JP2520754B2 - Position detection device for shield machine - Google Patents

Description

TECHNICAL FIELD The present invention relates to a position detection device for a shield machine, which detects the relative position of a shield machine that is joined in the ground.

(Prior art) When excavating a tunnel with a conventional shield machine, the shield machine is excavated from the starting shaft toward the reaching shaft, but when the tunnel is drilled on the seabed, many shafts are installed. Therefore, the shield construction method is often used in which the tunnel excavator is excavated from both directions in order to shorten the excavation distance of one shield machine and the shield machine is joined in the middle of the tunnel to penetrate the tunnel. To be

In the shield construction method as described above, unless each shield machine excavates the tunnel accurately along the planned line, it becomes difficult to join the shield machine when the shield machine faces each other in the middle of the tunnel.

For this reason, conventionally, the position of the shield machine is visually measured using a measuring instrument such as a transit from inside the tunnel excavated by the shield machine, or the target provided on the shield machine is irradiated with laser light to advance the shield machine. I was measuring the position of the machine.

(Problems to be solved by the invention) However, in the case where the excavated tunnel is bent by the measurement by the transit etc., it is necessary to have many measurement points, so that it cannot be measured in real time, which is not practical. There is a problem such as.

In addition, even when using a laser beam or the like, if the tunnel is bent, the deviation between the shield machine and the planned line is measured at multiple locations, and the position of the shield machine is calculated based on the obtained values. Since this process is required, it takes time and labor for the measurement, and during this time, the tunnel could not be excavated and the excavation efficiency declined.

In addition, even though both methods can measure the position with respect to the planned line, there is a problem that the relative position of the two facing shield machines cannot be detected.

Also, as in JP-A-61-254793, one of the shield machines (or vertical shafts) is drilled with a boring hole, and a rod with a magnetic sensor is put in this hole to face the cutter surface of the other shield machine. It is also known to detect the mutual position of the magnetic sensors by rotating the cutter head, but the detection result of reception changes due to wear and deformation of the cutter, and the waveform is different depending on the detection distance, and it is different for analysis. There is a problem that it takes time, an error occurs, and only planar position detection is possible.

The present invention has been made to solve the above-mentioned problems, and an object of the present invention is to provide a position detection device for a shield machine which can detect the relative position of the shield machine facing each other in the ground. .

(Means and Actions for Solving the Problems) The present invention has been made to achieve the above object, and the relative positions of the two shield excavators facing each other in the middle of the tunnel are excavated from both directions of the tunnel. Is a measuring device for measuring, one of the machine is provided with a pilot pipe to propel in front of the cutter head, the pilot pipe or the front of the other shield machine, non-contact signal In the case where the receiver and the signal generator are provided, (1) When the tunnel base line and the shield excavator have the same axis, “X
Axial displacement εx, Y-axis displacement εy ”“ Angle θx, θ
It is provided with a calculating means for calculating "y" from the measured values of two points which are different between the above two shield machines using the following formula. Note that a: distance from the tip of the pilot head to the receiving sensor b: distance between the machine axis and the axis of the pilot pipe Δlx: distance between the first detection point and the second detection point X1: X coordinate of the first detection point (detection value) X2: X coordinate of the second detection point (detection value) Further, the deviation εy in the Y-axis direction and the angle θy are x in the above equation.
Is changed to y and the same calculation is performed.

(2) If the tunnel base line and the machine axis of the shield machine are misaligned, the first base line and the second machine axis on the front surface of the trailing shield cutter head will be “deviation εx in the X axis direction, εy in the Y axis direction”. It is provided with a calculating means for calculating the “angle θy, θy” from the measured values at two different points between the above two shield machines using the following formula.

Note "a: Distance from the tip of the pilot head to the receiving sensor b: Distance between the first base line and the pilot pipe driving axis Δlx: Distance between the first detection point and the second detection point X1: X coordinate of the first detection point (Detection value) X2: X coordinate of the second detection point (Detection point) l: Pilot pipe driving distance θ1: Inclination angle between the first base line and the first machine axis θ2: Inclination angle between the second base line and the second machine axis θ3: Inclination angle between the first and second baselines θ4: Inclination angle between the first and second axes d1: Deviation between the first baseline and the first axis in front of the first-arrival shield cutter head d2: Second-arrival shield cutter head Deviation between the 2nd baseline and the 2nd axle on the front surface d3: Deviation between the 1st baseline and the 2nd baseline on the front surface of the trailing shield cutter head d4: Deviation between the 1st axle and the 2nd axle θx: The 1st baseline and the 2nd axle Tilt angle εx: Finally determined in order to detect the offset position between the first base line and the second machine axis on the front surface of the trailing shield cutter head. Logarithmic values, θ3, d3, θ4, and d4.

a is known, and b, θ1, θ2, d1 and d2 are obtained by surveying from each shield side.

 Also, l and Δlx are obtained from the measurement of the driving pilot pipe.

If ΔX = X2-X1 θ3 is θ3 = θx−θ2 θ4 is θ4 = θx−θ1 d3 is d3 = εx−d2 d4 is The deviation εy and the angle θy in the Y-axis direction between the first machine axis and the second machine axis in the post-attached shield cutter head are calculated in the same manner by changing them to x and y in the above formula.

Further, the present invention has a shield machine equipped with a transmitter for applying an AC power to a transmitter coil provided on a shaft orthogonal to each other on the front surface of the cutter head, and a pilot pipe propelled forward from the other shield machine. A receiving sensor including receiving coils provided on axes orthogonal to each other is provided, and the relative position of both shield machines is detected by detecting the magnetic field emitted from the transmitting device by the receiving sensor. It is provided with a position detecting device for a shield machine.

The present invention is constructed as described above, and is a measuring device for measuring the relative position of two shield excavators facing each other in the middle of a tunnel joined in the ground. A pilot pipe with non-contact signal receivers installed at two internal points is propelled toward the shield machine.

Further, a signal generator is provided in front of the cutter head of the other shield machine, and when a magnetic field is generated in front of the front of the cutter head, non-contact signal reception at two points, the first detection point and the second detection point, in the pilot pipe is received. The detector receives the X-coordinate and the Y-coordinate of the first detection point and the second detection point on the front surface of the cutter head of the shield machine equipped with the signal generator, respectively.

The deviation and the angle of the machine axis on the front surface of the cutter head are calculated by a calculation means which calculates from the measured values of two points by a calculation formula.

At this time, when the tunnel base line and the machine axis of the shield machine match, the deviation εx in the X-axis direction and the deviation εy in the Y-axis direction.
And the angles θx and θy are calculated, and when the Dongle base line and the machine axis of the shield machine are misaligned, the deviation between the first base line and the second machine axis on the front surface of the trailing shield cutter head is calculated by Calculate

As described above, by measuring and calculating two points between the facing shield machines, in addition to the planar position detection, the angle is also detected to calculate the relative position of both shield machines, so highly accurate position detection is possible. It is possible, and both shield excavators facing each other can be joined with high accuracy.

Further, in the case where the deviation and angle of both shield excavators are calculated by the respective magnetic sensors for receiving and starting, the relative position of both shield excavators can be calculated easily and in real time with an extremely simple configuration.

Embodiment An embodiment of the present invention will be described in detail with reference to the drawings.

In the figure, 1,1 'is excavated from both directions of the tunnel,
It shows two shield excavators facing each other in the middle of the tunnel, and a cutter head 2 for excavating a front face is provided at the tip.

In addition, a cutter head 2 is provided on the side of the shield machine 1 that arrives first.
A propulsion device 3 is installed at the rear of the shield machine 1 ', and a pilot pipe 5 made of a non-magnetic material such as a stainless steel pipe having a pilot head 4 attached to the tip thereof is attached later by the propulsion device 3. The shield machine 1'on the trailing side is provided with a transmitter 6 in front of the cutter head 2 of the shield machine 1 '.

As shown in FIG. 4, the transmitter 6 is formed by stacking a plurality of transmitter coils 6a, 6b bent in a rectangle along the horizontal axis (X axis) and the vertical axis (Y axis). By applying the magnetic field, a magnetic field is generated in front of the front surface of the cutter head 2 as shown in FIG.

On the other hand, in the pilot head 4 attached to the tip of the pilot pipe 5, two coils 8a, 8b are provided as shown in FIG.
The receiving sensors 8 combined so that their axes are orthogonal to each other are installed at two positions with different phases, and the transmitting coils 6a provided in the X-axis direction and the transmission provided in the Y-axis direction by these receiving sensors 8 It is adapted to receive the magnetic field emitted from the coil 6b.

Next, a shield machine 1,1 'facing the middle of the tunnel
The method for detecting the relative position of the first shield excavator 1 and the second shield excavator 1 ', when they reach the junction and face each other as shown in FIG. The pilot pipe 5 is propelled toward the transmitter 6 of the landing shield machine 1 ′ so as to be parallel to the machine axis (or the tunnel base line) of the first landing machine 1 and the pilot head 4 is brought into contact with the front surface of the cutter head 2. .

In this state, AC power is applied to the transmission coils 6a and 6b of the transmission device 6 while the cutter head 2 is stopped so that the transmission coils 6a and 6b of the transmission device 6 coincide with the X-axis and the Y-axis.
A magnetic field is generated from a and 6b, and this magnetic field is detected by the reception sensor 8 provided in the pilot head 4 at two points, that is, the detection point 1 and the detection point 2 shown in FIG.

Assuming that the tunnel base line and the shield machine's machine axes are now the same, when detecting the displacement and angle in the X-axis direction of the shield machine 1, 1'of each other, the cutter of the latter shield machine 1'is detected. The displacement εx and the angle θx of the machine axis on the front surface of the head 2 are Note that a: the distance from the tip of the pilot head 4 to the receiving sensor 8 b: the distance between the machine axis and the axis of the pilot pipe 5 Δlx: the distance between the detection points 1 and 2 X1: the X coordinate of the detection point 1 (detection value) X2: X coordinate of detection point 2 (detection value) Similarly, by detecting the deviation in the Y-axis direction and detecting the deviation of the machine axes of both shield excavators 1 and 1'three-dimensionally, both shield excavator 1 The relative positional relationship of 1'can be calculated.

The above is the position detection when the axis of the shield machine 1 ′ and the tunnel base line are coincident. As shown in FIG. 7, the machine axes I and II of the shield machine 1 and 1 and the base lines I and II are If there is a deviation, the position is detected as follows.

a: Distance from tip of pilot head to receiving sensor b: Distance between baseline I and pilot pipe setting axis Δlx: Distance between detection points 1 and 2 X1: X coordinate of detection point 1 (detection value) X2: Detection point 2 X coordinate (detection value) l: Pilot pipe driving distance θ1: Inclination angle between base line I and machine axis I θ2: Inclination angle between base line II and machine axis II θ3: Inclination angle between base line I and base line II θ4: Machine axis Inclination angle between I and machine axis II d1: Deviation between baseline I and machine axis I in front of first-arrival shield cutter head d2: Difference between baseline II and machine axis II in front of second-arrival shield cutter head d3: Baseline I in front of second-arrival shield cutter head And the deviation of the baseline II d4: The deviation of the axes I and II θx: The tilt angle between the baseline I and the axis II εx: The deviation of the baseline I and the axis II on the front face of the trailing shield cutter head The numerical value is θ3, d3,
Let θ4 and d4.

a is known, and b, θ1, θ2, d1 and d2 are obtained by surveying from each shield side.

 Also, l and Δlx are obtained from the measurement of the driving pilot pipe.

In FIG. 7, assuming ΔX = X2-X1 θ3 is θ3 = θx−θ2 θ4 is θ4 = θx−θ1 d3 is d3 = εx−d2 d4 is (Effects of the Invention) As described in detail above, according to the present invention, when excavation is started from both directions of a tunnel and two shield excavators face each other in the middle of the tunnel, one shield excavator is shielded from the other shield excavator. Propel the pilot pipe toward the excavator,
The relative position of both shield machines is detected by receiving the magnetic field generated by the transmitter installed in the other shield machine by the receiving sensor installed in the pilot pipe, and detects the position on a plane. Of course, it is also possible to detect the relative deviation (angle deviation) of the shield machines, and by performing the corrective excavation according to the relative position of both shield machines, both shield machines are accurate in the ground. It can be joined well.

As described above, according to the present invention, the relative positions of the two shield machines can be calculated easily and in real time even by curve excavation with a simple configuration, and highly accurate position detection is possible.

[Brief description of drawings]

The drawings show an embodiment of the present invention. Fig. 1 is a sectional view of a shield machine facing each other, Fig. 2 is a front view of one shield machine, and Fig. 3 is a perspective view of a receiving sensor in a pilot head. , FIG. 4 is an enlarged view of the transmission coil, and FIGS. 5, 6, and 7 are operation explanatory views. 1,1 '... Shield machine 5 ... Pilot pipe, 6 ... Transmission device 8 ... Reception sensor

Claims (3)

(57) [Claims] 1. A measuring device for excavating from both directions of a tunnel to measure the relative position of two shield excavators facing each other in the middle of the tunnel. One of the excavators is propelled in front of a cutter head. There is a pilot pipe going on,
In the case where a non-contact signal receiver and a signal generator are provided on the front surface of the pilot pipe or the other shield machine, respectively, when the tunnel base line and the machine axis of the shield machine coincide, The “deviation εx in the X-axis direction, the deviation εy in the Y-axis direction” and the “angles θx, θy” of the shield machines are different between the two shield machines.
A position detecting device for a shield machine having a calculation means for calculating the measured value of a point using the following formula. Record Note that a: distance from the tip of the pilot head to the receiving sensor b: distance between the machine axis and the axis of the pilot pipe Δlx: distance between the first detection point and the second detection point X1: X coordinate of the first detection point (detection value) X2: X coordinate of the second detection point (detection value) The deviation εy and the angle θy in the Y-axis direction are calculated in the same manner by changing the above expression x to y. 2. A measuring device for excavating from both directions of a tunnel and measuring the relative position of two shield excavators facing each other in the middle of the tunnel, wherein one excavator is propelled in front of the cutter head. There is a pilot pipe going on,
In the case where a non-contact signal receiver and a signal generator are provided on the front surface of the pilot pipe or the other shield machine, respectively, when the tunnel base line and the machine axis of the shield machine are misaligned, the rear shield cutter head front surface The first base line and the second machine axis of the “shift in the X-axis direction εx, the shift in the Y-axis direction εy” and the “angles θx, θy” in the two shield excavators are measured from the following two measured values. A position detecting device for a shield machine, which is provided with a calculating unit that calculates using the formula. Note "a: Distance from the tip of the pilot head to the receiving sensor b: Distance between the first base line and the pilot pipe driving axis Δlx: Distance between the first detection point and the second detection point X1: X coordinate of the first detection point X2 : X coordinate of the second detection point l: Pilot pipe driving distance θ1: Tilt angle between the first base line and the first machine axis θ2: Tilt angle between the second base line and the second machine axis θ3: First base line and the second machine axis Angle of inclination θ4: Angle of inclination between the first and second axes d1: Deviation between the first baseline and the first axis in front of the first-arrival shield cutter head d2: Second baseline and the second axis in front of the second-arrival shield cutter head Deviation of d3: Rear Shield Cutter Head Front and Second Baseline Deviation on Head Front d4: Deviation of 1st and 2nd Axis θx: Tilt angle between 1st Baseline and 2nd Axis εx: Rear Shield Cutter The final desired numerical value for detecting the displacement position of the first base line and the second axis in the X-axis direction on the front surface of the head 3, d3, θ4, d4 a is known, b, θ1, θ2, d1, d2 are measured by each shield side, and l, Δlx are measured by the measured pilot pipe ΔX = X2 -X1 θ3 is θ3 = θx−θ2 θ4 is θ4 = θx−θ1 d3 is d3 = εx−d2 d4 is The deviation εy and the angle θy in the Y-axis direction between the first axis and the second axis on the front surface of the trailing shield cutter head are calculated in the same manner by changing x in the above equation to y. 3. A measuring device for excavating from both directions of a tunnel and measuring the relative position of two shield excavators facing each other in the middle of the tunnel, wherein one excavator is propelled in front of the cutter head. A pilot pipe is provided, and a non-contact signal receiver and a signal generator are provided on the front face of the pilot pipe or the other shield machine, respectively. A transmitter which applies an alternating current to the transmitter coil provided on the front side of the cutter head, and a receiver sensor composed of receiver coils provided on axes orthogonal to each other in a pilot pipe propelled forward from the other shield machine Is provided, and the relative position of both shield excavators is detected by detecting the magnetic field emitted from the transmitter with the reception sensor. Position detecting device of the shield machine according to.