JP3075785B2 - Tunnel position measurement method - Google Patents
Tunnel position measurement methodInfo
- Publication number
- JP3075785B2 JP3075785B2 JP03218032A JP21803291A JP3075785B2 JP 3075785 B2 JP3075785 B2 JP 3075785B2 JP 03218032 A JP03218032 A JP 03218032A JP 21803291 A JP21803291 A JP 21803291A JP 3075785 B2 JP3075785 B2 JP 3075785B2
- Authority
- JP
- Japan
- Prior art keywords
- measuring
- tunnel
- angular velocity
- self
- traveling vehicle
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Lifetime
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- Optical Radar Systems And Details Thereof (AREA)
Description
【０００１】[0001]
【産業上の利用分野】本発明は、トンネル（管路，溝
（半円形等）を含む）を築造中、トンネル完成検査時ま
たは既存のトンネル等の調査時の線形、つまりトンネル
の布設ルートを計測するトンネルの位置計測方法に関す
るものである。BACKGROUND OF THE INVENTION The present invention relates to the construction of tunnels (including pipelines, grooves (semicircular shapes, etc.)), the completion of tunnel inspections, or the survey of existing tunnels. The present invention relates to a method for measuring a position of a tunnel to be measured.
【０００２】[0002]
【従来の技術】従来、回転角速度計測用ジャイロスコー
プ、回転角計測用加速度計および仰角計測用加速度計を
設置した自走式走行台車を有線または無線により無人で
走行させることにより得られる角速度信号を使ってトン
ネルの線形を計測する際の距離計測方法は、自走式走行
台車に取り付けた走行距離計測用距離計による計測であ
った。2. Description of the Related Art Conventionally, an angular velocity signal obtained by running a self-propelled traveling vehicle equipped with a gyroscope for measuring a rotational angular velocity, an accelerometer for measuring a rotational angle and an accelerometer for measuring an elevation angle unattended by wire or wirelessly is used. The distance measurement method used to measure the alignment of the tunnel using a trolley was a mileage measurement odometer attached to a self-propelled traveling vehicle.
【０００３】[0003]
【発明が解決しようとする課題】しかし、走行距離計測
用距離計による計測は走行車輪の回転数より走行距離を
算出するものであるため、トンネル内表面の微妙な凹凸
によって走行車輪の回転数が変化してしまうため、高精
度に距離を計測することは不可能である。また、自走式
走行台車のトンネル内の位置が走行中に移動することに
より、正確な測定ができないという問題点があった。However, since the measurement by the odometer for measuring the mileage is to calculate the mileage from the number of revolutions of the traveling wheels, the number of revolutions of the traveling wheels may be reduced due to minute irregularities on the inner surface of the tunnel. Because of the change, it is impossible to measure the distance with high accuracy. In addition, since the position of the self-propelled traveling vehicle in the tunnel moves during traveling, there is a problem that accurate measurement cannot be performed.
【０００４】本発明の目的は、上記の問題点を解決し、
トンネル内表面の微妙な凹凸や自走式走行台車の断面内
での位置の変化により、計測値が変化しないトンネルの
位置計測方法を提供することにある。An object of the present invention is to solve the above problems,
An object of the present invention is to provide a tunnel position measuring method in which a measured value does not change due to subtle irregularities on the inner surface of the tunnel or a change in position in a cross section of the self-propelled traveling vehicle.
【０００５】[0005]
【課題を解決するための手段】本発明にかかるトンネル
の位置計測方法は、回転角速度計測用ジャイロスコー
プ、回転角計測用加速度計および仰角計測用加速度計等
からなる３軸方向角速度測定手段を設置した自走式走行
台車を、有線または無線により無人で走行させることに
より得られる角速度信号を使ってトンネルの線形を計測
する際の距離計測方法として、トンネル内に所定間隔で
設置された走行距離を表す標識から得られる、あるいは
干渉縞の変化から得られる電気的走行距離信号を用い、
この電気的走行距離信号と、上記角速度信号をトンネル
の断面内における水平方向および鉛直方向での位置を示
す信号により補正し、演算処理することによってトンネ
ル等の線形を計測するようにしたものである。The method for measuring the position of a tunnel according to the present invention includes a three-axis angular velocity measuring means including a gyroscope for measuring a rotational angular velocity, an accelerometer for measuring a rotational angle, an accelerometer for measuring an elevation angle, and the like. A self-propelled traveling vehicle that travels unattended by wire or wirelessly as a distance measurement method when measuring the alignment of the tunnel using an angular velocity signal obtained by running the vehicle at a predetermined distance in the tunnel Using the electrical mileage signal obtained from the sign representing or obtained from the change in interference fringes,
The electrical traveling distance signal and the angular velocity signal are corrected by signals indicating the horizontal and vertical positions in the cross section of the tunnel, and the linearity of the tunnel or the like is measured by performing arithmetic processing. .
【０００６】[0006]
【作用】本発明においては、３軸方向角速度測定手段か
ら得られる角速度信号と、標識等から得られる電気的走
行距離信号を、トンネルの断面内で発射される光線の反
射によって得られるトンネルの断面内における水平方向
および鉛直方向での位置を示す信号により補正し演算処
理するので、トンネル内表面の微妙な凹凸によって走行
車輪の回転数が変化してしまうことによる距離測定精度
の低下を免れることや、自走式走行台車の断面内で位置
変化等による距離測定精度の低下を免れることができ
る。In the present invention, the angular velocity signal obtained from the three-axis direction angular velocity measuring means and the electric traveling distance signal obtained from a sign or the like are converted into the cross section of the tunnel obtained by the reflection of the light beam emitted within the cross section of the tunnel. Compensation and processing are performed using signals indicating the horizontal and vertical positions within the tunnel, so that the accuracy of distance measurement due to changes in the rotation speed of the traveling wheel due to minute irregularities on the inner surface of the tunnel can be avoided. In addition, a decrease in distance measurement accuracy due to a change in position or the like in the cross section of the self-propelled traveling vehicle can be avoided.
【０００７】[0007]
【実施例】本発明における自走式走行台車に設置するＸ
軸，Ｙ軸，Ｚ軸回りの角速度の測定手段としては、Ａ．
３軸回転角速度計測用ジャイロスコープ、Ｂ．２軸回転
角速度計測用ジャイロスコープと回転角計測用加速度計
の組合せおよび、Ｃ．１軸回転角速度計測用ジャイロス
コープと回転角計測用加速度計の組合せの３つの方法が
あるが、まず最初に、Ａの３軸回転角速度計測用ジャイ
ロスコープを用いた実施例について述べる。DESCRIPTION OF THE PREFERRED EMBODIMENTS X installed on a self-propelled traveling vehicle according to the present invention
As means for measuring angular velocities around the Y axis, the Y axis, and the Z axis, A.I.
Gyroscope for measuring three-axis rotation angular velocity, B. C. a combination of a gyroscope for measuring two-axis rotational angular velocity and an accelerometer for measuring rotational angle; There are three methods of combining a gyroscope for measuring a one-axis rotational angular velocity and an accelerometer for measuring a rotational angle. First, an embodiment using the three-axis rotational angular velocity measuring gyroscope A will be described.
【０００８】図１に概要側断面図を示す。図２に図１の
トンネル内断面拡大図を示す。図３に自走式走行台車の
正面図を示す。図４に自走式走行台車側面を示す。FIG. 1 is a schematic sectional side view. Figure 2 shows a <br/> tunnel sectional enlarged view of FIG. FIG. 3 shows a front view of the self-propelled traveling vehicle. FIG. 4 shows a side view of the self-propelled traveling vehicle.
【０００９】図１に示すように、トンネル１内に標識２
を一定距離Ｌの間隔で順次固定設置する。この標識２
は、例えばバーコードとし、基準地点からの距離が直ち
に分かるようにする。自走式走行台車１０には、車輪１
１が具備され、図示しない駆動源を無線または有線で制
御して自走可能となっている。そして、第１回転角速度
計測用ジャイロスコープ１２、第２回転角速度計測用ジ
ャイロスコープ１３および第３回転角速度計測用ジャイ
ロスコープ１４を固定設置する。これら各ジャイロスコ
ープ１２〜１４で３軸方向角速度測定手段１５が構成さ
れる。第１回転角速度計測用ジャイロスコープ１２は自
走式走行台車１０の進行方向Ｙ軸回りの角度を演算処理
可能な方向に固定設置する。第２回転角速度計測用ジャ
イロスコープ１３は自走式走行台車１０の進行方向Ｙに
直角の鉛直方向Ｚ軸回りの角度を演算処理可能な方向に
固定設置する。第３回転角速度計測用ジャイロスコープ
１４は自走式走行台車１０の進行方向Ｙに直角の水平方
向Ｘ軸回りの角度を演算処理可能な方向に固定設置す
る。１６は信号増幅装置、１７は演算処理装置であり、
両者は実際には離れており、ケーブルを介して接続され
る。１８は表示装置、１９はデータ蓄積装置である。２
０は識別光線光源であり、標識２を照明し、２１は識別
光線受信器で、標識２からの反射光を読み取る。２２は
支持具である。２３は離隔距離計測用光線光源、２４は
離隔距離計測用光線受信器であり、支持具２５で取付け
られている。[0009] As shown in FIG.
Are sequentially fixedly installed at intervals of a fixed distance L. This sign 2
Is a bar code, for example, so that the distance from the reference point can be immediately known. The self-propelled traveling vehicle 10 has wheels 1
1 is provided, and a driving source (not shown) is controlled wirelessly or by wire so that it can run on its own. Then, the first rotational angular velocity measuring gyroscope 12, the second rotational angular velocity measuring gyroscope 13, and the third rotational angular velocity measuring gyroscope 14 are fixedly installed. These gyroscopes 12 to 14 constitute a three-axis direction angular velocity measuring means 15. The first rotational angular velocity measuring gyroscope 12 is fixedly installed in a direction in which the angle of the self-propelled traveling vehicle 10 around the Y direction in the traveling direction can be processed. The second rotational angular velocity measuring gyroscope 13 is fixedly installed in a direction in which an angle around a vertical Z axis perpendicular to the traveling direction Y of the self-propelled traveling vehicle 10 can be processed. The third rotational angular velocity measuring gyroscope 14 is fixedly installed in a direction in which the angle about the horizontal X axis perpendicular to the traveling direction Y of the self-propelled traveling vehicle 10 can be processed. 16 is a signal amplifying device, 17 is an arithmetic processing device,
The two are actually separated and connected via a cable. Reference numeral 18 denotes a display device, and 19 denotes a data storage device. 2
Reference numeral 0 denotes an identification light source, which illuminates the marker 2, and reference numeral 21 denotes an identification light receiver, which reads reflected light from the marker 2. 22 is a support. Reference numeral 23 denotes a light source for measuring the separation distance, and reference numeral 24 denotes a light beam receiver for measuring the separation distance.
【００１０】次に、動作について説明する。自走式走行
台車１０をトンネル１内に設置された標識２に沿って走
行させると、第１，第２，第３回転角速度計測用ジャイ
ロスコープ１２，１３，１４によってそれぞれＹ軸・Ｚ
軸・Ｘ軸回りの角速度を検知，演算し、信号増幅装置１
６によって角速度信号が増幅された後にケーブルを介し
て演算処理装置１７に送られる。また、識別光線光源２
０から標識２へ向けて光線が発射され、その反射光線を
識別光線受信器２１で受信して得られる電気的走行距離
信号より自走式走行台車１０の走行距離を検知し、信号
増幅装置１６によって走行距離信号が増幅された後にケ
ーブルを介して演算処理装置１７に伝送される。演算処
理装置１７に伝送された角速度信号および電気的走行距
離信号は、トンネル１の断面内で離隔距離計測用光線光
源２３から壁へ向けて光線が発射され、その反射光線を
離隔距離計測用光線受信器２４で受信して得られるトン
ネル１等の断面内における水平方向および鉛直方向での
位置を示す信号により補正され、演算処理することによ
ってトンネル１の線形を表示装置１８に表示する。デー
タは、データ蓄積装置１９に蓄積する。Next, the operation will be described. When the self-propelled traveling vehicle 10 travels along the sign 2 installed in the tunnel 1, the first, second, and third rotational angular velocity measuring gyroscopes 12, 13, and 14 respectively provide Y-axis and Z-axis.
Detects and calculates angular velocities around the axis and X axis, and amplifies the signal.
After being amplified by 6, the angular velocity signal is sent to the arithmetic processing unit 17 via a cable. In addition, the identification light source 2
A light beam is emitted from 0 toward the sign 2 and the traveling distance of the self-propelled traveling vehicle 10 is detected from the electric traveling distance signal obtained by receiving the reflected light beam by the identification light beam receiver 21, and the signal amplifying device 16. After the travel distance signal is amplified by this, it is transmitted to the arithmetic processing unit 17 via a cable. The angular velocity signal and the electric traveling distance signal transmitted to the arithmetic processing unit 17 are such that a light beam is emitted from the light source 23 for measuring the distance in the cross section of the tunnel 1 toward the wall, and the reflected light is converted to a light beam for measuring the distance. The signal is corrected by signals indicating the horizontal and vertical positions in the cross section of the tunnel 1 and the like obtained by the receiver 24, and the alignment of the tunnel 1 is displayed on the display device 18 by arithmetic processing. The data is stored in the data storage device 19.
【００１１】以下に、さらに各部分の動作について詳し
く説明する。Hereinafter, the operation of each part will be described in detail.
【００１２】図４の識別光線光源２０は、自走式走行台
車１０の進行方向Ｙと直角のＸ方向に光を放射して標識
２を照射し、その反射光を識別光線受信器２１で受光し
基準地点からの距離を計測する。離間距離計測用光線光
源２３からは図５に示すようにレーザ光線が発せられて
おり、トンネル１の壁面１Ａに当たって反射したレーザ
光線を離間距離計測用光線受信器２４で受光し、その強
弱により離間距離Ｄを測定する。離間距離計測用光線光
源２３と離間距離計測用光線受信器２４と壁面１Ａとの
離間距離、自走式走行台車１０における各ジャイロスコ
ープ１２〜１４の取付け位置より各ジャイロスコープ１
２〜１４と壁面１Ａとの距離がわかる。すなわち、図６
のトンネル壁面１と各ジャイロスコープ１２〜１４との
離間距離が求められる。The discriminating light source 20 shown in FIG. 4 emits light in the X direction perpendicular to the traveling direction Y of the self-propelled traveling vehicle 10 to irradiate the sign 2, and the reflected light is received by the discriminating light receiver 21. Measure the distance from the reference point. As shown in FIG. 5, a laser beam is emitted from the light source 23 for measuring the distance, and the laser beam reflected on the wall 1A of the tunnel 1 is received by the light receiver 24 for measuring the distance. Measure the distance D. Each gyroscope 1 is determined based on the distance between the distance measuring light source 23, the distance measuring light receiver 24, and the wall 1A, and the mounting position of each of the gyroscopes 12 to 14 on the self-propelled traveling vehicle 10.
The distance between 2 to 14 and the wall surface 1A is known. That is, FIG.
The distance between the tunnel wall 1 and each of the gyroscopes 12 to 14 is determined.
【００１３】このように、各ジャイロスコープ１２〜１
４の位置を求めるのは、実際に計測するのは各ジャイロ
スコープ１２〜１４の進行軌跡となるので、各ジャイロ
スコープ１２〜１４がトンネル１の断面内のどの位置に
あるかを知る必要があり、トンネル壁面１と各ジャイロ
スコープ１２〜１４との離間距離を求めて、後述するよ
うに軌跡の演算の補正を行う。As described above, each of the gyroscopes 12 to 1
Since the actual measurement is the traveling locus of each of the gyroscopes 12 to 14, it is necessary to know the position of each of the gyroscopes 12 to 14 in the cross section of the tunnel 1. , Tunnel wall 1 and each gyro
The distance from the scopes 12 to 14 is obtained, and the calculation of the trajectory is corrected as described later.
【００１４】図７はトンネル１の線形を求めるための説
明図で、図７（ａ）は水平方向をＸ、垂直方向をＺ、台
車進行方向をＹを定めるもので、図７（ｂ），（ｃ），
（ｄ）のように、定められた走行距離ごとにＸ−Ｙ平
面、Ｙ−Ｚ平面、Ｚ−Ｘ平面における方位角θ，台車の
仰角β，台車の回転角αを求め、台車の仰角β，回転角
αにより方位角θを補正する。FIG. 7 is an explanatory view for obtaining the alignment of the tunnel 1. FIG. 7 (a) defines the horizontal direction as X, the vertical direction as Z, and the bogie traveling direction as Y. (C),
As shown in (d), the azimuth θ, the elevation angle β of the bogie, and the rotation angle α of the bogie in the XY plane, the YZ plane, and the ZX plane are determined for each predetermined traveling distance, and the elevation angle β of the bogie is obtained. , The azimuth angle θ is corrected by the rotation angle α.
【００１５】図８は、図７で説明した補正した方位角θ
と、一定の距離ｄ（標識２で求められる）とを使用して
軌跡を演算している様子を示す。FIG. 8 shows the corrected azimuth angle θ described in FIG.
And a trajectory being calculated using a constant distance d (determined by the sign 2).
【００１６】図９は表示装置１８に表示される図形例を
示すもので、横軸は走行距離、縦軸は水平方向ずれ量を
示し、曲線は台車進行軌跡を示す。なお、微細に見れば
図８に示すように、曲線ではなく折線となる。この図形
からトンネル１の布設ルートがわかる。FIG. 9 shows an example of a graphic displayed on the display device 18, wherein the horizontal axis represents the traveling distance, the vertical axis represents the amount of deviation in the horizontal direction, and the curve represents the truck traveling locus. When viewed finely, as shown in FIG. 8, it is not a curve but a broken line. From this figure, the installation route of the tunnel 1 can be known.
【００１７】次に、自走式走行台車１０に設置する３軸
方向角速度測定方法として２軸回転角速度計測用ジャイ
ロスコープと回転角計測用加速度計の組合せを用いた実
施例について述べる。図１０に自走式走行台車１０の正
面図を示し、図１１に側面図を示す。Next, an embodiment using a combination of a gyroscope for measuring a two-axis rotational angular velocity and an accelerometer for measuring a rotational angle will be described as a method of measuring an angular velocity in a three-axis direction installed on the self-propelled traveling vehicle 10. FIG. 10 shows a front view of the self-propelled traveling vehicle 10, and FIG. 11 shows a side view.
【００１８】自走式走行台車１０には、回転角計測用加
速度計２６，第２回転角速度計測用ジャイロスコープ１
３および第３回転角速度計測用ジャイロスコープ１４を
固定設置する。回転角計測用加速度計２６は、自走式走
行台車１０の進行方向Ｙ軸回りの角度を演算処理可能な
方向に固定設置する。第２回転角速度計測用ジャイロス
コープ１３は自走式走行台車１０の進行方向Ｙに直角の
鉛直方向Ｚ軸回りの角度を演算処理可能な方向に固定設
置する。第３回転角速度計測用ジャイロスコープ１４は
自走式走行台車１０の進行方向Ｙに直角の水平方向Ｘ軸
回りの角度を演算処理可能な方向に固定設置する。The self-propelled traveling vehicle 10 has a rotational angle measuring accelerometer 26 and a second rotational angular velocity measuring gyroscope 1.
The third and third rotational angular velocity measuring gyroscopes 14 are fixedly installed. The rotational angle measuring accelerometer 26 is fixedly installed in a direction in which the angle of the self-propelled traveling vehicle 10 about the traveling direction Y axis can be processed. The second rotational angular velocity measuring gyroscope 13 is fixedly installed in a direction in which an angle around a vertical Z axis perpendicular to the traveling direction Y of the self-propelled traveling vehicle 10 can be processed. The third rotational angular velocity measuring gyroscope 14 is fixedly installed in a direction in which the angle about the horizontal X axis perpendicular to the traveling direction Y of the self-propelled traveling vehicle 10 can be processed.
【００１９】自走式走行台車１０をトンネル１内に設置
された標識２に沿って走行させると、回転角計測用加速
度計２６，第２回転角速度計測用ジャイロスコープ１３
および第３回転角速度計測用ジャイロスコープ１４によ
って、それぞれＹ軸・Ｚ軸・Ｘ軸回りの角速度を検知，
演算し、信号増幅装置１６によって角速度信号が増幅さ
れた後にケーブルを介して角速度信号が演算処理装置１
７に送られる。以後の動作は図４に示す実施例と全く同
じである。When the self-propelled traveling vehicle 10 travels along the sign 2 installed in the tunnel 1, the rotational angle measuring accelerometer 26 and the second rotational angular velocity measuring gyroscope 13
And the third rotational angular velocity measuring gyroscope 14 detects angular velocities around the Y, Z, and X axes, respectively.
After the calculation, the angular velocity signal is amplified by the signal amplifying device 16 and then the angular velocity signal is converted to the arithmetic processing device 1 via the cable.
7 The subsequent operation is exactly the same as that of the embodiment shown in FIG.
【００２０】ここで、回転角計測用加速度計２６の動作
について図１２（ａ），（ｂ）で説明する。この回転角
計測用加速度計２６は、俗にローリング計と云われてい
るもので、受信コイル２６Ａ内に発信コイル２６Ｂを振
子状に配置構成したもので、図１２（ａ）のように自走
式走行台車１０が水平のときと、図１２（ｂ）のように
傾斜したときでは、受信コイル２６Ａに誘起される電圧
が異なる。これを利用して回転角αを算出するものであ
る。Here, the operation of the accelerometer 26 for measuring the rotation angle will be described with reference to FIGS. This rotational angle measuring accelerometer 26 is commonly called a rolling meter, in which a transmitting coil 26B is arranged in a pendulum shape within a receiving coil 26A, and is self-propelled as shown in FIG. The voltage induced in the receiving coil 26A differs between when the traveling vehicle 10 is horizontal and when it is inclined as shown in FIG. 12B. This is used to calculate the rotation angle α.
【００２１】最後に、自走式走行台車１０に設置する３
軸方向角速度測定方法として、１軸回転角速度計測用ジ
ャイロスコープと回転角計測用加速度計と仰角計測用加
速度計の組合せを用いた実施例を図１３，図１４につい
て述べる。Finally, 3 to be installed on the self-propelled traveling vehicle 10
As an axial angular velocity measuring method, an embodiment using a combination of a gyroscope for measuring a uniaxial rotational angular velocity, an accelerometer for measuring a rotational angle, and an accelerometer for measuring an elevation angle will be described with reference to FIGS.
【００２２】自走式走行台車１０には、回転角計測用加
速度計２６，仰角計測用加速度計２７および第３回転角
速度計測用ジャイロスコープ１４を固定設置する。回転
角計測用加速度計２６は、自走式走行台車１０の進行方
向Ｙ軸回りの角度を演算処理可能な方向に固定設置す
る。仰角計測用加速度計２７は自走式走行台車１０の進
行方向Ｙに直角の鉛直方向Ｚ軸回りの角度を演算処理可
能な方向に固定設置する。第３回転角速度計測用ジャイ
ロスコープ１４は自走式走行台車１０の進行方向Ｙに直
角の水平方向Ｘ軸回りの角度を演算処理可能な方向に固
定設置する。On the self-propelled traveling vehicle 10, a rotational angle measuring accelerometer 26, an elevation angle measuring accelerometer 27, and a third rotational angular velocity measuring gyroscope 14 are fixedly installed. The rotational angle measuring accelerometer 26 is fixedly installed in a direction in which the angle of the self-propelled traveling vehicle 10 about the traveling direction Y axis can be processed. The elevation angle measuring accelerometer 27 is fixedly installed in a direction in which an angle around a vertical Z axis perpendicular to the traveling direction Y of the self-propelled traveling vehicle 10 can be processed. The third rotational angular velocity measuring gyroscope 14 is fixedly installed in a direction in which the angle about the horizontal X axis perpendicular to the traveling direction Y of the self-propelled traveling vehicle 10 can be processed.
【００２３】仰角計測用加速度計２７は、俗にピッチン
グ計と云われているもので、動作原理は図１２で説明し
た回転角計測用加速度計２６と全く同じである。The elevation angle measuring accelerometer 27 is commonly called a pitching meter, and its operating principle is exactly the same as the rotation angle measuring accelerometer 26 described with reference to FIG.
【００２４】自走式走行台車１０をトンネル１内に設置
された標識２に沿って走行させると、回転角計測用加速
度計２６，仰角計測用加速度計２７および第３回転角速
度計測用ジャイロスコープ１４によって、それぞれＹ軸
・Ｚ軸・Ｘ軸回りの角速度を検知，演算し、信号増幅装
置１６によって角速度信号が増幅された後にケーブルを
介して角速度信号が演算処理装置１７に送られる。以後
の動作は図４に示す実施例と全く同じである。When the self-propelled traveling vehicle 10 travels along the sign 2 installed in the tunnel 1, a rotational angle measuring accelerometer 26, an elevation measuring accelerometer 27, and a third rotational angular velocity measuring gyroscope 14 are provided. Thus, the angular velocities around the Y-axis, Z-axis, and X-axis are respectively detected and calculated, and after the signal amplifier 16 amplifies the angular velocity signal, the angular velocity signal is sent to the arithmetic processing unit 17 via a cable. The subsequent operation is exactly the same as that of the embodiment shown in FIG.
【００２５】上記の各実施例では、トンネル１内に標識
２を所定間隔で順次設けておき、これを検出することに
より正確な走行距離を求めているが、この他の壁面１Ａ
を利用した走行距離測定方法として、図１５に示すよう
な方法も用いうる。図１５において、２８はレーザ発振
器、２９は受信器で、レーザ光が壁面１Ａに当たると壁
面１Ａの微妙な凹凸により拡散光に位相の差が生じ光の
干渉が起きる。壁面１Ａが静止していれば干渉縞も静止
しているが、自走式走行台車１０の走行によって干渉縞
が動くので、その変化により移動距離を知ることができ
る。このように、標識２のような壁面１Ａの利用と干渉
縞の変化を用いる壁面１Ａの利用のいずれの方法でも、
従来の走行車輪を利用した走行距離の計測に比べ、正確
な計測ができる。In each of the above-described embodiments, the signs 2 are sequentially provided at predetermined intervals in the tunnel 1, and an accurate traveling distance is obtained by detecting the signs.
As a traveling distance measuring method using the method, a method as shown in FIG. 15 can be used. In FIG. 15, reference numeral 28 denotes a laser oscillator, and reference numeral 29 denotes a receiver. When a laser beam hits the wall surface 1A, a phase difference occurs in diffused light due to minute irregularities on the wall surface 1A, and light interference occurs. If the wall surface 1A is stationary, the interference fringes are also stationary, but since the interference fringes move as the self-propelled traveling vehicle 10 travels, the movement distance can be known from the change. As described above, in any of the method of using the wall 1A such as the sign 2 and the method of using the wall 1A using the change of the interference fringe,
Accurate measurement can be performed as compared with the conventional measurement of the traveling distance using traveling wheels.
【００２６】上記３つの実施例のそれぞれに対し自走式
走行台車１０にデータ発信装置を搭載しておき、最後に
得られたデータをデータ発信装置で無線伝送し、これを
所要地点に設置したデータ受信装置で受け、トンネル１
の線形を表示装置１８に表示する方法もある。For each of the above three embodiments, a data transmitting device is mounted on the self-propelled traveling vehicle 10, and the data obtained at the end is wirelessly transmitted by the data transmitting device, and is installed at a required point. Tunnel 1 received by data receiving device
Is displayed on the display device 18.
【００２７】[0027]
【発明の効果】本発明は、３軸方向角速度測定手段を設
置した自走式走行台車を有線または無線により無人で走
行させることにより得られる角速度信号と、トンネルの
壁面を利用して得られる電気的走行距離信号を、トンネ
ルの断面内で発射される光線の反射により得られるトン
ネルの断面内における水平方向および鉛直方向での位置
を示す信号により補正し、演算処理することによってト
ンネルの線形を計測するようにしたので、トンネル内に
自走式走行台車を走行させることによって、トンネル築
造中，トンネル完成検査時およびトンネル調査時の線形
をトンネル内表面の凹凸や自走式走行台車の断面内での
位置に影響されずに連続的に高精度に測定・把握が可能
となり、人による作業を大幅に減少させ安全作業が確保
される。According to the present invention, an angular velocity signal obtained by driving a self-propelled traveling vehicle provided with a three-axis direction angular velocity measuring means unattended by wire or wirelessly, and an electric signal obtained by using a tunnel wall surface. The target travel distance signal is corrected by signals indicating the horizontal and vertical positions in the tunnel cross section obtained by the reflection of the light rays emitted in the tunnel cross section, and the tunnel alignment is measured by processing. By running the self-propelled traveling vehicle in the tunnel, the alignment during tunnel construction, tunnel completion inspection, and tunnel survey can be controlled by the unevenness of the inner surface of the tunnel and the cross section of the self-propelled traveling vehicle. The measurement and comprehension can be continuously performed with high precision without being affected by the position of the work, and the work by humans is greatly reduced, and the safety work is secured.
【００２８】さらに、トンネルの線形を測定するととも
に、即座に測定データが演算処理可能であるため、トン
ネル線形の測定と同時にトンネル線形の把握が可能であ
る。Furthermore, since the alignment of the tunnel can be measured and the measurement data can be processed immediately, the tunnel alignment can be simultaneously measured and grasped.
【図１】本発明の一実施例を説明するための概要側断面
図である。FIG. 1 is a schematic sectional side view for explaining one embodiment of the present invention.
【図２】図１のトンネル内断面拡大図である。FIG. 2 is an enlarged cross-sectional view of the inside of the tunnel of FIG. 1;
【図３】本発明に用いる自走式走行台車の正面略図であ
る。FIG. 3 is a schematic front view of a self-propelled traveling vehicle used in the present invention.
【図４】図３の自走式走行台車の側面略図である。4 is a schematic side view of the self-propelled traveling vehicle of FIG. 3;
【図５】本発明における離隔距離の計測を説明する図で
ある。FIG. 5 is a diagram illustrating measurement of a separation distance according to the present invention.
【図６】本発明における離隔距離の計測を説明するトン
ネルの断面図である。FIG. 6 is a sectional view of a tunnel for explaining measurement of a separation distance in the present invention.
【図７】本発明における台車進行方向左右の方位角θと
台車の回転角α、仰角βを説明する図である。FIG. 7 is a view for explaining a left and right azimuth θ, a rotation angle α, and an elevation angle β of the truck in the present invention.
【図８】本発明で求める軌跡を説明する図である。FIG. 8 is a diagram illustrating a trajectory obtained in the present invention.
【図９】本発明における表示装置の表示例を示す図であ
る。FIG. 9 is a diagram illustrating a display example of a display device according to the present invention.
【図１０】本発明の他の実施例を示す自走式走行台車の
正面略図である。FIG. 10 is a schematic front view of a self-propelled traveling vehicle showing another embodiment of the present invention.
【図１１】図１０の自走式走行台車の側面略図である。FIG. 11 is a schematic side view of the self-propelled traveling vehicle of FIG. 10;
【図１２】本発明に用いる回転角計測用加速度計の動作
原理を説明するための図である。FIG. 12 is a diagram for explaining the operating principle of the rotational angle measuring accelerometer used in the present invention.
【図１３】本発明のさらに他の実施例を示す自走式走行
台車の正面略図である。FIG. 13 is a schematic front view of a self-propelled traveling vehicle showing still another embodiment of the present invention.
【図１４】図１３の自走式走行台車の側面略図である。FIG. 14 is a schematic side view of the self-propelled traveling vehicle shown in FIG. 13;
【図１５】本発明における壁面を利用して距離信号を得
る方法を説明する図である。FIG. 15 is a diagram illustrating a method of obtaining a distance signal using a wall surface according to the present invention.
１ トンネル ２ 標識 １０ 自走式走行台車 １１ 車輪 １２ 第１回転角速度計測用ジャイロスコープ １３ 第２回転角速度計測用ジャイロスコープ １４ 第３回転角速度計測用ジャイロスコープ １５ ３軸方向角速度測定手段 １６ 信号増幅装置 １７ 演算処理装置 １８ 表示装置 １９ データ蓄積装置 ２０ 識別光線光源 ２１ 識別光線受信器 ２２ 支持具 ２３ 離隔距離計測用光線光源 ２４ 離隔距離計測用光線受信器 ２５ 支持具 ２６ 回転角計測用加速度計 ２７ 仰角計測用加速度計 DESCRIPTION OF SYMBOLS 1 Tunnel 2 Sign 10 Self-propelled traveling vehicle 11 Wheel 12 Gyroscope for 1st rotation angular velocity measurement 13 Gyroscope for 2nd rotation angular velocity measurement 14 Gyroscope for 3rd rotation angular velocity measurement 15 3-axis direction angular velocity measuring means 16 Signal amplifier REFERENCE SIGNS LIST 17 arithmetic processing device 18 display device 19 data storage device 20 identification light source 21 identification light receiver 22 support tool 23 light source light source for separation distance measurement 24 light reception device for separation distance measurement 25 support tool 26 accelerometer for rotation angle measurement 27 elevation angle Accelerometer for measurement
───────────────────────────────────────────────────── フロントページの続き (72)発明者 黒沢 友博 東京都千代田区内幸町１丁目１番６号 日本電信電話株式会社内 (72)発明者 豊川 一男 東京都台東区秋葉原５丁目８番 アイレ ック技建株式会社内 ──────────────────────────────────────────────────続 き Continuing on the front page (72) Inventor Tomohiro Kurosawa 1-1-6 Uchisaiwaicho, Chiyoda-ku, Tokyo Nippon Telegraph and Telephone Corporation (72) Inventor Kazuo Toyokawa 5-8 Akihabara, Taito-ku, Tokyo Airec Giken Co., Ltd.
Claims (1)
走行台車を有線または無線により無人で走行させること
により得られる角速度信号と、トンネルの壁面を利用し
て得られる電気的走行距離信号とにより得られる上記自
走式走行台車の位置信号を、トンネルの断面内で発射さ
れる光線の反射により得られるトンネルの断面内におけ
る水平方向および鉛直方向での位置を示す信号により補
正し、演算処理することによってトンネルの線形を計測
することを特徴とするトンネルの位置計測方法。An angular velocity signal obtained by driving a self-propelled traveling vehicle provided with a three-axis direction angular velocity measuring means unattended by wire or wirelessly, and an electric traveling distance signal obtained by using a wall surface of a tunnel. And the self
The position signal of the traveling trolley is corrected by a signal indicating the position in the horizontal and vertical directions in the cross section of the tunnel obtained by the reflection of the light beam emitted in the cross section of the tunnel, and is processed by arithmetic processing. A method for measuring the position of a tunnel, comprising measuring a linear shape.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP03218032A JP3075785B2 (en) | 1991-08-05 | 1991-08-05 | Tunnel position measurement method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP03218032A JP3075785B2 (en) | 1991-08-05 | 1991-08-05 | Tunnel position measurement method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPH0643243A JPH0643243A (en) | 1994-02-18 |
| JP3075785B2 true JP3075785B2 (en) | 2000-08-14 |
Family
ID=16713574
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP03218032A Expired - Lifetime JP3075785B2 (en) | 1991-08-05 | 1991-08-05 | Tunnel position measurement method |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JP3075785B2 (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR101794690B1 (en) * | 2016-07-07 | 2017-12-01 | 한국철도기술연구원 | Tunnel inspection system having individual driving rail-guided vehicle (rgv) and inertial navigation system (ins) |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS6218704B2 (en) * | 1982-03-27 | 1987-04-24 | Fuji Satsushi Kk | |
| JPS63246610A (en) * | 1987-04-01 | 1988-10-13 | Iseki Kaihatsu Koki:Kk | Method for inspecting pipeline and apparatus for measuring said pipeline |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS6218704U (en) * | 1985-07-18 | 1987-02-04 |
-
1991
- 1991-08-05 JP JP03218032A patent/JP3075785B2/en not_active Expired - Lifetime
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS6218704B2 (en) * | 1982-03-27 | 1987-04-24 | Fuji Satsushi Kk | |
| JPS63246610A (en) * | 1987-04-01 | 1988-10-13 | Iseki Kaihatsu Koki:Kk | Method for inspecting pipeline and apparatus for measuring said pipeline |
Also Published As
| Publication number | Publication date |
|---|---|
| JPH0643243A (en) | 1994-02-18 |
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