EP0534338A3 - Control system for a tunnel boring machine - Google Patents

Control system for a tunnel boring machine Download PDF

Info

Publication number
EP0534338A3
EP0534338A3 EP19920116084 EP92116084A EP0534338A3 EP 0534338 A3 EP0534338 A3 EP 0534338A3 EP 19920116084 EP19920116084 EP 19920116084 EP 92116084 A EP92116084 A EP 92116084A EP 0534338 A3 EP0534338 A3 EP 0534338A3
Authority
EP
European Patent Office
Prior art keywords
sensor unit
tunnel boring
control system
running tube
boring machine
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.)
Granted
Application number
EP19920116084
Other languages
German (de)
Other versions
EP0534338A2 (en
EP0534338B1 (en
Inventor
Peter Heitmann
Franz Josef Mueller
Helmut Colshorn
Carl B. Bosse
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Bodenseewerk Geratetechnik GmbH
Original Assignee
Bodenseewerk Geratetechnik GmbH
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Bodenseewerk Geratetechnik GmbH filed Critical Bodenseewerk Geratetechnik GmbH
Publication of EP0534338A2 publication Critical patent/EP0534338A2/en
Publication of EP0534338A3 publication Critical patent/EP0534338A3/en
Application granted granted Critical
Publication of EP0534338B1 publication Critical patent/EP0534338B1/en
Anticipated expiration legal-status Critical
Expired - Lifetime legal-status Critical Current

Links

Classifications

    • E—FIXED CONSTRUCTIONS
    • E21—EARTH OR ROCK DRILLING; MINING
    • E21B—EARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
    • E21B47/00—Survey of boreholes or wells
    • E21B47/02—Determining slope or direction
    • E21B47/022—Determining slope or direction of the borehole, e.g. using geomagnetism
    • E—FIXED CONSTRUCTIONS
    • E21—EARTH OR ROCK DRILLING; MINING
    • E21B—EARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
    • E21B7/00—Special methods or apparatus for drilling
    • E21B7/04—Directional drilling
    • E21B7/06—Deflecting the direction of boreholes
    • E—FIXED CONSTRUCTIONS
    • E21—EARTH OR ROCK DRILLING; MINING
    • E21B—EARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
    • E21B7/00—Special methods or apparatus for drilling
    • E21B7/20—Driving or forcing casings or pipes into boreholes, e.g. sinking; Simultaneously drilling and casing boreholes
    • E21B7/201—Driving or forcing casings or pipes into boreholes, e.g. sinking; Simultaneously drilling and casing boreholes with helical conveying means

Landscapes

  • Life Sciences & Earth Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Geology (AREA)
  • Mining & Mineral Resources (AREA)
  • Physics & Mathematics (AREA)
  • Environmental & Geological Engineering (AREA)
  • Fluid Mechanics (AREA)
  • General Life Sciences & Earth Sciences (AREA)
  • Geochemistry & Mineralogy (AREA)
  • Geophysics (AREA)
  • Excavating Of Shafts Or Tunnels (AREA)
  • Earth Drilling (AREA)

Abstract

The control system contains a sensor unit (18) with a dynamically synchronised gyroscope which contains two linear accelerometers allocated to orthogonal measuring axes and responds to azimuthal and pitching movements. The sensor unit is located in a housing (28) which is reproducibly guided in a running tube (16). In its working position, the sensor unit is releasably connected to the driving head (4) of the tunnel boring machine. By means of a cable (20) which can be wound up and unwound on a drum (22), the housing can be moved in the running tube and out of the running tube into a reference position. Re-adjustment of the sensor unit is effected in the reference position at certain moments of the tunnel boring. The output signals from the sensor unit and a path-length measuring device on the drum are analysed in a control unit (26) for determining the position of the driving head, deviations from a desired axis (6) being determined and serving to regulate the driving. <IMAGE>
EP92116084A 1991-09-24 1992-09-21 Control system for a tunnel boring machine Expired - Lifetime EP0534338B1 (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE4131673 1991-09-24
DE4131673A DE4131673C2 (en) 1991-09-24 1991-09-24 Control device for a tunnel boring machine

Publications (3)

Publication Number Publication Date
EP0534338A2 EP0534338A2 (en) 1993-03-31
EP0534338A3 true EP0534338A3 (en) 1993-06-09
EP0534338B1 EP0534338B1 (en) 1996-07-31

Family

ID=6441302

Family Applications (1)

Application Number Title Priority Date Filing Date
EP92116084A Expired - Lifetime EP0534338B1 (en) 1991-09-24 1992-09-21 Control system for a tunnel boring machine

Country Status (3)

Country Link
EP (1) EP0534338B1 (en)
AT (1) ATE141000T1 (en)
DE (2) DE4131673C2 (en)

Families Citing this family (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE19504969A1 (en) * 1995-02-15 1996-08-22 Bodenseewerk Geraetetech Method for controlling a tunnel boring machine
DE19505855C1 (en) * 1995-02-21 1996-02-08 Dmt Gmbh Angled borehole measuring device
FI111287B (en) * 1998-12-10 2003-06-30 Tamrock Oy Method and Rock Drilling Device for Controlling Rock Drilling
AU2002357415A1 (en) 2002-11-22 2004-06-18 Reduct Method for determining a track of a geographical trajectory
US7579962B1 (en) * 2005-05-17 2009-08-25 At&T Intellectual Property Ii, L.P. Duct mapping device using sonde
DE102006026561B3 (en) * 2006-06-06 2008-01-03 Herrenknecht Ag North finder for a tunnel boring machine
CN103133765B (en) * 2011-11-28 2016-05-18 同济大学 The real-time automatic guide method of underground non-excavation pipeline construction and device
CN109630154B (en) * 2019-01-24 2023-08-25 华能西藏雅鲁藏布江水电开发投资有限公司 Tunneling robot for tunneling and remote mobile terminal command system
CN111101851B (en) * 2019-12-19 2021-08-06 国网江苏省电力工程咨询有限公司 Urban construction cable laying that can carry out degree of depth regulation is with device of punching a hole
DE102020111585A1 (en) * 2020-04-28 2021-10-28 Herrenknecht Aktiengesellschaft Tunnel boring machine
CN112781590A (en) * 2020-12-17 2021-05-11 上海隧道工程有限公司 Heading machine guiding system and method based on optical fiber gyroscope

Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE2922415A1 (en) * 1979-06-01 1980-12-04 Bodenseewerk Geraetetech NAVIGATION DEVICE FOR AGRICULTURAL VEHICLES
WO1988005114A1 (en) * 1986-12-31 1988-07-14 Sundstrand Data Control, Inc. Borehole survey system utilizing strapdown inertial navigation

Family Cites Families (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4282470A (en) * 1979-04-30 1981-08-04 Northrop Corporation Close loop control apparatus and method for a force rebalance transducer
AU1854783A (en) * 1982-09-11 1984-03-15 Nl Sperry-Sun Inc. Surveying a borehole
CA1211506A (en) * 1983-02-22 1986-09-16 Sundstrand Data Control, Inc. Borehole inertial guidance system
DE3306070A1 (en) * 1983-02-22 1984-08-23 Witte Bohrtechnik GmbH, 3060 Stadthagen Process and device for underground pipe advancing
JPS60123715A (en) * 1983-12-09 1985-07-02 Nippon Kokan Kk <Nkk> Measuring method of bending of horizontal pipe and measuring probe
DE8337763U1 (en) * 1983-12-31 1985-02-28 Soltau, Gerd, Dr.-Ing., 2120 Lüneburg DEVICE FOR UNDERGROUND PRESSING OF PIPELINES FORMED FROM PRODUCT PIPES
JPS61251710A (en) * 1985-04-30 1986-11-08 Ishikawajima Harima Heavy Ind Co Ltd Detecting method for position and attitude of tunnel drilling
DE3621953A1 (en) * 1986-06-30 1988-01-14 Bodenseewerk Geraetetech INERTIA SENSOR ARRANGEMENT

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE2922415A1 (en) * 1979-06-01 1980-12-04 Bodenseewerk Geraetetech NAVIGATION DEVICE FOR AGRICULTURAL VEHICLES
WO1988005114A1 (en) * 1986-12-31 1988-07-14 Sundstrand Data Control, Inc. Borehole survey system utilizing strapdown inertial navigation

Non-Patent Citations (2)

* Cited by examiner, † Cited by third party
Title
PATENT ABSTRACTS OF JAPAN vol. 11, no. 100 (P-561)28. März 1987 & JP-A-61 251 710 ( ISHIKAWAJIMA HARIMA HEAVY IND CO LTD ) 8. November 1986 *
PATENT ABSTRACTS OF JAPAN vol. 9, no. 281 (P-403)9. Dezember 1983 & JP-A-60 123 715 ( NIPPON KOKAN KK ) 2. Juli 1985 *

Also Published As

Publication number Publication date
DE4131673A1 (en) 1993-04-01
ATE141000T1 (en) 1996-08-15
DE59206842D1 (en) 1996-09-05
DE4131673C2 (en) 1995-05-04
EP0534338A2 (en) 1993-03-31
EP0534338B1 (en) 1996-07-31

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