EP0727561B1 - Procédé pour la commande d'une machine de creusement de tunnels - Google Patents

Procédé pour la commande d'une machine de creusement de tunnels Download PDF

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Publication number
EP0727561B1
EP0727561B1 EP96100823A EP96100823A EP0727561B1 EP 0727561 B1 EP0727561 B1 EP 0727561B1 EP 96100823 A EP96100823 A EP 96100823A EP 96100823 A EP96100823 A EP 96100823A EP 0727561 B1 EP0727561 B1 EP 0727561B1
Authority
EP
European Patent Office
Prior art keywords
head
tube section
working head
boring machine
tunnel boring
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
Application number
EP96100823A
Other languages
German (de)
English (en)
Other versions
EP0727561A1 (fr
Inventor
Götz Geister
Andreas Vogt
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 EP0727561A1 publication Critical patent/EP0727561A1/fr
Application granted granted Critical
Publication of EP0727561B1 publication Critical patent/EP0727561B1/fr
Anticipated expiration legal-status Critical
Expired - Lifetime legal-status Critical Current

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Classifications

    • E—FIXED CONSTRUCTIONS
    • E21—EARTH OR ROCK DRILLING; MINING
    • E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
    • E21D9/00—Tunnels or galleries, with or without linings; Methods or apparatus for making thereof; Layout of tunnels or galleries
    • E21D9/003—Arrangement of measuring or indicating devices for use during driving of tunnels, e.g. for guiding machines
    • E—FIXED CONSTRUCTIONS
    • E21—EARTH OR ROCK DRILLING; MINING
    • E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
    • E21D9/00—Tunnels or galleries, with or without linings; Methods or apparatus for making thereof; Layout of tunnels or galleries
    • E21D9/10—Making by using boring or cutting machines
    • E21D9/108—Remote control specially adapted for machines for driving tunnels or galleries

Definitions

  • the invention relates to a method for controlling the Head of a tunnel boring machine at one Tunneling process, in which in the Tunneling machine produced tunnel pipe sections in accordance with the advance from a tunnel start pressed in and the drilling head of the tunnel boring machine be pushed.
  • tunneling method used here from a starting point, e.g. a starting pit, from through a tunnel boring machine with a boring head Tunnel drilled.
  • the head can be drill-like the rock over the entire cross section of the tunnel mill away.
  • the head can also be one Milling cutter included, which sits on a movable arm and is moved across the tunnel cross-section.
  • the Tunneling machine continues to contain funds for Remove the broken material.
  • so generated Tunnel drilling is done by hydraulic cylinder pipe sections one after the other according to the progress of the advance pressed in so that the tunnel bore with one of continuous tube formed in these tube sections is lined.
  • the head is controllable so that by hand or automatically along a given path can be performed.
  • the tunnel being driven should start from one Starting point as precisely as possible of a given line, e.g. follow a straight line with a given direction.
  • a given line e.g. follow a straight line with a given direction.
  • the Tunnel driving machine can be controlled so that such Deviations can be reduced to zero.
  • the tunneling method Measurement and control of the jacking head by means of a Laser beam as a guide beam.
  • the laser beam meets one with a photodiode matrix Target plate attached to the jacking head. If the drive head deviates from the laser beam, delivers the Photodiode matrix a deviation signal. Of the Head can then be controlled so that this Deviation disappears.
  • the direction of the laser beam is once determined and measured.
  • the laser beam then leads the jack head over quite large if necessary Distances. (D. Stein, K. Möllers and R. Bielecki: "Pipeline tunnel construction", Ernst and Son, publishing house for architecture and Technical Sciences, Berlin 1988, pages 195 to 204; DE-U1-G 93 07 372.0).
  • DE-A-41 31 673 is a control device for Tunneling machines known, in which on the Head a sensor unit with a dynamic matched gyroscope and two accelerometers are attached. The sensor unit speaks on azimuth, Rolling and pitching movements of the head. From the respective orientation of the head and the Tunneling can be done using the dead reckoning method the position of the jacking head can be determined. Out of it can deviations of the driving head from the determined line and corresponding Control signals are generated. DE-A-41 31 673 the sensor unit is in a housing that is in a running tube is reproducibly guided. In your The working position is the sensor unit with the jacking head the tunnel boring machine can be detached in a defined manner relative location connected.
  • the housing is made using a unwindable from a drum and onto the drum windable cable in the running tube in a Reference position can be moved.
  • a Reference position takes place at certain times of the Tunneling, e.g. while inserting a new one Pipe section, a readjustment of the sensor unit.
  • the Output signals from the sensor unit and one Position measuring device on the drum are in a Control unit according to the procedure of dead reckoning Determination of the position of the jacking head evaluated.
  • the invention has for its object the propulsion head with a tunnel boring machine while avoiding the described sources of error of the prior art exactly to follow a given line.
  • the invention is based on the object using an inertial sensor unit using the method of Dead reckoning certain position of the jacking head regarding a drift of the head correct.
  • this object is achieved in that a Drift-independent position of the jacking head from the relative position of the jacking head to a Jack head trailing pipe section is determined.
  • the propulsion head is thus one or few pipe sections lagging pipe section used.
  • the pipe section is based on the tunnel bore. Its longitudinal axis lies in the direction of the tunnel bore. It it is assumed that this is due to the invention Control is essentially on the predetermined line and thus the trailing pipe section along this line is aligned. If that's the case, then it can Position of the head in relation to this reference be determined. This can be done in different ways.
  • 10 is a tunnel bore.
  • the Tunnel bore 10 is produced by a head 12.
  • the driving head 12 is followed by a working tube 14
  • Working tube 14 sits an inertial sensor unit 16.
  • Die inertial sensor unit 16 provides the position angle of the Head, namely pitch, roll and yaw angles based on an earth-fixed coordinate system.
  • the inertial Sensor unit 16 is closer below with reference to Figure 4 described.
  • the work tube 14 is followed by Pipe sections lowered into a launch pit 18 and by hydraulic cylinders 20 and 22 one after the other into the Tunnel bore 10 are pressed in to the extent that the head is advancing (Fig. 3).
  • Fig.1 on the head 12 and the working tube 14 more Pipe sections 24, 26, 28 etc.
  • a control station 30 is also located in the working tube 14 housed.
  • the control station 30 contains control elements in Form of control levers 32 for controlling the tunnel boring machine. Through these control elements can roll and Pitch of the jacking head and the "course", i.e. of the Azimuth angle can be changed to length the propeller head 12 to follow a given line.
  • the control takes place here manually by an operator, the corresponding Control signals displayed.
  • the control takes place using the dead reckoning method. Out Direction of movement and distance traveled results in respective position of the head 12.
  • the Path increments can be covered by one of the Starting pit 18 led to the head 12, on a Roll of coiled cable can be measured, e.g. in the DE-A-41 31 673 is described. With this dead reckoning it is assumed that the head is in Moved in the direction of its longitudinal axis. It has been shown that this requirement is often not met. There is one "Drift" on.
  • a movement without drift is shown on the left in FIG.
  • the head 12 is schematically shown as a rectangle shown.
  • the arrow 34 represents the direction of movement.
  • the propulsion head then does not move in the direction of the longitudinal axis 36 that of the inertial Sensor unit 16 is measured.
  • the dead reckoning leads then to a position error.
  • Figure 3 shows the arrangement in a more constructive manner.
  • the propulsion head 12 contains a milling head 42, which a movable arm 44 is seated.
  • the arm 44 guides the Milling head 42 over the tunnel cross section.
  • the milled off Material falls onto a scraper conveyor 44 and is fed into one Broker 48 promoted.
  • From the crusher 48 broken rock caused by a flow of liquid over a Line 50 conveyed.
  • the liquid flow is from generated by a pump 52 driven by a motor 54 becomes.
  • the inertial sensor unit 38 is in the Pipe section 28 arranged approximately at point 56.
  • the inertial sensor unit 38 is a schematic perspective view in FIG shown.
  • the inertial sensor unit 16 is carried out in the same way.
  • the inertial sensor unit 38 contains a hanged one Gyroscope in a housing 58.
  • On such suspended gyroscope acts due to the earth's rotation Torque (gyro directional torque), which is the horizontal Aligns the swirl axis of the gyro to the north.
  • the Deflection of the gyro from a reference position is indicated by tapped a tap.
  • the tap signal is via a Amplifier network connected to a torque generator, the around a vertical axis on the housing of the gyroscope works.
  • the torque generator exerts a torque which counteracts the gyro directional torque and this compensated.
  • the gyro is thus electrically connected to the Tied up reference position.
  • the one on the Torque generator applied current provides a measure of the gyro directional torque and thus for the deviation of the Referral situation from north.
  • Such a bound, suspended gyro is e.g. in
  • Housing 58 is in an inner gimbal 60 arranged.
  • the inner gimbal 60 is around a in Fig.4 axis 62 in from left front to right rear an outer gimbal 64 pivotally mounted.
  • Of the outer gimbal 64 is about one to axis 62 vertical, in Fig. 4 from the right front to the left rear extending axis 66 pivotable in a device housing 68 stored.
  • the inner gimbal 64 carries Accelerometers 70 and 72 with perpendicular to each other Input axes.
  • the input axis of the Accelerometer 70 is parallel to axis 62
  • the input axis of the accelerometer 72 is parallel to axis 66. Accelerometers 70 and 72 serve as an inclinometer.
  • the accelerometer signals act on a servomotor via a controller, of which only the servomotor 74 is visible in FIG a twist via a gear or a belt drive the outer gimbal about the axis 66 or the inner Gimbal around axis 64 causes. This will make the inner gimbal 64 always horizontal, the housing 58 always kept vertical.
  • the gimbal and the from the The gyro directional moment is determined by certain azimuth angles Position angle of the device housing 68 and thus a part which the device housing is attached to. That is the case the inertial sensor unit 38, the pipe section 28 and in In the case of the inertial sensor unit 16, the propulsion head 12.
  • FIG. 5 Another version of the method for controlling the Head of a tunnel boring machine in the Tunneling method of the present type is over Fig. 5 can be seen.
  • the structure is similar to that in Fig.1, and corresponding parts bear the same in both figures Reference numerals.
  • a laser 76 is arranged in the trailing Pipe section 28 in addition to the inertial sensor unit 38 a laser 76 is arranged.
  • the laser beam 78 of the laser 76 hits a target plate 80.
  • the target plate 80 is on the working tube 14 and the propulsion head 12 attached.
  • the Target plate 80 has a matrix of in a known manner Photodiodes on. From the place of impact of the Laser beam 78 on this target plate 80, the location of the Working tube 14 and jacking head relative to that Pipe section 28 can be determined. Here is the position the pipe section 28 out of the way and the orientation of the Pipe section 28, again according to the method of Dead reckoning, determined.
  • the position of the Working tube 14 and the head 12 is not through Drift affected because the trailing pipe section 28th not transverse to its longitudinal direction but only in the direction the tunnel bore 10 moves.
  • the pipe section 28 shows no drift.
  • the dead reckoning of pipe section 28 therefore provides a drift-free position. On this like this certain position is now determined by means of laser and target plate again regardless of a drift of the propulsion head 12 determines the position of the head.
  • the method can also be carried out by photodiodes that the position of the trailing pipe section by means of the inertial sensor unit and the path of this Pipe section according to the methods of dead reckoning is determined and the position of the jacking head of the Tunneling machine relative to the trailing one Pipe section by means of one in the trailing Pipe section arranged image sensor, e.g. one Video camera and one of the "passive" target plate observed with the image sensor becomes.
  • image sensor e.g. one Video camera and one of the "passive" target plate observed with the image sensor becomes.
  • Determining the relative position between aligned laser or image sensor and the propulsion head with the active or passive target plate is known per se and therefore not described in detail here.
  • the laser or Image sensor In contrast to the known methods in which the laser or Image sensor is permanently installed and the laser beam or the imaging beam path goes a long way on which optical interference can occur in the case of the processes described last, the laser or Image sensor pretty close behind the head arranged. Your position and orientation results in anytime from the dead reckoning and the signals of the inertial sensor unit.
  • the actual position of the Jacking head can with a target position on a curved Path to be compared. It is therefore - in contrast to Procedures in which the head is driven by a laser beam is also guided along, the propulsion head along to guide given curved paths.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mining & Mineral Resources (AREA)
  • Environmental & Geological Engineering (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • General Life Sciences & Earth Sciences (AREA)
  • Geochemistry & Mineralogy (AREA)
  • Geology (AREA)
  • Excavating Of Shafts Or Tunnels (AREA)
  • Lining And Supports For Tunnels (AREA)

Claims (5)

  1. Méthode destinée à commander la tête de creusement d'une machine à creuser des tunnels dans le cas d'une méthode de creusement de tunnel pour laquelle des tronçons de tube (24,26,28) sont enfoncés à l'intérieur du tunnel fabriqué par la machine à creuser des tunnels (12) en proportion du creusement à partir de l'un des débuts du tunnel et glissés à l'intérieur après la tête de creusement de la machine à creuser des tunnels,
       caractérisée par le fait que
       une position de la tête de creusement indépendante de la dérive est déterminée à partir de l'assiette relative de la tête de creusement (12) par rapport à un tronçon de tube (28) poursuivant la tête de creusement.
  2. Méthode selon la revendication 1, caractérisée par le fait que l'orientation du tronçon de tube venant à la suite est déterminée au moyen d'un capteur inertiel.
  3. Méthode selon la revendication 2, caractérisée par le fait que
    (a) l'orientation du tronçon de tube venant à la suite est mesurée au moyen du capteur inertiel à un moment où la tête de creusement de la machine à creuser des tunnels prend une position déterminée et est comparée à l'orientation également mesurée du tronçon venant à la suite à un moment ultérieur où le tronçon de tube venant à la suite prend la même position que celle de la tête de creusement de la machine à creuser des tunnels au moment du premier mesurage, et
    (b) une valeur de rectification de la position de la tête de creusement est formée à partir des déviations de ces orientations.
  4. Méthode selon la revendication 2, caractérisée par le fait que
    (a) la position du tronçon de tube venant à la suite est déterminée au moyen de l'unité de capteur inertiel et du chemin parcouru par ce tronçon de tube d'après les méthodes de la navigation à l'estime et
    (b) la position de la tête de creusement de la machine à creuser des tunnels par rapport au tronçon de tube venant à la suite est déterminée au moyen d'un laser disposé dans le tronçon de tube venant à la suite et d'un voyant de visée placé à la tête de creusement et auquel est appliqué le rayon laser.
  5. Méthode selon la revendication 2, caractérisée par le fait que
    (a) la position du tronçon de tube venant à la suite est déterminée au moyen de l'unité de capteur inertiel et du chemin parcouru par ce tronçon de tube d'après les méthodes de la navigation à l'estime et
    (b) la position de la tête de creusement de la machine à creuser des tunnels par rapport au tronçon de tube venant à la suite est déterminée au moyen d'un capteur d'image disposé dans le tronçon de tube venant à la suite et d'un voyant de visée placé à la tête de creusement et observé par le capteur d'image.
EP96100823A 1995-02-15 1996-01-20 Procédé pour la commande d'une machine de creusement de tunnels Expired - Lifetime EP0727561B1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE19504969A DE19504969A1 (de) 1995-02-15 1995-02-15 Verfahren zur Steuerung einer Tunnelvortriebs-Maschine
DE19504969 1995-02-15

Publications (2)

Publication Number Publication Date
EP0727561A1 EP0727561A1 (fr) 1996-08-21
EP0727561B1 true EP0727561B1 (fr) 1999-06-09

Family

ID=7753973

Family Applications (1)

Application Number Title Priority Date Filing Date
EP96100823A Expired - Lifetime EP0727561B1 (fr) 1995-02-15 1996-01-20 Procédé pour la commande d'une machine de creusement de tunnels

Country Status (3)

Country Link
EP (1) EP0727561B1 (fr)
AT (1) ATE181139T1 (fr)
DE (2) DE19504969A1 (fr)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102410024A (zh) * 2011-08-09 2012-04-11 山东大学 模型试验中地下工程掘进驱动装置及控制方法

Families Citing this family (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102410025B (zh) * 2011-08-09 2013-11-06 山东大学 模型试验中地下工程掘进控制系统
DE102013103655A1 (de) * 2013-04-11 2014-10-16 Aker Wirth Gmbh Verfahren zur Bestimmung der Ausrichtung und Position der den Arbeitskopf tragenden Basismaschine einer Tunnelbohrmaschine
CN112855173B (zh) * 2021-01-21 2022-07-05 中建五局土木工程有限公司 一种盾构姿态调整激光靶连续量测系统

Family Cites Families (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE2944305C2 (de) * 1979-11-02 1983-01-27 Hochtief Ag Vorm. Gebr. Helfmann, 4300 Essen Steuerleitgerät für eine Tunnelvortriebsmaschine
DE3424606A1 (de) * 1984-07-04 1986-01-16 Stein, Dietrich, Dr.-Ing., 4630 Bochum Steuereinrichtung fuer den unterirdischen vortrieb bei beliebiger trasse
DE4017833C2 (de) * 1990-06-02 1996-06-20 Dyckerhoff & Widmann Ag Verfahren und Einrichtung zum Steuern eines Vortriebsschildes
DE4131673C2 (de) * 1991-09-24 1995-05-04 Bodenseewerk Geraetetech Steuereinrichtung für eine Tunnelbohrmaschine
DE9307372U1 (de) * 1993-05-14 1994-09-22 Herrenknecht Gmbh, 77963 Schwanau Lagerreferenzeinrichtung für Tunnelvortriebsmaschinen

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102410024A (zh) * 2011-08-09 2012-04-11 山东大学 模型试验中地下工程掘进驱动装置及控制方法

Also Published As

Publication number Publication date
DE59602134D1 (de) 1999-07-15
EP0727561A1 (fr) 1996-08-21
DE19504969A1 (de) 1996-08-22
ATE181139T1 (de) 1999-06-15

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