JP2021042585A - Shield excavator excavation direction adjustment method and shield excavator direction control system - Google Patents

Abstract

To provide a shield excavator excavation direction adjustment method which enables the shield excavator to be excavated along a planned alignment based on a construction plan.SOLUTION: The present invention is a method of adjusting the excavation direction of a shield excavator in order to make the shield excavator excavate so as to follow a progress target value specified for each predetermined excavation direction section. A plurality of verification points is set in the excavation direction section, and the shield excavator is excavated while controlling the excavation direction based on the progress target value. Every time it reaches the verification point, a verification point actual value, which is a stroke difference related to the shield excavator, is measured. When the measured verification point actual value does not satisfy a progress target theoretical value calculated based on the progress target value at the verification point, the stroke difference of the progress target value is adjusted based on the verification point actual value. The shield excavator is excavated while controlling the excavation direction based on the adjusted target progress value.SELECTED DRAWING: Figure 5

Description

The present invention relates to a method for adjusting the excavation direction of a shield excavator and a direction control system for the shield excavator for controlling the excavation direction of the shield excavator.

Conventionally, shield boring machines have been realized to automatically control the direction of excavation using a computer, and various systems are being studied in order to proceed with work with a high excavation system.

For example, Patent Document 1 discloses a direction control system for a shield excavator that controls the excavation direction of the shield excavator by using the action point of the jack thrust acting on the shield excavator.

Specifically, first, in front view of the shield excavator, the difference in the amount of expansion and contraction of the shield jacks located at the left and right ends is set as the stroke difference, and the inclination angle of the shield excavator in the upper and lower ends directions is set as the pitching angle, and a predetermined section is set. Measure the current stroke difference and pitching angle in the shield excavator that has been dug and stopped. On the other hand, the on-site staff sets a progress target value for digging the shield boring machine along the planned alignment for the digging work of the next predetermined section.

Based on the target value of travel, the current stroke difference and pitching angle, and the results of regression analysis based on actual results, the direction control system has a suitable jack thrust for digging the shield digger along the planned alignment in the next digging work. Set the recommended force point recommended as the action point. The operator of the shield boring machine determines the optimum target force point in consideration of the performance and ground condition of the shield excavator while referring to this recommended point of effort, and inputs this to the control device of the shield excavator.

Then, if the control device of the shield excavator is equipped with the automatic control function of the shield jack, the shield excavator only restarts the excavation work, and the actual point of the jack thrust acting on the shield excavator in operation is The operation is automatically controlled so as to follow the target point of effort.

On the other hand, if the automatic control function of the shield jack is not installed, the direction control system selects the jack pattern whose acting force point is closest to the target force point determined by the operator from the jack pattern table stored in the direction control system. Alternatively, the operator himself selects it as appropriate. Then, the operator uses the selected jack pattern to operate the shield excavator so that the actual point of the jack thrust acting on the shield excavator during operation follows the target force point.

Japanese Unexamined Patent Publication No. 2019-82003

In tunnel construction, in general, for the planned excavation range to be carried out within a predetermined working time, after preparing an excavation instruction that defines the progress target value for each distance corresponding to the total width of one ring in which the segments are assembled in a ring shape. , The excavation work by the shield excavator is performed based on this progress target value. Therefore, if the actual value at the point where the distance corresponding to the total width of one ring is dug does not match the progress target value, the progress target value is adjusted for the next excavation and the excavation direction is corrected. Then, repeat the procedure for carrying out the subsequent excavation work, and excavate the planned excavation range so as to satisfy the excavation instructions. However, since Patent Document 1 does not have a function of adjusting such a progress target value, a situation in which the excavation instruction is not satisfied at the time when the excavation schedule range in which the excavation instruction is created is completed. May occur.

Further, in Patent Document 1, is the shield excavator excavating in the excavation direction corresponding to the excavation instruction in the middle stage of excavating the distance corresponding to the total width of one ring in which the segments are assembled in a ring shape? It does not have a configuration for confirming whether or not it is performed. Therefore, after digging a distance corresponding to the total width of one ring, it may be found that the actual value does not match the progress target value.

The present invention has been made in view of such a problem, and a main object thereof is a method for adjusting the excavation direction of a shield excavator, which enables the shield excavator to be excavated along a planned alignment based on a construction plan. It provides a direction control system for shield boring machines.

In order to achieve such an object, the method of adjusting the digging direction of the shield digging machine of the present invention is to dig the shield digging machine so as to follow the progress target value specified for each predetermined digging direction section. It is a method of adjusting the excavation direction of the machine, in which a plurality of verification points are provided in the excavation direction section, the shield excavator is excavated while controlling the excavation direction based on the progress target value, and the verification point is reached. Each time, the verification point actual value, which is the stroke difference related to the shield excavator, is measured, and the measured verification point actual value does not satisfy the progress target theoretical value calculated based on the progress target value at the verification point. In this case, the shield excavator is digged while adjusting the stroke difference of the progress target value based on the actual value of the verification point and controlling the digging direction based on the adjusted target progress value. ..

According to the method for adjusting the digging direction of the shield digger of the present invention described above, a plurality of verification points are provided in the digging direction section, and each time the shield digger passes the verification point, the posture of the shield digger and the posture of the shield digger are increased by the stroke difference. It is possible to confirm the digging direction and adjust the progress target value as necessary to correct the digging direction. As a result, the shield boring machine can be made to smoothly follow the advance target value specified in advance for each section of the excavation direction, and the accuracy when excavating the shield boring machine along the planned alignment based on the construction plan is greatly improved. It becomes possible to improve.

In the method of adjusting the excavation direction of the shield excavator of the present invention, each time the shield excavator excavates the excavation direction section, the section end point actual value which is the stroke difference related to the shield excavator and the section end point actual value When the cumulative total of actual values, which is the cumulative value of, does not satisfy the cumulative total of target values, which is the cumulative value of the progress target values specified for each section of the excavation direction excavated in advance. , Based on the cumulative total of the actual values, the stroke difference of the progress target value defined in the excavation direction section to be dug backward is adjusted, and the excavation direction is adjusted based on the adjusted progress target value. It is characterized in that the shield excavator is excavated while being controlled.

According to the method of adjusting the excavation direction of the shield excavator of the present invention, the posture and excavation direction of the shield excavator are confirmed by the stroke difference each time the excavation direction section is excavated, and if necessary, the next excavation direction section is confirmed. It is possible to perform excavation work by adjusting the progress target value when excavating. As a result, for example, when the excavation instruction sheet specifies the progress target values for each of a plurality of excavation direction sections in the planned excavation range, each time the excavation direction section is excavated, the deviation due to the preceding excavation is caused by the subsequent excavation. The digging direction can be modified to offset with. Therefore, it is possible to dig the shield boring machine so as to satisfy the digging instruction when the digging of the entire planned digging range is completed.

The direction control system of the shield excavator of the present invention is a direction control system of the shield excavator for digging the shield excavator by following the progress target value specified for each predetermined excavation direction section. The excavation management / linear management device for monitoring the operating status of the shield excavator and the direction control device connected to the excavation management / linear management device are provided, and the excavation management / linear management device is at least the said. Each time the shield machine reaches a plurality of verification points set in the excavation direction section, the direction control device has a function of measuring and recording a verification point actual value which is a stroke difference related to the shield excavator. , The verification point comparison unit that compares the actual value of the verification point with the theoretical value of the progress target calculated based on the target value of progress at the verification point, and the stroke of the target value of progress based on the actual value of the verification point. It is characterized by including a verification point adjusting unit for adjusting the difference.

Further, in the direction control system of the shield excavator of the present invention, the section end point which is the stroke difference related to the shield excavator each time the shield excavator excavates the excavation direction section by the excavation management / linear management device. It has a function to measure and record the actual value and the accumulated actual value which is the accumulated value of the end point of the section, and the direction control device is provided for each of the accumulated actual value and the previously excavated excavation direction section. The section end point comparison unit that compares the accumulated target value, which is the accumulated value of the specified progress target value, and the section specified in the excavation direction section that digs backward based on the accumulated actual value. It is characterized by including a section end point adjusting unit for adjusting the stroke difference of the progress target value.

According to the direction control system of the shield excavator of the present invention, the attitude and the excavation direction of the shield excavator are confirmed every time the shield excavator passes the verification point in the verification point comparison unit, and the process proceeds in the verification point adjustment unit. The target value can be adjusted to correct the excavation direction. In addition, the section end point comparison section confirms the posture of the shield boring machine each time a section is dug in multiple excavation direction sections, and the section end point adjustment section adjusts the progress target value when excavating the next excavation direction section. Can be done. As a result, it is possible to correct the digging direction at an appropriate timing during digging, and it is possible to perform highly accurate direction control by the directional control system.

According to the present invention, it is possible to appropriately adjust the progress target value every time the section in the excavation direction is excavated and at each of a plurality of verification points provided in the excavation direction to appropriately correct the traveling direction, and shield excavation. It is possible to greatly improve the accuracy when digging the machine along the planned alignment based on the construction plan.

It is a figure which shows the shield excavator and the direction control system in embodiment of this invention. It is a figure which shows the shield jack and the jack pattern in embodiment of this invention. It is a figure which shows the deviation amount with respect to the planned alignment of the shield excavator in embodiment of this invention. It is a figure which shows the structure of the direction control device in embodiment of this invention. It is a figure which shows the selection screen on the operation panel of the shield control device in embodiment of this invention. It is a flow chart of the excavation direction adjustment method in the 1st stage (in the excavation direction section) in embodiment of this invention. It is a figure which shows the adjustment example of the progress target value in the excavation direction section in embodiment of this invention. It is a flow chart of the excavation direction adjustment method of the 2nd stage (each excavation of the excavation direction section) in embodiment of this invention. It is a figure which shows the example of the excavation instruction in embodiment of this invention. It is a figure which shows the adjustment example of the progress target value for every excavation direction section in embodiment of this invention.

In the method of adjusting the digging direction of the shield excavator of the present invention, the followability of the shield excavator to the progress target value is confirmed at an appropriate stage during digging, and the progress target value is adjusted as necessary to correct the digging direction. It is a thing.

The details of the method of adjusting the digging direction of the shield digger and the direction control system of the shield digger of the present invention will be described below with reference to FIGS. 1 to 10, but prior to this, the shield digger 10 and the jack thrust will be described. The action point P, the excavation instruction, and the progress target value will be described.

As shown in the side view of FIG. 1 (a) and the front view of FIG. 1 (b), the shield excavator 10 includes a tubular outer shell 11 having a cutter disc 25 on the tip surface and an outer shell 11. A plurality of shield jacks 14 provided in the circumferential direction along the inner peripheral surface of the above, and a shield control device 15 composed of a computer mounted inside the outer shell 11 and executing drive control of the shield excavator 10. I have.

The shield jacks 14 are arranged symmetrically, and a reaction force for excavation is obtained from a lining body covering the inner wall surface of the tunnel 12 formed by assembling the segments 3 inside the outer shell body 11. As a result, the shield excavator 10 sequentially excavates the ground by repeating the operation of extending the shield jack 14 by using the segment 13 constituting the lining body as the excavation reaction force while rotating the cutter disc 25. To go. Further, the excavation direction of the shield excavator 10 is controlled by the position of the action point P of the jack thrust acting on the shield excavator 10 by the plurality of shield jacks 14.

As shown in FIG. 2A, the acting force point P is one in which a high jack pressure is set to contribute to the excavation of the shield excavator 10 among the plurality of shield jacks 14, and a tuning pressure that does not contribute to the excavation. The approximate position is determined by the arrangement (jack pattern) with the one to which is set. Therefore, by appropriately combining these arrangements, the arrangement position at the action point P of the jack thrust acting on the shield excavator 10 is changed, and the shield excavator 10 is excavated in a desired excavation direction.

In order to carry out tunnel construction using the shield excavator 10 having the above-mentioned structure, first, the on-site staff excavates the planned excavation range during the next working hours, for example, for each shift (day shift, night shift). For the work, as shown in FIGS. 3A and 3B, an excavation instruction sheet for excavating the shield excavator 10 along the planned linear L based on the construction plan is created.

In the excavation instruction sheet, the planned excavation range is divided into a plurality of excavation direction sections, and the stroke difference and the pitching angle advance target value are specified for each of the divided excavation direction sections. For example, in the excavation instruction shown in FIG. 9, the planned excavation range is divided into five sections, and the progress target value, which is the target value for realizing the construction plan, is defined for each section.

As shown in FIG. 1B, the stroke difference is the amount of rotation of the shield excavator 10 in the horizontal direction in the horizontal direction, and the pitching angle is the shield located at the upper and lower ends of the plurality of shield jacks 14. It is calculated from the stroke difference of the jack 14 or measured by the measuring device equipped on the shield excavator 10.

When the excavation instruction is created, the shield excavator 10 controls the excavation direction of the shield excavator 10 by using the direction control system 100 so that the shield excavator 10 follows the progress target value specified in the excavation instruction. The excavator 10 is excavated. The outline of the direction control system 100, the procedure for controlling the excavation direction of the shield excavator 10 using the direction control system 100, and the recommended force point R will be described below.

In order to control the digging direction of the shield digging machine 10, first, the recommended digging point P recommended as the acting force point P of the jack thrust suitable for digging the shield digging machine 10 following the progress target value specified in the digging instruction sheet. Calculate R. The recommended force point R is calculated using the direction control system 100 of the shield excavator 10, and the direction control system 100 includes the excavation management / linear management device 20 and this as shown in FIG. 1 (a). It is provided with a direction control device 30 connected to the above.

The excavation management / linear management device 20 collects, calculates, records, and accumulates various data during excavation work obtained from the measuring device equipped on the shield excavator 10, and monitors the operating status of the shield excavator 10. It is a thing. In addition, the position and orientation of the shield excavator 10 and the amount of deviation Dh in the horizontal direction and the amount of deviation Dp in the vertical direction with respect to the planned linear L based on the construction plan as shown in FIGS. , Performs linear management of the shield excavator 10.

When the shield excavator 10 is equipped with an automatic survey function as a measuring device equipped in the shield excavator 10, at least the laser oscillator 16 and the light wave rangefinder 17 are shown in FIG. 1 (a). And a laser target 18 is equipped. If the automatic surveying function is not provided, the position of the shield excavator 10 is calculated by using a gyro and a stroke meter in the horizontal direction and a water level meter and a pitching meter in the vertical direction.

As shown in FIG. 4, the direction control device 30 includes an input device 31, an output device 32, a central processing unit 33, a file device 34, and a main memory 35. The input device 31 is, for example, a keyboard, a scanner, a switch, etc., and the output device 32 is a display, a printer, or the like. The central arithmetic processing unit 33 is a computer having a CPU, GPU, ROM, RAM, a hardware interface, and the like.

The file device 34 is a storage device composed of a semiconductor memory, a hard disk drive, or the like, and details will be described later, but at least a survey file 341, a verification point adjustment file 342, a section end point adjustment file 343, and a recommended power point setting file. 344 and the like are stored. The main memory 35 temporarily stores programs and data that can be executed by the central processing unit 33, and at least the recommended power point setting unit 351 and the verification point comparison unit 352, the verification point adjustment unit 353, and the section end point comparison. A section 354 and a section end point adjusting section 355 are provided.

By the above-mentioned direction control system 100, the central processing unit 33 of the direction control device 30 receives a command from the recommended force point setting unit 351 stored in the main memory 35, and the shield stored in the survey file 341 of the file device 34. Information on the horizontal deviation amount Dh and the vertical deviation amount Dp with respect to the planned linear L of the excavator 10, the information stored in the recommended force point setting file 344, and the progress target specified in the excavation instruction. The recommended emphasis point R is calculated based on the value.

Details of the method for determining the recommended force point R are given in JP-A-2019-82003.

Then, as shown in FIG. 1A, the direction control device 30 having the above-described configuration is provided inside the shield excavator 10 via the multiplex transmission device master station 21 and the multiplex transmission device slave station 22. It is connected to the shield control device 15. Therefore, the recommended force point R calculated by the recommended force point setting unit 351 of the direction control device 30 is input to the shield control device 15 via the multiplex transmission device master station 21, and as shown in FIG. 5, the shield control device It is displayed on the selection screen 151 on the operation panel of 15.

The operator of the shield excavator 10 refers to the recommended thrust point R displayed on the selection screen 151 on the operation panel of the shield control device 15, and takes into consideration the performance, ground condition, past experience, etc. of the shield excavator 10. Determine the target force point G of the jack thrust. When this is input to the shield control device 15, if the shield control device 15 is equipped with the automatic control function of the shield jack 14, only the digging work of the shield digging machine 10 is restarted, and the shield digging machine in operation is operated. The actual force point E of the jack thrust acting on 10 is automatically controlled so as to follow the target force point G.

If the automatic control function of the shield jack is not installed, the jack whose acting force point P is closest to the target force point determined by the operator from the jack pattern table (not shown) stored in the direction control system 100. The pattern is appropriately selected by the operator of the shield excavator 10. Then, the operator uses the selected jack pattern to operate the shield excavator 10 so that the actual point E of the jack thrust acting on the shield excavator 10 during operation follows the target force point G.

The control of the excavation direction of the shield excavator 10 by the above procedure is repeated every time the excavation direction section is excavated, and the recommended force point R is calculated based on the progress target value of the excavation direction section to be excavated next. While using this, the next section in the direction of excavation is excavated.

≪How to adjust the digging direction of the shield boring machine≫
Therefore, in the method of adjusting the digging direction of the shield digging machine 10, every time the section in the digging direction is reached before calculating the recommended force point R, the followability to the progress target value specified in the digging instruction of the shield digging machine 10 is confirmed. To do. Then, when it is determined that there is a problem in followability, the progress target value of the next excavation direction section is adjusted, and the recommended force point R is calculated using the adjusted progress target value. As a result, the recommended force point R is used to correct the excavation direction of the next excavation direction section, and even if the excavation direction of the shield excavator 10 is deviated from the planned linear L in the preceding excavation, this is postponed. It is possible to offset by excavation of the excavation direction section of the row.

In addition, in the middle of reaching the excavation direction section, the followability of the shield excavator 10 to the progress target value is confirmed, and if it is determined that there is a problem in the followability, the current progress is made to improve the followability. The target value is adjusted, and the recommended effort point R is calculated using the adjusted progress target value. As a result, the recommended force point R is used to correct the excavation direction during excavation in the current excavation direction section, and to improve the followability of the shield excavator 10 in the excavation direction section with respect to the advance target value.

Below, regarding the method of adjusting the excavation direction of the shield excavator, as the method of adjusting the excavation direction in the first stage, the method of adjusting in the middle stage until reaching the excavation direction section is controlled according to the flow diagram of FIG. This will be described together with the details of the system 100. In the present embodiment, a case where the excavation direction section corresponds to one ring when the segment 13 is assembled in a ring shape is taken as an example, and the width of the excavation direction section (the length in the excavation direction) corresponds to the entire segment width. It is supposed to be done.

≪How to adjust the excavation direction in the first stage≫
<STEP1>
First, as shown in FIG. 7, a verification point is provided in the excavation direction section as a preparatory step. In the present embodiment, the excavation direction section is divided into four at equal intervals in the excavation direction, and four points including the end point of the excavation direction section are set as verification points. In addition, the progress target value (stroke difference; left + 8 mm) when digging the excavation direction section was divided by the distance of the excavation direction section (segment 13 total width), and the cumulative value for each verification point (division by the width of the excavation direction section). The progress target value is calculated as the cumulative value for each progress in the digging direction), and this is set as the progress target theoretical value (stroke difference). Hereinafter, the progress target value and the progress target theoretical value refer to the stroke difference.

When this is input to the direction control device 30 via the input device 31 of the direction control system 100, the theoretical progress target value at each of the four verification points is verified by the file device 34 together with the progress target value of the current excavation direction section. It is stored and stored in the point adjustment file 342. Further, the verification point adjustment file 342 stores the distance of the excavation direction section (the total width of the segment 13) and the distances of each of the four verification points from the start point of the excavation direction section.

<STEP2>
The recommended force point R of the jack thrust is calculated based on the progress target value (stroke difference; left + 8 mm) of the current excavation direction section by the above-mentioned method using the direction control device 30. Since the recommended force point R is displayed on the selection screen 151 on the operation panel of the shield control device 15 as shown in FIG. 5, the operator of the shield excavator 10 can refer to the recommended force point R of the shield excavator. The target force point G is determined in consideration of the performance and the ground condition. Further, a jack pattern having an acting force point P closest to the target force point G is selected.

<STEP3>
After that, the shield excavator 10 is operated using the selected jack pattern, and the shield excavation is performed by the shield control device 15 so that the ability point E acting on the shield excavator 10 follows the target force point G determined by the operator. While controlling the machine 10, excavate the current excavation direction section.

While excavating the section in the excavation direction with the shield excavator 10, the recommended emphasis points such as the position and orientation of the shield excavator 10, the amount of deviation Dh in the horizontal direction and the amount of deviation Dp in the vertical direction with respect to the planned linear L based on the construction plan, etc. Each data such as information necessary for setting R is recorded in the excavation management / linear management device 20 each time it is measured or calculated using the above-mentioned measuring device equipped in the shield excavator 10. At the same time, it is transmitted to the direction control device 30 and stored / stored in the survey file 341 of the file device 34 or the recommended force point setting file 344.

When the shield excavator 10 reaches the verification point 1, at least the stroke difference of the shield excavator 10 at the verification point 1 is calculated by the excavation management / linear management device 20, and this is recorded as the verification point actual value. Further, the calculated verification point actual value is transmitted from the excavation management / linear management device 20 to the direction control device 30, and is stored and accumulated in the verification point adjustment file 342 of the file device 34.

<STEP4>
When the actual value of the verification point is input to the direction control device 30, the central processing unit 33 receives a command from the verification point comparison unit 352 stored in the main memory 35, and the verification point adjustment file 342 of the file device 34 receives a command. The stored progress target theoretical value of the verification point 1 and the actual value of the verification point are compared to calculate the difference between the two, and this difference is stored in the verification point adjustment file 342 of the file device 34.

<STEP5>
When the difference between the two is calculated, the central processing unit 33 receives a command from the verification point adjustment unit 353 stored in the main memory 35, and is stored in the verification point adjustment file 342 of the file device 34. Using the distance of the direction section, the progress target value, the distance from the start point of the excavation direction section to the verification point 1, and the actual value of the verification point, the progress target specified in the current excavation direction section by the calculation formula (1). Calculate the adjusted value by adjusting the value.

Adjustment value = (Progress target value-Actual value of verification point) ×
(Distance of excavation direction section / (Distance of excavation direction section-distance excavated))-(1)

When the adjustment value of the progress target value is calculated in this way, the process returns to <STEP2>, and the central processing unit 33 receives a command from the verification point comparison unit 352 stored in the main memory 35 to adjust the progress target value. The adjusted value is stored in the verification point adjustment file 342 of the file device 34. Further, in response to a command from the recommended power point setting unit 351 stored in the main memory 35, the adjustment value adjusted for the progress target value and the data stored in the recommended power point setting file 344 of the file device 34 are used. , Calculate the recommended force point R for excavating the shield excavator 10 toward the verification point 2.

Then, the operator of the shield excavator 10 determines the target force point G for digging the shield excavator 10 toward the verification point 2 by the above-mentioned procedure with reference to the recommended force point R, and sets the target force point G as the target force point G. The jack pattern having the closest action point P is selected. After that, the shield excavator 10 is operated using the selected jack pattern, and excavation toward the verification point 2 is started.

On the other hand, if the difference between the two is 0, or if the actual value at the verification point is a difference that satisfies the theoretical progress target value at the verification point 1, the progress target value is not adjusted and the shield excavator remains as it is. 10 is put into operation and excavation toward the verification point 2 is started.

As described above, the work according to <STEP2> to <STEP5> is repeated until the four verification points are excavated.

For example, in the excavation direction section shown in FIG. 2, the first verification after starting excavation with the target force point G and the jack pattern determined with reference to the recommended force point R calculated by the progress target value (left + 8 mm) of the excavation direction section. At point 1, the difference between the theoretical value of the progress target and the actual value of the verification point was 0, so the excavation work by the shield excavator 10 is continued as it is without adjusting the progress target value.

Then, when the verification point 2 was reached, the theoretical value of the progress target and the actual value of the verification point were compared. Since the difference between the two was insufficient by +1 mm on the left, the target value (left + 8 mm) was set to the above (1). The adjustment value is calculated by adjusting based on the formula. The adjusted progress target value is left + 10 mm = ((left + 8) − (left + 3)) × (1400/700).

Next, as a result of digging from the verification point 2 to the verification point 3 according to the target force point G and the jack pattern determined with reference to the recommended force point R calculated by the progress target value (left +10 mm), the verification point 3 is reached. The difference between the theoretical value of the progress target and the actual value of the verification point is + 2 mm excessive on the left. Therefore, the initial progress target value (left + 8 mm) is adjusted, but when the adjustment value is calculated based on the above equation (1), the actual value at the verification point is the same as the initial progress target value, so after adjustment. The progress target value of is ± 0 mm.

Therefore, as a result of digging from the verification point 3 to the verification point 4 according to the target force point G and the jack pattern determined with reference to the recommended force point R calculated by the progress target value (± 0 mm), the progress is made at the verification point 3. The difference between the target theoretical value and the actual value at the verification point was ± 0. In this way, in the excavation direction section shown in FIG. 2, when the verification point 4 which is the end point of the excavation direction section is reached, the result satisfying the progress target value specified in the excavation instruction sheet was obtained.

As described above, a plurality of verification points are provided in the excavation direction section, and each time the shield excavator 10 passes the verification point, the attitude and excavation of the shield excavator 10 are compared with the theoretical value of the progress target and the actual value of the verification point. While confirming the direction, if the progress target value is not satisfied, the excavation direction can be corrected by using the recommended force point R calculated by adjusting the progress target value. As a result, the shield excavator 10 can be smoothly followed with the advance target value defined in advance for each excavation direction section, and when the shield excavator 10 is excavated along the planned linear L based on the construction plan. It is possible to greatly improve the accuracy.

≪How to adjust the excavation direction in the second stage≫
Next, regarding the method of adjusting the digging direction of the shield digging machine 10, as a method of adjusting the digging direction in the second stage, a method of adjusting each time the shield digging machine 10 reaches a plurality of digging direction sections is shown in the flow chart of FIG. This will be described together with the details of the direction control system 100.

In the present embodiment, as shown in FIG. 9, the planned excavation range to be carried out during the working hours of one-sided work (day shift, night shift) is divided into five sections, and the progress target value is defined for each section. An example is given in the case of adjusting the progress target value and correcting the progress direction so as to satisfy the excavation instruction. Further, as in the case of the excavation direction adjustment method in the first stage, the case where the excavation direction section corresponds to one ring when the segment 13 is assembled in a ring shape is taken as an example, and the width of the excavation direction section (the length of the excavation direction). S) corresponds to the entire width of the segment.

<STEP1>
First, as shown in FIG. 10, as a preparatory step, based on the progress target value of each of the five sections specified in the excavation instruction, the cumulative value for each of the five sections (the progress target value for each excavation direction section is excavated. The accumulated value (accumulated value) is calculated each time the direction is advanced, and this is set as the accumulated target value (stroke difference). After that, the progress target value and the cumulative target value refer to the stroke difference.

When this is input to the direction control device 30 via the input device 31 of the direction control system 100, the cumulative target value in each of the five sections is the progress target value of each of the five sections, and the section end point adjustment file 343 of the file device 34. Stored and stored in.

<STEP2>
On the other hand, when the shield excavator 10 finishes excavating the excavation direction section, the excavation work is temporarily stopped, and the excavation management / linear management device 20 at least determines the stroke difference of the shield excavator 10 at the end point of the excavation direction section. Calculate and use this as the actual value, and calculate and record the accumulated actual value. In the first section, the actual value and the cumulative actual value are the same. The calculated actual value and the accumulated actual value are transmitted from the excavation management / linear management device 20 to the direction control device 30, and are stored and accumulated in the section end point adjustment file 343 of the file device 34.

Similar to the excavation direction adjustment method in the first stage, while excavating the excavation direction section of the ground with the shield excavator 10, the position and orientation of the shield excavator 10 and other horizontal directions with respect to the planned alignment L based on the construction plan. Each data such as the deviation amount Dh and the deviation amount Dp in the vertical direction and the information necessary for setting the recommended force point R is measured or calculated using the above-mentioned measuring device equipped on the shield excavator 10. It is recorded in the excavation management / linear management device 20. At the same time, it is transmitted to the direction control device 30 and stored / stored in the survey file 341 of the file device 34 or the recommended force point setting file 344.

<STEP3>
When the accumulated actual values are input to the direction control device 30, the central processing unit 33 receives a command from the section end point comparison unit 354 stored in the main memory 35 and stores it in the section end point adjustment file 343 of the file device 34. The difference between the accumulated target value and the accumulated actual value in the first section is calculated, and this difference is stored in the section end point adjustment file 343 of the file device 34.

<STEP4>
When the difference between the two is calculated, the central processing unit 33 receives a command from the section end point adjustment unit 355 stored in the main memory 35, and is stored in the section end point adjustment file 343 of the file device 34. The adjustment value is calculated for the progress target value of the second section by the calculation formula (2) using the progress target value of the section and the accumulated actual value of the first section.

Adjustment value = (Progress target value of the excavation direction section to be dug afterwards)
＋ (Difference between accumulated target value and accumulated actual value in the excavation direction section that was dug earlier) − (2)

<STEP5>
In this way, when the adjustment value adjusted for the progress target value of the second section, which is the section in the excavation direction to be dug afterwards, is calculated, the section end point comparison in which the central processing unit 33 is stored in the main memory 35 is performed. In response to the command of unit 354, the adjustment value adjusted for the progress target value of the second section is stored in the section end point adjustment file 343 of the file device 34. In addition, the adjustment value adjusted for the progress target value in the second section in response to the command of the recommended power point setting unit 351 stored in the main memory 35, and the data stored in the recommended power point setting file 344 of the file device 34. And, the recommended force point R for digging the second section with the shield digger 10 is calculated.

When the recommended force point R in the second section is calculated, the recommended force point R is displayed on the selection screen 151 on the operation panel of the shield control device 15 as shown in FIG. 5 as described above. Therefore, returning to <STEP2>, the operator of the shield excavator 10 determines the target force point G for excavating the second section with the shield excavator 10 by referring to the recommended force point R by the above-mentioned procedure. A jack pattern having an acting force point P closest to the target force point G is selected. After that, the shield excavator 10 is operated using the selected jack pattern, and the excavation of the second section is started.

On the other hand, if the difference between the two is 0, or if the cumulative actual value in the first section is a difference that satisfies the cumulative target value, the progress target value in the second section is not adjusted and the excavation instruction is written. The shield excavator 10 is operated with the described progress target value as it is, and the excavation of the second section is started.

As described above, the work related to <STEP2> to <STEP5> is repeated to dig five sections in the digging direction.

For example, as shown in FIG. 10, when the planned excavation range to be carried out during the working hours of one-sided (day shift, night shift) is 5 sections in the excavation direction section, the progress target value of the first section is first. The first section is dug according to the target force point G and the jack pattern determined with reference to the recommended force point R calculated in (left + 2 mm). Then, at the time when the excavation was completed, the difference between the accumulated target value and the accumulated actual value in the first section was insufficient by +1 mm on the left. ) Adjust based on the formula and calculate the adjustment value. The adjusted progress target value is left + 3 mm = ((left + 2) + (left +1)).

Next, as a result of digging the second section according to the target force point G and the jack pattern determined with reference to the recommended force point R calculated with the progress target value (left + 3 mm), when the second section is completed, the digging is completed. Since the difference between the accumulated target value and the accumulated actual value in the second section was insufficient by +3 mm on the left, the progress target value (+2 mm on the left) in the third category was set based on the above equation (2). Adjust and calculate the adjustment value. The adjusted progress target value is left + 5 mm = ((left + 2) + (left + 3)).

Next, as a result of digging the third section according to the target force point G and the jack pattern determined with reference to the recommended force point R calculated with the progress target value (left + 5 mm), when the third section is completed, the digging is completed. Since the difference between the accumulated target value and the accumulated actual value in the third section was insufficient by +5 mm on the left, the progress target value (+2 mm on the left) in the fourth section was set based on the above equation (2). Adjust and calculate the adjustment value. The adjusted progress target value is left + 7 mm = ((left + 2) + (left + 5)).

Next, as a result of digging the 4th section according to the target force point G and the jack pattern determined with reference to the recommended force point R calculated by the progress target value (left + 7 mm), when the 4th section is completed, the digging is completed. Since the difference between the accumulated target value and the accumulated actual value in the 4th section was insufficient by +4 mm on the left, the progress target value (+2 mm on the left) in the 5th division was set based on the above equation (2). Adjust and calculate the adjustment value. The adjusted progress target value is left + 6 mm = ((left + 2) + (left + 2)).

Then, as a result of digging the 5th section according to the target force point G and the jack pattern determined with reference to the recommended force point R calculated by the progress target value (left + 6 mm), when the 5th section is finished digging, 5 The difference between the cumulative target value and the cumulative actual value in the section was ± 0. In this way, in the planned excavation range shown in FIG. 10, when the fifth section of the excavation direction section, which is the end point of the excavation direction section, has been excavated, the result satisfying the progress target value specified in the excavation instruction sheet was obtained. ..

As described above, every time the section in the excavation direction is excavated, the cumulative target value and the accumulated actual value are compared to confirm the posture and excavation direction of the shield excavator 10, and the accumulated actual value does not satisfy the accumulated target value. The excavation work can be performed by adjusting the progress target value when excavating the next excavation direction section and using the recommended force point R calculated by using the adjusted progress target value.

As a result, in the planned excavation range for which the excavation instruction sheet is created, if the progress target value is specified for each of a plurality of excavation direction sections, each time the excavation direction section is excavated, the deviation due to the preceding excavation is delayed. The digging direction can be modified to offset the row digging. Therefore, it is possible to excavate the shield excavator 10 so as to satisfy the excavation instruction when the excavation of the entire planned excavation range is completed.

According to the direction control system of the shield excavator and the method of adjusting the excavation direction of the shield excavator of the present invention, the excavation direction of the shield excavator 10 can be corrected at an appropriate timing during excavation, and the direction control system 100 can be used. It is possible to perform highly accurate directional control.

The direction control system 100 of the shield excavator of the present invention is not limited to the above embodiment, and various modifications can be made without departing from the gist of the present invention.

For example, in the present embodiment, four verification points are set for the excavation direction section, but the quantity is not limited to this. Further, in the present embodiment, the intervals between the verification points are set at equal intervals, but the verification points may be set at different intervals.

Further, in the present embodiment, the case where the planned excavation range is divided into 5 sections in the excavation direction section is illustrated in the excavation instruction sheet, but the quantity is not limited to this, and the excavation instruction sheet is not limited to this. It may be set appropriately according to the distance of the planned excavation range targeted by.

10 Shield excavator 11 Outer shell 12 Tunnel 13 Segment 14 Shield jack 15 Shield control device 16 Laser oscillator 17 Light wave rangefinder 18 Laser target

20 Excavation management / linear management device 21 Multiplex transmission device Master station 22 Multiplex transmission device Slave station 25 Cutter disk

30 Direction control device 31 Input device 32 Output device 33 Central processing unit 34 File device 341 Survey file 342 Verification point adjustment file 343 Section end point adjustment file 344 Recommended power point setting file 35 Main memory 351 Recommended power point setting unit 352 Verification point Comparison unit 353 Verification point adjustment unit 354 Section end point comparison unit 355 Section end point adjustment unit

100 directional control system

P Action point R Recommended point G Target point E Actual point

Claims (4)

It is a method of adjusting the digging direction of the shield digging machine to make the shield digging machine follow the progress target value specified for each predetermined digging direction section.
Multiple verification points are provided in the excavation direction section.
While controlling the excavation direction based on the progress target value, the shield excavator is excavated, and each time the shield excavator is reached, the verification point actual value which is the stroke difference related to the shield excavator is measured.
When the measured verification point actual value does not satisfy the progress target theoretical value calculated based on the progress target value at the verification point.
The stroke difference of the progress target value is adjusted based on the actual value of the verification point.
A method for adjusting the digging direction of a shield digging machine, which comprises digging the shield digging machine while controlling the digging direction based on the adjusted target progress value. In the method for adjusting the excavation direction of the shield excavator according to claim 1,
Each time the shield boring machine excavates the section in the excavation direction, the actual value of the section end point, which is the stroke difference related to the shield boring machine, and the accumulated actual value, which is the cumulative value of the actual end point of the section, are measured.
When the cumulative total of the actual values does not satisfy the cumulative total of the target values, which is the cumulative value of the progress target values specified for each of the excavation direction sections excavated in advance.
Based on the cumulative total of the actual values, the stroke difference of the progress target value defined in the excavation direction section to be dug afterwards is adjusted.
A method for adjusting the digging direction of a shield digging machine, which comprises digging the shield digging machine while controlling the digging direction based on the progress target value of the trailing line after adjustment. It is a direction control system of the shield excavator for making the shield excavator follow the progress target value specified for each predetermined excavation direction section and excavate.
It is provided with a digging management / linear management device for monitoring the operating status of the shield digging machine and a directional control device connected to the digging management / linear management device.
The excavation management / linear management device is
At least, every time the shield machine reaches a plurality of verification points set in the excavation direction section, it has a function of measuring and recording a verification point actual value which is a stroke difference related to the shield excavator.
The direction control device is
A verification point comparison unit that compares the actual value of the verification point with the theoretical value of the progress target calculated based on the progress target value at the verification point.
A verification point adjustment unit that adjusts the stroke difference of the progress target value based on the verification point actual value, and
A directional control system for shield boring machines, characterized by being equipped with. In the direction control system of the shield excavator according to claim 3,
The excavation management / linear management device
Each time the shield boring machine excavates the section in the excavation direction, the actual value of the section end point, which is the stroke difference related to the shield boring machine, and the accumulated actual value, which is the cumulative value of the actual end point of the section, are measured and recorded. Equipped with functions
The direction control device is
A section end point comparison unit that compares the cumulative total of the actual values with the cumulative target value, which is the cumulative value of the progress target values defined for each section in the excavation direction excavated in advance.
A section end point adjusting unit that adjusts the stroke difference of the progress target value defined in the digging direction section to be dug backward based on the accumulated actual value, and a section end point adjusting unit.
A directional control system for shield boring machines, characterized by being equipped with.

Images