JP2011168995A - Equipment for controlling excavation direction of shield machine for jacking shield tunneling method - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide equipment for controlling an excavation direction of a shield machine for a jacking shield tunneling method, which can accurately guide the shield machine to an arrival target position by checking the position and attitude of the shield machine by means of electromagnetic waves. <P>SOLUTION: This equipment includes: a transmission which is provided in the shield machine so as to transmit the electromagnetic waves forming a magnetic field with a predetermined phase; a reception mechanism which is provided in the arrival target position of the shield machine so as to receive the electromagnetic waves corresponding to a synthetic magnetic field comprising the above magnetic field and a magnetic field with a different phase, formed from an induced current caused by the above magnetic field; a separator for applying Fourier transformation to the received electromagnetic waves so as to separate them into a component corresponding to the above magnetic field and a component corresponding to the magnetic field with the different phase; and a controller for guiding the shield machine to the arrival target position depending on the intensity of the separated component corresponding to the magnetic field with the predetermined phase. <P>COPYRIGHT: (C)2011,JPO&INPIT

Description

  The present invention relates to a digging direction control device for a shield machine in a propulsion shield method.

  When laying underground pipes in the ground, a propulsion method that forms a pipeline by pushing a plurality of underground pipes connected to the shield machine while excavating the underground with a shield machine, or an excavation part using a shield machine In many cases, a shield method is used in which a wall surface forming member called a segment is continuously attached to the inner wall of the excavation part to form a pipe line.

  FIG. 5 shows an example of a propulsion unit composed of a shield machine used in a conventional propulsion shield method and a plurality of buried pipes connected in a row, and a case where the propulsion unit excavates a straight tunnel. It is the schematic which shows an example, (a) is a top view which shows the state which looked at the propulsion body from the upper part, (b) is a longitudinal cross-sectional view which similarly shows the state which looked at the propulsion body from the side, Illustration is omitted.

  When laying buried pipes in the ground, the buried pipe connected to the shield machine is pushed out from the standing wall while excavating the ground with a shield machine from the ground formed at the excavation start position. A propulsion method that lays along the planned line is adopted.

  As is well known, this method proceeds with excavation while supplying muddy water, for example, to the cutter head 1A through a pipe (not shown), and excavates while excavating the excavated mud with another pipe along with the position of the shield machine. The propulsion direction is measured and controlled along the propulsion plan line.

  The shield machine 1 includes a cutter head 1A for excavating the underground 3 and a target 1B having a surface light source made of, for example, an LED for measuring the position and propulsion direction of the cutter head, and the cutter head rotating direction or buried pipe of the shield machine. An inclining machine main body 1F provided with an inclinometer 1C for measuring the inclination angle in the extending direction of the slab and jacks 1D and 1E for controlling the propulsion direction of the cutter head 1A based on the measurement result. The target 1B is configured to form a surface light source by arranging a plurality of light emitters such as LEDs vertically and horizontally.

A plurality of buried pipes 2 pushed out from the resister 4 are connected to the rear of the shield machine 1 and form a propelling body together with the shield machine 1.
An imaging means 5 (hereinafter simply referred to as a camera) 5 such as a camera or a CCD is installed in the resist 4 in a form attached to the theodolite or transit, and the shield machine 1 is installed through the internal space of the plurality of buried pipes 2. The light from the target 1B is imaged, the amount of displacement from the reference position corresponding to the propulsion plan line is measured, and this data is transmitted to the computer 6.

  The computer 6 calculates the displacements Δx and Δy of the target 1B from the propulsion plan line in consideration of the distance L between the target 1B and the camera 5. Based on this calculation, the automatic jack control device 7 sends a control signal to the excavator main body 1F, adjusts the push-out amount of the jacks 1D and 1E, controls the propulsion direction of the cutter head 1A, and controls it along the propulsion plan line. To do.

  The distance L can be measured by calculating the total length of extrusion using a rotary encoder or the like of a main pushing jack (not shown) for embedding pipes installed in the counter 4 or the dimensions reflected on the target monitor. In some cases, it may be calculated by calculating the total length of the buried pipe that has been extruded.

  FIG. 6 is a schematic view showing a situation in which excavation along a propulsion plan line of a curved tunnel is performed by a propulsion body constituted by a shield machine and a plurality of buried pipes connected thereto, and (a) is a propulsion body. (B) is a longitudinal sectional view showing a state in which the propelling body is seen from the side, and each figure shows a plurality of buried pipes connected to the shield machine. Omitted.

  In the case of this figure, data for calculating the horizontal deviation Δx and the vertical deviation Δy from the propulsion plan line of the target 1B of the shield machine 1 excavating and propelling along the propulsion plan line of the curved tunnel is obtained. For this purpose, a plurality of intermediate measuring machines 8A to 8D are arranged in the plurality of buried pipes 2 at a predetermined interval.

That is, an attempt is made to calculate Δx and Δy based on data obtained from the target 1B provided in the shield machine 1, the intermediate measuring machines 8A to 8D, and the camera 5 provided in the resister 4. To do. The specific configuration of the intermediate measuring machines 8A to 8D will be described later, and only the measuring means mounted on the intermediate measuring machine will be described here. Moreover, since all the intermediate measuring machines 8A to 8D have the same configuration, only one 8A will be described.
The interval between the intermediate measuring instruments is maintained at a predetermined length set in advance by a connecting rod having a predetermined length as will be described later.

  The intermediate measuring machine 8A has a flat carriage 81 having an appropriate size, and each device described below is mounted thereon. That is, the front target 82 having a surface light source composed of an LED or the like that emits light forward and the front camera 83 that is disposed forward and captures the light emission of the target located in front are integrated into the front. Device 84 is configured and installed at a position near the front of the carriage 81.

  In addition, a rear target 85 having a surface light source composed of an LED or the like that emits light toward the rear and a rear camera 86 that is disposed rearward and captures light emission of the target located at the rear are integrated into the rear. Device 87 is installed at a position closer to the rear of the carriage 81.

  The front device 84 and the rear device 87 are electrically connected, but a sufficient space is provided between them, and an inclinometer 88 is installed in the space. This inclinometer can measure the inclination angle of the carriage 81 in the horizontal direction or in the extension direction of the buried pipe. Although not shown, a data transmission unit and a pump are also installed in the space.

  At the time of measurement, the camera 5 in the resist 4 captures the light emission of the rear target 85 of the rear intermediate measuring device 8D to collect displacement data of the rear target 85, and the rear camera of the intermediate measuring device 8D. The light emission of the target in the resist 4 is imaged by 86 and its relative displacement data is collected. Also, angle data from the inclinometer 88 is collected.

  Next, the front camera 83 of the intermediate measuring machine 8D at the rearmost part captures the light emission of the rear target 85 of the intermediate measuring machine 8C located in front of the intermediate measuring machine 8D, collects displacement data, and collects angle data of the inclinometer 88. At the same time, the front camera 83 of the intermediate measuring device 8C captures the light emission of the rear target 85 of the intermediate measuring device 8B positioned further forward to collect displacement data.

Such measurement is repeated between the intermediate measuring machines 8A to 8D and between the shield machine 1 and the data collected from each is transmitted to the computer 6 to calculate Δx and Δy. The direction of digging is corrected.
As a result, the propulsion body composed of the shield machine 1 and the plurality of buried pipes 2 is propelled along the curved tunnel's propulsion plan line.

  FIG. 7 is a schematic view showing the configuration of the intermediate measuring machine and the movement state in the buried pipe, (a) is a side view showing the arrangement situation in the buried pipe, and (b) is a plan view of the same. Further, FIG. 8 is a front view showing a state in which the arrangement state in the buried pipe is viewed from the extending direction of the buried pipe.

  As shown in FIG. 8, the pipe support mechanism 10 is provided at the bottom in the buried pipe 2, and the mud pipe 11 and the mud pipe 12 are supported and can be moved in the extending direction of the buried pipe 2 by the wheels 13. It is configured. A flooring 14 is supported on the upper part of the pipe support mechanism 10, and three rollers 15A, 15B, 15C are rotatably supported on the upper surface thereof.

  On the rollers 15A, 15B, and 15C, a carriage 81 that constitutes the above-described intermediate measuring machine 8A is placed so as to be movable in the extending direction of the buried pipe 2. Note that when the carriage 81 is moved, both sides thereof may come into contact with the inner wall of the buried pipe 2 to hinder the movement. Therefore, side rollers 16A and 16B are provided on the both sides of the carriage one by one on the front and rear sides. Smooth movement is made possible. The rollers 15A, 15B, and 15C and the side rollers 16A and 16B described above may be omitted.

Further, the carriage 81 is provided with two turntables 17 that are separated from each other in the front-rear direction, and the front device 84 and the rear device 87 described above are placed on the carriage 81 and are rotatable.
In the figure, 89 is a data transmission unit, and 90 is a cover covering each device on the carriage. (For example, refer to Patent Document 1).

  FIG. 9 is a schematic view showing a situation where shield excavation is performed along a curved tunnel propulsion plan line by a conventional shield construction method, and (a) is a plan view showing the state of excavation viewed from above; ) Is a longitudinal sectional view showing the state as seen from the side.

  As shown in this figure, in the shield method, the shield machine 1 is provided with targets 1H made of reflecting prisms at two positions on the front and rear sides, and a total station 50 including a transition in the resist 4 is placed on a pedestal 51. The distance from the shield machine 1 and the propulsion angle are measured by irradiating infrared rays from the total station 50 toward the target 1H, and these are input to the computer 6 to input the deviation Δx from the propulsion plan line. , Δy are calculated, and the automatic jack control device 7 adjusts the push-out amounts of the jacks 1D and 1E, thereby guiding the shield machine 1 along the propulsion plan line.

  When the shield machine 1 moves forward, a plurality of wall plates 52 curved in an arc shape having a width of about 60 cm to 100 cm, called segments, are attached to the inner surface of the excavated portion to form a short pipe-like space as a whole. The circumferential dimension of each segment is set so that the pipe-shaped space is formed by pasting three or more segments in the circumferential direction.

  When one pipe-like space is formed, a plurality of other segments 52 are pasted on the inner surface of the excavation portion adjacent to the resisting side of the space to form the next space and extend the pipe-like space. A pipe line can be formed behind the shield machine 1 by repeating the work in accordance with the advance of the shield machine 1.

  When the shield machine 1 further moves forward and the distance between the total station 50 and the shield machine 1 in the rifle 4 exceeds a predetermined value, an additional total station 50B is installed in the middle of the shield station 1B together with the gantry 51B. The shield excavator 1 is propelled along the propulsion plan line by performing measurement by the method described above between the excavator 1 and between the total stations 50 and 50B.

  When the shield machine 1 further advances, a total station 50C is additionally installed at an intermediate portion between the added total station 50B and the shield machine 1, and thereafter, the shield machine 1 responds similarly according to the advance of the shield machine 1. The measurement including the infrared irradiation from the total station 50 or the like may be automatically performed, but may be manually performed.

JP 2007-113385 A

  The conventional shield shield machine digging direction control device in the propulsion shield construction method is configured as described above, and the distance measurement and the position and orientation of the shield machine are confirmed and controlled by optical means. There is a problem that the calculation error of the distance, the position and the posture becomes large because the measurement error becomes large.

  The present invention has been made to solve the above problems, and confirms the position and orientation of the shield machine using electromagnetic waves, and can accurately guide to the expected arrival position. An object of the present invention is to provide a digging direction control device for a shield machine.

  The digging direction control device for the shield machine in the propulsion shield method according to the present invention is configured to propel a propulsion body coupled with a buried pipe behind the shield machine while excavating from a stand and formed by the buried pipe. In the propulsion shield method, the transmission means provided in the shield machine and for transmitting an electromagnetic wave that forms a magnetic field of a predetermined phase, provided at the intended position of the shield machine, the magnetic field, and the magnetic field Receiving means for receiving an electromagnetic wave corresponding to a combined magnetic field with a magnetic field of different phase formed by an induced current due to the induced current, and a component corresponding to the magnetic field and a magnetic field having a phase different from the phase by performing Fourier transform on the received electromagnetic wave Separating means for separating the component into corresponding components, and the shield machine according to the strength of the component corresponding to the separated magnetic field of the predetermined phase It is obtained by a control means for directing to the scheduled arrival position.

  In the propulsion shield construction method according to the present invention, the shield direction machine excavation direction control device has two coils in which the receiving means is held in a V shape at an angle of approximately 90 degrees.

  In the propulsion shield construction method according to the present invention, the shield excavation direction control device for the shield machine has two coils in which the receiving means is held in a cross shape at an angle of approximately 90 degrees.

  In the propulsion shield method according to the invention, the shield direction machine digging direction control device has a transmission coil in which the transmission means is wound in a groove formed on the outer periphery of the shield machine, The outer peripheral side of the transmission coil is filled with resin.

  The digging direction control device for the shield machine in the propulsion shield method according to the present invention is configured as described above, and a magnetic field of a predetermined phase sent from the transmitter by the receiving coil provided at the intended arrival position of the shield machine, A component corresponding to the magnetic field of the predetermined phase transmitted by receiving a synthetic magnetic field with a magnetic field of different phase formed by an induced current caused by the magnetic field and performing Fourier transform on the received synthetic magnetic field; The components corresponding to the different magnetic fields are separated, and the shield machine is guided to the intended arrival position according to the strength of the component corresponding to the separated magnetic field of the predetermined phase, so that the control is accurately and efficiently performed. can do.

  In addition, it is possible to reduce the adverse effects of secondary magnetic fields having different phases due to induced currents induced in surrounding metals or the like by the magnetic field output from the transmission coil.

BRIEF DESCRIPTION OF THE DRAWINGS It is the schematic which shows the guidance system of the shield machine by Embodiment 1 of this invention, (a) is explanatory drawing for demonstrating the principle of the guidance system by electromagnetic waves, (b) demonstrates the guidance system in the ground. It is a schematic sectional drawing to do. FIG. 3 is a schematic diagram illustrating an example of mounting of a transmission coil in the first embodiment. FIG. 5 is a waveform diagram showing an AC waveform of a magnetic field output from a transmission coil received by a reception coil, an AC waveform of a magnetic field induced by a surrounding metal, etc., and an AC waveform received by the reception coil as a combination of both AC waveforms. is there. It is a block diagram which shows the system which takes out the component in the same phase as a transmission magnetic field from the magnetic field output by a transmission coil, and the reception magnetic field by a reception coil. It is the schematic explaining the example of the structure of the propulsion body in the conventional propulsion method, and the situation in the case of excavating a linear tunnel, (a) is a plan view showing the state seen from above the propulsion body, (b) It is a longitudinal cross-sectional view which similarly shows the state which looked at the propulsion body from the side. It is the schematic explaining the situation in the case of excavating a curved tunnel by the conventional propulsion construction method, (a) is a plan view showing the state of seeing the propulsion body from above, (b) is also seen from the side of the propulsion body It is a longitudinal cross-sectional view which shows a state. It is the schematic which shows an example of a structure of the intermediate measuring machine in the conventional propulsion method, and the movement condition in an embedded pipe, (a) is a side view which shows the arrangement | positioning condition in an embedded pipe, (b) is a top view similarly. . It is a front view which shows the condition which looked at the arrangement | positioning condition of the intermediate measuring machine in the buried pipe in the conventional propulsion method from the extension direction of the buried pipe. It is the schematic which shows the excavation condition by the conventional shield method, (a) is a top view which shows the state seen from upper direction, (b) is a longitudinal cross-sectional view which shows the state seen from the side.

Embodiment 1 FIG.
Embodiment 1 of the present invention will be described below with reference to the drawings. 1A and 1B are schematic diagrams showing a guiding method of a shield machine using electromagnetic waves according to Embodiment 1, wherein FIG. 1A is an explanatory diagram for explaining the principle of the electromagnetic guiding method, and FIG. It is a schematic sectional drawing explaining the induction | guidance | derivation system.

  In the propulsion shield method, it is not easy to propel the shield machine while excavating it along a predetermined propulsion plan line so as to accurately reach the planned arrival position. For this reason, Embodiment 1 tries to guide the shield machine to the intended arrival position using the principle of attraction by the magnetic field lines of electromagnetic waves.

First, the principle of this method will be described. As shown in FIG. 1 (a), when a transmission coil 20 is wound around the shield machine 1 and current is supplied to the transmission coil 20 from the transmitter 19 shown in FIG. 1 (b), the shield machine 1 is made of an iron core. By acting, a strong magnetic field is formed and electromagnetic waves are generated.
For example, as shown in FIG. 2, the transmission coil 20 wound around the shield machine 1 is formed with one or a plurality of grooves 1G having a depth of about 10 mm to 30 mm on the outer periphery of the cutter head 1A. For example, the transmitting coil 20 made of enameled wire is wound several tens of times, and the outer peripheral side of the transmitting coil 20 is filled with epoxy resin 1H so as to close the groove 1G.

  On the other hand, as shown in FIG. 1 (b), when the receiving coil 21 is provided on the arrival resistance 22 formed at the expected arrival position of the shield machine 1, the receiving coil 21 generates electromagnetic waves emitted from the transmitting coil 20. Since it functions as a magnetic field sensor and an output corresponding to the lines of magnetic force can be obtained, it is possible to reach the planned arrival position by guiding the shield machine 1 in the direction of the lines of magnetic force.

More specifically, in order to distinguish the magnetic field transmitted from the transmission coil 20 from the earth magnetic field (DC magnetic field), an AC magnetic field is used on the transmission side, which is output as a sine wave as indicated by W ₁ in FIG. The The sin wave W ₁ generates an induced current in the surrounding metal or the like, and a secondary magnetic field is generated by the induced current. The secondary magnetic field as shown by W ₂ in FIG. 3, the phase becomes 90 ° shifted cosine (cos) wave and sin wave W _1, the resultant magnetic field in which the sin wave W ₁ and cos wave W ₂ is synthesized W is formed.

  On the receiving side, the receiving coil 21 is formed by two coils arranged in a V shape at an angle of approximately 90 degrees, and the combined magnetic field W is received. Thereafter, the sin wave and the cos wave are separated by a receiver described later, and the propulsion direction of the shield machine is controlled according to the intensity of the sin wave having the same phase as the transmission magnetic field. That is, if both the transmission coil 20 and the reception coil 21 are on the propulsion plan line, the strength (output) of the two coils of the reception coil 21 are the same, but the transmission coil 20 of the shield machine 1 is on the propulsion plan line. If not, the outputs of the two coils are different. The difference in the output is that the output of one coil is smaller than the output of the other coil depending on the direction of deviation of the shield machine 1 from the propulsion plan line, and therefore the direction of propulsion of the shield machine 1 according to the difference in the output of the two coils. It is possible to easily guide to the expected arrival position by controlling.

FIG. 4 shows a transmission system of a transmission coil 20 that outputs a magnetic field, and a receiver 46 that separates sin waves and cos waves from the combined magnetic field received by the reception coil 21 and measures the intensity of the same sin wave as the phase of the transmission magnetic field. The structure of is shown. In the figure, reference numeral 19 denotes a transmitter that transmits a sin wave W ₁ having a constant wavelength, and outputs a sin wave magnetic field from the transmission coil 20 of the shield machine 1. As described above, the receiving coil 21 provided in the arrival resistance 22 receives the combined magnetic field W of the sin wave W ₁ and the cos wave W _2, and extracts a wave having the same transmission frequency as the band pass filter 61. Signal strength of the extracted wave is amplified by an amplifier 62, and analog data is digitized by an AD converter 63. The AD converter 63 is also connected to the transmitter 19 by a GPS 64 or the like, and is also involved in generating analog data (sin wave) transmitted from the transmitter 19. This is because it is necessary to synchronize the magnetic field of the transmitted sin wave and the received synthetic magnetic field.

  The digitized signal is captured by the computer 65, and a high-speed Fourier transform process is performed to separate a sin wave having the same phase as the transmission waveform and a cos wave having a different phase. As described above, the intensity of the sin wave is increased. While displaying on the display apparatus 66, the propulsion direction of the shield machine 1 is controlled according to the intensity | strength.

  The receiving coil 21 is not only arranged in a V shape as shown in FIG. 1A, but the same effect can be obtained by arranging two coils in a cross shape so that the angle between the coils is approximately 90 °. You can expect.

1 shield machine,
2 buried pipe 3 ground 4 resistance 5 camera 6 computer 7 automatic jack control device 8A to 8D intermediate measuring machine 10 pipe support mechanism 11 mud pipe 12 mud pipe 13 wheel 14 flooring 15A, 15B, 15C roller 16A, 16B side Way roller 17 Turntable 18 Connecting rod 19 Transmitter 20 Transmitting coil 21 Receiving coil 22 Reaching resistance 23 Wellhead 24 Pipe 25 Receiver 26 Computer 50, 50B, 50C Total station 51, 51B, 51C Mounting platform 52 Segment 61 Bandpass filter 62 Amplifier 63 AD converter 64 GPS
65 Computer 66 Display device.

Claims (4)

  In a propulsion shield construction method in which a propulsion body coupled with a buried pipe is pushed from a stand and is laid down behind a shield machine, and a pipe line formed by the buried pipe is laid, the shield machine is provided with the predetermined phase. The transmission means for transmitting the electromagnetic wave that forms the magnetic field of the magnetic field, and the combined magnetic field of the magnetic field and the magnetic field of different phases formed by the induced current caused by the magnetic field, provided at the intended position of the shield machine Receiving means for receiving the electromagnetic wave, separation means for separating the received electromagnetic wave into a component corresponding to the magnetic field and a component corresponding to the magnetic field having a different phase by performing Fourier transform, and the separated predetermined phase And a control means for guiding the shield machine to the planned arrival position according to the strength of the component corresponding to the magnetic field. Excavation direction control device for de excavator.   2. The shield direction control device for a shield machine in the propulsion shield method according to claim 1, wherein the receiving means has two coils held in a V shape at an angle of approximately 90 degrees.   2. The shield direction control device for a shield machine in the propulsion shield method according to claim 1, wherein the receiving means has two coils held in a cross shape at an angle of approximately 90 degrees.   The transmission means has a transmission coil wound in a groove formed on the outer periphery of the shield machine, and is configured by filling the outer peripheral side of the transmission coil in the groove with resin. The digging direction control device of the shield machine in the propulsion shield method according to any one of claims 1 to 3.

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