Shield tunnel surveying system and surveying method

Abstract

To provide a survey system and a survey method for shield tunnels, with which a prism can be arranged at an accurate position by horizontally retaining a linear bar on which the prism is installed.SOLUTION: A survey system for shield tunnels comprises: an automatic tracking type total station 10 installed by using a known point 6 inside an existing shield tunnel as a reference point; a collimator 20 installed at a measurement position; and remote operation means 30 for actuating the total station 10. The collimator 20 comprises: a linear bar 21; and a prism 22 installed on the linear bar 21. The remote operation means 30 comprises: a voice recognition unit 31 for discriminating a specific voice; and a communication unit 32 for transmitting a signal for starting measurement to the total station 10.SELECTED DRAWING: Figure 1

Description

Technical Field

[0001] The present invention relates to a surveying system and a surveying method for a shield tunnel.

Background Art

[0002] In the construction of a shield tunnel, in order to drive a shield machine along a planned linear path, the position of the shield tunnel is surveyed, and the error between the actually measured position and the planned linear path is reflected in the excavation direction of the shield machine. To survey the position of the shield tunnel, first, a surveying instrument such as an optical distance measuring instrument is installed in the tunnel, and the mechanical coordinate value of the surveying instrument is obtained by sighting a reference point behind the tunnel with the surveying instrument. Then, the position of the segment at the tip of the tunnel is surveyed with the surveying instrument, and the coordinate value of the segment at the tip of the shield tunnel is calculated (see, for example, Patent Document 1). When surveying the position of the segment at the tip of the tunnel, an operator holds a staff (linear bar) provided with a prism as a target at the intermediate portion in the longitudinal direction, and hangs it across the left and right side surfaces of the segment and installs it horizontally. Then, since the prism at the intermediate portion of the staff is located at the intermediate portion in the width direction of the segment, the prism can be surveyed with the surveying instrument with the center position of the tunnel as a reference.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] Using an automatic tracking total station allows surveying work to be performed by a single worker holding the staff. In this case, the worker needs to hold the staff in one hand and operate a tablet terminal or similar device that transmits activation signals to the automatic tracking total station with the other hand. The staff is long and heavy to hold with one hand, and the surface on the shield machine's skin plate or segments is unstable. Therefore, when operating the tablet terminal, the staff's stability decreases, making it difficult to maintain the staff's horizontal position, which can cause the prism to shift. From this perspective, the object of the present invention is to provide a surveying system and surveying method for shield tunnels that can maintain the horizontal position of a straight rod on which a prism is installed and position the prism accurately. [Means for solving the problem]

[0005] The first invention to solve these problems is a shield tunnel surveying system for sequentially surveying the position and orientation of a shield tunneling machine or segments assembled by the shield tunneling machine. Such a shield tunnel surveying system comprises an automatic tracking total station set up with a known point in the existing shield tunnel as a reference point, a sighting device set up at the surveying position, and a remote control means for operating the total station, wherein the sighting device is The lower arc portion of the shield tunnel is held horizontally. The system comprises a straight rod and a prism installed on the straight rod, and the remote control means comprises a voice recognition unit that identifies a specific sound and a communication unit that transmits a signal to the total station to start surveying. The sighting device is held by the surveyor, and the voice recognition unit recognizes the voice spoken by the surveyor as an instruction to start the survey. It is characterized by the following: According to the shield tunnel surveying system of the present invention, a signal to start surveying can be transmitted by having the voice recognition unit recognize a specific voice emitted by the surveyor, allowing the sighting device to be held with both hands and maintained in a stable position. This enables the horizontal positioning of the straight rod material, allowing the prism to be placed in the correct position, and consequently enabling accurate surveying.

[0006] In the shield tunnel surveying system of the present invention, the remote control means is equipped with a microphone for collecting sound, and it is preferable that the microphone is installed near the center of the straight rod. With this configuration, when the surveyor holds the straight rod with both hands, the microphone is positioned close to their face, making it easy to collect sound and accurately recognize the voice. In the shield tunnel surveying system of the present invention, it is preferable that the remote control means is provided in a communication terminal carried by the surveyor. With such a configuration, the remote control means can be made compact and placed in a pocket or bag, making it easier for the surveyor to carry the remote control means and allowing them to grip the straight rod with both hands. In the shield tunnel surveying system of the present invention, it is preferable that the communication unit is connected to the total station by wireless communication. With such a configuration, wiring connecting the communication unit and the total station becomes unnecessary, simplifying the configuration and facilitating the handling of various components. In the shield tunnel surveying system of the present invention, it is preferable that the sighting device is equipped with a spirit level. With such a configuration, the straight rod can be held horizontally, so the position of the prism becomes even more accurate. In the shield tunnel surveying system of the present invention, it is preferable that the system further includes a calculation device that receives surveying data acquired by the total station and calculates coordinates. With such a configuration, the calculation device can quickly and accurately calculate the position coordinates of the shield tunnel. In the shield tunnel surveying system of the present invention, it is preferable that a notification means for notifying whether the survey performed by the total station is successful or not is further provided. With such a configuration, a surveyor located at a distance from the total station can ascertain whether the survey is successful or not.

[0007] A second aspect of the present invention for solving the aforementioned problems is a surveying system for a shield tunnel that sequentially measures the position and orientation of a shield tunneling machine or segments assembled by the shield tunneling machine. This surveying system for a shield tunnel comprises an automatic tracking total station set up with known points in an existing shield tunnel as reference points, a sighting device set up at the surveying position, and a remote control means for operating the total station. The sighting device is, The lower arc portion of the shield tunnel is held horizontally. The remote control means comprises a straight rod and a prism installed on the straight rod, and the remote control means comprises a switch button installed near the gripping portion for which the surveyor grips the straight rod, and a communication unit that transmits a signal to the total station to start surveying when the surveyor operates the switch button. The sighting device is held by the surveyor, and the switch button is operated by the surveyor holding the sighting device. It is characterized by the following: According to the shield tunnel surveying system of the present invention, the surveyor can operate the switch button while holding the sighting device with both hands, allowing the signal to start surveying to be transmitted while maintaining a stable state. This allows the horizontal positioning of the straight rod material to be maintained, enabling the prism to be placed in the correct position, and consequently, accurate surveying to be performed.

[0008] A third aspect of the present invention for solving the aforementioned problems is a method for surveying a shield tunnel, which sequentially measures the position and orientation of a shield tunneling machine or segments assembled by the shield tunneling machine. This method for surveying a shield tunnel includes a total station installation step of installing an automatic tracking total station using known points in an existing shield tunnel as reference points, and At the surveying location, which is the lower arc portion of the shield tunnel, a straight rod and a prism installed on the straight rod are provided. Sighting device horizontally The system includes a step of setting up the sighting device and an operation step in which the surveyor remotely operates the total station from the surveying position. Assuming that the aforementioned straight rod is in a horizontally stable position within the lower arc portion of the shield tunnel, The remote control means is characterized in that when the surveyor emits a voice signal to initiate the survey, the voice recognition unit of the remote control means transmits a signal to initiate the survey to the total station via the communication unit. According to the shield tunnel surveying method of the present invention, the communication unit transmits a survey start signal when the surveyor makes a voice sound to begin the survey, allowing the surveyor to hold the sighting device with both hands and maintain a stable position. This allows the horizontal positioning of the straight rod material to be maintained, enabling the prism to be placed in the correct position, and consequently, accurate surveying to be performed. [Effects of the Invention]

[0009] According to the shield tunnel surveying system and surveying method of the present invention, the staff can be kept horizontal and the prism can be positioned accurately. [Brief explanation of the drawing]

[0010] [Figure 1] This is an overall configuration diagram showing a surveying system for a shield tunnel according to an embodiment of the present invention. [Figure 2] This is a cross-sectional view of a shield tunnel showing the state in which the surveying system for the shield tunnel according to an embodiment of the present invention has been installed. [Figure 3] (a) is a front view showing the sighting device of this embodiment, and (b) is a front view showing a modified sighting device. [Modes for carrying out the invention]

[0011] A surveying system and surveying method for a shield tunnel according to an embodiment of the present invention will be described with reference to the attached drawings. The shield tunnel of this embodiment is formed by assembling segments into a cylindrical shape. Figure 1 is an overall configuration diagram showing the surveying system for the shield tunnel, Figure 2 is a cross-sectional view of the shield tunnel showing the surveying system installed, Figure 3(a) is a front view showing the sighting device, and Figure 3(b) is a front view showing the sighting device with a modified remote control means attached.

[0012] As shown in Figures 1 and 2, the surveying system 2 of the shield tunnel 1 sequentially surveys the position and orientation of the shield tunneling machine 3 or the segments 5 assembled by the shield tunneling machine 3. The surveying system 2 comprises a total station 10, a sighting device 20, a remote control means 30, a computing device 50, and a notification means (not shown). The total station 10 is an automatic tracking type and is set up using known points 6 within the shield tunnel 1 as reference points (instrument points). Known points 6 are points with known coordinate values ​​and are set up in multiple locations at predetermined intervals behind the shield tunnel 1. Once the total station 10 is set up at the reference points, it first sights the known points 6 behind the installation position to determine the baseline (direction) for the survey. Then, it measures the distance and angle to segment 5 located at the tip of the shield tunnel 1 on the side of the shield tunneling machine 3. The total station 10 is equipped with a communication antenna (not shown) and receives a survey start signal transmitted from the remote control means 30 to start the sighting instrument 20's survey.

[0013] As shown in Figure 3(a), the sighting device 20 is held by the surveyor and placed at the survey position 7 (see Figure 2). The survey position 7 is the position of segment 5 located at the tip of the shield tunnel 1. The sighting device 20 comprises a straight rod 21, a prism 22, and a spirit level 23. The straight bar 21 is a long, rectangular-sectioned material made of a lightweight metal such as an aluminum alloy, and is used, for example, as a surveying staff. The straight bar 21 is stretched horizontally across the lower arc portion of the shield tunnel 1. The prism 22 is the target that the total station 10 measures, and is attached to the longitudinal middle of the straight rod 21 via a bracket or mounting jig. At the measurement position 7, the surveyor holds the sighting device 20 so that the prism 22 faces the total station 10. The spirit level 23 is attached to the side of the straight rod 21 (the upper surface of the straight rod 21 when the sighting device 20 is held horizontally). The spirit level 23 is positioned near the midpoint of the straight rod 21 in the longitudinal direction, in a location easily visible to the surveyor. By installing the linear bar 21 horizontally in the arc portion below the shield tunnel 1, the prism 22 attached to the longitudinal middle portion thereof will be located at the horizontal middle portion of the shield tunnel 1.

[0014] The remote operation means 30 operates the total station 10 by remote operation from the surveying position 7. The remote operation means 30 includes a voice recognition unit 31, a communication unit 32, and a microphone 33. Among the remote operation means 30, the voice recognition unit 31 and the communication unit 32 are provided in the tablet terminal 34 which is a communication terminal carried by the surveyor. The tablet terminal 34 functions as the remote operation means 30 by executing a pre-installed program. The voice recognition unit 31 identifies a specific voice uttered by the surveyor holding the sight 21. The voice recognition unit 31 acquires the voice collected by the microphone 33, and when it recognizes a signal to start surveying (such as uttering "start surveying", etc.) uttered by the surveyor in a state where the sight 2 is set horizontally at the measurement position 7, it issues a signal to start surveying toward the communication unit 32. The microphone 33 is installed near the central portion of the linear bar 21 and is connected to the tablet terminal 34. Note that the voice may be acquired from the microphone built in the tablet terminal 34. The communication unit 32 issues the signal to start surveying issued by the voice recognition unit 31 toward the total station 10. The communication unit 32 is connected to the total station 10 by wireless communication. For example, Wi-Fi is used for the wireless communication. The wireless communication between the communication unit 32 of the remote operation means 30 and the total station 10 uses a dedicated Wi-Fi router 40 installed in the tunnel. By using such a dedicated Wi-Fi, the signal to start surveying can be transmitted without time loss. Note that the wireless communication is not limited to Wi-Fi, and other wireless communications such as ZIGBEE (registered trademark) and BLUETOOTH (registered trademark) may be used. Between the communication unit 32 and the total station 10, a signal to start surveying is transmitted from the communication unit 32 to the total station 10, and surveying data is transmitted from the total station 10 to the communication unit 32.

[0015] The computing device 50 receives the survey data acquired by the total station 10 via the tablet terminal 34 and calculates the coordinates of the segment 5 at the tip of the shield tunnel 1. The computing device 50 is configured by a program downloaded to the personal computer 51. The coordinate values calculated by the computing device 50 are transmitted to the tunneling management system to calculate the positions of the shield tunneling machine 2 and the segment 5 and to calculate the error between the shield tunnel 1 and the planned alignment. Then, according to the error, the shield jacks of the shield tunneling machine 2 are appropriately extended and contracted to correct the excavation direction of the shield tunneling machine 2.

[0016] The notification means (not shown) notifies the surveyor of the success or failure of the survey by the total station 10, and is provided, for example, in the total station 10, the sighting instrument 20, and the tablet terminal 34. The notification means is composed of, for example, a voice generating device, a lighting device, and an alarm device. The voice generating device utters, for example, "Survey successful" when the survey is successful and "Survey failed" when it fails; the lighting device lights up in blue, for example, when the survey is successful and in red when it fails; the alarm device emits a high-pitched alarm, for example, when the survey is successful and a low-pitched alarm when it fails. With the notification means, the surveyor who has confirmed the success of the survey can release the holding posture of the sighting instrument 20. On the other hand, the surveyor who has confirmed the failure of the survey continues to hold the sighting instrument 20 and utters the start of the survey again.

[0017] Next, a survey method using the survey system 2 of the shield tunnel 1 of the present embodiment will be described. Such a survey method is a method of sequentially surveying the position and attitude of the shield tunneling machine 3 or the segment 5, and includes a total station installation process, a sighting instrument installation process, and an operation process.

[0018] The total station installation process involves installing an automatic tracking total station 10 inside the shield tunnel 1. In the total station installation process, known points 6 inside the shield tunnel 1 are used as reference points (instrument points), and the other known points 6 and survey positions 7 are installed in positions where they can be seen. The sighting device installation process involves installing the sighting device 20 at the survey position 7. In the sighting device installation process, the surveyor grasps the sighting device 20 and places it horizontally across the lower arc portion of the shield tunnel 1. At this time, the surveyor grasps the sighting device 20 with both arms outstretched, allowing for stable work. The spirit level 23 is positioned close to the surveyor's face, making it easy to see. The prism 22 is located in the middle of the shield tunnel 1 in the left-right direction. The operation process involves the surveyor remotely operating the total station 10 from the survey position 7. During the operation process, the surveyor speaks a voice command to begin the survey towards the microphone 33 of the remote control means 30. The voice recognition unit 31 of the remote control means 30 then recognizes the voice command, and the communication unit 32 transmits a signal to begin the survey to the total station 10. The total station 10 then automatically measures the position of the prism 22 of the sighting device 20. In the operation process, the surveyor can transmit a signal to begin the survey to the total station 10 simply by speaking, allowing them to maintain a hands-free position while holding the sighting device 20. Subsequently, the survey data from the total station 10 is transmitted to the arithmetic unit 50 via the communication unit 32. The arithmetic unit 50 calculates the coordinate values ​​of the segment 5 at the leading edge of the shield tunnel 1.

[0019] According to the surveying system 2 and surveying method of the shield tunnel 1 of this embodiment, a signal to start surveying can be transmitted by having the remote control means 30 recognize the voice of the surveyor, so that the surveyor can maintain a stable state of the sighting device 20. As a result, the horizontal position of the sighting device 20 can be maintained, the prism 22 can be placed in the correct position, and consequently, accurate surveying of the shield tunnel 1 can be performed. Furthermore, since the microphone 33 is positioned near the center of the straight rod 31, when the surveyor holds the straight rod 31 with both hands, the microphone 33 is positioned close to their face. Therefore, it becomes easier to collect the surveyor's voice, and the voice can be accurately recognized. Furthermore, since the remote control means 30 is integrated into the tablet terminal 34 carried by the surveyor, it is compact and can be carried to the site in a pocket or bag. Also, since there is no need to manually operate the tablet terminal 34 during the operation process, the sighting device 20 can be held with both hands.

[0020] Furthermore, since the communication unit 32 of the remote control means 30 is connected to the total station 10 via wireless communication such as Wi-Fi, ZIGBEE (registered trademark), or BLUETOOTH (registered trademark), wiring to connect the communication unit 32 and the total station 10 is unnecessary, simplifying the configuration and making it easier to handle various components. Furthermore, since the sighting device 20 is equipped with a spirit level 23, it can hold the straight rod 21 horizontally. Therefore, the position of the prism 22 becomes even more accurate. Furthermore, the surveying system 2 can quickly and accurately calculate the position coordinates of the shield tunnel 1 using the calculation unit 50. Furthermore, since the surveying system 2 is equipped with a notification mechanism, a surveyor located at a distance from the total station 10 can ascertain whether the survey was successful or not.

[0021] Next, the configuration of the modified remote control means 30 will be described. Figure 3(b) is a front view showing a sighting device to which the modified remote control means is attached. As shown in Figure 3(b), this remote control means 30 is characterized by having a switch button 35 instead of a microphone. The switch button 35 transmits a signal to the communication unit 32 to start the survey. The switch button 35 is installed near the gripping part (specifically, the longitudinal end of the straight rod 21) where the surveyor grips the straight rod 21. The other configurations are the same as in the above embodiment, so their description will be omitted. In a surveying method using a surveying system 2 equipped with a remote control means 30 configured in this way, during the operation step, the surveyor presses the switch button 35 while holding the sighting device 20 with both hands. According to the modified version of the shield tunnel 1 surveying system 2 and surveying method, the surveyor can remotely operate the system by sending a signal to start the survey to the total station 10 while holding the sighting device 20 with both hands and maintaining a stable position.

[0022] Although embodiments for carrying out the present invention have been described above, the present invention is not limited to the embodiments described above, and the design can be modified as appropriate without departing from the spirit of the present invention. For example, in the above embodiment, the straight rod 21 is made of a surveying staff, but it is not limited thereto. The straight rod 21 may be a simple rod or an extendable rod, as long material that can maintain straightness when laid horizontally. [Explanation of symbols]

[0023] 1 Shield tunnel 2. Surveying System 3. Shield tunneling machine 6. Known points 7 Survey location 10 Total Station 20 collimator 21 Straight bar 22 Prisms 23 Level 30 Remote control means 31. Voice Recognition Unit 32 Communications Department 33 Mike 34. Tablet devices (communication devices) 35 Switch Buttons 50 Arithmetic unit

Claims

1. A surveying system for a shield tunnel that sequentially measures the position and orientation of a shield tunneling machine or segments assembled by the shield tunneling machine, The system comprises an automatic tracking total station installed using a known point within an existing shield tunnel as a reference point, a sighting device installed at the survey position, and a remote control means for operating the total station. The sighting device comprises a straight rod held horizontally in the lower arc portion of the shield tunnel, and a prism installed on the straight rod. The remote control means includes a voice recognition unit that identifies a specific voice and a communication unit that transmits a signal to the total station to start surveying. The sighting device is capable of being held by the surveyor. The voice recognition unit recognizes the voice spoken by the surveyor as an instruction to start the survey. A surveying system for shield tunnels characterized by the following features.

2. The aforementioned remote control means is equipped with a microphone that collects the voice emitted by the surveyor. The microphone is installed near the center of the straight rod. The shield tunnel surveying system according to feature 1.

3. The aforementioned remote control means is provided in a communication terminal carried by the surveyor. The shield tunnel surveying system according to feature 1.

4. The communication unit is connected to the total station via wireless communication. The shield tunnel surveying system according to feature 1.

5. The sighting device is equipped with a spirit level. The shield tunnel surveying system according to feature 1.

6. The system further includes a computing device that receives survey data acquired by the total station and calculates coordinates. The shield tunnel surveying system according to feature 1.

7. The system is further equipped with a means for reporting the success or failure of the survey conducted by the total station. The shield tunnel surveying system according to feature 1.

8. A surveying system for a shield tunnel that sequentially measures the position and orientation of a shield tunneling machine or segments assembled by the shield tunneling machine, The system comprises an automatic tracking total station installed using a known point within an existing shield tunnel as a reference point, a sighting device installed at the survey position, and a remote control means for operating the total station. The sighting device comprises a straight rod held horizontally in the lower arc portion of the shield tunnel, and a prism installed on the straight rod. The remote control means includes a switch button installed near the gripping portion where the surveyor grips the straight rod, and a communication unit that transmits a signal to the total station to start surveying when the surveyor operates the switch button. The sighting device is capable of being held by the surveyor. The aforementioned switch button is operated by the surveyor who is holding the sighting device. A surveying system for shield tunnels characterized by the following features.

9. A method for surveying a shield tunnel, comprising sequentially measuring the position and orientation of a shield tunneling machine or segments assembled by the shield tunneling machine, The total station installation process involves installing an automatically tracking total station using known points within the existing shield tunnel as reference points, and The process of installing a sighting device involves horizontally installing a sighting device, which consists of a straight rod and a prism mounted on the straight rod, at the survey position, which is the lower arc portion of the shield tunnel. The system includes an operation step in which a surveyor remotely operates the total station from the survey position, In the aforementioned operation step, provided that the straight rod is in a horizontally stable position within the lower arc portion of the shield tunnel, when the surveyor emits a voice signal to the remote control means to begin the survey, the voice recognition unit of the remote control means transmits a signal to the total station via the communication unit to begin the survey. A method for surveying a shield tunnel, characterized by the following features.

Images