JP2020101042A - Hardness analysis device of drilled surface and hardness analysis method of drilled surface - Google Patents

Abstract

To provide a device for analyzing hardness of a drilled surface capable of analyzing the hardness of a drilled surface and a method for analyzing hardness of a drilled surface.SOLUTION: A device 1 for analyzing hardness of a drilled surface according to an embodiment includes: a current sensor 2 that has a traveling body W, a boom B which is attached to the traveling body W so as to be capable of turning in the right-left direction and raising/lowering in the up-down direction, and a cutter head C rotatably attached to the tip of a boom B, for detecting current flowing through a motor M that drives the cutter head C of a free cross-section drilling machine E that drills a working face F in a tunnel; a coordinate detection unit 3 that detects coordinates with respect to the origin with a drill start point of the cutter head C as the origin; and an analysis unit 4 that obtains hardness distribution of a drilled surface based on the current detected by the current sensor 2 and the coordinates detected by the coordinate detection unit 3 when drilling the working face F with the cutter head C.SELECTED DRAWING: Figure 1

Description

The present invention relates to an excavated surface hardness analysis device and an excavated surface hardness analysis method.

Although there are several types of excavators for tunnel excavation, a free-section excavator is used to excavate a cross section into an arbitrary shape. A free-section excavator, for example, is equipped with a cutter head at the tip of a boom that is mounted so that it can swivel left and right with respect to the traveling body and ascend and descend vertically. Move and drill.

In a free-section excavator, automatic excavation may be performed in which the position of the cutter head is automatically controlled to excavate a face into a desired tunnel shape. In order to enable automatic excavation, the absolute coordinates of the cutter head in the tunnel coordinate system are required, and also when the hardness of the excavation surface is numerically evaluated, the absolute coordinates of the cutter head are also required. Become.

Therefore, in conventional tunnel excavation work, an optical total station is installed behind the free section excavator, and the posture of the free section excavator such as pitching, yawing and rolling is constantly grasped by the optical total station, and the cutter head is used. The absolute coordinates of the above were specified (for example, refer to Patent Document 1).

JP, 2011-236589, A

The optical total station tracks the prism target installed in the free-section excavator, emits laser light, and receives the laser light reflected by the prism target to measure the attitude of the free-section excavator.

However, during excavation of the face, the rock excavated by the cutter head becomes dust and scatters in the air, so that the laser beam is blocked by the dust and the absolute coordinates of the cutter head cannot be detected.

Therefore, it may be difficult to analyze the hardness of the excavated surface by using the coordinates of the cutter head in the conventional system for obtaining the absolute coordinates of the cutter head by grasping the attitude of the free-section excavator at the total station.

Therefore, an object of the present invention is to provide an excavation surface hardness analysis device and an excavation surface hardness analysis method capable of analyzing the hardness of an excavation surface.

The excavated surface hardness analyzing apparatus of the present invention includes a traveling body, a boom that is attached to the traveling body so as to be capable of turning in the left-right direction and vertically moving up and down, and a cutter head that is rotatably attached to the tip of the boom. A current sensor that detects the current flowing in the motor that drives the cutter head in a free-section excavator that excavates a face in a tunnel, and coordinate detection that detects the coordinates with respect to the origin with the excavation start point of the cutter head as the origin. And an analysis unit that obtains the hardness distribution of the excavation surface based on the current detected by the current sensor and the coordinates detected by the coordinate detection unit when the face is excavated by the cutter head. The excavation surface hardness analyzer configured as described above excavates by excavating the excavation start point of the cutter head of the free-section excavator by monitoring the movement from the origin without monitoring the absolute coordinates of the cutter head in the tunnel coordinate system. The position of the cutter head on the surface can be specified, and the hardness at that position can be obtained.

In addition, the excavation surface hardness analyzer analyzes the shape of the previous excavation surface, which the analysis unit grasps from the coordinates of the cutter head obtained during the previous excavation, and the current excavation surface, which is determined from the coordinates of the cutter head obtained during this excavation. If there is a deviation from the shape, it is possible to obtain the hardness distribution of the excavation surface by assuming that the excavation surface shape at the previous time is correct and offsetting the excavation surface shape at this time by the deviation. According to the excavation surface hardness analysis apparatus configured as described above, since the offset of the excavation surface is corrected by the offset process, the hardness distribution of the excavation surface can be accurately calculated without grasping the absolute coordinates of the cutter head in the tunnel coordinate system. You can ask.

Further, the excavated surface hardness analysis method according to the present embodiment is provided with a traveling body, a boom which is attached to the traveling body so as to be capable of turning in the left-right direction and vertically rising and lowering, and rotatable at the tip of the boom. A free-section excavator having a cutter head attached to it is arranged in parallel at a position separated from the side surface of the tunnel by a predetermined distance, and is neutral to the left and right and up and down with respect to the running body, or perpendicular to the face of the tunnel. A positioning step of arranging the boom at a position that becomes a position, a detection step of starting the excavation of the face after the positioning step and detecting the coordinates from the excavation start point of the cutter head and the current flowing through the motor that drives the cutter head, And an analysis step of obtaining the hardness distribution of the excavated surface based on the coordinates and the current obtained in the detection step. According to the excavation surface hardness analysis method configured as described above, the movement of the excavation start point of the cutter head of the free-section excavator from the origin can be monitored without monitoring the absolute coordinates of the cutter head in the tunnel coordinate system. The position of the cutter head in the excavated surface can be specified by and the hardness at that position can be obtained.

Further, the excavated surface hardness analysis method of the present embodiment, in the analysis step, grasped from the shape of the previous excavated surface grasped from the coordinates of the cutter head obtained at the previous excavation and the coordinates of the cutter head obtained at the present excavation. If there is a deviation from the shape of the currently excavated surface, the shape of the previously excavated surface is regarded as correct, and the shape of the currently excavated surface is offset by the amount of the deviation to obtain the hardness distribution of the excavated surface. According to the excavation surface hardness analysis method configured as described above, since the deviation of the excavation surface is corrected by the offset process, the hardness distribution of the excavation surface can be accurately measured without grasping the absolute coordinates of the cutter head in the tunnel coordinate system. You can ask.

According to the excavated surface hardness analysis device and the excavated surface hardness analysis method of the present invention, the hardness of the excavated surface can be analyzed.

It is a side view of the free section excavator to which the excavation surface hardness analyzing apparatus in one embodiment is applied. It is a figure explaining arrangement of a free section excavator when excavating a face with a free section excavator. (A) is a figure showing a current waveform when excavating a hard rock. (B) is a diagram showing a current waveform when excavating a soft rock mass. It is a figure explaining the 1st example of the determination procedure of the hardness of the excavation surface in the excavation surface hardness analyzer of one embodiment. It is a figure explaining the 2nd example of the judgment procedure of the hardness of the excavation surface in the excavation surface hardness analyzer of one embodiment. It is the figure which showed the electric current waveform at the time of excavating the rock mass with a large crack, and the rock mass with a small crack. It is a figure explaining the 3rd example of the determination procedure of the hardness of the excavation surface in the excavation surface hardness analyzer of one embodiment. It is a figure explaining how to display the hardness distribution of the excavation surface of the analysis part of the excavation surface hardness analysis apparatus of one embodiment. It is a figure explaining the other display method of the hardness distribution of the excavation surface of the analysis part of the excavation surface hardness analysis apparatus of one embodiment. It is a figure explaining the attitude|position of the excavation surface hardness analysis apparatus of one embodiment.

The present invention will be described below based on the embodiments shown in the drawings. As shown in FIG. 1, the excavation surface hardness analysis apparatus 1 according to one embodiment detects a current flowing through a motor M that drives a cutter head C provided at the tip of a boom B of a free-section excavator E that excavates a face. The electric current sensor 2 and the coordinate detection unit 3 that detects the coordinates of the cutter head C with respect to the traveling body W, and the cutter head C excavates based on the electric current detected by the electric current sensor 2 and the coordinates detected by the coordinate detection unit 3. And an analysis unit 4 for obtaining the hardness distribution of the excavated surface.

Hereinafter, each part of the excavated surface hardness analysis device 1 will be described in detail. First, a free-section excavator E to which the excavation surface hardness analyzing apparatus 1 is applied is mounted so that a traveling body W provided with a crawler, a swivel to the traveling body W in the left-right direction, and a vertical elevation can be performed. The boom B is extended and retracted, the cutter head C is rotatably attached to the tip of the boom B, and the motor M that rotationally drives the cutter head C is configured.

As described above, the boom B is capable of expanding and contracting in addition to turning in the left-right direction and raising/lowering in the up-and-down direction with respect to the traveling body W, and an actuator (not shown) for turning, raising/lowering and extending/contracting. Equipped with.

Then, the operator of the free-section excavator E drives the cutter head C by the motor M, drives the actuator to rotate the boom B, raises and lowers the telescope, and positions the cutter head C at the position where the face is to be excavated. At the same time, the cutter head C is pressed against the face with a substantially constant pressing force to excavate the rock mass on the face. The motor M is configured to rotate and drive the cutter head C by being supplied with a constant voltage from a power source (not shown).

As described above, the free-section excavator E is an excavator that excavates a cutting face by the operation of the operator, and the operator operates the free-section excavator E to move the cutting face according to the tunnel design drawing according to the tunnel design drawing. Excavate.

The current sensor 2 sequentially detects the current flowing through the motor M at a predetermined sampling cycle and inputs the detected current to the analysis unit 4. The coordinate detection unit 3 is detected by the stroke sensors 3a, 3b, 3c and the stroke sensors 3a, 3b, 3c that detect the displacements (stroke amounts) of the boom B turning, lifting and retracting actuators, respectively. And a calculation unit 3d for obtaining the coordinates of the cutter head C with respect to the traveling body W from the displacement of each actuator.

The boom B turns and leans on the traveling body W, and expands and contracts itself. Therefore, if the turning amount and the elevation amount of the boom B with respect to the traveling body W and the expansion and contraction amount of the boom B are known, the boom B relative to the traveling body W can be determined. It is possible to grasp the horizontal angle, the vertical angle posture, and the current length of the boom B. The total length of the cutter head C is known. Therefore, the position of the cutter head C with respect to the traveling body W can be grasped from the displacement of each actuator detected by each stroke sensor 3a, 3b, 3c, and the calculation unit 3d obtains the position of the cutter head C from these displacements as coordinates.

That is, the coordinates of the cutter head C detected by the coordinate detection unit 3 are not absolute coordinates in the tunnel coordinate system but coordinates indicating the relative position of the cutter head C with respect to the traveling body W. Therefore, the coordinates of the cutter head C detected by the coordinate detection unit 3 are coordinates indicating the tip position of the cutter head C in the coordinate system having the origin of the turning center of the turret on which the boom B is turnably mounted on the traveling body W. .. Then, the coordinate detection unit 3 inputs the detected coordinates of the cutter head C to the analysis unit 4.

At the beginning of excavation, the operator places the free-section excavator E in parallel with the side surface T of the tunnel at a position separated from the side surface of the tunnel by a predetermined distance, as shown in FIG. The cutter head C is applied to the cutting face F with B being perpendicular to the cutting face F (positioning step). In addition, disposing the free-section excavator E parallel to the side surface T of the tunnel means that the front-back direction, which is the traveling direction of the traveling body W, is parallel to the side surface T of the tunnel in this case. The position of the cutter head C thus positioned by the arrangement of the free cross-section excavator E and the boom B is used as the origin, and the coordinate detection unit 3 detects the position coordinate of the cutter head C that moves during excavation with respect to the origin. Input to the analysis unit 4. The origin of the coordinates of the cutter head C is determined in addition to the above-mentioned method by arranging the free cross-section excavator E in parallel with the tunnel side face at a position separated from the side face of the tunnel by a predetermined distance. The origin is the position where the boom B is positioned at the center of the traveling body W in the left-right turning direction and the center of the upper-lower depression direction, and the cutter head C is brought into contact with the cutting face F. Good. In this way, by always determining the position of the origin of the cutter head C when starting cutting, the excavation start point is determined, and the coordinate detection unit 3 can detect the coordinates of the cutter head C. As described above, every time one excavation work is started, the free-section excavator E is arranged parallel to the tunnel side face at a position separated from the tunnel side face by a predetermined distance, and the boom B is perpendicular to the cutting face F. Or, the excavation start point is set at a position neutral with respect to the traveling body W, and the position where the cutter head C is brought into contact with the cutting face F is set as the excavation start point. Do not shift.

Then, when the excavation of the face F by the free section excavator E is disclosed by the operation of the operator, the current sensor 2 detects the current of the motor M that drives the cutter head C, and the coordinate detection unit 3 excavates the cutter head C. The position from the start point is detected as coordinates (detection step), and these currents and coordinates are input to the analysis unit 4.

The analysis unit 4 receives the current detected by the current sensor 2 and the coordinates detected by the coordinate detection unit 3 to obtain the hardness distribution of the excavated surface excavated by the cutter head C (analysis step). The analysis unit 4 may receive a current input from the current sensor 2 and the coordinate detection unit 3 by wire communication, or may perform wireless communication. The analysis unit 4 is also installed in a management office that manages tunnel construction. The analysis unit 4 may be installed in the free-section excavator E. The calculation unit 3d of the coordinate detection unit 3 may be installed in the management office like the analysis unit 4 as long as it can receive the displacements detected by the stroke sensors 3a, 3b, 3c.

The analysis unit 4 analyzes the current detected by the current sensor 2 at the time when the coordinates of the cutter head C detected by the coordinate detection unit 3 are obtained, and determines the hardness of the portion corresponding to the coordinates in the excavated surface. To do. The operator drives the boom B to move the cutter head C and advances the excavation so that the face has a tunnel shape. Then, when the face is excavated and the excavation proceeds to a predetermined depth and one excavation is completed, the construction work for installing the support work and the concrete spraying work are performed to prevent the side face of the tunnel from collapsing. The excavation of the tunnel progresses by repeating this work, but when the excavation of the face is finished once, the trajectory of the coordinates of the cutter head C becomes the same shape as the excavation surface, and the coordinates and the current of the excavation of the first time are calculated. End information collection. When excavating the entire cross section of the tunnel with one excavation, a movement locus from the origin that is the excavation start point of the cutter head C is drawn, and if this is taken as the excavation surface, the excavation surface has the same shape as the tunnel cross section. Becomes At the time of excavation for the second time and thereafter, the information on the coordinates and the current is collected each time. The analysis unit 4 obtains the hardness corresponding to the coordinates for each excavation to obtain the hardness distribution in the excavated surface. That is, if the excavation is performed a plurality of times, the analysis unit 4 obtains the hardness distribution of the excavated surface for a plurality of times. Further, the analysis unit 4 may obtain the hardness distribution of the excavated surface each time the excavation is completed, or may collectively obtain the hardness distribution of the excavated surface obtained by excavating a plurality of times.

Here, the cutter head C is urged by the actuator (not shown) from the boom B side while the free-section excavator E is excavating, and is pressed against the face with a substantially constant pressing force to remove the rock mass at the face. Excavate. The cutter head C is rotationally driven by constantly receiving resistance from the bedrock side during excavation, and if the resistance acting on the cutterhead C from the bedrock side changes, the output torque of the motor M that drives the cutter head C also changes. .. As described above, the motor M rotationally drives the cutter head C by receiving a power supply of a constant voltage from a power source (not shown) when excavating a face, so that the torque flows to the winding of the motor M when the torque fluctuates. The current also changes.

When excavating hard rock with the cutter head C, the cutter head C does not easily bite into the rock, and therefore slippage easily occurs between the cutter head C and the rock. Therefore, the resistance that the cutter head C receives from the rock during excavation tends to be low on average, so that the average torque of the motor M is also low and the current flowing through the motor M is reduced as shown in FIG. The average absolute value is also low. Further, when the bedrock is hard, when the bedrock is excavated by the cutter head C, a large lump of rock is easily peeled from the bedrock. When a rock of such a large mass separates from the bedrock, a large resistance acts on the cutter head C before the rock separates from the bedrock, and after the rock separates from the bedrock, the resistance acting on the cutter head C becomes significantly small. .. Therefore, the torque of the motor M largely changes before and after the rock is peeled from the bedrock, so that the current flowing through the motor M also largely changes, as shown in FIG. Therefore, when the rock that is being excavated by the cutter head C is hard, the peak value of the current waveform of the motor M, that is, the amplitude of the current waveform tends to increase.

On the other hand, when excavating a soft rock mass with the cutter head C, since the cutter head C easily bites into the rock mass, the resistance that the cutter head C receives from the rock mass tends to be high on average. Therefore, as shown in FIG. 3(B), the average torque of the motor M increases, and the average absolute value of the current flowing through the motor M also increases. Further, when the bedrock is soft, when the bedrock is excavated by the cutter head C, the bedrock is easily scraped, so that stones having fine particles are scraped off from the bedrock. In this way, when fine stones are scraped off from the rock bed by excavation of the cutter head C, the fluctuation in resistance received by the cutter head C is smaller than that when excavating the hard rock bed. Therefore, as shown in FIG. 3B, when the rock that is being excavated by the cutter head C is soft, the peak value of the current waveform of the motor M tends to decrease.

From the above, the analysis unit 4 obtains the hardness of the rock mass at the position where the cutter head C is located based on the average absolute value of the current flowing through the motor M and the peak value of the current waveform. Specifically, as shown in FIG. 4, the analysis unit 4 indicates that the lower the average value of the absolute value of the current and the higher the peak value of the waveform of the current, the higher the hardness of the bedrock and the absolute value of the current. The higher the average value and the lower the peak value of the current waveform, the lower the rock hardness. Therefore, the analysis unit 4 determines the hardness of the rock mass based on the average value of the absolute values of the current and the peak value of the waveform of the current.

The peak value is extracted by extracting the average value of the amplitude of the waveform of the current collected when the coordinates of the cutter head C are at the same point, or extracting a predetermined number of the amplitude of the current waveform having a large amplitude. The average value of the amplitude may be the peak value, or the maximum amplitude in the current waveform may be the peak value.

In the analysis of the analysis unit 4, when it is sufficient to know whether the rock is hard or soft, the reference crest value is set for the crest value which is the amplitude of the current waveform of the motor M, and the absolute value of the current is set. A standard average value is set for the average value of, and it is determined whether the bedrock is hard or soft based on the comparison result of the peak value and the reference peak value and the comparison result of the average value of the absolute value of the current and the reference average value. do it. More specifically, when the peak value of the current waveform of the motor M is higher than the reference peak value and the average absolute value of the current is lower than the reference average value, the analysis unit 4 configures the bedrock to be hard rock. If the peak value in the current waveform is lower than the reference peak value, and the average value of the absolute value of the current is higher than the reference average value, it is determined that the bedrock is composed of soft rock. Good. The reference crest value, which serves as a reference for determining the height of the peak value of the current waveform, and the reference average value, which serves as a reference for determining the average value of the absolute value of the current, are It may be determined by taking into consideration the data obtained by excavating the rock and the result of the rock hardness survey.

When excavating a hard rock with the cutter head C, the effective value of the current becomes low as well as the average value of the absolute value of the current flowing through the motor M, and when excavating a soft rock with the cutter head C, the current flowing through the motor M Similarly to the average absolute value of, the effective value of the current is also high. Therefore, the analysis unit 4 uses the effective value of the current instead of the average value of the absolute values of the currents flowing in the motor M as an analysis material to be used together with the peak value of the current waveform when obtaining the hardness of the excavated surface. May be. In this case, the analysis unit 4 may determine the hardness of the excavated surface based on the effective value of the current flowing through the motor M and the peak value of the current waveform. Specifically, as shown in FIG. 5, the lower the effective value of the current and the higher the peak value of the current waveform, the higher the rock hardness, the higher the effective value of the current, and the higher the waveform of the current. The lower the peak value, the lower the hardness of the bedrock. Therefore, the analysis unit 4 may obtain the hardness of the excavated surface based on the effective value of the current and the peak value of the waveform of the current.

Further, the analysis unit 4 may obtain the hardness of the excavated surface based on the average value of the absolute values of the currents flowing in the motor M and the frequency of the vibration component that appears in the waveform of the current of the motor M due to the torque fluctuation. Good. When excavating hard rock with the cutter head C, rocks are sequentially peeled from the rock when the rock is excavated with the cutter head C, so that the resistance that the cutter head C receives from the rock greatly fluctuates and the cycle of the torque fluctuation of the motor M also shortens. .. On the other hand, when excavating a soft rock mass with the cutter head C, since the torque fluctuation is small, the cycle of the torque fluctuation of the motor M becomes long. As shown in FIG. 3, the frequency of the vibration component that appears in the waveform of the current of the motor M due to the torque fluctuation matches the envelope of the current waveform of the motor M. Therefore, focusing on the frequency of the vibration component appearing in the waveform of the current of the motor M due to the torque fluctuation, as shown in FIG. 3, the waveform of the current when excavating a hard rock (solid line in FIG. 3A). ) Envelope curve (dashed line in FIG. 3(A)) of the current waveform (solid line in FIG. 3(B)) when the rock is softer than that of the envelope curve (dashed line in FIG. 3(B)) Higher than frequency. Therefore, the analysis unit 4 may obtain the frequency of the vibration component due to the torque fluctuation appearing in the waveform of the current of the motor M input from the current sensor 2, and obtain the hardness of the excavated surface from this frequency.

To obtain the envelope, for example, Hilbert transform may be used or an envelope detector may be used. In addition, in order to obtain the frequency of the vibration component that appears in the waveform of the current of the motor M due to the torque fluctuation, in addition to obtaining the envelope, the following may be performed. The detected current of the motor M is filtered by a low-pass filter or a band-pass filter that extracts a frequency component of a vibration component caused by a torque fluctuation of a frequency lower than the driving frequency of the current required to drive the motor M. Then, the vibration component may be extracted, and the frequency may be obtained from the extracted vibration component.

Further, when the bedrock is hard and there is a crack in the bedrock, the resistance that the cutter head C receives from the bedrock varies depending on the size of the crack. The larger the bedrock crack, the more the cutterhead C receives the resistance from the bedrock. The average value of becomes low. Therefore, as shown in FIG. 6, a current waveform when excavating a hard rock with a large crack (solid line in FIG. 6) and a current waveform when excavating a hard rock with a small crack (broken line in FIG. 6) In comparison, the larger the crack, the lower the average absolute current value. Therefore, when the frequency of the vibration component due to the torque fluctuation appearing in the current waveform of the motor M is high and the average value of the absolute value of the current is low, the analysis unit 4 determines that the rock mass on the excavation surface is hard rock including a large crack. If the composition is evaluated and the frequency of the vibration component due to the torque fluctuation appearing in the current waveform of the motor M is high, and the average value of the absolute value of the current is high, the rock on the excavation surface is hard rock containing small cracks. May be evaluated as being composed of

On the other hand, when excavating a soft rock mass with the cutter head C, if the rock mass is excavated with the cutter head C, the rock mass is easily scraped, so that the fluctuation in the resistance received by the cutter head C from the rock mass is small, and the cycle of the torque fluctuation of the motor M is small. Also becomes longer. That is, the frequency of the vibration component appearing in the waveform of the current of the motor M due to the torque fluctuation becomes low. Therefore, when the frequency of the vibration component due to the torque fluctuation appearing in the waveform of the current of the motor M input from the current sensor 2 is low, the rock mass may be composed of soft rock. Further, when excavating a soft rock mass with the cutter head C, the cutter head C easily bites into the rock mass, so that the average torque of the motor M increases and the average value of the absolute values of the currents flowing through the motor M increases. Therefore, the analysis unit 4 evaluates that the excavated surface is composed of soft rock when the frequency of the vibration component due to the torque fluctuation appearing in the waveform of the current of the motor M is low and the average value of the absolute value of the current is high. You may.

From this fact, when analyzing not only the hardness of the excavated surface but also the size of the crack, the analysis unit 4 determines the frequency of the vibration component due to the torque fluctuation appearing in the waveform of the current of the motor M and the absolute value of the current flowing in the motor M. You may analyze the hardness and the magnitude of a crack based on an average value. Specifically, as shown in FIG. 7, the analysis unit 4 obtains the hardness by the level of the frequency of the vibration component due to the torque fluctuation appearing in the current waveform of the motor M. Then, as a reference for determining whether the rock on the excavation surface is hard rock or soft rock, a reference frequency is set in advance for the frequency of the vibration component due to the torque fluctuation appearing in the waveform of the current of the motor M, and A reference average value is set with respect to the average value of the absolute value of the current as a determination reference for determining the size of the crack. When the frequency of the vibration component due to the torque fluctuation appearing in the current waveform of the motor M is higher than the reference frequency, the analysis unit 4 determines the size of the crack depending on whether the average value of the absolute value of the current is greater than or less than the reference average value. Good. The reference frequency for the judgment criteria for hard rock and soft rock, and the reference average value for judging the size of cracks are taken into consideration, for example, by taking into account the data obtained by excavating rock on an actual machine and the results of the rock hardness survey. Just decide. The analysis unit 4 may output the hardness of the excavated surface and the size of the crack as a numerical value based on the frequency and the average value of the current.

Although not shown, comparing the current waveform when excavating a hard rock with a large crack and the current waveform when excavating a hard rock with a small crack, the larger the crack, the absolute value of the current The effective value of the current becomes low as well as the average value of. Therefore, when the frequency of the vibration component due to the torque fluctuation appearing in the current waveform of the motor M is high and the effective value of the current is low, the analysis unit 4 determines that the bedrock is composed of hard rock containing large cracks. You may. Further, when the frequency of the vibration component due to the torque fluctuation appearing in the current waveform of the motor M is high and the effective value of the current is high, the analysis unit 4 determines that the bedrock is composed of hard rock containing small cracks. You may. That is, the analysis unit 4 uses the average value of the absolute values of the currents flowing in the motor M as a determination material to be used together with the frequency of the vibration component due to the torque fluctuation appearing in the waveform of the current of the motor M in the analysis of the size of the crack on the excavation surface. Alternatively, the effective value of the current may be used.

The analysis unit 4 employs one of the methods for analyzing the hardness of the excavated surface described above to obtain the hardness of the excavated surface for the number of excavations. Then, as shown in FIG. 1, the analysis unit 4 includes a display unit 4a that displays the analysis result, and expresses the hardness associated with the coordinates of the position of the cutter head C by a color, and the hardness of the excavated surface. The distribution is output to the display unit 4a.

Specifically, as shown in FIG. 8, the analysis unit 4 expresses the hardness distribution of the excavated surface in color and outputs it to the display unit 4a. The analysis unit 4 visualizes the hardness of the excavated surface and displays it on the display unit 4a so that the operator can intuitively understand the hardness based on the difference in color so that the color changes according to the hardness as in thermography. For example, the analysis unit 4 displays a color according to hardness on the display unit 4a, such as red (black portion) when the hardness is high, yellow (hatched portion) when the hardness is medium, and blue (no hatching) when the hardness is low. Let

Here, the operator operating the free-section excavator E moves the cutter head C, excavates the face, and digs the tunnel as shown in the design drawing. Therefore, when the movement trajectory of the cutter head C is traced, the operator has the same sectional shape as the tunnel. It becomes a shape. When the analysis unit 4 processes the coordinates and the current obtained by one excavation to obtain the hardness and displays the color representing the hardness corresponding to the coordinates of the cutter head C on the display unit 4a, the display unit 4a displays the color. A colored excavation surface with the same shape as the tunnel cross-sectional shape is displayed.

Note that, as shown in FIG. 9, the analysis unit 4 meshes the excavated surface, determines the color of the mesh by the average value of the hardness in the coordinates within each mesh, and causes the display unit 4a to display the color. Alternatively, instead of the color, the average hardness value may be displayed as it is as the hardness of the mesh on the display unit 4a.

In addition, the free-section excavator E may tilt the traveling body W back and forth and left and right depending on the shape of the ground in the tunnel in which the traveling body W travels. They may face each other in a posture. That is, as shown in FIG. 10, the traveling body W may not be able to directly face the face due to pitching around the y axis, rolling around the x axis, and yawing around the z axis. If the traveling body W does not face the cutting face when excavating the cutting face, the excavation surface obtained by tracing the trajectory of the coordinates of the cutter head C is displaced from the excavation surface at the time of the previous excavation. .. This is because the excavation surface hardness analysis device 1 knows the coordinates of the cutter head C with respect to the traveling body W, and the analysis unit 4 does not know the absolute coordinates of the cutter head C in the tunnel coordinate system. If the posture of the body W changes with each excavation, if the movement locus and hardness of the cutter head C are simply displayed on the display unit 4a, the excavated surface obtained for each excavation time will be displaced in position.

Therefore, in order to correct such a deviation, the analysis unit 4 sets the digging surface obtained during the previous digging as a correct position, and offsets the position of the digging surface obtained during the present digging by the shifted amount to set the coordinates. Fix it. Regarding this coordinate correction, for example, the analysis unit 4 obtains the offset amount at which the excavation surface obtained this time and the excavation surface of the template coincide with each other by using the excavation surface obtained last time as the template, and obtains this time. The coordinates of the excavated surface may be offset by the obtained offset amount.

In addition, each time one excavation work is started, the free-section excavator E is arranged parallel to the tunnel side face at a position separated from the tunnel side face by a predetermined distance, and the boom B is made perpendicular to the cutting face F or travels. Since the excavation start point is located at a position neutral with respect to the body W and the cutter head C is in contact with the cutting face F, the excavation start point in the cutting face F does not greatly shift at each excavation time. The offset amount does not need to be large.

As described above, the excavated surface hardness analysis apparatus 1 according to the present embodiment includes the traveling body W, and the boom B that is attached to the traveling body W so as to be capable of turning in the left-right direction and lifting in the up-down direction. A current sensor 2 that has a cutter head C that is rotatably attached to the tip of the boom B, and that detects a current flowing through a motor M that drives the cutter head C in a free-section excavator E that excavates a face F in a tunnel. , A coordinate detection unit 3 that detects a coordinate with respect to the origin with the excavation start point of the cutter head C as an origin, a current detected by the current sensor 2 when the cutter head C excavates the face F, and coordinates detected by the coordinate detection unit 3. And an analysis unit 4 that obtains the hardness distribution of the excavated surface based on

The excavation surface hardness analyzing apparatus 1 configured as described above monitors the movement of the cutter head C of the free section excavator E from the origin without exchanging the absolute coordinates of the cutter head C in the tunnel coordinate system. By doing so, the position of the cutter head C in the excavated surface can be specified, and the hardness at that position can be obtained. Therefore, according to the excavated surface hardness analyzing apparatus 1 of the present embodiment, the hardness of the excavated surface can be analyzed.

Further, in the excavated surface hardness analyzing apparatus 1 of the present embodiment, the shape of the previously excavated surface grasped by the analyzing unit 4 from the coordinates of the cutter head C obtained at the previous excavation and the coordinates of the cutter head obtained at the present excavation. If there is a deviation from the shape of the currently excavated surface that is grasped from the above, it is determined that the shape of the previously excavated surface is correct, and the shape of the currently excavated surface is offset by the amount of the deviation to obtain the hardness distribution of the excavated surface. According to the excavated surface hardness analyzing apparatus 1 configured as described above, since the offset of the excavated surface is corrected by the offset process, the hardness of the excavated surface can be accurately measured without knowing the absolute coordinates of the cutter head C in the tunnel coordinate system. The distribution can be calculated.

Furthermore, the analysis unit 4 may be installed in an office outside the tunnel. If the analysis unit 4 is installed in an office outside the tunnel in this way, the analysis unit 4, which is a precision instrument that processes coordinates and current, can be managed and operated in an office that is not exposed to vibration or dust. Since it is not necessary to make the portion 4 in consideration of earthquake resistance and dust resistance, the cost of the excavated surface hardness analysis device 1 can be reduced. The analysis unit 4 may be installed in the free-section excavator E.

Further, the excavated surface hardness analysis method according to the present embodiment is provided with a traveling body W, a boom B which is attached to the traveling body W so as to be capable of turning in the left-right direction and vertically rising and falling, and a tip of the boom B. A free-section excavator E having a cutter head C that is rotatably attached to is disposed parallel to a position separated from the side surface of the tunnel by a predetermined distance, and is neutral to the left and right and up and down with respect to the traveling body W, or A positioning step of arranging the boom B in a position perpendicular to the face F of the tunnel, and after the positioning step, excavation of the face F is started to drive the coordinates from the excavation start point of the cutter head C and the cutter head C. A detection step of detecting a current flowing through the motor M and an analysis step of obtaining a hardness distribution of the excavated surface based on the coordinates and the current obtained in the detection step are provided. According to the excavation surface hardness analysis method configured as described above, the excavation start point of the cutter head C of the free section excavator E can be moved from the origin without monitoring the absolute coordinates of the cutter head C in the tunnel coordinate system. By monitoring, the position of the cutter head C in the excavated surface can be specified, and the hardness at that position can be obtained. Therefore, according to the excavated surface hardness analysis method of the present embodiment, the excavated surface hardness can be analyzed.

Further, the excavated surface hardness analysis method of the present embodiment uses the shape of the previously excavated surface grasped from the coordinates of the cutter head C obtained at the previous excavation and the coordinates of the cutter head obtained at the present excavation in the analysis step. When there is a deviation from the shape of the currently excavated surface that is grasped, the shape of the previously excavated surface is regarded as correct, and the shape of the currently excavated surface is offset by the amount of the deviation to obtain the hardness distribution of the excavated surface. According to the excavated surface hardness analysis method configured as described above, since the offset of the excavated surface is corrected by the offset process, the hardness distribution of the excavated surface can be accurately measured without knowing the absolute coordinates of the cutter head C in the tunnel coordinate system. Can be asked.

The preferred embodiments of the present invention have been described above in detail, but modifications, variations, and changes can be made without departing from the scope of the claims.

1... Excavation surface hardness analysis device, 2... Current sensor, 3... Coordinate detection unit, 4... Analysis unit, B... Boom, C... Cutter head, E... Free Cross-section excavator, F... Face, M... Motor, T... Side of tunnel, W... Traveling body

Claims (4)

Faces in a tunnel that have a traveling body, a boom that is attached to the traveling body so as to be capable of turning in the left-right direction and up and down with respect to the traveling body, and a cutter head that is rotatably attached to the tip of the boom. A current sensor that detects a current flowing through a motor that drives the cutter head in a free-section excavator for excavating
A coordinate detection unit that detects the coordinates of the cutter head with respect to the excavation start point,
When excavating a face with the cutter head, an analysis unit for obtaining a hardness distribution of an excavation surface based on the current detected by the current sensor and the coordinates detected by the coordinate detection unit is provided. Excavation surface hardness analyzer. In the case where there is a deviation between the previous excavation surface shape obtained from the coordinates of the cutter head obtained at the previous excavation and the current excavation surface shape obtained from the coordinates of the cutter head obtained at the present excavation. The excavation surface hardness analyzing apparatus according to claim 1, wherein the excavation surface hardness analysis apparatus obtains a hardness distribution of the excavation surface by offsetting the present excavation surface shape by the amount of the deviation, assuming that the previous excavation surface shape is correct. Tunnel free excavator having a traveling body, a boom attached to the traveling body so as to be capable of turning in the left-right direction and vertically moving up and down, and a cutter head rotatably attached to the tip of the boom. Positioning step of arranging the boom parallel to a position separated from the side surface of the vehicle by a predetermined distance, and arranging the boom at a position that is neutral to the left and right and up and down with respect to the traveling body, or a position that is perpendicular to the face of the tunnel. When,
Starting the excavation of the face after the positioning step, a coordinate from the excavation start point of the cutter head, and a detection step of detecting a current flowing through a motor that drives the cutter head,
An excavation surface hardness analysis method, comprising: an analysis step of obtaining a hardness distribution of an excavation surface based on the coordinates obtained in the detection step and the current. In the analysis step, when there is a deviation between the previous excavation surface shape obtained from the coordinates of the cutter head obtained at the previous excavation and the present excavation surface shape obtained from the coordinates of the cutter head obtained at the present excavation. The excavation surface hardness analysis method according to claim 3, wherein the previous excavation surface shape is correct and the present excavation surface shape is offset by the shift amount to obtain the hardness distribution of the excavation surface.

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