JPH0410971B2 - - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION (Field of Industrial Application) The present invention relates to a tunnel cross-section measuring device.

(Prior art) When digging a tunnel, usually multiple drilling positions and drilling directions at each drilling position are determined in accordance with the desired cross-sectional shape of the tunnel, and the drilling work is performed based on this data. . and,
An explosive such as dynamite is loaded into the drilled hole and the explosive is detonated to form a temporary tunnel that approximates the desired cross-sectional shape of the tunnel.

However, due to differences in rock quality (rock strength), some parts of the temporary tunnel formed in this way protrude inward from the desired tunnel cross-sectional shape, resulting in insufficient excavation. There is a problem in that it has an unexcavated portion, and some portions have an overexcavated portion that protrudes outward and is excessively excavated. If such a problem occurs, the above-mentioned unexcavated area must be removed by drilling holes or additional work, and the over-excavated area will be exposed to a large amount during concrete spraying in the subsequent process. The tunnel had to be filled with concrete.As mentioned above, the presence of unexcavated and over-excavated areas increases the amount of work and consumes materials after the temporary tunnel is formed.
How to reduce these unexcavated areas and over-excavated areas is important from the viewpoint of reducing construction costs and improving work efficiency. For this reason, once a temporary tunnel is formed, by measuring the cross-sectional shape of this temporary tunnel, that is, by knowing how the unexcavated part and over-excavated part exist, it is possible to form a temporary tunnel next time. This is important in determining (correcting) the drilling pattern and explosive force when forming.

A laser measuring device is used to measure the cross-sectional shape of this temporary tunnel, that is, the cross-sectional shape of the tunnel, but while this has the advantage of being relatively accurate and short in measurement time, it is expensive, costing tens of millions of yen. Therefore, it is not commonly used. And the most commonly used method is
One end of a tape measure is fixed to the tip of a long rod-like body, and while one worker is pressing the tip of this rod-like body against the inner peripheral surface of the tunnel cross-sectional shape, another worker fixes the tape measure and other ends of the tape measure. Currently, the process of aligning the end to a fixed point and reading the scale at this time is performed by repeating the process several times while changing the position at which the rod-shaped body is pressed. However, with the method using a tape measure as described above, it is difficult to measure the tunnel cross-sectional shape.
It has the disadvantage that it takes an extremely long time of 2 to 3 hours.

(Objective of the Invention) The present invention has been made in consideration of the above-mentioned circumstances, and provides a tunnel cross-sectional measuring device that can measure a tunnel cross-sectional shape in a short time and can be constructed at a relatively low cost. The purpose is to

(Structure of the Invention) The present invention provides a tunnel cross-sectional shape measuring device by effectively utilizing, for example, a working machine having a tunnel construction vehicle equipped with a boom means for mounting a rock drill or concrete spraying means. This is how it is configured. That is, the tip of the boom means of the traveling truck is pressed against the inner peripheral surface of the cross-sectional shape of the tunnel, the position of the tip of the boom means at this time is detected, and the pressing position is changed each time. By detecting the position of the tip of the boom means, the cross-sectional shape of the tunnel as a whole can be measured. Specifically, the following components are provided: a traveling truck having a boom means; a boom operation means for operating the tip of the boom means to any position on the inner peripheral surface of the tunnel cross section; and a boom operation means for moving the tip of the boom means by the boom operation means. detecting means for detecting the displacement value of the boom means as a value in a predetermined coordinate system set in advance when the boom means is operated along the inner peripheral surface of the tunnel cross section; The present invention is configured to include: a display means for displaying a contoured shape to be drawn;

(Example) An example of the present invention will be described below based on the attached drawings. In the example, a rock drill is used as a traveling cart having a boom means, and this rock drill has the following features: As shown in Japanese Patent Publication No. 57-51518, the positioning of the tip of the boom means, that is, the positioning of the drilling position, is numerically controlled by inputting it in a rectangular coordinate system that suits human senses. There is. Therefore, first we will explain the rock drilling machine itself as described above, and then we will explain the measurement part of the tunnel cross-sectional shape.

In FIG. 2, the rock drill A has a caterpillar type traveling truck 101 as in the conventional case, and a boom means 1, which will be described later, is provided on a base 102 installed on the traveling truck 101. This boom means 1 is operated to an arbitrary position as described later by a worker S seated in a driver's seat 103 on a base 102 operating an operating lever 104 as a boom operating means. . When operating the boom means 1 to measure the cross section of a tunnel, which will be described later, the outrigger 105 fixed to the base 102 is used to align the traveling bogie with the laser beam 107 from the laser transmitter 106. 101 is raised and set in a horizontal state.

The boom means 1 described above will be explained with reference to FIG. 3. The boom means 1 includes a first boom 2 and a second boom 3. That is,
The rear end 2a of the first boom 2 is rotatably supported on the base 102, and the rear end 3a of the second boom 3 is rotatably supported on the tip 2b of the boom 2. A cylinder 5 for a guide cell is fixed via a cell mounting 4. A guide cell 7 with a feed motor 6 attached to the rear end is slidably mounted on the cylinder 5.
The guide cell 7 is moved forward and backward by the operation of the drill bit 7, and a drilling machine 8 having a rod 9 with a bit 10 attached to the tip thereof is attached to the guide cell 7 so as to be able to move forward and backward. During drilling work, the feed motor 6 is operated forward. The boom 1 on which the drilling machine 8 is mounted is displaceable in the left-right horizontal direction (the x direction in the figure), the longitudinal horizontal direction (the z direction in the figure), and the vertical direction (the y direction in the figure). A cylinder 11 for boom swing and a cylinder 12 for swinging the guide cell are attached to the first boom 2 and the second boom 3, respectively, and a cylinder 13 for boom lift and a cylinder for guide lift that operate in the vertical direction are installed. 14 are attached as shown.

The relationship between the amount of operation of each of the cylinders 11 to 14 and the position of the tip of the boom (that is, the position of the tip of the guide cell 7) that moves in response to the operation is analyzed with reference to FIGS. 4 and 5 as follows. becomes.

In addition, the length of the first boom 2 is l ₁ , the length of the second boom 3 is l ₂ , and the guide cell 7 is from the tip of the second boom 3.
The length to the tip (that is, the amount of movement of the guide cell 7) is defined as _lS .

When the boom is on the z-axis, its tip is at position P ₀ in Figure 4. First, the cylinder 11 for swinging the boom and the cylinder 12 for swinging the guide cell are operated, and by the extension of the rod, the first boom 2 is moved to θ ₁ and the second boom 3 is moved to θ in the horizontal plane (x-z direction in the figure). If you move by ₃ , the above P ₀ point will move to P ₁ point. After that, by operating the boom lift cylinder 13 and the guide cell lift cylinder 14 and moving by θ ₂ and θ ₄ in the vertical plane (y-z plane in the figure), point _P1 is
P Move to point ₂ . The position and direction (of the cell) of _{the two} points P are given by the following equation.

x=l ₁ sin ₁・cosθ+{l ₂ sinθ ₁ +ls・sin(θ ₁ +θ ₃ )}cos(θ ₂ +θ ₄ ) y=l ₁ cosθ ₁・sinθ ₂ +{l ₂ cosθ ₁ +ls・cos( θ ₁ +θ ₃ )}sin(θ ₂ +θ ₄ ) z=l ₁ cosθ ₁・cosθ ₂ +{l ₂ cosθ ₁ +l ₂ cos(θ ₁ -θ ₃ )}cos(θ ₂ +θ ₄ ) θ=θ ₁ + θ ₃ Φ = θ ₂ + θ ₄ In other words, point P ₂ and its direction are determined through equation (1),
The angular coordinate system P (x, y, z, θ, Φ) and the boom coordinate system Pθ (θ ₁ , θ ₂ , θ ₃ , θ ₄ , ls) can be mutually converted.

P(x, y, z, θ, Φ), Pθ(θ ₁ , θ ₂ , θ ₃ , θ
_Four ,
ls) Therefore, the position and direction of the point P ₂ given in the rectangular coordinate system can be controlled using the coordinate transformer [P→Pθ] and the angle θ ₁ ,
This can be achieved if there is a positioning servo control device with θ ₂ , θ ₃ , θ ₄ and a length ls.

This positioning device is the above coordinate converter [P→Pθ]
This system is equipped with a positioning servo control device and a positioning servo control device, and the position of the boom is determined by displaying the position of the bit at the tip of the boom in a rectangular coordinate system, and has the configuration shown in FIG.

In FIG. 1, reference numeral 15 denotes a memory means for setting an actuation amount for directly positioning the boom tip position with respect to a virtual orthogonal coordinate plane immediately in front of the face in accordance with the drilling pattern. 3
The memory of the operating amount can be freely set using a dial or the like. 16 is the first of boom 1,
A boom positioning servo control device which determines the operating amount of the pistons of the driving hydraulic cylinders 11 to 14 of each boom and the guide cell cylinder 5 from the displacement angle of the second booms 2 and 3; 17 is the memory means 1;
5 and the servo control device 16 [P→
Pθ] converter, which converts the position and direction of P (x, y, z,
θ, Φ) in the boom coordinate system Pθ (each arm 2, 3
displacement angles θ ₁ , θ ₂ , θ ₃ , θ ₄ and the movement amount ls of the guide cell 7). A central processing unit 18 is connected to the memory means 15 and the converter 17, and when an operation input is given, the memory means 15 is
The desired drilling position P is taken out from there and transmitted to the converter 17. A register 19 is connected between the converter 17 and the boom positioning servo control device 16, and stores the command value Pθ given by the converter 17 and transmits it to the servo control device 16. 20 is a resistor connected to the converter 17, and the length of the first boom 2 and the second boom 3
Constants such as l ₁ , l _{2 .} . . are given to the converter 17. Each driving hydraulic cylinder 5, 11 to 14 of the boom 1 consisting of the first and second booms 2, 3 and the guide cell 7
is connected to the positioning servo control device 16, and is operated according to the amount of piston operation of each cylinder 5, 11 to 14 commanded by the positioning servo control device 16. Reference numeral 22 denotes a drilling machine control means, which gives a control amount necessary for drilling operation to the drilling machine 8 mounted on the guide cell 7 of the boom 1, and is connected to the positioning servo control device 16 to control the boom. The work is started by a signal indicating that the hole is positioned at a desired position, and is also connected to the central processing unit 18 to give a completion signal for each drilling work.

Reference numeral 23 denotes two computing units that receive signals detecting the displacement of each of the drive cylinders 11 to 14 of the booms 2, 3, and 21 and the guide cell cylinder 5 and calculate the displacement angle of the boom, and the positioning servo control device 16, and the displacement angle of the boom (θ ₁ , θ ₂ , θ ₃ ,
θ ₄ ) and the amount of movement (ls) of the guide cell 7 are fed back to determine the position of the boom. The displacement of each cylinder 11-14 and 5 can be detected by an encoder 25 as shown in FIG. 6, for example. This encoder 2
Reference numeral 5 is attached to the inner base end side of each of the driving hydraulic cylinders 11 to 14, 5, and a rotary disk 26 and a detector 27 are provided in a case fixed to the cylinder, and the rotating disk 26 and the detector 27 are installed in the case fixed to the cylinder, and rotated via a shaft 28 by the inflow of hydraulic pressure. The disk 26 is made to rotate, and the disk 26
A physically encoded 1.0 pattern is stored in the 1.0 pattern, and the detector 27 detects this. Note that since light is used as a physical quantity, the light source lamp 2
9. A condensing lens 30 is used, and a phototransistor is used as the detector 27. Of course, by devising the disk pattern of this encoder 25, it can function as a function generator and the cylinder 1
The boom displacement angle can be determined from the displacement of 1 to 14.5. Furthermore, the encoder 25 is arranged on the axis of each cylinder, but this encoder 25
may be connected via a gear or screw mechanism so as to operate at a position off the axis of the cylinder. In addition, boom 1 as described above
The encoder 25 that detects the activated value is described in detail in the aforementioned Japanese Patent Publication No. 57-51518, so a detailed explanation thereof will be omitted here.

To explain the operation of the boom positioning device constructed as described above, first, the drilling pattern of the drilling machine given in the rectangular coordinate system is stored in the memory means 1.
5 to be memorized. Next, when the operation input is input to the central processing unit 18, information on the desired drilling point P (x, y, z, θ, Φ) is input to the converter 17 according to a command from the unit 18, and the change from P→Pθ is A transformation is made and the position in boom coordinates is stored in register 19. According to this command value, the boom positioning servo control device 16 controls each drive cylinder 5, 11 to
14 is actuated to extend each piston and the boom tip reaches the desired position. At this time, the angle of the boom is simultaneously detected from the displacement of the piston of each cylinder, and feedback is sent to the servo control device 16. When this positioning is completed, the drilling machine control device 2
2 controls the drilling machine 8 to perform the drilling operation. When the operation is finished, a termination signal is given to the central processing unit 18 which again retrieves the new position from the memory means 15 and supplies it to the converter 17. Positioning of the boom 1 and drilling work are performed in accordance with the above order. This process is repeated one after another to form one pattern, and the drilling operation is completed.

The state of the tunnel immediately after the completion of the above-mentioned drilling work is shown in Figure 7, where δ is indicated by a dashed line.
The line indicates the desired tunnel cross-sectional shape and d indicates the drilling.

Next, the configuration of the part for measuring the tunnel cross-sectional shape will be explained. In this embodiment, in addition to the configuration already described in FIG. 1, the Pθ→P converter 108
The device further includes a memory means 109 and a display 110. This converter 108
_{is a} rectangular coordinate _system (x _,
y, z, θ, Φ). In addition,
If the encoder 25 simply detects the displacement of the cylinders 11 to 14, 5, the arithmetic unit 2
3 may be input to the converter 108.

The memory means 109 sequentially stores the output from the converter 108, and uses a valve memory, for example. In addition, the above display 1
10 is constituted by, for example, a cathode ray tube of a personal computer, and a memory means 109 consisting of, for example, a valve memory is loaded into a valve driver, and the value of the operation of the boom 1 stored in this memory means 109 is stored in the valve driver. It is designed to be displayed in a rectangular coordinate system.

Now, if the hole d formed as shown in Fig. 7 is filled with explosives and detonated, for example,
A temporary tunnel γ as shown by the solid line in the figure is formed.
Of this temporary tunnel γ, a portion indicated by e in the figure is an unexcavated portion, and a portion indicated by f is an overexcavated portion.
To measure the cross-sectional shape of such a temporary tunnel γ, first, the worker S operates the operating lever 104 to measure the tip 1 of the boom 1, for example, the bit.
10 is pressed onto the inner periphery of the temporary tunnel γ as shown by the arrow in FIG. The position of bit 10 when it is pressed is detected by encoder 25, then converted by converter 108 into a rectangular coordinate system P, and stored in memory means 109. After performing the pressing operation of the bit 10 as described above many times over almost the entire circumference of the temporary tunnel γ, when the information stored in the memory means 109 is displayed on the display 110, the information stored in the memory means 109 is displayed on the display 110. As shown in the figure, bits are displayed on the display surface of the display 110.
The position where 10 is pressed is represented as a "point". Therefore, the shape of the temporary tunnel γ can be known almost accurately from the position of the bit 10 displayed on the display 110. Based on the shape of the temporary tunnel γ displayed on the display 110, the pattern can be changed, for example, the drilling point that causes the unexcavated portion or over-excavated portion to be changed, or the amount of explosives loaded can be changed. can be done.

(Effects of the Invention) As is clear from the above, the present invention has the following advantages:
Since we have constructed a device for measuring the cross-sectional shape of a tunnel by effectively utilizing a working machine equipped with a traveling trolley having a boom means, we have constructed a device for measuring the cross-sectional shape of a tunnel. other,
It is only necessary to provide at least a display means, and it can be provided at low cost. In particular, it will be even cheaper if a working machine is used which is already equipped with means for detecting the actuation value of the boom means.

Further, since the operation of pressing the tip of the boom means against the inner circumferential surface of the tunnel cross-sectional shape can be performed efficiently, the measurement time can be shortened.

[Brief explanation of drawings]

FIG. 1 is a block diagram showing a boom positioning device and a measuring device section. FIG. 2 is a diagram showing an example of a working machine equipped with a boom means and a traveling truck. FIG. 3 is a side view showing an example of the boom means. FIG. 4 and FIG. 5 are schematic diagrams showing the displacement state of the boom means. FIG. 6 is a diagram showing an encoder that detects the value at which the boom is activated.
FIG. 7 is a front view showing the state immediately after drilling a hole. FIG. 8 is a front view corresponding to FIG. 7 showing a temporary tunnel, an unexcavated portion, and an over-excavated portion. FIG. 9 is a diagram showing an example of a state in which the measured cross-sectional shape of a tunnel is displayed on a display. 1; boom, 2; first boom, 3; second boom, 25; encoder (detection means), 101; traveling trolley, 104; operating lever, 110; indicator.

Claims (1)

[Scope of Claims] 1. A traveling truck having a boom means; a boom operating means for operating the tip of the boom means to any position on the inner peripheral surface of the tunnel cross section; and a boom operating means for operating the boom means by the boom operating means. a detection means for detecting a displacement value of the boom means as a value in a predetermined coordinate system set in advance when the tip portion is operated along the inner circumferential surface of the tunnel cross section; A tunnel cross-section measuring device comprising: a display means for displaying a profiled shape obtained by the method; and a tunnel cross-section measuring device.