WO1997008429A1 - Method and apparatus for measuring position and attitude of tunnel boring machine - Google Patents

Abstract

A method and an apparatus for measuring the position and attitude of a tunnel boring machine, capable of accurately measuring the position and attitude of a tunnel boring machine by reliably detecting the position and attitude thereof in a relay measuring point. According to this method, a relay measuring point C set on a carriage is provided between a reference measuring point A and a mobile body measuring point B, and the position and attitude of a tunnel boring machine in operation are measured on the basis of the data in the reference measuring point by moving and stopping the carriage to and in a position, to which light emitting from the reference measuring point A can reach, when the operation of the machine is stopped, and by receiving the light emitting from the reference measuring point A in the relay measuring point C and mobile body measuring point B when the operation of the machine is carried out.

Description

 Description Position and attitude measurement method of tunnel machine and its measuring device

 The present invention relates to a method and apparatus for measuring the position and orientation of a tunnel machine. Background technology

 In tunnel construction, the position and attitude of the tunnel machine are measured in order to carry out construction according to the planned line. For position measurement, it is common to set up an appropriate three-dimensional coordinate system in the tunnel space and represent the three components. Usually, the tunnel planning line is used as one coordinate axis, and the position of the tunnel machine is determined by the excavation distance obtained from this, the horizontal deviation from the planning line, and the vertical deviation from the planning line. Often represented. On the other hand, attitude measurement is usually represented by three components around each axis of the three-dimensional coordinate system. For example, the orientation of the tunnel machine in the horizontal plane (jowing angle), the inclination of the tunnel machine in the front-rear direction (pitting), and the rotation of the tunnel machine around the center axis (rolling) can be used to change the attitude of the tunnel machine. Often represented.

 And the above-mentioned measurement in a tunnel machine usually uses a light beam such as a laser beam. However, the light beam is affected by temperature, humidity, dust, etc. in the tunnel, and has only an effective reach of about 100 to 150 m. Therefore, even with straight line construction, when the work distance is long, the known point behind the tunnel machine (hereinafter referred to as the reference measurement point) and the measurement point provided for this tunnel machine (hereinafter referred to as the moving body measurement point) Intermediate stations equipped with light beam generating means etc. will be provided between them. On the other hand, in the case of curve construction, the necessary number of relay stations will be provided in the same way as described above for the light beam not reaching the mobile station at the curved part. In other words, in such a measurement, a standard measurement point, a necessary number of relay measurement points, and a moving object measurement point are provided in the same manner as in a normal traverse survey.

The light beam generating means and the like serving as the relay measuring points are tunneled according to a so-called rearrangement procedure. Provided on a fixed object such as a segment provided behind the machine, or on a mobile trolley that can move in the tunnel. By the way, in the former technique, “the relay station is installed on a fixed object such as a segment”, the operator must perform the installation work (that is, the rescheduling work). Therefore, there is the problem that not only is it troublesome, but also skill is required for refining, and automation cannot be expected. Therefore, the technology that solved this problem can be said to be the latter technology in which a relay station is installed on a mobile trolley.

 As the latter technology, for example, there is Japanese Patent Application Laid-Open No. 5-285848. This is because a traveling truck equipped with a self-tracking rangefinder is connected to the rear of the bogie behind the shield excavator, or this traveling bogie is made self-propelled, and when the shield boring machine excavates, With the robot still, the position of the automatic tracking rangefinder is automatically detected based on the reference point on the shaft, and then the position of the shield machine is detected by tracking the target attached to the shield machine. And an automatic surveying method that follows the movement of the rear bogie independently of the traveling and stopping.

 However, the above-mentioned technology cannot automatically detect the position of the automatic tracking distance measuring and angle measuring instrument at the position where the automatic tracking distance measuring and measuring instrument cannot collimate the reference point on the shaft. There's a problem. In other words, at a position where the auto-tracking rangefinder cannot collimate the reference point on the shaft, the target mounted on the tunnel machine (shield excavator) can be collimated from the autotracker rangefinder. However, since the position of the auto-tracking rangefinder with respect to the reference point is unknown, there is a problem that the position of the tunnel machine cannot be detected.

Also in the pipe propulsion method, since the propulsion pipe is propelled together with the leading pipe, the mobile trolley located on the propulsion pipe moves with the propulsion pipe. Then, as the movable trolley reaches the position where the light beam does not reach (the position beyond the effective reach of the light beam in the case of straight construction, and the curved portion in the case of curved construction), as described above, There is a problem that the position and attitude of the tunnel machine (front pipe) cannot be measured. Disclosure of the invention SUMMARY OF THE INVENTION The present invention has been made to solve the problems of the prior art, and a tunnel machine capable of measuring the position and attitude of a moving object measuring point (that is, a tunnel machine) even when tunnel excavation proceeds. It is an object of the present invention to provide a position / posture measuring method and a measuring device thereof.

 The position / posture measuring method of the tunnel machine according to the present invention includes:

A relay station mounted on a mobile trolley that moves away from the reference station in the direction of excavation as the tunnel machine excavates is provided between the reference station and the mobile station installed on the tunnel machine.

The light emitted from the reference station is received at the relay station, the position and orientation of the relay station are measured based on the reference station, and the light emitted from the relay station is received at the mobile station. By measuring the position and attitude of the mobile station based on the relay station, the position and attitude of the tunnel machine during excavation are measured based on the reference station. ,

 When the excavation of the tunnel machine is stopped, the movable trolley is moved to a distance where the light emitted from the reference measurement point can reach and stopped (this configuration is referred to as “first configuration” for convenience).

 In addition, when the tunnel machine is excavated after the above-mentioned stop, in a state where the stopped movable bogie moves away from the reference measurement point in the excavation direction along with the excavation, the positions of the relay measurement point and the moving object measurement point are respectively determined. It is desirable to measure the attitude (this configuration is referred to as “second configuration” for convenience).

 In addition, when the tunneling machine is excavated after the stop, the stopped movable bogie moves away from the reference measurement point in the excavation direction along with the excavation, and the radiation direction of the light from the relay measurement point is measured by the moving body. The position and orientation of each of the relay station and the mobile station may be measured by adjusting the direction in which the points move (this configuration is referred to as “third configuration” for convenience). In addition, multiple mobile trolleys equipped with relay stations are installed between the reference station and the mobile station,

When excavation of the tunnel machine is stopped, the distance that can be reached by the light radiated from the multiple mobile trolleys from the reference station or from the relay station adjacent to the reference station on the side of the reference station can be reached. Move it to a stop,

 When excavating tunnel machinery, measure the positions and postures of multiple relay stations and moving object stations while the stopped multiple moving vehicles move away from the reference station in the direction of excavation as the excavation proceeds. In this way, the position and attitude of the tunnel machine during excavation may be measured based on the reference measurement point (this configuration is referred to as “fourth configuration” for convenience).

 The position / posture measuring device of the tunnel machine according to the present invention includes:

A reference station, a mobile station provided on the tunnel machine, a relay station mounted on a mobile trolley provided between the reference station and the mobile station, a reference station and a relay station. A laser oscillator is provided at each of the points, and emits laser light toward the relay station or the mobile station. The laser oscillator is provided at each of the relay station and the mobile station. A receiver that receives the laser beam emitted from the laser oscillator at the relay station and measures the position and orientation of the relay station or the mobile station based on the received positional displacement. Based on the positions and postures of the relay station and mobile station measured by the excavator, the position and attitude of the tunnel machine during excavation are measured based on the reference station and the position and attitude of the tunnel machine In the device,

 When the excavation of the tunnel machine is stopped, a movement command is output to the mobile trolley so that the laser radiated from the laser oscillator at the reference measurement point can reach the receiver at the relay measurement point to a predetermined distance. It features a host controller (this configuration is referred to as “fifth configuration” for convenience).

 In addition, multiple mobile trolleys equipped with relay stations are provided between the reference station and the mobile station,

The host controller controls the laser beam emitted from the laser oscillators at the reference station and the plurality of relay stations to a predetermined distance at which the laser beam can reach each of the light receivers to be received when the tunnel machine stops excavating. Alternatively, a movement command may be output to a plurality of mobile trolleys (this configuration is referred to as “sixth configuration” for convenience).

The first configuration, if necessary, emits a light beam so as to connect the reference station, the relay station on the mobile trolley, and the mobile station on the tunnel machine, and Measure the position and attitude of the relay station with respect to the relay station, and then measure the position and attitude of the mobile station (that is, the tunnel machine) with respect to this relay station. At times, the moving trolley is moved to a distance where the light emitted from the reference measurement point can reach and stopped.

 For example, as shown in the second configuration or the fifth configuration, the mobile bogie is stopped during excavation (in this case, as shown in the prior art, the mobile bogie is moved together with the shield excavator or propelled). Move away from the reference station to the tunnel machine together with the pipe). On the other hand, move to the original position while excavation is stopped. In this way, the distance between the relay station (ie, the moving vehicle) and the reference station is maintained within a predetermined range, and the light beam does not stop reaching between the reference station and the relay station. . That is, the second configuration or the fourth configuration is particularly applied to curved construction, but is also applicable to straight construction.

 On the other hand, as shown in the third configuration, the light emission direction indicates that distance measurement is not required. That is, the third configuration is applied to straight construction and straight construction after curved construction.

 In the fourth or sixth configuration, when a plurality of relay stations and mobile trolleys are provided, each mobile trolley must be stopped during excavation. Move away from the reference station with the shield machine or the propulsion pipe toward the tunnel machine), and move to the original position while the excavation is stopped. In this way, the distance between each relay station (that is, the mobile trolley) and the reference station or the distance between each relay station is maintained within a predetermined range, and the distance between the reference station and the relay station is maintained. It is possible to prevent the light beam from reaching between the relay stations and the relay stations. The fourth or sixth configuration is applied to curved construction and straight construction. BRIEF DESCRIPTION OF THE FIGURES

 FIG. 1 is a flowchart of a mobile trolley control according to an embodiment of the present invention,

FIG. 2 is an explanatory view of straight propulsion in the pipe propulsion method according to the embodiment,

Fig. 3 is an explanatory diagram of a short curve advance in the pipe propulsion method according to the embodiment, FIG. 4 is an explanatory diagram showing the installation of the mobile trolley according to the embodiment,

FIG. 5 is an explanatory view of retracting the mobile trolley according to the embodiment by one propulsion pipe,

Fig. 6 is a diagram explaining that measurement can be performed even if the position of the tunnel machine according to the embodiment is ambiguous. Figs. 7A and 7B are diagrams in which a plurality of mobile trolleys according to the embodiment are installed. FIG. 7B is a diagram showing the installation position of the succeeding mobile trolley. BEST MODE FOR CARRYING OUT THE INVENTION

 A preferred embodiment according to the present invention will be described together with an example machine with reference to FIGS. The example equipment provided in this embodiment is a tunnel machine for the pipe propulsion method (hereinafter referred to as a leading pipe) and various measuring instruments mounted on the tunnel machine. In the pipe propulsion method, as shown in Fig. 2, the propulsion device 20 such as a hydraulic jack provided in the starting shaft 10 pushes the leading pipe 30 or the propulsion pipe 40 sequentially added to it into the ground. In this method, the propulsion pipe 40 is buried up to the reaching shaft (not shown).

 In the example, as shown in Fig. 4, a reference station A is provided at the starting shaft 10, a mobile station B is provided at the leading conduit 30, and a relay station C is provided. The relay station C is mounted on a mobile trolley not shown. The measuring equipment at each of stations A, B, and C will be described.

 (1) The reference measurement point A is equipped with a laser oscillator A1 and a lightwave distance measurement angler A2 that can freely rotate horizontally, and various measuring devices such as a goniometer A3 that detects these horizontal angles of elevation. ing. In addition, the reference measuring point A is connected to a laser oscillator A 1 and an elevation horizontal drive actuator (not shown) of an optical distance measuring angle meter A 2 (not shown), an optical distance measuring angle meter A 2 and an angle meter A 3, respectively. It has an electrically connected host controller A4.

(2) The relay measuring point C is a laser oscillator C1 and a light-wave distance measuring angle gauge C2 that can be freely rotated horizontally to the moving object measuring point B, and an angle meter that detects these horizontal angles It is equipped with measuring devices such as C3, light receiver C4, reflecting prism C5 and rolling meter C6. Further, the relay measuring point C is the elevation water of the laser oscillator C1 and the lightwave distance measuring angle finder C2. Equipped with a local controller C7 electrically connected to a flat drive actuator (not shown), a lightwave rangefinder C2, a goniometer C3, a receiver C4 and a rolling meter C6. ing.

 (3) The moving object measuring point B is electrically connected to each measuring device such as the light receiving device B1, the reflecting prism B2, and the rolling meter B3, and the light receiving device B1 and the rolling meter B3. It has a mouthpiece controller B 4 and is provided on a movable trolley.

 (4) The local controllers C 7 and B 4 are electrically connected to the host controller A 4 to enable communication. The traveling control and the braking control of the mobile trolley are performed from the host controller A4 through the local controller C7.

The light receivers C 4 and B 1 receive the laser light (light beam) S from the laser oscillator A 1 (including the laser oscillator C 1 when there are a plurality of relay stations C). B1 gets its own position, pitching and jowing. As such light receivers C 4 and B 1, for example, a condenser lens, a transparent or translucent first light receiving plate, and a second light receiving plate made of a CCD or the like are separated from each other in this order in the vertical direction. Some are arranged in parallel. Specifically, the first light receiving plate and the second light receiving plate have horizontal coordinates and a vertical direction with the origin being on the optical axis of the condenser lens, and the origins of the second light receiving plate are collected. It is arranged at a position so as to coincide with the focal point of the optical lens. Accordingly, the coordinates of the incident point of the laser beam S transmitted through the focusing lens on the first light receiving plate indicate the relative positions of the photodetectors C4 and B1 with respect to the laser beam S. On the other hand, the coordinates of the incident point of the laser light S transmitted through the first light receiving plate on the second light receiving plate are the calculation elements for pitching and jogging of the light receivers C4 and B1 with respect to the laser light S. The rolling of the receivers C4 and B1 is measured by a rolling meter C6, and is used for correcting the positions, pitching and pointing of the receivers C4 and B1. These calculations are performed by the local controllers C7 and B4 connected to the light receivers C4 and B1 and the rolling meters C6 and B3. It should be noted that only the choking of the photodetectors C4 and B1 is detected based on the coordinates of the incident point of the laser beam S on the second light receiving plate, while the pitching is performed by an inclinometer (not shown) in the same manner as the rolling. It may be measured. Next, the measurement method will be described with reference to the flowchart of FIG. 1 and FIGS. 3 to 7B. As already described, in the pipe propulsion method, since the propulsion pipe 40 also moves, the relay measuring point C also moves, and when the laser beam S, which is a light beam, does not reach, the position and posture of the leading pipe 30 are measured. You can't do that.

 Therefore, as shown in FIG. 1, first, the movable trolley is moved to a predetermined position inside the propulsion pipe 40 and stopped (step 51—step 52). The predetermined position may be a point determined at the time of curve construction design or a point determined based on the actual construction results. The installation condition must be before the possible arrival point of the laser beam S from the reference measurement point A. For example, in FIG. 3, when the next propulsion pipe (not shown) is further pushed, the laser beam S from the reference measurement point A does not reach the moving object measurement point B. Therefore, the movable trolley is moved from the oscillation shaft 10 to the inside of the propulsion pipe 40, for example, at an intermediate position between the reference measurement point A and the mobile body measurement point B, or the propulsion pipe 40 immediately before the leading pipe 30. Position. In other words, the mobile trolley only needs to be at a position where the reference station A and the mobile station B can be expected from the relay station C.

 Note that various structures can be considered for the structure of the movable trolley, the moving mechanism, and the method of detecting the moving distance, and the present invention is not limited to the structure, the moving mechanism, and the accompanying device configuration. In general, the structure of the moving trolley is of the type that moves inside the propulsion pipe 40, and the pipes that are installed in the propulsion pipe 40 and are used for the pipe propulsion method (for example, pipes that discharge sediment during propulsion). , A pipe for driving the leading conduit, a cable, etc.), and a type of moving using a dedicated traveling rail, etc. are considered. It is not limited to only.

 On the other hand, the way of moving the mobile trolley is different from each other. There are two ways to move the mobile trolley: a self-propelled type that has a self-propelled drive source such as a motor on the mobile trolley, and a non-self-propelled type that has no drive source.

In the case of the self-propelled type, in the above-described steps 51 to 52, a method of giving a drive command to the drive source, causing the drive source to travel to a predetermined position, and stop the drive source is considered. The method of detecting the predetermined position is, for example, when a motor or the like is used, a rotary encoder is installed and the The moving amount of the car may be measured. Alternatively, the host controller A4 measures the distance from the mobile trolley (relay station C) by the lightwave ranging angle gauge A2 installed at the reference station A, and a point separated from the reference station A by a predetermined distance. Alternatively, the moving cart may be stopped. In the case of the non-self-propelled type, one end of a wire rod etc. is connected to the movable trolley, and the other end is drawn to the reference measuring point A of the starting shaft 10 and guided to the starting shaft 10 side A method is conceivable in which the mobile trolley is moved by pulling or pushing in the wire or the head. For example, in addition to the method of arranging the wire and the head to the starting shaft 10 simply by moving with a moving trolley, and the method of arranging such a wire rod, A method is conceivable in which a pulley or the like is provided on the forward conduit 30 side, and another wire rod extending to the forward conduit 30 side of the movable bogie is turned back by the above-described pulley and drawn into the starting shaft 10. Does not matter. In this case, one end of the above-mentioned wire or mouth drawn into the starting shaft 10 can be moved by pulling with a wrench or pushing with a jack or the like, or by hand. It is also possible to operate. For monitoring the moving distance and the stop position, when the above-described rotary encoder is employed, the output value of the rotary encoder is input to the host controller A4 through communication or the like. If the host controller A 4 has a drive source such as the winch jack, the host controller A 4 controls the drive source based on the output value of the rotary encoder to move or stop. be able to. Alternatively, it is also possible to display the above output value on the host controller A4 and perform the manual operation. In addition, according to this method, it is also possible to use the distance data of the lightwave range finder A2. It is also possible to measure the amount of movement by measuring the length of wires, rods, etc., and it is not particularly necessary to electrically measure the distance traveled. Here, wires, rods, etc. are transferred from the mobile bogie to the starting shaft 1

It is not necessary to be integrated up to 0, and it is natural that the function does not change even if several divided parts are connected and used.

 Next, the pushing of the propulsion pipe 40 is resumed, and after pushing with the propulsion device 20 (process 5

4) The communication means (in this example, the host Command from controller A 4 through local controller C 7) to the mobile trolley, and during or after this process, retract the length of one propulsion pipe 40 in the direction of oscillation shaft 10 Move and stop (Step 55-Step 52). In the case of a self-propelled mobile trolley, it is moved by the communication means described above, and in the case of a non-self-propelled mobile trolley, for example, the length of one car is moved by a message displayed on the host controller. This step 55 and one step 52 are shown in FIGS. In other words, while the propulsion pipe 40 is being pushed in, the mobile bogie is moving together with the propulsion pipe 40 (Fig. 4), but enters the process of adding the propulsion pipe 40, and the mobile bogie itself becomes one propulsion pipe length. By moving only a minute, it returns to the point where it stopped in the previous process (Fig. 5).

 The procedure for measuring the position and attitude of the front conduit 30 through the measurement of the position and attitude of the mobile trolley (ie, the relay measurement point C) using the mobile trolley that operates as described above is described (Step 53). ). The laser beam S from the laser oscillator A1 at the reference station A is received by the receiver C4 at the relay station C installed on the mobile trolley. The local controller C7 inputs the measurement data from the photodetector C4 and the rolling angle from the rolling meter C6, and corrects the position, pitching and correction of the relay station C corrected by the rolling angle. Measurement, and the result and the rolling angle are transmitted to the host controller A4 at the reference measurement point A. The host controller A4 also inputs the distance from the reference station A to the relay station C measured by the lightwave ranging angle meter A2 at the reference station A with the reflection prism C5 at the relay station C. I do. As described above, the position and orientation of the relay station C (that is, the mobile trolley) are measured.

In this embodiment, the distance between the reference measurement point A and the relay measurement point C and the horizontal elevation angle are measured by the lightwave distance measurement angle gauge A2 and the reflection prism C5. · The posture measurement method is not limited to this. For example, the elevation horizontal angle may be measured by a laser with a laser, and the distance may be measured separately by a lightwave distance meter. The above-mentioned laser-equipped saddle may be manually operated without an elevation horizontal drive actuator. In this case, the angle meter A 3 is also electrically controlled by the host. Although it is not necessary to connect to the controller A4, the values of these goniometers A3 can be manually input to the host controller A4. It is desirable that it is. Further, the distance measurement may be performed based on, for example, a wire length, the number of propulsion tubes 40, and the like.

 Next, at this position of the mobile trolley, the laser beam S in the direction of the forward conduit 30 is oscillated from the laser oscillator C1 at the relay station C of the mobile trolley. At this time, the elevation horizontal angle of the laser oscillator C 1 is measured by the angle meter C 3, and the measured data is input to the local controller C.7. The existing direction of the forward conduit 30 is largely determined by the construction plan line and the number of propulsion pipes 40 already propelled. It is also possible to estimate more accurately by referring to the construction history. Since the location of the forward conduit 30 is estimated and the attitude of the relay station C can be measured, the direction of emission of the laser beam S can be roughly determined. The laser beam S can be applied to the light receiver B1. If light cannot be received by the receiver B1, the same operation as described above can be obtained by adjusting the elevation horizontal angle of the laser oscillator C1 so that it can receive light. Needless to say, there is no change in the operation of the invention. The light receiver B 1 of the moving object measuring point B on the forward conduit 30 receives the laser beam S from the laser oscillator C 1, and receives the laser light S from the light receiving device B 1 (that is, the forward conduit 30 and the moving object measuring point B). The position, pitching and jogging measurement data are input to the local controller B4. The local controller B 4 inputs the rolling angle from the rolling meter B 3 and corrects the position of the moving object measuring point B (that is, the leading conduit 30) and the measurement data of the pitching and the joing. .

 Incidentally, while the movable trolley is not yet arranged, the light receiver B 1 receives the laser beam S from the laser oscillator A 1 provided at the reference measurement point A. The attitude in the direction of gravity is measured by providing an inclinometer or the like at the moving object measuring point B separately, and this measurement data is input to the local controller B4.

The distance from the relay station C to the mobile station B is measured by the lightwave distance measuring angle C 2 provided at the relay station C and the reflecting prism B 2 provided at the mobile station B. The data is input from the lightwave ranging angle gauge C2 to the oral control C7 provided at the relay measurement point C. This distance measurement is also performed using the lightwave distance measuring angle finder C2 and the reflecting prism B2 as described above. Instead, the measurement may be made based on, for example, the wire length or the number of propulsion pipes 40. Incidentally, if the principle is that the optical distance measuring angle finder A2, C2 modulates a light beam S such as a laser beam and measures the modulation phase difference between light emission and light reception, then The distance measurement may be performed by providing the one-way oscillators A 1 and C 1 with a function of modulating the laser light and a function of detecting the phase difference of the received light.

 In addition, the distance from the reference station A to the relay station C, the distance from the relay station C to the next relay station C, or the distance from the relay station C to the mobile station B described above. As another method of measuring the separation, for example, the principle of triangulation may be used. That is, the photodetectors C4 and B1 are installed at a predetermined distance from the laser oscillators A1 and C1, and the laser beams emitted from the laser oscillators A1 and C1 are measured by the above-described measurement at the relay measuring point C. Apply it to the repeater containing the equipment or to the leading conduit 30. Then, the position where the laser beam was hit is detected by the light receivers C 4 and B 1, and the displacement of the light receiving position and the distance from the laser oscillators A 1 and 1 to the light receivers 〇 4 and B 1 are determined. Alternatively, the distance from the laser oscillators A 1 and C 1 to the position where the laser beam is irradiated may be measured. In this case, it is only necessary to scatter and reflect the light at the position where the laser beam should be irradiated.Therefore, it is not necessary to provide a reflecting prism at the relay station C or the mobile station B, and the above laser beam should be irradiated. A reflective surface such as colored plastic may be provided at the position. The local controller C7 obtains the position of the relay measurement point C that has received the laser beam S emitted from the reference measurement point A, the pitching angle and the jowing angle captured by the rolling angle, and the rolling meter C6. In addition to storing the measured rolling angle, the elevation horizontal angle and the distance of the laser irradiation to the leading tube 30 are stored, and the data is transmitted to the host controller A4. The position of the mobile station B measured by receiving the laser beam S emitted from the relay station C, the pitching angle, the jogging angle, and the rolling angle measured by the rolling meter B3 are local. These are stored in the controller B4, but are also transmitted to the host controller A4.

The host controller A 4 first calculates the position of the relay station C, and then calculates the position and attitude of the relay station, the horizontal angle and distance of the laser beam elevation, and the position and position of the mobile station B. The position of the moving object measurement point B from the reference measurement point A is calculated based on the data on the position and attitude and the data of the lightwave distance measuring angle finder A2. At the same time, the host controller A 4 controls the direction (corresponding to the joing angle), pitching angle and rolling direction of the moving object measuring point B with respect to the direction arbitrarily provided at the reference measuring point A (usually the starting direction from the shaft). The calculation results can be notified to the operator of the propulsion device 20 by displaying or the like. These calculations can be performed even when the propulsion device 20 is being operated, as long as the laser beam is connected from the reference station A to the mobile station B.

 Further, the above calculation procedure is not limited to this, and may be performed, for example, as follows. That is, the data of the mobile station B is transferred to the local controller C7 of the relay station C, and the positions of the relay station C and the mobile station B are calculated by the local controller C7. Then, the light receiving position, pitching angle, jowing angle and rolling angle of the laser beam S from the reference measurement point A stored in the local controller C7 are transferred to the host controller A4. Then, the host controller A 4 calculates the positional relationship between the reference station A and the relay station C, and calculates the position of the relay station C and the mobile station measured and transferred by the oral controller C 7. There is no problem even if the position and orientation of the mobile station B are converted to the position and orientation based on the reference station A by using the positional relationship with the point B and the calculation is performed.

 In addition, since the host controller A 4 can always know the positions of the relay station C and the mobile station B, the host controller A 4 is located at the relay station C even when the pipe connection process is not started. When the elevation horizontal angle of the laser oscillator is incorrect, it is possible to have a function that can command the movement of the relay station C so that the laser beam connects the mobile station B to the reference station A. .

The effects of the embodiment will be described. As is clear from the above embodiment, it is possible to measure the position and posture of the tunnel machine with the leading conduit 30 from the reference station A via the position and posture of the mobile trolley (that is, the relay station C). Becomes Since these measurements can be made even while the tunnel machine is excavating, accurate direction correction and control of the tunnel machine can be performed. When the propulsion of the tunnel machine is stopped, As described above, since the vehicle retreats by one propulsion pipe 40 to the reference measurement point A side, if the mobile trolley is installed at a point where the optical path can be secured in the section of one propulsion pipe 40, The position and orientation can be measured even in the next section of the propulsion pipe.

 In some cases, the distance between the mobile trolley and the tunnel machine does not need to be measured. This is the case where it is only necessary to precisely control the traveling direction of the tunnel machine after the final turn, depending on the construction conditions. For example, as shown in Fig. 6, after the curving section is straight, it is necessary to drive only in that direction to the final destination (that is, when the tunnel machine can be propelled even if its position is ambiguous). There is no need to measure the distance. That is, the laser beam S of the laser oscillator C 1 on the movable trolley gives the direction in which the tunnel machine drills, and measures only the displacement amount and the deflection of the direction based on the light reception of the receiver B 1 on the tunnel machine. However, it is clear that the tunnel machine should be controlled.

 In the case of construction where there are two or more curved sections, or where the length of the curve construction is long and it is not possible to keep the laser beam S constantly connected from the shaft to the front pipe at one relay station However, it is clear that multiple mobile trolleys should be installed. In this case, as shown in Fig. 7A, when the laser beam S emitted from the mobile trolley is no longer detected by the receiver B1 mounted on the tunnel machine, or when it is predicted on the construction line, Move the preceding mobile trolley to the tunnel machine side. Next, as shown in Fig. 7B, the path of the laser beam S is moved from the reference station A to the mobile station B by moving the new mobile cart to the original position of the preceding mobile cart. Just tie it. Then, the laser beam S was always radiated from the reference station A to the mobile station B by the laser beam S, that is, emitted from the laser oscillator A 1 of the reference station A and the laser oscillator C 1 of the plurality of relay stations C. It goes without saying that each mobile trolley may be moved and stopped as described above so that each mobile trolley is within a predetermined distance range in which light can reach the light receiver to be received.

The procedure for inserting the mobile trolley (relay measurement point C) according to the present invention is not limited to the above-described example. In this embodiment, the movement amount is set to one propulsion pipe. However, the present invention is not limited to this. For example, if the laser beam S is connected, a movement amount other than that of one propulsion pipe can be used.

 As is clear from the above description, the arrangement of the measuring instruments in the position and orientation of the tunnel machine is not limited to the arrangement of the above-described example machines, but varies widely. Some examples are listed below.

 As the first case,

 (1) At reference point A, a reflective prism A5 is placed,

 (2) At the relay station C, i) a reflecting prism C5, ii) a vertically-swingable and horizontally rotatable rearviewable and foresight, and a reflective prism A5 at the reference station A when viewed backward, A laser beam is projected forward and a laser beam is projected onto the reflective prism B2 of the mobile station B to measure the distance from the relay station C to the reference station A and from the relay station C to the mobile station B. C2, iii) Laser oscillators C1, iv) that can be rotated vertically to project the laser beam S at least to the receiver B1 at the moving object measurement point B. Various measuring instruments such as a goniometer C3 for measuring the horizontal elevation angle, and V) a local controller C7 are arranged. In addition, since it is possible to install a plurality of relay stations C, the receiver C 4 and the reflecting prism C 5 are also required.

■ (fe-run.

 (3) A local controller B4 is arranged at the moving object measuring point B together with measuring devices such as a light receiving device B1, a reflecting prism B2, and a rolling meter B3 as in the above-described example.

 (4) For example, a host controller A4 is provided near the starting shaft, communicates with the oral controllers C7 and B4, controls the mobile trolley, and measures from the local controllers C7 and B4. Calculate the position and attitude of the tunnel machine by inputting the data.

Further, as a second case, the relay station C may simply reflect the laser beam S from the laser oscillator A1 from the reference station A. Furthermore, as a third example, depending on the target measurement accuracy, there are many types of attitude measurement, such as those that do not require the rolling meters C2 and B3 (that is, all the above six components are not measured). There are many cases). As is clear from the description of the above embodiment, since the position and posture of the mobile trolley (that is, the relay measuring point) are not unknown, the position and posture of the tunnel machine can be accurately measured. Details In other words,

 (1) With the conventional technology, the method of measuring the position and posture of a tunnel machine to be excavated accurately measures the position and posture of curved and steeply curved roads, which have recently been used in construction. In such a case, it was difficult to secure the optical path, which required rearrangement work, which made it difficult to automate. On the other hand, in the present invention, automation can be promoted. This is particularly effective for small-diameter construction where it is difficult for people to enter the tunnel, and has the effect of expanding the application of machines that perform automatic surveying.

 (2) In addition, since the position and attitude of the tunnel machine during excavation are captured, the data can be used for correcting and controlling the direction of the tunnel machine, thereby improving the control accuracy and pulling of the tunnel machine. Therefore, it is possible to improve the finishing accuracy of the tunnel alignment. Industrial applicability

 INDUSTRIAL APPLICABILITY The present invention is useful as a method and apparatus for measuring the position and attitude of a tunnel machine, which can accurately measure the position and attitude of a relay machine at the time of excavating a tunnel and accurately measure the position and attitude of the tunnel machine. is there.

Claims

The scope of the claims 1. Between the reference station (A) and the mobile station (B) provided on the tunnel machine, on a mobile trolley moving away from the reference station (A) in the direction of excavation as the tunnel machine excavates. A relay station (C) mounted on the base station is provided, and light emitted from the reference station (A) is received at the relay station (C) and the position and orientation of the relay station (C) are determined by the reference. Measurement is performed based on the measurement point (A), and light emitted from the relay measurement point (C) is received by the mobile measurement point (B), and the position and orientation of the mobile measurement point (B) are determined. By measuring the relay station (C) as a reference, the position and attitude of the tunnel machine during excavation are measured based on the reference station (A).  A method for measuring the position and attitude of a tunnel machine, wherein, when excavation of the tunnel machine is stopped, the movable trolley is moved to a distance at which light emitted from the reference measurement point (A) can reach, and stopped. . 2. The method for measuring the position and posture of a tunnel machine according to claim 1, wherein the stopped moving trolley moves from the reference measuring point (A) along with the excavation when the tunnel machine excavates after the stop. A position / posture measuring method for a tunnel machine, wherein the position and the posture of each of the relay station (C) and the mobile station (B) are measured in a prone position away from the excavation direction. 3. The method for measuring the position and orientation of a tunnel machine according to claim 1, wherein when the tunnel machine is excavated after the stop, the stopped movable bogie is moved from the reference measurement point (A) along with the excavation. While moving away from the excavation direction, the direction of light emission from the relay station (C) is adjusted to the moving direction of the mobile station (B), and the relay station (C) and the mobile station are adjusted. A method for measuring the position and posture of a tunnel machine, wherein each position and posture of the measuring point (B) is measured. 4. The method for measuring the position and orientation of a tunnel machine according to any one of claims 1 to 3, A plurality of mobile trolleys equipped with the relay station (C) are provided between the reference station (A) and the mobile station (B),  When the excavation of the tunnel machine is stopped, the plurality of movable trolleys are radiated from the reference measurement point (A) or the light emitted from the reference measurement point (A) or adjacent to the reference measurement point (A) with respect to the relay measurement point (C) Move to a distance where the light emitted from the relay station can be reached and stop,  At the time of excavation of the tunnel machine, the plurality of stopped moving vehicles move away from the reference measurement point (A) in the excavation direction along with the excavation, and the plurality of relay measurement points (C, C) and the The position and posture of the tunnel machine during excavation are measured based on the reference measuring point (A) by measuring the position and posture of each of the moving object measuring points (B). · Posture measurement method. 5. The reference station (A), the mobile station (B) provided on the tunnel machine, and the mobile trolley provided between the reference station (A) and the mobile station (B) The relay station (C), the reference station (A), and the relay station (C), which are respectively mounted on the relay station (C) or the mobile station (B). ), And a laser oscillator (A1. C1) that emits a laser beam (S) toward the relay station (C) and the mobile station station (B). A) or the laser beam (S) emitted from the laser oscillator (A1. C1) at the relay station (C) is received, and the relay station (C) is received based on the received positional displacement amount. Or a light receiver (C4, B1) for measuring the position and orientation of the moving object measurement point (B), and the relay measurement point (C) measured by each of the light receivers (C4. B1); and Mobile station (B) The position and attitude of the tunnel machine during excavation are measured based on the reference measurement point (A) based on the respective positions and attitudes of the tunnel machine. When excavation of the tunnel machine is stopped, the laser beam (S) emitted from the laser oscillator (A1) at the reference measurement point (A) can reach the light receiver (C4) at the relay measurement point (C). A certain distance A position / posture measuring device for a tunnel machine, comprising: a host controller (A4) for outputting a movement command to the mobile trolley so that the mobile trolley moves away. 6. The position / posture measuring device for a tunnel machine according to claim 5, wherein the relay station (C) is mounted between the reference station (A) and the mobile station (B). Provision of multiple carts, The host controller (A4) emits light from the laser oscillators (Al, CI, C1) at the reference station (A) and the plurality of relay stations (C, C) when the tunnel machine stops excavating. A movement command is output to the plurality of mobile carts so that the laser light (S) reaches a predetermined distance within which each of the light receivers (C4, C4, B1) to be received can reach. Tunnel machine position and attitude measurement device.