then in step 101 (S101), when the relative positional relationship information acquisition means 201 acquires relative positional relationship information indicating the relative positions of the excavation progress marker 21 and the excavation stop marker 22 based on the marker image.

[0082] In this sub-control, the shield tunneling machine 1 has completed drilling the previous ring and is no longer drilling, and the drilling stop section is stopped, so the imaging means 23 captures an image of the drilling stop marker (step 100 (S100)), and the relative position relationship information acquisition means 201 acquires relative position relationship information that shows the relative positions of the drilling progress marker 21 and the drilling stop marker 22 after drilling is completed, based on the drilling stop marker image (step 101 (S101)).

[0083] Returning to the main control, as shown in Figure 9, in step 13 (S13), the drilling stop drilling progress marker absolute position information acquisition means 204 calculates and acquires drilling stop drilling progress marker absolute position information, which indicates the absolute position of the drilling progress marker while drilling is stopped, based on the drilling stop marker absolute position information, which indicates the absolute position of the drilling stop marker acquired in step 4 (S4), and the relative position relationship information, which indicates the relative positions of the drilling progress marker 21 and the drilling stop marker 22 acquired in step 12 (S12).

[0084] Next, in step 14 (S14), the control unit 20 detects by known means that the assembly of the segment has started. In the shield tunneling machine 1, the rod 161 of the shield jack 16 is retracted, and the operation of assembling the segment piece 3a to the front end of the segment 3 is performed.

[0085] Next, in step 15 (S15), the control unit 20 determines by known means whether the segment assembly work is complete. If assembly is in progress, it returns to the step before step 15 (S15) and repeats the process. If assembly is complete, it proceeds to step 16 (S16).

[0086] In step 16 (S16), a decision is made whether or not to terminate the measurement based on a signal indicating the end of the measurement. If the measurement is complete, the process is terminated. If the measurement is not complete, proceed to step 17 (S17).

[0087] Next, in step 17 (S17), similar to step 1 (S1), it is detected that the spreader 162 of the shield jack 16 has come into contact with the front end surface of the assembled segment 3, which is the pressing part for obtaining the reaction force, in order to restart the excavation. Next, the process returns to before step 3 (S3), and step 3 (S3) is performed.

[0088] In the subsequent step 4 (S4), the absolute position information of the excavation progress marker during excavation stop, acquired in step 13 (S13), is used to obtain the absolute position of the excavation stop marker. That is, the excavation stop marker absolute position information acquisition means 202 calculates and acquires the excavation stop marker absolute position information, which indicates the absolute position of the excavation stop marker when excavation is not progressing and the excavation stop section is stopped, based on the excavation progress marker absolute position information acquired in step 13 (S13) and the relative position relationship information indicating the relative positions of the excavation progress marker 21 and the excavation stop marker 22 acquired in step 3 (S3). This process is then repeated.

[0089] The imaging means 23 is positioned to capture a marker image including the excavation progress marker 21 and the excavation stop marker 22, so that both markers can be captured in a single image. Therefore, relative positional relationship information of both markers can be obtained, and there is no need to determine the position information of the imaging means.

[0090] The position and orientation of the shield tunneling machine can be measured in real time, even while excavation is in progress.

[0091] During segment assembly, the excavation stop marker will move, but by utilizing the fact that the excavation progress marker does not move, the absolute position information of the excavation progress marker can be obtained. Therefore, there is no need to restore the absolute position information from a temporary benchmark using previous methods such as manual surveying.

[0092] Alternatively, the data acquired at each step may be saved in the storage unit 24 each time and later read from the storage unit 24 for use.

[0093] [Other variations] The present invention is not limited to the embodiments described above. For example, the following are also included.

[0094] In this embodiment, a position and attitude measuring device for a shield tunneling machine has been described, but it may also be a position and attitude measuring device for other tunnel boring machines, such as a TBM (Tunneling Machine) excavator equipped with propulsion jacks.

[0095] In this embodiment, the shield tunneling machine position and attitude measuring device measures both the position and attitude of the shield tunneling machine, but it may measure either the position or the attitude alone. In other words, the "excavator position and attitude measuring device" in the present invention measures at least one of the position or attitude of the tunnel excavator.

[0096] In this embodiment, the position and orientation of the rear section of the shield tunneling machine were measured, but it is also possible to measure the position and orientation of the front section by determining the relative position of the front section and the rear section.

[0097] In this embodiment, the position and orientation of the shield machine are measured while it is excavating, but measurements may also be taken when the excavation is stopped.

[0098] In this embodiment, three each of the excavation progress markers, excavation stop markers, and imaging means are installed, but the number is not limited to this. For example, there may be two or four or more imaging means. Similarly, there may be two or four or more excavation progress markers and excavation stop markers. Furthermore, the combination of imaging means and markers does not have to be the same number. In other words, the number and combination of excavation progress markers, excavation stop markers, and imaging devices can be set according to various conditions. For example, if only the position of the tunnel boring machine is to be measured, one excavation progress marker and one excavation stop marker can be installed.

[0099] In this embodiment, three cameras are used to improve accuracy, but the number of cameras is not limited. Also, although each camera captures images of three excavation progress markers and three excavation stop markers in a single image, this is not limited to this. One camera may capture one pair of the three excavation progress markers and excavation stop markers in a single image. Furthermore, while the cameras used were 3D cameras such as stereo cameras, they do not necessarily have to be stereo cameras. For example, it would be possible to configure it like an optical motion capture system, where multiple cameras capture a set (one excavation progress marker and one excavation stop marker).

[0100] In this embodiment, the excavation progress marker and the excavation stop marker are reflective sheets, but they can also be light-emitting bodies.

[0101] In this embodiment, multiple excavation stop markers are provided on the spreaders of separate shield jacks, but this is not limited to this configuration. Multiple excavation stop markers may be provided on the spreader of a single shield jack. In this case, measurement is possible when the shield jack on which the excavation stop marker is provided is not moving, so measurement can be performed even when segment assembly is underway at other shield jack locations.

[0102] In this embodiment, the excavation progress marker is attached to the ring girder, but it can also be placed at other locations in the excavation progress section that do not interfere with the excavation work. Furthermore, although the imaging means is attached to the segment assembly scaffolding, it may be placed at any position in the excavation section as long as it is in a position where the excavation progress marker and the excavation stop marker can be captured simultaneously.

[0103] Each technical matter in any embodiment, including variations, may be applied to other embodiments to form examples. [Explanation of symbols]

[0104] 1. Shield tunneling machine 10 Front torso 11 cutter heads 12 Rear section 13 Skin Plates 14-segment assembly scaffolding 15 Ring Garter 16 Shield Jack 160 cylinders 161 Rod 162 Spreader 2 Position and orientation measuring device 20 Control Unit 200 Imaging control means 201 Means for acquiring relative positional relationship information 202 Means for acquiring absolute position information of excavation stop marker 203 Means for acquiring absolute position information of excavation progress markers 204 Means for acquiring absolute position information of markers for excavation while excavation is stopped 205 Means for measuring the position and attitude of a tunnel boring machine 21 Excavation progress marker 22 Excavation Stop Marker 23 Imaging means 24 Memory section 25 monitors 3 segments 3a Segment piece

Claims

1. A position and attitude measuring device for a tunnel boring machine having a tunneling progress section that moves during excavation and a tunneling stop section that stops during excavation, Control unit and The excavation progress marker is positioned in the aforementioned excavation progress section, The excavation stop marker is placed in the excavation stop section, The tunnel boring machine is equipped with an imaging means capable of capturing marker images including the excavation progress marker and the excavation stop marker, The control unit, An imaging control means for controlling the imaging means, Relative position relationship information acquisition means that acquires relative position relationship information indicating the relative positions of the excavation progress marker and the excavation stop marker based on the marker image captured by the imaging means by the imaging control means, A means for acquiring absolute position information of a drilling stop marker, which acquires absolute position information of a drilling stop marker indicating the absolute position of the drilling stop marker, A means for acquiring absolute position information of an excavation progress marker, which acquires absolute position information of an excavation progress marker indicating the absolute position of the excavation progress marker based on the absolute position information of the excavation stop marker and the relative position relationship information, The system includes a tunnel boring machine position and orientation measuring means that determines at least one of the position or orientation of the tunnel boring machine based on the absolute position information of the excavation progress marker. A position and attitude measuring device for a tunnel boring machine, characterized by the following features.

2. The control unit acquires an excavation marker image captured by the imaging means under the control of the imaging control means during excavation. The relative position information acquisition means acquires the relative position information based on the excavation marker image. The position and attitude measuring device for a tunnel boring machine as described in feature 1.

3. When excavation is not being carried out and the excavation stop unit is stopped, the control unit acquires an excavation stop marker image captured by the imaging means under the control of the imaging control means. The relative position information acquisition means acquires the relative position information based on the marker image during excavation stoppage. The position and attitude measuring device for a tunnel boring machine as described in feature 1.

4. The control unit includes a means for acquiring absolute position information of the excavation progress marker while excavation is stopped, which indicates the absolute position of the excavation progress marker when excavation is not being performed, and when excavation is not being performed and the excavation stop unit is stopped, the control unit acquires an image of the excavation stop marker captured by the imaging means under the control of the imaging control means. The relative position information acquisition means acquires the relative position information based on the marker image during excavation stoppage, The means for acquiring absolute position information of the excavation stop marker acquires the absolute position information of the excavation stop marker based on the absolute position information of the excavation progress marker during excavation stop and the relative position relationship information. A position and attitude measuring device for a tunnel boring machine according to any one of claims 1 to 3.

Images