JP2002277222A - Method and system for measuring amount of earth removal in shield excavation - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a method and a system which can accurately measure earth removal volume nearby a cutting edge in shield excavation. SOLUTION: When earth removal loaded on a peak-end open conveyor 12 from the cutting edge and discharged in the shield excavation, facing-down shape measuring instrument 20 is provided above the path 11 of the conveyor 12, and measures the three-dimensional coordinates of the peak edge and loaded earth reception surface of the unloaded conveyor 12 and the three-dimensional coordinates of the peak edge and loaded earth surface of the conveyor 12 having been loaded with the waste earth. The volume of the loaded earth removable is computed, conveyor by conveyor, from the relative three-dimensional coordinates of the loaded earth reception surface and the relative three-dimensional coordinates of the loaded earth surface to the pack edge. Preferably, the weight of the conveyor 12 is measured before and after loading, and the weight of the loaded earth removal of each conveyor 12 is computed from the difference between the weight of the conveyor 12 before the loading and the weight after the loading. More preferably, the specific weight of the loaded earth removal of each conveyor 12 is computed from the volume and weight of the loaded earth removal.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a method and a system for measuring the amount of earth removed during shield excavation, and more particularly, to a method and a system for measuring the volume of earth removed from a cutter chamber during shield excavation with high accuracy.

[0002]

2. Description of the Related Art In a closed shield construction such as an earth pressure shield, as shown in FIG. 7, a partition 5 is provided between the inside of a shield machine 1 and a face, and a cutter head 3 installed in front of the partition 5 is provided. Excavates the ground 2 by the rotation of. The excavated soil by the cutter head 3 is taken into the carter chamber 4 between the cutter head 3 and the partition wall 5, and the inside of the cutter chamber 4 is filled with the soil to keep the earth pressure constant, so that the soft ground where the face is not self-supporting is formed. Also in 2, the pressure of the soil and water is suppressed to ensure the stability of the face.

In order to keep the earth pressure in the cutter chamber 4 constant, it is necessary to balance the amount of soil removed from the cutter chamber 4 by the screw conveyor 6 and the amount of excavated soil. If this balance is lost, the ground surface may be raised or depressed, leading to a serious accident such as a traffic obstacle or a public disaster. For this reason, in the shield work, it is necessary to manage the balance between the amount of soil excavated and the amount of excavated soil (hereinafter, sometimes referred to as the amount of excavated soil), and the amount of earth removed from the cutter chamber 4 with the excavation of the shield excavator 1. Measurement is required.

[0004] In the conventional earth removal amount management in the shield construction, the earth removal (hereinafter, referred to as "height") discharged by the screw conveyor 6 is performed.
When carrying out the slipping by a slipping steel car or a belt conveyor, it is often the case that the unloading weight is measured and managed by a weight sensor such as a load cell provided on the steel car or the belt conveyor. In some cases, a load cell is attached to the rail of a steel car to measure the earth removal weight. However, it is difficult to manage the earth removal amount with high reliability only by the earth removal weight. Recently, it has been required to measure the earth removal volume in order to compare with the excavated soil volume. Conventionally, the following method has been used to measure the volume of earth removal in shield construction.

(A) A method of measuring the number of steel scraps by visual inspection When unloading soil by steel wheels, the number of steel wheels required for unloading is multiplied by the amount of unloading soil per steel wheel. This is a method of calculating the volume of soil removal. (B) Method of calculating from the number of revolutions of the screw conveyer Indirectly calculating the volume of earth removal from the product of the number of revolutions of the screw conveyer at the time of discharging the earth, the volume of earth removal per rotation of the screw conveyor, and the predetermined filling rate How to (C) Method for calculating from the number of pistons of the earth and sand pump The number of piston reciprocations of the pump and the amount of earth removal volume per reciprocation of the piston of the pump when the earth discharged from the screw conveyor is carried out by the earth and sand pump. This is a method of indirectly calculating the earth removal volume from the product of the predetermined filling rate. (D) Method of Measuring with a Flow Meter Attached to a Sediment Pump A method of measuring the volume of soil removed by a flow meter attached to a pumping pipe of a pressure pump when discharging the soil with a soil pump. (E) Method of measuring by ultrasonic wave, laser distance meter, etc. As disclosed in Japanese Patent No. 3089438, when unloading the soil by a scrap steel car, the carrier of an empty steel car is measured by ultrasonic wave or laser distance meter. The bottom height and the loading surface height after discharging are calculated, and the actual height of the discharging is calculated from the platform bottom height and the loading surface height.The discharging height is calculated from the product of the bottom area of the steel wheel and the actual discharging height. This is a method for calculating the soil volume.

[0006]

However, any of the above-mentioned conventional methods for measuring the volume of unloaded soil has a problem that it is difficult to perform highly reliable management of the unloaded volume with low measurement accuracy. That is, in the method (a), the loading and unloading amount for each steel wheel is different, and in the method (b), the filling state in the screw conveyor varies depending on the soil quality and the flow of the earth and sand in the chamber, and the discharging volume per rotation. Due to the large change in the amount, the method (c)
Also, since the amount of earth removal volume per one reciprocation of the piston changes greatly depending on the soil state and the flow state of the earth and sand, errors in the calculated earth removal volumes are accumulated, and an accurate earth removal volume cannot be obtained. In the method (d) as well, a measurement error occurs because air enters the pressure feeding pipe.

Also in the method (e), the distance between the range finder and the steel wagon may constantly change (change due to the loading capacity, rolling, etc.), so that the bottom height of the steel wagon and the height of the cargo surface are measured. There may be errors in the values. In addition, since the surface of the earth removal loaded on the steel wheel is not flat, it is necessary to use a large number of distance meters in order to obtain the surface height of the earth removal using an ultrasonic wave or a laser distance meter. It is desirable to measure the earth removal volume immediately after excavation near the face for reliable earth removal amount management,
Since the vicinity of the face in the shield 1 is narrow, it is difficult to arrange many distance meters. For this reason, in the method (e), the earth removal volume must be measured at a place away from the face, and there is a problem that a considerable time delay occurs when viewed from the excavation time. There is a demand for the development of technology that can accurately measure the volume of soil removal in the vicinity of a narrow face for reliable management of the volume of soil removal.

SUMMARY OF THE INVENTION It is an object of the present invention to provide a method and a system capable of accurately measuring the volume of soil removal near a face during shield excavation.

[0009]

With reference to the embodiment of FIG. 1 and the flowchart of FIG. 2, the method of measuring the amount of earth removal during shield excavation according to the present invention is described as follows.
In the method of measuring the amount of soil discharged loaded on 12, a downward three-dimensional shape measuring device 20 is provided above the passage 11 of the transporter 12, and the top end edge 13 of the empty transporter 12 and the inside thereof are provided. The three-dimensional coordinates (see FIG. 5A) of the shape of the loading soil receiving surface 14 are measured by the measuring device 20, and the shape of the top end edge 15 of the transporter 12 and the loading soil surface 16 inside the transporting device 12 after the discharging is loaded. The three-dimensional coordinates (see FIG. 5B) are measured by the measuring device 20,
The volume of the loaded soil for each transporter 12 is calculated from the relative three-dimensional coordinates of the loading soil receiving surface 14 with respect to the top edges 13 and 15 and the relative three-dimensional coordinates of the loading soil surface 16.

[0010] Preferably, the transporter after empty and unloaded loading
The weight of 12 is measured, and the weight of the loaded and discharged soil for each transporter 12 is calculated from the weight difference of the transporter 12 after the empty load and the discharging and loading. More preferably, the specific gravity of the loaded soil for each transporter 12 is calculated from the volume and weight of the loaded soil.

Referring to the embodiment of FIG. 1, the system for measuring the amount of earth removed during shield excavation according to the present invention measures the amount of earth removed and discharged from the face to the top surface open transporter 12 during shield excavation. In the measuring system, a tertiary coordinate is provided downwardly above the passage 11 of the transporter 12 and measures three-dimensional coordinates (see FIG. 5) of the shapes of the top edges 13, 15 and the inner surfaces 14, 16 of the transporter 12. Original shape measuring device 20, relative coordinate calculating means 25 for calculating relative three-dimensional coordinates of the shape of inner surfaces 14, 16 with respect to top edges 13, 15 from the three-dimensional coordinates, and loading soil receiving device for empty cargo transporter 12. From the relative three-dimensional coordinates of the surface 14 and the relative three-dimensional coordinates of the loading soil surface 16 of the transporter 12 after discharging and loading,
The apparatus is provided with an unloading volume calculation means 26 for calculating the volume of the loaded unloading.

Preferably, there is provided a weight measuring device 30 for measuring the weight of the transporter 12 after the empty load and the dumping are loaded, and the weight difference of the transporter 12 after the empty load and the dumping is loaded. Is provided with an unloading weight calculating means 33 for calculating the weight of the loaded unloading. More preferably, specific gravity calculating means 35 for calculating the specific gravity of the loaded soil for each transporter 12 from the volume and weight of the loaded soil.
Is provided.

[0013]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS FIG. 1 shows an embodiment of the earth removal amount measuring system according to the present invention. In the same figure, the earth removal 10 discharged from the cutter chamber 4 by the screw conveyor 6 and the secondary screw conveyor 9 is loaded on the top open conveyor 12 such as a scrap steel wheel, from the face to the shaft 40 (see FIG. 7). Conveyed. In the shaft 40, the earth removal 10 is collected on the ground and disposed of, and the empty carrier 12 is returned to the face and used again for carrying out the earth removal 10. In the present invention, the downward three-dimensional shape measuring device 20 is installed above the passage 11 of the transporter 12 from the face to the shaft 40, in this case, above the rail of the shearing steel wheel.

As shown in FIG. 4, an example of the downward three-dimensional shape measuring device 20 is a traveling rail 21 extending in the direction of the passage 11 with a length equal to or longer than the traveling direction of the transporter 12. And the top edge of the transporter 12 (eg, the upper edge of the side wall of the steel wheel).
And a two-dimensional scanner 22 for measuring the shape of the line of intersection with the inner surface thereof, and the top edge of the transporter 12 from the running position of the two-dimensional scanner 22 on the running rail 21 and the crossing line shape for each running position.
It has a coordinate calculating means 24 for calculating three-dimensional coordinates of the shapes of 13, 15 and the inner surfaces 14, 16. Travel rail 21
Is supported on an appropriate part of a bogie on which a shield machine 1 or an earth discharging device (belt conveyor, secondary screw conveyor, or the like) is installed.

The two-dimensional scanner 22 shown in the figure, for example, scans a surface to be measured by projecting a spot light 27 from a laser light source in a direction orthogonal to the traveling rail 21 while deflecting the spot light 27 by a galvanomirror. The scattered light at the intersection with the measurement surface is imaged on the CCD line sensor by the galvanometer mirror, and the distance and direction (angle) from the output signal of the CCD line sensor to the intersection on the measurement surface are measured. If the output signal of the CCD line sensor when scanning the reference plane at a predetermined distance is stored in the two-dimensional scanner 22 in advance, the output signal for the reference plane specific to the two-dimensional scanner 22 and the output signal for the surface to be measured can be compared. By comparison, the distance between the reference plane and the measured surface and the distance to the measured surface are obtained. Further, the direction of the intersection on the surface to be measured is determined from the rotation angle of the galvanomirror. If the distance and the direction to the intersection on the measured surface are determined, the three-dimensional coordinates of the intersection with respect to the two-dimensional scanner 22 can be calculated. Therefore, the two-dimensional scanner 22 calculates the three-dimensional coordinates of each point on the intersection line between the plane perpendicular to the traveling rail 21 and the top end edge of the transporter 12 positioned below the traveling rail 21 and the inner surface thereof. The shape of the line can be determined. The two-dimensional scanner 22 that measures the three-dimensional coordinates and the shape of the surface of the surface to be measured by scanning with the spot light 27 belongs to the related art.

As shown in FIG. 4B, a two-dimensional scanner
Maximum deflection angle (maximum scanning angle) θ of 22 spot lights 27
Is determined such that the width of the transporter 12 positioned below the traveling rail 21 falls within the scanning range of the spot light 27. In addition, the length of the traveling rail 21 is set to be equal to or longer than the length in the traveling direction of the transporter 12 so that the spot light 27 can scan from one end to the other end in the traveling direction of the transporter 12. Two-dimensional scanner on traveling rail 21
The running position of 22 is measured by appropriate means,
The traveling position on the traveling rail 21 and the three-dimensional coordinates of each point on the intersection line obtained by the two-dimensional scanner 22 are input to the coordinate calculating means 24, and the coordinate calculating means 24 inputs the top edge of the transporter 12 and the inside thereof. Calculate the three-dimensional coordinates of the side shape. Coordinate calculation means
An example of the program 24 is a program built in the soil volume measuring computer 18.

According to the three-dimensional shape measuring device 20 in the illustrated example,
Two-dimensional scanner 22 that scans spot light 27 at scanning angle θ
Is transported once on the traveling rail 21 so that the transporter
Many points on the top edge of the twelve and its inner surface can be irradiated with spot light, and three-dimensional coordinates of many points can be measured in a short time. For example, when the two-dimensional scanner 22 is run at a speed of 500 mm / sec, the three-dimensional coordinates of the top edge and the inner surface of the transporter having a length of 4 m in the traveling direction are measured in a short time of about 8 seconds (= 4000/500). it can. In addition, 20 mm in the direction of the running rail and 12 in the direction perpendicular to the running rail
3D coordinates of many points can be measured with a resolution of about 14 mm and a depth of about 6 mm in the depth direction of the transporter 12.
It is possible to measure three-dimensional coordinates of twelve top edges and their inner surfaces with high accuracy. In addition, since it is sufficient if there is practically one installation space for the traveling rail 21 and a large installation space is not required, it can be installed near a narrow face.

Preferably, the end face of the running rail 21 of the three-dimensional shape measuring device 20 faces the dumping loading position (see FIG. 3) on the passage 11 and the dumping loading position and the measuring position are adjacent to each other. To be provided. However, the three-dimensional shape measuring device 20 used in the present invention is not limited to the one using the two-dimensional scanner 22 in the illustrated example, and for example, a three-dimensional image method such as a stereo image method, a spot light projection method, a pattern light projection method, and a moire topography. A three-dimensional shape measurement device based on an image measurement method can be used.

As shown in FIG. 1, a three-dimensional shape measuring device 20
Is connected to the relative coordinate calculating means 25 and the earth discharging volume calculating means 26. The relative coordinate calculation means 25 inputs three-dimensional coordinates of the shape of the top edge of the transporter 12 and the inner surface thereof, and calculates relative three-dimensional coordinates of the inner surface of the transporter 12 with respect to the top edge. There is a possibility that the distance between the two-dimensional scanner 22 and the transporter 12 will always change depending on the load on the transporter 12 or the like.
Therefore, the three-dimensional coordinates of the shape of the top edge and the inner surface of the transporter 12 obtained by the two-dimensional scanner 22 include an error due to a change in the distance between the two-dimensional scanner 22 and the transporter 12. On the other hand, the error due to the change in the distance is offset in the relative three-dimensional coordinates of the inner side surface of the transporter 12 with respect to the top edge. Therefore, if the volume of the loaded soil of the transporter 12 is calculated using the relative three-dimensional coordinates, highly accurate measurement that does not include an error due to the change in the distance can be performed. The discharging volume calculating means 26 calculates the volume of the discharging load of the transporter 12 based on the relative three-dimensional coordinates. An example of the relative coordinate calculation means 25 and the soil discharge volume calculation means 26 are also programs built in the soil volume measurement computer 18.

FIG. 2 shows the flow of the earth removal amount measurement process using the earth removal amount measurement system of FIG. The flow chart of FIG. 2 is an example of the unloading 1 during shield excavation using _three- carriage conveyors 12 ₁ , 12 ₂ , 12 ₃ each having a length of 4 m × width 1.4 m × depth 3 m in the traveling direction.
This shows the case where 0 is carried out. FIG. 3 shows the positions of the transporters 12 ₁ , 12 ₂ , and 12 ₃ at the time of discharging the soil and measuring the volume of the discharged soil. Hereinafter, the earth removal amount measuring method according to the present invention will be described with reference to the flowchart of FIG. 2 and FIG.

First, in step 201, the initial processing of the three-dimensional shape measuring apparatus 20 is performed, and then in step 202, as shown in FIG. 3 (A), empty carriers 12 ₁ , 12 ₂ , 12 12 Row ₃ goes into the face. At the stage where transporter 12 ₃ Face side reaches below the three-dimensional shape measuring device 20, is below the running rail 21 shown in FIG. 3 (B) transporter 12 _3, for example, three-dimensional shape measuring apparatus 20 as and positioning the measurement position is stopped (step 203), for measuring the three-dimensional coordinates of the transporter 12 ₃ of the top edge and loading earth receiving surface of the inner unladen by the three-dimensional shape measuring apparatus 20 (step 20
Four). The measurement by the three-dimensional shape measuring apparatus 20 is started, for example, by an operator's instruction to the measurement control means 28 by a pendant switch 37, and the start is instructed by detecting the positioning of the transporter 12 at the measurement position by an appropriate sensor or the like. be able to. The end of the measurement is determined by elapse of a predetermined time or the like, and then, in step 205, the three-dimensional coordinates of the top edge and the loading soil receiving surface calculated by the three-dimensional shape measuring device 20 are input to the relative coordinate calculating means 25, and the relative coordinate calculation is performed. It calculates the relative three-dimensional coordinates of the loading soil abutment against the top edge of the conveying device 12 ₃ unladen in unit 25.

FIG. 5A shows an example of the top edge 13 of the empty carrier 12 and the loading soil receiving surface 14. As shown in the figure, if there is residual soil at the bottom inside the empty transporter 12,
The surface of the remaining soil as well as the inner surface of the inside becomes the loading soil receiving surface. Further, as shown in FIG. 6A, the surface of the remaining soil is not always flat. Since the three-dimensional shape measuring device 20 can measure the three-dimensional coordinates of a large number of points as described above, by sufficiently resolving the resolution, it is possible to detect the slight residual soil inside the transporter 12 and the unevenness of the surface of the residual soil without fail. In steps 204 to 205, the accurate relative three-dimensional coordinates of the loading soil receiving surface 14 of the transporter 12 can be calculated. The relative three-dimensional coordinates of the loading soil receiving surface 14 of each transporter 12 calculated in step 205 are stored in the storage unit 19 of the computer 18 for use in step 212 described later.

In step 207, all empty carriers 1
It is determined whether or not the calculation of the relative three-dimensional coordinates of the loading soil receiving surface 14 has been completed for No. 2, and if there is a transporter 12 that has not been calculated, the process returns to step 202 and is shown in FIGS. 3 (C) and (D). It calculates the relative three-dimensional coordinates of the loading soil abutment 14 for subsequent conveyance 12 ₂ and 12 ₁ while traveling to the working face direction as. After calculating the relative three-dimensional coordinates of the loading soil abutment 14 for the transporter 12 of all unladen, positioning the transporter 12 the _first working face opposite Hyde loading position as shown in FIG. 3 (E), the start the excavation shield stow earth unloading the transport 12 ₁ (step 208).

After the loading and unloading into the transporter 12 ₁ is completed, as shown in FIG. 3 (F), the transporter 12 ₁ after the loading and discharging is loaded.
Was leave opposite the working face, again positioned at the measuring position is stopped (step 209), the third-order three-dimensional shape measuring apparatus 20 by dumping the top edge of the conveying device 12 ₁ after loading and loading soil surface of its inner The original coordinates are measured (step 210). The measurement of the three-dimensional coordinates in step 210 is also started by an instruction from the pendant switch 37 to the measurement control means 28, for example. Next, in step 211, the coordinate calculating means 2
4 inputs the three-dimensional coordinates of the calculated top edge and loading earth surface to the relative coordinate calculating means 25, the relative three-dimensional loading soil surface to the top edge of the conveying device 12 ₁ after dumping load in the relative coordinate calculating means 25 The coordinates are calculated (step 211).

FIG. 5 (B) shows an example of the top edge 15 of the transporter 12 and the surface 16 of the loaded soil after the loading and discharging. The loading soil surface 16 is not flat, and in the case of a final steel wheel or the like, as shown in FIG. 6 (B), when the loading soil amount of the transporter 12 is small or the loading position is offset, the resolution is sufficiently fine. By measuring the three-dimensional coordinates of a large number of points, the accurate relative three-dimensional coordinates of the loading soil surface 16 can be calculated. The relative three-dimensional coordinates of the loading soil surface 16 of each transporter 12 calculated in step 211 are also stored in the storage means 19 of the computer 18.

In step 212, the relative three-dimensional coordinates of the loading soil receiving surface 14 and the loading soil surface 16 of each transporter 12 stored in the storage means 19 are read into the discharge volume calculation means 26,
Calculate the volume of each load dump. One example of the volume calculation method is to calculate the volume of a region surrounded by the relative three-dimensional coordinates of the loading soil receiving surface 14 and the relative three-dimensional coordinates of the loading soil surface 16. By calculating the volume of the loaded earth from the relative three-dimensional coordinates, an accurate volume can be calculated irrespective of a change in the distance between the three-dimensional shape measuring device 20 and the transporter 12.

When the three-dimensional shape measuring device 20 is directly or indirectly supported by the shield machine 1, the traveling rail 21 moves during the shield excavation. The difference from the excavation speed may cause an error. For example, assuming an excavation speed of 30 mm / min, a distance error of 5 mm occurs in a measurement time of 10 seconds. However, the distance error is the length in the traveling direction of the transporter 12 (for example, 4 m).
Since the traveling direction of the two-dimensional scanner 22 and the excavation direction are the same direction, the influence on the accuracy of the volume of the unloaded soil is small.

In step 211, it is determined whether or not the calculation of the volume of the loaded earth has been completed for all the transporters 12, and
If there is an uncalculated transporter 12, the process returns to step 208, and the transporter row is moved backward in the direction opposite to the cutting face, while FIG.
Stow earth removal position the subsequent transporter 12 ₂ Hyde loading position as. Further transporter 12 ₂ is positioned to the measurement position as shown in FIG. 3 (H), to calculate the volume of the loading dumping of transporter 12 _2. Incidentally, by providing adjacent the measuring position and the loading position, it is possible to position the transporter 12 ₂ subsequent when positioned transporter 12 ₁ to the measuring position to the earth removal the loading position, the transporter 12 ₁ it is possible to concurrently process the soil discharge loading loading soil volume between the measurement for the transporter 12 _second. Steps
After the volumes of the unloading and discharging of all the transporters 12 are calculated by repeating steps 208 to 216, the transporter 12 after the loading and discharging is moved to the shaft 40 in step 217.

At step 218, it is determined whether the excavation of the shield has been completed. If the excavation is to be continued, the process returns to step 202 to continue the measurement of the earth removal amount. For example, as shown in FIG.
While reciprocating the two knitting conveyors 12 ₁ , 12 ₂ , 12 ₃ and 12 ₄ , 12 ₅ , 12 ₆ between the cutting face and the shaft, repeating the earth removal amount measurement according to the flow chart of FIG. By accumulating the volume of earth removal, the earth removal volume of each ring can be accurately measured. The measured soil removal volume is output to a display device or a printing device of the soil volume measurement computer 18 as needed, and is used for soil removal volume management. If the additive or the like is injected into the cutter chamber 4 through the additive injection pipe 7, step 21 is executed.
By correcting the loaded soil volume calculated in 2 with the volume of the injected additive, it is possible to measure the discharged soil volume with higher accuracy.

According to the present invention, as compared with the conventional method of measuring the loaded soil volume of a transporter by using an ultrasonic wave or a laser distance meter, a high-precision soil removal which is not affected by a change in the distance between the measuring device and the transporter. Measurement of volume is possible. Further, even when there is residual soil at the bottom of the transporter, the volume of the discharged soil loaded on the residual soil can be accurately obtained. Furthermore, the three-dimensional shape measuring device can be installed near a narrow face, and the volume of the discharged soil can be accurately measured immediately after excavation, which contributes to reliable management of the discharged amount. Therefore, it is possible to quickly take measures to prevent insufficient or excessive incorporation of the ground.

Thus, it is possible to achieve the object of the present invention, that is, "a method and a system capable of accurately measuring the earth removal volume in the vicinity of a face during shield excavation".

[0032]

In the embodiment shown in FIGS. 1 and 2, a weight measuring device 30 for measuring the weight of the transporter 12 is provided together with the three-dimensional shape measuring device 20 at the measurement position near the face, and together with the volume of the loaded soil of the transporter 12, The weight is being measured. Weight measuring device 30 in the illustrated example
Has a crane 31 for lifting the transporter 12 and a weight sensor 32 such as a load cell. There is also a method of measuring weight by pressure conversion using a hydraulic jack or the like, or simply and accurately measuring the weight of the transporter 12 by combining a hydraulic jack and a load cell. A load cell or the like may be attached to the transporter 12 to measure the weight of the loaded soil. It is also possible to measure the weight of the transporter 12 by installing a load cell or the like in the passage 11 of the transporter 12, but in this case, it is necessary to tow along with the excavation to measure near the face. Yes, it is cumbersome and expensive. The weight measuring device 30 of FIG.
There is an advantage that it can be attached to an appropriate part of the shield machine 1 or the earth removal device and is inexpensive.

In the embodiment of FIG. 1, when the empty transporter 12 is positioned at the measurement position when entering as shown in FIGS. 3B to 3D, it is lifted by the crane 31 and the weight of the transporter 12 is measured. And
The measured weight is input to the earth discharging weight calculating means 33 and stored in the memory 19 (step 206 in FIG. 2). FIG. 3 (F),
As shown in (H) and (J), when the transporter 12 after loading and unloading is positioned at the measurement position, the weight of the transporter 12 is measured (step 213), and the measured weight is input to the unloading weight calculation means 33. And store it in the memory 19. The unloading weight calculating means 33 calculates the weight of the unloading dump for each transporter 12 from the difference between the entry and exit weights stored in the memory 19 (step 214). Note that the three-dimensional shape measuring device 20 used in the present invention can measure accurate three-dimensional coordinates as long as it does not vibrate even when the transporter 12 is lifted. It is also possible.

Further, the embodiment of FIG. 1 is provided with specific gravity calculating means 35 for calculating the specific gravity of the loaded soil for each transporter 12 from the volume and weight of the loaded soil. According to the present invention, the volume and weight of the excavated soil can be measured immediately after excavation by the three-dimensional shape measuring device 20 and the weight measuring device 30 provided near the face, and the specific gravity of the excavated earth immediately after excavation can be measured by the specific gravity calculating means 35. You can ask. The soil quality during excavation can be estimated from the specific gravity of the discharged soil, and the excavation situation can be estimated from the relationship between various data such as cutter torque and thrust and the specific gravity. Also, from the change in the specific gravity of the discharged soil, it can be determined whether or not there is an eruption of groundwater jumping out along with the excavated soil via the screw conveyor. Therefore, the present invention, which can measure the specific gravity of the earth removal immediately after excavation, can be expected to contribute to the excavation management of the shield excavator 1.

FIG. 7 shows a three-dimensional shape measuring device 20 near the face.
An embodiment of the present invention is shown in which the volume of soil removal is measured by providing a pit, and the weight measuring device 30 is provided in the shaft 40 to measure the weight of the soil removal. The weight measuring device 30 shown in the figure is a weight sensor provided at the entrance of the shaft 40.
It has a portal crane 41 with 42. In this case, the weight of the empty transporter 12 is measured before the transport to the face in the shaft 40, and the volume of the unloaded soil of the transporter 12 is measured by the soil volume measurement computer 18 in the vicinity of the face, and the shaft 40 After exiting the conveyor, the weight of the transporter 12 after loading and discharging is measured by the weight measuring device 30
Measure with From the weight difference of the transporter 12 before entry and after exit,
The transporter 12 is operated by a weight measurement computer 44 provided in the shaft 40.
Calculate the weight of each unloading soil. The weight measuring computer 44 in the illustrated example is provided with the discharged soil weight calculation program 33 and the memory 45 shown in FIG.

In the embodiment shown in FIG. 7, the volume measuring computer 18 and the weight measuring computer 44 are connected to the host computer 48 of the management office 47 via the communication interfaces 38 and 43.
Connected to Specific gravity calculation means in host computer 48
35, the volume and weight of the loaded soil for each transporter 12 are transmitted from the soil volume measuring computer 18 and the weight measuring computer 44 to the host computer 48, and the specific gravity of the loaded soil for each transporter 12 is determined by the management office. Ask. By centrally managing the earth removal amount by the host computer as shown in FIG. 7, it is possible to easily confirm the data consistency, and it is expected that the reliability of the earth removal amount management is further improved.

[0037]

As described above, the method and system for measuring the amount of earth removed during shield excavation according to the present invention provide a three-dimensional shape measuring device for measuring the three-dimensional coordinates of the top edge of the empty carrier and the receiving surface of the loaded soil. The three-dimensional coordinates of the top edge and the loading soil surface of the conveyor after discharging and loading are measured by the measurement device, and the relative three-dimensional coordinates of the loading soil receiving surface with respect to the top edge and the relative tertiary of the loading soil surface are measured. Since the volume of the loaded earth for each transporter is calculated from the original coordinates, the following remarkable effects are obtained.

(A) Regardless of the soil condition and the flow of soil,
The volume of earth removal can be measured directly and accurately. (B) Irrespective of the change in the distance between the measuring device and the transporter, highly accurate measurement of the discharged volume can be performed. (C) Even when there is residual soil at the bottom of the transporter, the volume of the discharged soil loaded on the residual soil can be accurately obtained. (D) By reducing the size of the three-dimensional shape measuring apparatus, it is possible to accurately measure the volume of discharged soil immediately after excavation near a narrow face. (E) By accurately measuring the earth removal volume, it is possible to quickly take measures to prevent insufficient or excessive incorporation of the ground, and to improve the quality and level of earth removal amount management. (F) By measuring both the volume and the weight of the earth removal, the specific gravity of the earth removal can be obtained, and the contribution of the specific gravity of the earth removal to shield excavation management can be expected. (G) Contribution to automation of earth removal amount measurement can also be expected by combination with a carrier identification system and the like. (H) By constructing the earth removal amount measurement system, it is expected that earth removal amount management with high reliability, simplification of balance management, reduction of management cost, and the like can be expected.

[Brief description of the drawings]

FIG. 1 is an explanatory diagram of an embodiment of a soil volume measurement system according to the present invention.

FIG. 2 is an example of a flowchart of a soil volume measuring method using the system of FIG. 1;

FIG. 3 is an explanatory diagram of the earth removal amount measuring method of the present invention.

FIG. 4 is an explanatory diagram of an example of a three-dimensional shape measuring device.

FIG. 5 is an explanatory diagram of three-dimensional coordinates of a top edge of a transporter and an inner surface thereof.

FIG. 6 is an explanatory diagram of remaining soil and loaded earth in a transporter.

FIG. 7 is an explanatory diagram of another embodiment of the soil volume measurement system of the present invention.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 ... Shield excavator 2 ... Soil 3 ... Cutter head 4 ... Cutter chamber 5 ... Partition wall 6 ... Screw conveyor 7 ... Additive injection pipe 8 ... Segment 9 ... Secondary screw conveyor 10 ... Ejection 11 ... Path 12 ... Conveyor 13 … Top edge 14… Loading soil receiving surface 15… Top edge 16… Loading soil surface 17… Battery locomotive 18… Soil measuring computer 19… Memory 20… Three-dimensional shape measuring device 21… Travel rail 22… 2D scanner 24… Coordinates Calculation means 25 ... relative coordinate calculation means 26 ... discharge volume calculation means 27 ... spot light 28 ... measurement control means 30 ... weight measuring device 31 ... crane 32 ... weight sensor 33 ... discharge weight calculation means 35 ... specific gravity calculation means 37 ... Pendant switch 38 Communication interface 40 Vertical shaft 41 Gate crane 42 Weight sensor 43 Communication interface 44 Weight measuring computer 45 Memory 47 Administrative office 48 Host Computer

 ──────────────────────────────────────────────────続 き Continuing from the front page (72) Inventor Kansuke Nakatsuru Kashima Construction Co., Ltd. 1-2-7 Moto-Akasaka, Minato-ku, Tokyo (72) Inventor Takafumi Saiki 4-20-19 Seikaku, Joto-ku, Osaka-shi Big Run DOFIVE Joto 302 F-term (Reference) 2D054 AC02 DA03 DA17 DA25 GA12 GA25 GA58 GA62 GA65 GA70 GA82 2F065 AA04 AA06 AA12 AA53 AA59 BB05 CC00 FF09 FF42 FF65 HH04 JJ03 JJ26 LL13 LL62 MM07 Q28 Q02 Q02 Q

Claims (9)

[Claims] 1. A method for measuring an amount of earth removal discharged from a face to a top surface open transporter when the shield is excavated,
A downward three-dimensional shape measuring device is provided above the path of the transporter,
The three-dimensional coordinates of the shape of the top edge of the empty carrier and the shape of the loading soil receiving surface inside it are measured by the measuring device, and the top edge of the transporter after discharging and the shape of the shape of the loading soil surface inside it are measured. The three-dimensional coordinates are measured by the measuring device, and the volume of the loaded soil for each transporter is calculated from the relative three-dimensional coordinates of the loaded soil receiving surface with respect to the top edge and the relative three-dimensional coordinates of the loaded soil surface. How to measure the amount of earth removal during shield excavation. 2. The measuring method according to claim 1, wherein the weight of the transporter after the empty load and the dumping is loaded is measured, and the weight difference of the transporter after the empty load and the dumping is loaded. A method of measuring the amount of earth removal during shield excavation by calculating the weight of the earth unloading. 3. The method according to claim 2, wherein a specific gravity of the loaded soil for each of the transporters is calculated from a volume and a weight of the loaded soil. 4. The measuring method according to claim 1, wherein the three-dimensional shape measuring device extends in the direction of the passage with a length equal to or more than the length in the traveling direction of the transporter and is fixed above the passage. A traveling rail, a two-dimensional scanner which is mounted on the traveling rail so as to be able to travel freely, and measures a shape of an intersection line between a plane perpendicular to the traveling rail and a top end edge and an inner surface thereof, and the traveling rail Discharge at the time of shield excavation including coordinate calculation means for calculating three-dimensional coordinates of the shape of the top edge of the transporter and the inner surface thereof from the travel position of the above two-dimensional scanner and the intersection line shape at each travel position. How to measure soil volume. 5. The method according to claim 4, wherein the end of the running rail facing the cutting face faces the discharge loading position, and the amount of discharged soil is measured during shield excavation. 6. A system for measuring the amount of soil removed from a cutting face loaded onto a top-opening transporter when excavating a shield, provided downward above a passageway of the transporter, and a top end edge of the transporter and the inside thereof. A three-dimensional shape measuring device for measuring the three-dimensional coordinates of the shape of the side surface, a relative coordinate calculating means for calculating the relative three-dimensional coordinates of the shape of the inner side surface with respect to the top edge from the three-dimensional coordinates, and loading of an empty cargo transporter A discharge volume calculating means for calculating a volume of the loaded soil for each transporter from the relative three-dimensional coordinates of the soil receiving surface and the relative three-dimensional coordinates of the loaded soil surface of the transported material after loading. Measurement system for earth removal during shield excavation. 7. The system according to claim 6, further comprising a weight measuring device for measuring a weight of the transporter after the empty load and the discharge of the earth are loaded, wherein the weight measuring device measures the weight of the transporter after the empty load and the discharge of the earth is loaded. An earth removal amount measurement system at the time of shield excavation provided with an earth removal weight calculating means for calculating the weight of the loaded earth discharging for each transporter. 8. The system according to claim 7, further comprising a specific gravity calculating means for calculating a specific gravity of the loaded soil for each of the transporters based on a volume and a weight of the loaded soil, and measuring an amount of unloaded soil during the excavation of the shield. system. 9. The system according to claim 6, wherein the three-dimensional shape measuring device extends in the direction of the passage with a length not less than the length in the traveling direction of the transporter and is fixed above the passage. A traveling rail, a two-dimensional scanner attached to the traveling rail so as to be able to travel freely and measuring a shape of an intersection line between a plane perpendicular to the traveling rail and a top end edge and an inner surface of the transporter; From the traveling position of the two-dimensional scanner and the intersection line shape at each traveling position, including the coordinate calculating means for calculating the three-dimensional coordinates of the shape of the top end edge and the inner side surface of the transporter, and unloading during shield excavation. Quantity measurement system.