JP2018021429A - Excavation status management device, excavation status management method and excavation status management program - Google Patents

Abstract

PROBLEM TO BE SOLVED: To grasp a positional relationship with a rack mass after excavation, and a positional relationship with an installed segment, in a shield machine as a whole.SOLUTION: Shield machine coordinate information indicating a position of a shield machine is calculated on the basis of a distance and an angle from a reference point up to a measurement target in which a coordinate is sequentially measured from a well-known reference point, and which is defined in advance in the shield machine, and shield machine shape information indicating a shape of the shield machine. Excavation boundary coordinate information indicating a position of an excavation boundary of a tunnel is sequentially calculated on the basis of the shield machine coordinate information, and segment coordinate information indicating a position of a segment is calculated on the basis of a distance up to a segment from a measurement position which is sequentially measured from the measurement position which is defined in advance in the shield machine, a thickness and a length of the segment which are defined in advance, and the shield machine coordinate information. A positional relationship of the shield machine, the excavation boundary and the segment is sequentially displayed.SELECTED DRAWING: Figure 3

Description

  The present invention relates to an excavation status management device, an excavation status management method, and an excavation status management program.

  When digging a shield machine used for tunnel excavation, as shown in Patent Document 1, for example, the end of a segment to be installed in the shield machine and the skin plate are not damaged by contact. There is a technique for measuring the distance between the segment and the skin plate, so-called tail clearance.

Japanese Patent Laying-Open No. 2015-045165

  When actually excavating a tunnel, some shield machines can be bent and some can excavate a curved tunnel. In such a case, the rear part of the skin plate (hereinafter also referred to as tail plate) may come into contact with the segment or contact with the ground, which may damage the segment or the skin plate.

  However, in the technique described in Patent Document 1, as described above, the distance between the skin plate and the end of the segment can be measured. For example, when excavating a curved tunnel, the rear end of the skin plate There is a problem that the positional relationship between the part and the natural ground after excavation and the positional relationship between the rear end of the skin plate and the installed segment cannot be grasped.

  The present invention has been made to solve the above-mentioned problems, and its purpose is to grasp the positional relationship with the natural ground after excavation and the positional relationship with the installed segment in the entire shield machine. The object of the present invention is to provide an excavation status management device, an excavation status management method, and an excavation status management program.

  In order to solve the above problem, one aspect of the present invention is to sequentially measure a shield machine shape information storage unit that stores shield machine shape information indicating the shape of a shield machine that performs excavation of a tunnel, and a reference point whose coordinates are known. The shield machine calculates shield machine coordinate information indicating the position of the shield machine based on the distance and angle from the reference point to a predetermined measurement target in the shield machine and the shield machine shape information. In the shield machine, a coordinate calculation unit, an excavation boundary coordinate calculation unit that sequentially calculates excavation boundary coordinate information indicating the position of the excavation boundary of the tunnel excavated by the shield machine, and the shield machine The segment from the measurement position is sequentially measured from a predetermined measurement position. A segment coordinate calculation unit that calculates segment coordinate information indicating the position of the segment based on the distance at a predetermined length of the segment and the shield machine coordinate information; and the shield machine coordinate information; The excavation situation comprising: an excavation situation display unit that sequentially displays the positional relationship between the shield machine, the excavation boundary, and the segment based on the excavation boundary coordinate information and the segment coordinate information. It is a management device.

  Further, according to one aspect of the present invention, in the above-described invention, the measurement position is located in an inner circumferential space formed by a skin plate of the shield machine and in the inner circumferential space where the segment is installed. A skin plate distance storage unit that stores a distance from the measurement position to the skin plate of the shield machine, which is measured from the measurement position. The distance between the skin plate and the segment may be calculated on the basis of the distance to the skin plate and the distance from the measurement position stored in the skin plate distance storage unit to the skin plate.

  Further, according to one aspect of the present invention, in the above-described invention, when the excavation boundary coordinate calculation unit receives information indicating a projection length of a copy cutter determined when performing overdigging from the shield machine, The excavation boundary coordinate information may be sequentially calculated based on the shield machine coordinate information and the protruding length of the copy cutter.

  Further, according to one aspect of the present invention, in the invention described in the above, when the shield machine coordinate calculation unit receives information on a folding angle of the shield machine from the shield machine, the measurement target is measured from the reference point. The shield machine coordinate information may be calculated on the basis of the distance and angle up to, the shield machine shape information, and the information about the folding angle.

  In addition, according to one aspect of the present invention, the shield machine shape information indicating the shape of the shield machine that performs excavation of the tunnel is stored in the shield machine shape information storage unit, and the coordinates are sequentially measured from known reference points. The shield machine coordinate information indicating the position of the shield machine is calculated on the basis of the distance and angle from a predetermined distance to the measurement target in the shield machine and the shape information of the shield machine, and excavated by the shield machine. Excavation boundary coordinate information indicating the position of the excavation boundary of the tunnel is sequentially calculated based on the shield machine coordinate information, and is sequentially measured from a predetermined measurement position in the shield machine, from the measurement position to the segment The distance of the segment, the predetermined length of the thickness of the segment, and the shield Segment coordinate information indicating the position of the segment is calculated based on the thin coordinate information, and the shield machine, the excavation based on the shield machine coordinate information, the excavation boundary coordinate information, and the segment coordinate information are calculated. An excavation status management method characterized by sequentially displaying boundaries and positional relationships of the segments.

  Further, according to one embodiment of the present invention, a procedure in which a computer stores shield machine shape information indicating the shape of a shield machine that performs excavation of a tunnel in a shield machine shape information storage unit, and coordinates are sequentially measured from known reference points. A procedure for calculating shield machine coordinate information indicating a position of the shield machine based on a distance and an angle from the reference point to a predetermined measurement target in the shield machine and the shield machine shape information, the shield A procedure for sequentially calculating excavation boundary coordinate information indicating the position of the excavation boundary of the tunnel excavated by a machine, based on the shield machine coordinate information, sequentially measured from a predetermined measurement position in the shield machine, The distance from the measurement position to the segment and the predetermined segment A procedure for calculating segment coordinate information indicating the position of the segment based on a thickness length of the workpiece and the shield machine coordinate information, the shield machine coordinate information, the excavation boundary coordinate information, and the segment coordinate information; The excavation status management program for executing the procedure for sequentially displaying the positional relationship between the shield machine, the excavation boundary, and the segment.

  According to this invention, in the whole shield machine, it is possible to grasp the positional relationship with the natural ground after excavation and the positional relationship with the installed segment.

It is a figure which shows the structure of the shield machine by embodiment of this invention. It is a figure which shows how to determine the reference point by the same embodiment. It is a figure which shows the internal structure of the excavation condition management apparatus by the embodiment. It is a figure which shows the measuring method of the positional information on the skin plate by the embodiment. It is a flowchart which shows the process by the excavation condition management apparatus of the embodiment. It is a figure which shows the process by the segment coordinate calculation part of the embodiment. It is a figure which shows an example of the screen displayed by the excavation condition display part by the embodiment.

  Embodiments of the present invention will be described below with reference to the drawings. FIG. 1 is a diagram illustrating a configuration of the shield machine 1. The shield machine 1 has, for example, a cylindrical shape, and includes a cutter 2 that performs excavation and is driven by a cutter driving device 4 in front of a barrel formed by the skin plate 7. In the excavation process, an unillustrated erector assembles the segment 20 that becomes the wall surface of the tunnel behind the barrel of the shield machine 1, presses the jack 5 against the end of the assembled segment 20, and extends the jack 5. At the same time, excavation is performed by the cutter 2 to advance the entire shield machine 1. After the excavation, the tunnel is dug by repeating the process of assembling the segment 20 again in the space generated by reducing the jack 5, and the wall surface of the tunnel is constructed by the segment 20. During the excavation, a space between the vicinity of the tip of the segment 20 and the skin plate 7 (hereinafter referred to as the front tail clearance 31) and a space between the vicinity of the rear end of the skin plate 7 and the segment 20 (hereinafter referred to as the following) The rear tail clearance is referred to as 35), and the digging is carried out so that they do not come into contact with each other.

  The shield machine 1 has a configuration other than the cutter 2, the cutter driving device 4, the jack 5, the skin plate 7, and the segment 20, and includes a copy cutter 3, a tail seal (tail seal brush) 8, a tail clearance measuring device 6, and a jack driving device. 9, a control device 10, a deck 11, a segment position measuring device 12, a shield machine position measuring device 13, a target mark 14, and a stroke sensor 15. The copy cutter 3 protrudes from the side surface of the cutter 2 and is used when extra excavation is performed to widen the excavation. Here, surplus digging is, for example, when the tunnel is curved and constructed, so that the tail plate portion behind the skin plate 7 is not in contact with the natural ground while the shield machine 1 is bending the curve. This method is used when it is necessary to drill. The tail seal 8 prevents mud, groundwater, etc. accumulated between the excavation boundary 30 and the skin plate 7, which are boundaries with the natural ground after excavation, and between the excavation boundary 30 and the segment 20, from flowing into the shield machine 1. For example, a wire brush or the like is applied.

  The tail clearance measuring device 6 is a device that measures a front tail clearance 31 that is the length of the space between the vicinity of the tip of the segment 20 that contacts the jack 5 and the skin plate 7. As a measurement method, a method of measuring the front tail clearance 31 by analyzing an image taken by a camera or the like, a method of measuring by a mechanical configuration disclosed in Patent Document 1, and the like are applied. The deck 11 is a place where an operator of the shield machine 1 performs operations and installs various devices, and includes a control device 10 and a segment position measurement device 12.

  The segment position measuring device 12 is, for example, applied with a light wave range finder, installed at a predetermined measurement position of the deck 11, and from the measurement position to an arbitrarily determined point on the inner peripheral surface formed by the segment 20. The distance 33 is sequentially measured by laser light. As arbitrarily determined points, for example, two points on an SL (Spring Line) that is a line where the horizontal plane and the segment 20 intersect may be measured. Since the shield machine 1 advances by about 3 cm per minute, for example, an interval of about 10 seconds is applied as the measurement interval by the segment position measuring device 12. In addition, arbitrarily determined points are at least two points. In FIG. 1, two points intersecting in the vertical direction are measured. However, two points intersecting in the horizontal direction may be measured. Alternatively, three points may be measured in order to specify a three-dimensional position.

  The target mark 14 is a mark that is a measurement target, and is set or pasted at a predetermined position in the shield machine 1 and is a target for position measurement by the shield machine position measurement device 13. For example, when the three-dimensional coordinates of the shield machine 1 are specified, at least three target marks 14 to be installed or attached are required. The shield machine position measuring device 13 is a device for measuring the distance and angle of, for example, a transit, for example. The coordinates behind the shield machine 1 in the excavated tunnel are installed at a known reference point and shielded from the reference point. The distance 32 and the angle to the target mark 14 of the machine 1 are sequentially measured. The measurement interval is, for example, an interval of about 10 seconds similar to the measurement interval by the segment position measurement device 12.

As the reference point where the shield machine position measuring device 13 is installed, for example, as shown in FIG. 2, a new reference point is determined according to the excavation of the shield machine 1. The interval at which the new reference point is determined is, for example, an interval of about 50 m unless the target mark 14 of the shield machine 1 becomes invisible from the reference point due to the presence of a curve or the like. When a curve or the like is not visible, a new reference point is determined as necessary even at a short interval. In FIG. 2, the three-dimensional coordinates of the first reference point 36-1 are obtained by measurement using, for example, a measuring device installed at a point where coordinates such as a survey point of the Geographical Survey Institute are known. When the shield machine 1 excavates, the next reference point 36-2 is determined, the measurement device is installed at the coordinates of the reference point 36-1, and the three-dimensional coordinates of the reference point 36-2 are obtained. This is repeated in order, and the three-dimensional coordinates of the reference points 36-3, 36-4, 36-5 are obtained by measurement, and the shield machine position installed at the reference point 36-5 closest to the shield machine 1 is determined. The measuring device 13 measures the distance 32 and the angle to the target mark 14.
The jack driving device 9 is provided for each jack 5 and is configured by a pump unit or the like for expanding and contracting the jack 5. The jack driving device 9 is operated by an operator at an operation unit of the control device 10 to be described later. Controls expansion and contraction for expansion and contraction.
The stroke sensor 15 is provided for each jack 5, and measures the stroke length indicating the length of extension of the jack 5 for each jack 5.

  The control device 10 includes an operation unit that receives an operation by the operator, and drives the cutter driving device 4 of the shield machine 1 in response to the operation of the operator, and has a length for performing the excavation set by the operator. The copy cutter 3 is protruded. Further, when excavating a curved tunnel, the control device 10 performs control to cause the shield machine 1 to be bent as shown in FIG. 2. In this case, the shield machine 1 is controlled according to the folding angle set by the operator. Be broken.

  The control device 10 also includes information on the length of the front tail clearance 31 measured by the tail clearance measuring device 6, information on the distance 33 to the segment 20 measured by the segment position measuring device 12, and the shield machine position measuring device 13. The information on the distance 32 and the angle to the target mark 14 measured by and the stroke length information of the jack 5 measured by the stroke sensor 15 are acquired. The means for acquiring these pieces of information may be wired or wireless communication means, or may be configured to acquire the information by being input by a human operation. The control device 10 also acquires the acquired distance 33, distance 32 and angle information, the measurement position information where the segment position measurement device 12 is installed, and the three-dimensional reference point where the shield machine position measurement device 13 is installed. Information on the coordinates, information on the length of the front tail clearance 31, information on the protruding length of the copy cutter 3, information on the stroke length of the jack 5, and information on the folding angle are output to the excavation status management device 60.

  FIG. 3 is a block diagram showing the relationship between the internal configuration of the excavation status management device 60 and the shield machine 1 according to the present embodiment. The excavation status management device 60 includes an information input unit 61, a shield machine shape information storage unit 62, a segment information storage unit 63, a skin plate distance information storage unit 64, a shield machine coordinate calculation unit 65, an excavation boundary coordinate calculation unit 66, and segment coordinates. A calculation unit 67, a jack stroke length acquisition unit 68, a tail clearance acquisition unit 69, and an excavation status display unit 600 are provided.

  The information input unit 61 inputs information output from the control device 10 of the shield machine 1 to the inside through, for example, wired or wireless communication means, an electronic recording medium, or a human input operation. The shield machine shape information storage unit 62 uses shield machine shape information indicating the shape of the shield machine 1 in a state in which the shield machine is not folded, for example, three-dimensional coordinate information with an arbitrary point set in advance in the shield machine 1 as an origin. As previously stored. In the segment information storage unit 63, information indicating the length of the thickness of the segment 20 is stored in advance.

  As shown in FIG. 4, the skin plate distance information storage unit 64 measures in advance by the segment position measurement device 12 in a state where the skin plate 7 behind the tail seal 8 can be seen from the measurement position before the segment 20 is installed. Information on the distance 34 to the inner peripheral surface of the skin plate 7 is stored. When the excavation is started, the tail seal 8 and the segment 20 are always in contact with each other and cannot be seen from the measurement position. Therefore, the distance 34 is measured before excavation. For example, the information on the distance 34 is obtained by the control device 10 that receives and outputs information measured and output by the segment position measuring device 12, and the information input unit 61 receives information output from the control device 10. It is stored in advance by processing such as writing to the skin plate distance information storage unit 64.

  The shield machine coordinate calculation unit 65 transmits information about the distance 32 and the angle to the target mark 14 sequentially measured by the shield machine position measurement device 13 through the information input unit 61, and the reference point where the shield machine position measurement device 13 is installed. Are obtained from the control device 10. Further, the shield machine coordinate calculation unit 65 generates a reference point based on the distance 32 and angle information, the three-dimensional coordinate information of the reference point, and the shield machine shape information stored in the shield machine shape information storage unit 62. 3D coordinate information (hereinafter referred to as shield machine coordinate information) of the shield machine 1 in the coordinate system is calculated.

  Further, the shield machine coordinate calculation unit 65 calculates shield machine coordinate information at intervals at which the shield machine position measurement device 13 measures the distance 32 and the angle, for example, every 10 seconds. Since the reference point is replaced with a new reference point as described above, for example, when the shield machine 1 is advanced by about 50 m, the shield machine coordinate calculation unit 65 in this case, the three-dimensional of the new reference point The coordinate information is used to calculate shield machine coordinate information. In addition, when the shield machine coordinate calculation unit 65 acquires the information about the middle folding angle of the shielding machine 1 from the control device 10 through the information input unit 61, the shielding machine coordinate calculation unit 65 further shields the folded state based on the middle folding angle. Calculate machine coordinate information.

  The excavation boundary coordinate calculation unit 66 is based on the information about the cutter 2 included in the shield machine coordinate information calculated by the shield machine coordinate calculation unit 65, and the three-dimensional of the excavation boundary 30 indicating the boundary between the excavation area to be excavated and the natural ground. Coordinate information (hereinafter referred to as excavation boundary coordinate information) is calculated. In addition, when the information about the protrusion length of the copy cutter 3 is acquired from the control device 10 through the information input unit 61, the excavation boundary coordinate calculation unit 66 sets the protrusion length of the copy cutter 3 as an extra length and performs the extra excavation. Excavation boundary coordinate information is calculated including the length value.

  The segment coordinate calculation unit 67 controls the information on the distance 33 to the segment 20 sequentially measured by the segment position measurement device 12 and the information on the measurement position where the segment position measurement device 12 is installed through the information input unit 61. Get from 10. The segment coordinate calculation unit 67 also includes information on the distance 33, information on the measurement position where the segment position measurement device 12 is installed, information on the distance 34 stored in the skin plate distance information storage unit 64, and segment Based on the information indicating the length of the thickness of the segment 20 stored in the information storage unit 63 and the shield machine coordinate information calculated by the shield machine coordinate calculation unit 65, the three-dimensional coordinate information of the segment 20 (hereinafter referred to as segment coordinates). Information). In addition, the segment coordinate calculation unit 67 calculates the value of the rear tail clearance 35 by subtracting the distance 33 from the distance 34 and subtracting information indicating the length of the thickness of the segment 20 from the subtracted value.

  The jack stroke length acquisition unit 68 acquires the length of the stroke length of the jack 5 from the control device 10 through the information input unit 61. The tail clearance acquisition unit 69 acquires information on the length of the front tail clearance 31 from the control device 10 through the information input unit 61. Based on the shield machine coordinate information, the excavation boundary coordinate information, the segment coordinate information, the stroke length, the front tail clearance, the rear tail clearance, and the like, the excavation status display unit 600 displays the excavation status as shown in FIG. The image shown is generated and output to the screen.

(Processing flow by the progress management device)
Next, the flow of processing by the excavation status management device 60 will be described with reference to FIGS. As shown in FIG. 5, the information input unit 61 receives and inputs information output from the control device 10 of the shield machine 1 (step S1). The shield machine coordinate calculation unit 65 reads the three-dimensional coordinate information of the reference point from the information input by the information input unit 61 (step S2). The shield machine coordinate calculation unit 65 determines whether or not the shield machine 1 is folded halfway (step S3). For example, when the information input unit 61 includes information on the folding angle, it is determined that the shielding machine 1 is folded. If the information is not included, it is determined that it is not broken. When the shield machine coordinate calculation unit 65 determines that the folding is performed, the information about the folding angle is read from the information input by the information input unit 61 (step S4).

  Next, based on the three-dimensional coordinate information of the reference point and the information on the distance 32 and the angle to the target mark 14, the shield machine coordinate calculation unit 65 uses the reference point coordinate system of the target mark 14 of the shield machine 1 in the coordinate system. Three-dimensional coordinate information is calculated. Since the three-dimensional coordinates of the target mark 14 in the shield machine shape information are known, the shield machine coordinate calculation unit 65 converts the calculated three-dimensional coordinate information in the coordinate system of the reference point of the target mark 14 and the shield machine shape information. Based on this, the three-dimensional coordinates of the shield machine 1 in the coordinate system of the reference point, that is, shield machine coordinate information is calculated. Further, when the folding angle is acquired in step S4, the shield machine coordinate information including the folding angle is calculated (step S5).

  When the calculation of the shield machine coordinate information by the shield machine coordinate calculation unit 65 is completed, the excavation boundary coordinate calculation unit 66 then determines whether or not surplus digging is performed based on the information input by the information input unit 61. Determination is made (step S6). For example, when the information input by the information input unit 61 includes the protruding length of the copy cutter 3, it is determined that the excessive excavation has been performed. When the protrusion length is not included, it is determined that no excavation is performed. If the excavation boundary coordinate calculation unit 66 determines that the excavation is excessive, the projection length of the copy cutter 3 is read from the information input by the information input unit 61 (step S7).

  The excavation boundary coordinate calculation unit 66 is based on the shield machine coordinate information calculated by the shield machine coordinate calculation unit 65, and in the cutter 2 having a disk shape or a substantially disk shape, the outermost surface of the disk surface (hereinafter referred to as the outer edge of the cutter 2). ) 3D coordinate information value is extracted. When the copy cutter 3 is not protruded, the outermost three-dimensional coordinates of the disk surface coincide with the coordinates of the cutter bit excavated on the outermost side among the cutter bits provided in the cutter 2. For example, in the shield machine shape information stored in the shield machine shape information storage unit 62, only the three-dimensional coordinate information of the outer edge of the cutter 2 is previously determined. It can be easily extracted by storing it together with identification information indicating an outer edge.

  The excavation boundary coordinate calculation unit 66 is based on the three-dimensional coordinate information indicating the outer edge of the selected cutter 2, and the three-dimensional coordinate information of the excavation boundary 30 indicating the boundary between the excavation area to be excavated and the natural ground, that is, the excavation boundary coordinate information. Is calculated. Further, when the protruding length of the copy cutter 3 is read out in step S7, the excavated area is expanded. In that case, the excavation boundary coordinate calculation unit 66 sets the protruding length of the copy cutter 3 as an extra length, and determines the excavation boundary coordinate information based on the extra excavation length and the three-dimensional coordinate information of the outer edge of the cutter 2. Calculate (step S8).

  When the calculation of the excavation boundary coordinate information by the excavation boundary coordinate calculation unit 66 is completed, the segment coordinate calculation unit 67 then determines the value of the distance 33 measured by the segment position measurement device 12 from the information input by the information input unit 61, The coordinate information of the measurement position where the segment position measurement device 12 is installed is read out. The segment coordinate calculation unit 67 stores the read value of the distance 33, the information on the measurement position, the information on the distance 34 stored in the skin plate distance information storage unit 64, and the segment information storage unit 63. Based on the information indicating the length of the thickness of the segment 20 and the shield machine coordinate information calculated by the shield machine coordinate calculation unit 65, the three-dimensional coordinate information of the segment 20 is calculated.

  As a specific calculation method, for example, since the coordinates of the measurement position of the segment position measurement device 12 in the shield machine 1 are known, the segment coordinate calculation unit 67 calculates the three-dimensional coordinates of the measurement position in the coordinate system of the reference point. Obtain from shield machine coordinate information. Next, the segment coordinate calculation unit 67 adds the value of the distance 33 in the direction of laser light irradiation to the obtained three-dimensional coordinate information of the measurement position, as shown in FIG. The three-dimensional coordinates of the inner peripheral surface of are calculated. The cylindrical shape formed by the segment 20 and the cylindrical shape formed by the skin plate 7 of the shield machine 1 are concentric cylinders or substantially concentric cylinders. Therefore, for example, by measuring at least two points by the segment position measuring device 12, the segment 20 is formed based on the three-dimensional coordinates of the cylinder formed by the skin plate 7 included in the shield machine coordinate information. It is possible to calculate the three-dimensional coordinates of the circle constituting the inner peripheral surface of the cylinder.

  As shown in FIG. 6, the segment coordinate calculation unit 67 further indicates the length of the thickness of the segment 20 in the direction in which the laser light is irradiated with respect to the calculated three-dimensional coordinates of the circle constituting the inner peripheral surface. By adding information, the three-dimensional coordinates of the circle constituting the outer peripheral surface of the cylinder formed by the segment 20 are calculated. By repeatedly calculating the three-dimensional coordinates of the inner circle and the outer circle, it is possible to calculate the inner and outer three-dimensional coordinates of the cylinder formed by the segment 20, that is, the segment coordinate information. In addition, the segment coordinate calculation unit 67 calculates the value of the rear tail clearance 35 by subtracting the distance 33 from the distance 34 and subtracting information indicating the length of the thickness of the segment 20 from the subtracted value (step S9). .

  The jack stroke length acquisition unit 68 reads the length of the stroke length of the jack 5 from the information input by the information input unit 61. Further, the tail clearance acquisition unit 69 reads information on the length of the front tail clearance 31 from the information input by the information input unit 61 (step S10).

  The excavation status display unit 600 is arranged between the shield machine 1 and the excavation boundary 30 based on the shield machine coordinate information calculated by the shield machine coordinate calculation unit 65 and the excavation boundary coordinate information calculated by the excavation boundary coordinate calculation unit 66. The length of the existing space is calculated (step S11). The excavation status display unit 600 includes shield machine coordinate information, excavation boundary coordinate information, segment coordinate information, stroke length, front tail clearance, rear tail clearance, and the length of the space between the shield machine 1 and the excavation boundary 30. Based on this, an image as shown in FIG. 7 is generated and displayed on the screen (step S12).

  After step S12, the process is repeated from step S1, and the process is repeated at intervals at which the shield machine position measurement device 13 and the segment position measurement device 12 perform measurement, for example, about every 10 seconds described above. By repeating the above processing, the excavation boundary coordinate information calculated by the excavation boundary coordinate calculation unit 66 forms a cylindrical shape, and the segment coordinate information calculated by the segment coordinate calculation unit 67 is as shown in FIG. A cylindrical shape having a thickness is formed.

  FIG. 7 is a diagram illustrating an example of an image generated by the excavation status display unit 600 and displayed on the screen. In FIG. 7, the pattern area indicated by reference numeral 2 is the cutter 2, the white area indicated by reference numeral 7 is the skin plate 7, and the pattern area indicated by reference numeral 20 is the segment 20. The black area indicates the remaining area obtained by removing the shield machine 1 and the segment 20 area from the excavated area, that is, the area of the space between the shield machine 1 and the segment 20 and the ground. The left and right edges indicate the excavation boundary 30 with respect to the traveling direction of the region. A line indicated by reference numeral 40 indicates the central axis in the planned alignment, and the three-dimensional coordinate information of the central axis is input in advance into the excavation status display unit 600 and stored in the internal storage area.

  In addition, in the generated image, the protrusion length of the copy cutter 3 (shown as 0 [mm] in both the left and right in FIG. 7), the folding angle of the shield machine 1 (−5.98 [deg in FIG. 7). ] Is shown). In the generated image, the stroke length of the jack 5 acquired by the jack stroke length acquisition unit 68 (in FIG. 7, the right is shown as 1114 [mm] and the left is shown as 1071 [mm]), the tail clearance. Values indicating the front tail clearance 31 indicated by the reference numeral 31 acquired by the acquisition unit 69 (in FIG. 7, the right side is indicated as 25 [mm] and the left side is indicated as 95 [mm]) are also shown.

  Further, the excavation status display unit 600 displays an enlarged image of a part of the shield machine 1 such as a right top part, a left top part, a right middle part, a left middle part, a right tail part, and a left tail part. Generate and display. Values of 10 [mm] indicated at the right top and 205 [mm] indicated at the left top are values indicating the length from the end of the cutter 2 to the excavation boundary 30. In this drawing, although the left and right widths are different, for example, the shield machine 1 has turned too far to the left with respect to the traveling direction. On the other hand, when it is turned to the right, the left and right widths may be different even if no excavation is performed.

  Further, as described above, the three-dimensional coordinates of the outer edge of the cutter 2 are the coordinates of the cutter bit for excavating the outer edge provided in the cutter 2, and the coordinates coincide with the coordinates of the excavation boundary 30. On the other hand, in the generated image, only the main body of the cutter 2 including the cutter bit is shown, and the excavation status display unit 600 displays the length of the space between the shield machine 1 and the excavation boundary 30 in step S11. When calculating the length, the calculation is performed based on the three-dimensional coordinate information of the main body of the cutter 2 and the excavation boundary coordinate information, and in the generated image, between the excavation boundary 30 at both ends of the cutter 2. It is shown that there is always a certain length of space.

  The values of 63 [mm] at the right-folded portion and 159 [mm] at the left-folded portion are excavated from the point closest to the excavation boundary 30 on the outer peripheral surface of the skin plate 7 in the vicinity of the folded portion. It is a value indicating the length up to the boundary 30. The area of the pattern indicated by the reference numeral 37 in the right tail part and the left tail part is a space whose size is specified by the white area that is the area of the skin plate 7 and the rear tail clearance 35 that is between the areas of the segment 20. is there. A value of 52 [mm] in the right tail portion and a value of 65 [mm] in the left tail portion are values indicating the rear tail clearance 35. Further, the value of 62 [mm] at the right tail portion and the value of 146 [mm] at the left tail portion are values indicating the length from the rearmost end portion of the outer peripheral surface of the skin plate 7 to the excavation boundary 30. . Of these values displayed in the enlarged image, the value of the rear tail clearance 35 is calculated by the segment coordinate calculation unit 67 in step S9, and the other values are calculated by the excavation status display unit 600 in step S11. Is done.

  With the configuration of the above embodiment, in the excavation status management device 60, the shield machine coordinate calculation unit 65 calculates the three-dimensional coordinate information of the shield machine 1 in the coordinate system of the reference point, that is, the shield machine coordinate information, and calculates the excavation boundary coordinates. The unit 66 calculates excavation boundary coordinate information based on the shield machine coordinate information, the segment coordinate calculation unit 67 calculates segment coordinate information, and the calculated shield machine coordinate information, excavation boundary coordinate information, and segment coordinate information Based on this, the excavation status display unit 600 generates an image obtained by superimposing these coordinate information and displays it on the screen. Thereby, the information on the space between the shield machine 1 and the segment 20 and the natural ground and the space between the shield machine 1 and the segment 20 can be displayed on the screen. Thereby, in the whole shield machine 1, it becomes possible to grasp | ascertain the positional relationship with the natural ground after excavation, and the positional relationship with the installed segment 20. FIG. Moreover, since the display of the above screen is sequentially updated at the measurement intervals of the segment position measuring device 12 and the shield machine position measuring device 13, the state of the successive excavation can be grasped, and the shield machine can be obtained by proceeding with the excavation. It becomes possible for the operator to know in advance whether 1 and the ground or the shield machine 1 and the segment 20 are in contact with each other. Thereby, it becomes possible to easily determine whether or not the direction of excavation of the shield machine 1 has to be adjusted. Further, by displaying the center line of the planned alignment in an overlapping manner, a deviation from the planned alignment can be grasped on the screen.

  In the above embodiment, the value of the stroke length of the jack 5 and the value of the front tail clearance 31 measured by the tail clearance measuring device 6 are read and the excavation status display unit 600 displays them on the screen. The embodiment of the present invention is not limited to this embodiment. For example, the position of the jack 5 in the shield machine 1 is known, and the three-dimensional coordinates of the tip of the segment 20 with which the jack 5 contacts may be calculated from the coordinates of the jack 5 and the stroke length. In addition to this, by adding the value of the front tail clearance 31, more detailed three-dimensional coordinates of the tip of the segment 20 can be calculated. In this case, for example, when the segment position measuring device 12 measures not the front end of the segment 20 but the vicinity of the center of the front end and the rear end of one segment, It is also possible to obtain the inclination of the segment 20 from the coordinates. Further, the inclination of the segment 20 at the tip may be calculated based on the values of the front tail clearance 31 and the rear tail clearance 35.

  In the above embodiment, the shield machine coordinate information includes the distance 32 and angle information to the target mark 14 measured by the shield machine position measurement device 13, the three-dimensional coordinate information of the reference point, and the shield machine shape information. However, based on the stroke length of the jack 5, the distance and direction of the shield machine 1 can be obtained. Therefore, by adding information on the stroke length, more accurate shield machine coordinate information can be obtained. You may make it calculate.

  In the above embodiment, the shield machine 1 is described as having a cylindrical shape. However, the configuration of the present invention is not limited to the embodiment, and may be a shape other than the cylindrical shape. Further, the shape formed by the segment 20 formed inside may also be a shape other than a cylinder.

  In the above embodiment, three-dimensional coordinate information is calculated as shield machine coordinate information, excavation boundary coordinate information, and segment coordinate information. However, the configuration of the present invention is not limited to this embodiment. For example, when it is sufficient to specify the position in two dimensions, such as when excavating a tunnel having no height difference with respect to the traveling direction of the shield machine 1, two-dimensional coordinate information may be calculated. Good. In this case, the number of target marks 14 may be at least two, and the number of points measured by the segment position measuring device 12 may be at least one.

  In the above embodiment, the three-dimensional coordinates of the reference point are described as the three-dimensional coordinates of the absolute coordinate system based on the survey point determined by the Geospatial Information Authority of Japan. Not limited to. As described above, when the coordinates of the survey point determined by the Geographical Survey Institute in which the measuring device is installed are two-dimensional coordinates composed of latitude and longitude, first, the two-dimensional coordinates of the reference point 36-1 are measured by the measuring device. To do. Information on the height of the reference point 36-1 is separately measured by level surveying, and this height information is added to form three-dimensional coordinates. Using the three-dimensional information, a relative three-dimensional coordinate system with the first reference point 36-1 as the origin may be used.

  Further, in the above embodiment, when the shield machine coordinate calculation unit 65 determines whether or not the shield machine 1 is folded, the information input by the information input unit 61 includes the information of the folding angle. However, the configuration of the present invention is not limited to the embodiment. For example, when the information of the middle folding angle is always output, the control device 10 determines that the middle folding angle is not broken when the angle indicated by the middle folding angle information is 0 degree. You may make it determine with having carried out.

  In the above embodiment, the information input by the information input unit 61 includes the protrusion length of the copy cutter 3 when the excavation boundary coordinate calculation unit 66 determines whether or not the excavation is performed. However, the configuration of the present invention is not limited to the embodiment. For example, when the information on the protrusion length of the copy cutter 3 is always output, if the information on the protrusion length is 0, the control device 10 determines that no excessive digging has been performed. It may be determined that is being performed.

  Further, in the above embodiment, as shown in FIG. 4, the segment position measuring device 12 of the skin plate 7 is in a state where the skin plate 7 behind the tail seal 8 can be seen from the measurement position before the segment 20 is installed. Although the distance 34 to the inner peripheral surface is measured in advance, the configuration of the present invention is not limited to the embodiment. For example, the distance 34 may be calculated from the dimension information at the time of manufacturing the shield machine 1 and stored in the skin plate distance information storage unit 64 in advance.

Moreover, in said embodiment, although the control apparatus 10 is provided with the operation part which receives an operator's operation, the structure of this invention is not restricted to the said embodiment. The carriage following the central control room or shield machine 1 on the ground is provided with an operation device having an operation unit, the operation device and the control device 10 are connected by communication means, and an operator operates the operation device to shield the operation device. The machine 1 may be controlled.
Moreover, since it is assumed that the excavation state management device 60 is installed near the operator, in the above-described embodiment in which the control device 10 includes the operation unit, it is installed near the control device 10 and the shield machine 1 and is referred to by an operator who operates the operation unit of the control device 10. On the other hand, when the operation unit is provided in the operation device and the operation device is installed in the central operation room on the ground or in the subsequent carriage, the excavation state management device 60 also changes the place together with the operation device. It will be installed nearby.

  You may make it implement | achieve the excavation condition management apparatus 60 in embodiment mentioned above with a computer. In that case, a program for realizing this function may be recorded on a computer-readable recording medium, and the program recorded on this recording medium may be read into a computer system and executed. Here, the “computer system” includes an OS and hardware such as peripheral devices. The “computer-readable recording medium” refers to a storage device such as a flexible medium, a magneto-optical disk, a portable medium such as a ROM and a CD-ROM, and a hard disk incorporated in a computer system. Furthermore, the “computer-readable recording medium” dynamically holds a program for a short time like a communication line when transmitting a program via a network such as the Internet or a communication line such as a telephone line. In this case, a volatile memory inside a computer system serving as a server or a client in that case may be included and a program held for a certain period of time. Further, the program may be a program for realizing a part of the above-described functions, and may be a program capable of realizing the functions described above in combination with a program already recorded in a computer system. You may implement | achieve using programmable logic devices, such as FPGA (Field Programmable Gate Array).

  The embodiment of the present invention has been described in detail with reference to the drawings. However, the specific configuration is not limited to this embodiment, and includes designs and the like that do not depart from the gist of the present invention.

DESCRIPTION OF SYMBOLS 1 Shield machine 10 Control apparatus 60 Digging condition management apparatus 61 Information input part 62 Shield machine shape information storage part 63 Segment information storage part 64 Skin plate distance information storage part 65 Shield machine coordinate calculation part 66 Excavation boundary coordinate calculation part 67 Segment coordinate calculation Unit 68 Jack stroke length calculation unit 69 Tail clearance acquisition unit 600 Drilling status display unit

Claims (6)

A shield machine shape information storage unit for storing shield machine shape information indicating the shape of a shield machine for excavating a tunnel;
The position of the shield machine is indicated based on the distance and angle from the reference point to a predetermined measurement target in the shield machine, the coordinates of which are sequentially measured from known reference points, and the shield machine shape information. A shield machine coordinate calculation unit for calculating shield machine coordinate information;
Excavation boundary coordinate calculation unit for sequentially calculating excavation boundary coordinate information indicating the position of the excavation boundary of the tunnel excavated by the shield machine, based on the shield machine coordinate information,
The segment is sequentially measured from a predetermined measurement position in the shield machine, based on the distance from the measurement position to the segment, the predetermined length of the segment thickness, and the shield machine coordinate information. A segment coordinate calculation unit for calculating segment coordinate information indicating the position of
Based on the shield machine coordinate information, the excavation boundary coordinate information, and the segment coordinate information, an excavation status display unit that sequentially displays the positional relationship of the shield machine, the excavation boundary, and the segment;
An excavation status management device comprising: The measurement position is located in an inner circumferential space formed by the skin plate of the shield machine and in an inner circumferential space where the segment is installed,
A skin plate distance storage unit that stores the distance from the measurement position to the skin plate of the shield machine, measured from the measurement position;
The segment coordinate calculation unit
The distance between the skin plate and the segment is calculated based on the distance from the measurement position to the segment and the distance from the measurement position stored in the skin plate distance storage unit to the skin plate. The excavation status management device according to claim 1. The excavation boundary coordinate calculation unit
From the shield machine, when receiving information indicating the projection length of the copy cutter determined when over-digging, the excavation boundary coordinate information is based on the shield machine coordinate information and the projection length of the copy cutter. The excavation status management device according to claim 1, wherein the excavation status management device is calculated sequentially. The shield machine coordinate calculation unit
When receiving information on the folding angle of the shielding machine from the shielding machine, based on the distance and angle from the reference point to the measurement target, the shielding machine shape information, and the information on the folding angle. The shield machine coordinate information is calculated. The excavation status management device according to any one of claims 1 to 3. Shield machine shape information indicating the shape of the shield machine that excavates the tunnel is stored in the shield machine shape information storage unit,
The position of the shield machine is indicated based on the distance and angle from the reference point to a predetermined measurement target in the shield machine, the coordinates of which are sequentially measured from known reference points, and the shield machine shape information. Calculate shield machine coordinate information,
Excavation boundary coordinate information indicating the position of the excavation boundary of the tunnel excavated by the shield machine, sequentially calculated based on the shield machine coordinate information,
The segment is sequentially measured from a predetermined measurement position in the shield machine, based on the distance from the measurement position to the segment, the predetermined length of the segment thickness, and the shield machine coordinate information. Calculate the segment coordinate information indicating the position of
An excavation state management method characterized by sequentially displaying the positional relationship between the shield machine, the excavation boundary, and the segment based on the shield machine coordinate information, the excavation boundary coordinate information, and the segment coordinate information. . On the computer,
Procedure for storing shield machine shape information indicating the shape of the shield machine for excavating the tunnel in the shield machine shape information storage unit,
The position of the shield machine is indicated based on the distance and angle from the reference point to a predetermined measurement target in the shield machine, the coordinates of which are sequentially measured from known reference points, and the shield machine shape information. Procedure to calculate shield machine coordinate information,
A procedure for sequentially calculating excavation boundary coordinate information indicating the position of the excavation boundary of the tunnel excavated by the shield machine based on the shield machine coordinate information,
The segment is sequentially measured from a predetermined measurement position in the shield machine, based on the distance from the measurement position to the segment, the predetermined length of the segment thickness, and the shield machine coordinate information. A procedure for calculating segment coordinate information indicating the position of
A procedure for sequentially displaying the positional relationship between the shield machine, the excavation boundary, and the segment based on the shield machine coordinate information, the excavation boundary coordinate information, and the segment coordinate information.
An excavation situation management program for running.

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