JP2766553B2 - Excavation management device of shield excavator - Google Patents

Description

Description: BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a digging management device that collects digging data of a shield digging machine and performs digging control segments such as shield direction control in units of one ring.

[Conventional technology]

Drilling management of shield machines is usually one of the segments
Performed on a ring basis. Therefore, when excavation data collection and excavation control such as shield direction control are performed using a computer, it is important to execute or stop data collection and control in synchronization with the excavation start and end of each ring. It is.

In the conventional excavation management using a computer, an operator judges the start and end of excavation for each ring from the state of each part of the shield excavator, inputs the judgment result to the computer,
Necessary processing on the program was performed for the input. Normally, on a program, data collection and control are executed by input of excavation start, data collection and control are stopped by input of excavation end of one ring, and data for one ring stored in a data buffer in the computer is stored. The measurement data is transferred to an external measurement data file, and processing such as statistical processing is performed.

As for the control target values of the directional control, the values set in the daily route plan are entered in the set value file together with the ring number, and after excavation of one ring, the current key in the set value file is operated by the key operation of the operator. A method of updating a ring number or inputting a control target value or the like from a keyboard for each ring without using a set value file has been adopted.

[Problems to be solved by the invention]

In the above prior art, the excavation management by computer processing cannot be completely automated, which not only puts a burden on the operator, but also makes it impossible to obtain accurate excavation data due to erroneous input or forgotten input, or to perform appropriate excavation control. May be missing.

An object of the present invention is to automate excavation start / end determination for each ring and the associated processing, thereby eliminating the need for manual operation for collection of excavation data and excavation control, and accurate data collection and appropriate control. Is to be able to do it.

[Means for solving the problem]

In order to achieve the above object, a digging management device of the present invention comprises:
As shown in FIG. 1, a sequence controller for directly controlling an excavating actuator such as a cutter driving motor and a shield jack by an operator operation signal from an operation panel and a control signal from a control operation element described later, a jack stroke and a jack operating hydraulic pressure. , Various measuring instruments for measuring data such as shield attitude, a set value file for storing set values such as a ring number, a segment width for each ring, and a control target value, and excavation data for measurement data obtained during excavation. The data buffer to hold as, the measurement data file to store the measurement data up to the last excavation, and the control target value in the set value file and the measurement data of various measuring instruments corresponding thereto are compared and calculated in real time Control operation element for outputting a control signal necessary for direction control and the like, and the sequence controller Based on the input information from various measuring instruments, setting value files and measurement data files, the cutter circuit starts, the shield jack total thrust has reached the required thrust in the digging state based on the total thrust last time digging, and the shield An excavation start judging element for judging the start of excavation when at least three conditions are satisfied that the jack has extended beyond a predetermined stroke determined by the previous excavation stroke and the segment width of the segment ring assembled this time, and a judgment of the excavation start Collection of drilling data according to the results,
And first command means for commanding the execution of the control operation, and that the shield jack has been extended to a predetermined stroke required for the next segment assembly based on input information from the sequence controller, various measuring instruments and a set value file. And an excavation end judging element for judging the end of excavation of one ring when at least two conditions that the pushing operation of the shield jack is stopped and the operation is shifted to the pulling operation are satisfied; And second command means for commanding the stop of the control calculation, the data transfer from the data buffer to the measurement data file, and the update of the current ring number in the set value file. I do.

[Action]

In the above configuration, the digging start determining element determines digging start based on input information from a sequence controller, various measuring instruments, a set value file and a measurement data file, and the digging end determining element is a sequence controller, various measuring instruments. And 1 based on the input information from the setting value file
Determine the end of the ring excavation. In response to commands from the first and second command means based on the respective determination results, the control operation element executes the control operation at the start of excavation and stops the control operation at the end of excavation. In addition, the data buffer captures the measurement data of various measuring instruments at the start of excavation,
At the end of excavation, data acquisition is stopped, and the stored data is transferred to the measurement data file. Further, at the end of the excavation, the current ring number in the setting value file is automatically updated. Therefore, a manual operation is not required for collection of excavation data and excavation control except for the setting value input operation once a day.

〔Example〕

 Hereinafter, embodiments of the present invention will be described with reference to the drawings.

The shield machine 1 shown in FIGS. 2 to 4 is an earth pressure shield, and includes a shield main body 2, a rotary cutter 3, a cutter support bearing 4, a cutter drive motor 5, a shield jack 6, a screw conveyor 7 for earth discharging, and an erector 8. Is mainly composed. 9 is a segment forming the outer wall of the tunnel. Jack stroke meter inside shield machine
Various measuring instruments including an earth pressure gauge 11, an attitude measuring device (inclinometer, gyro compass, etc.) 12 are provided.

FIG. 2 is a view showing a state in which segment assembly for one ring is completed and the digging is about to be started, and a clearance α between the shield jack 6 and the segment 9 is shown.
Exists, and this is an empty pushing stroke before the start of excavation. At this time, the cutter 3 has stopped.

FIG. 3 is a view showing a digging state, in which the cutter 3 is rotating, and the shield jack 6 is also in a state of being stretched by the segment 9 as a reaction force receiving member.

FIG. 4 is a diagram showing a state immediately before the excavation of one ring,
The shield jack 6 extends to a stroke obtained by adding a margin (α = 50 to 100 mm) to the segment width of the segment ring to be assembled next. From this state, the jack pushing operation is stopped, and the jack at a location where a segment assembling space is required is pulled.

A hydraulic circuit diagram of FIG. 5 is shielded jacks, 6 ₁ to 6 _n is shielded jacks, 13 ₁ to 13 _n are used jack selection solenoid valve, 14 is a jack push pull operation selection solenoid valve, jack total thrust Is calculated by converting the operating oil pressure of the oil pressure source measured by the oil pressure sensor 15 into a thrust per jack, and multiplying by the selected number of used jacks.

FIG. 6 is a system configuration diagram of an embodiment of a digging management device according to the present invention. The sequence controller 21 is provided with an operator operation signal from the operation panel 22 and a computer.
An actuator control signal is output in response to the control signal from 23 to directly control the excavating actuator 20 including the cutter driving motor, the shield jack, the conveyor driving motor, and the like. Jack selection solenoid valve 13 ₁ to 13 _n using the shield jacks hydraulic circuit shown in FIG. 5, the jack push pull operation selection solenoid valve 14 or the like, is operated by the actuator control signal. The computer 23 determines whether or not the cutter rotates, the number of jacks used,
An actuator operation state signal is transmitted as information indicating a jack push / pull state or the like. Measurement data including the jack stroke, jack operating oil pressure, face earth pressure, and shield attitude (pitching, yawing, etc.) from various measuring instruments 24 are also amplified and converted by the signal transmitter 25 and converted into a computer 23.
Sent to A setting value file 26, a measurement data file 27, a keyboard 28, and a monitor 29 are connected to the computer 23. The set value file 26 contains the ring number set in the daily route plan, the segment width of each ring, the taper amount,
Stores control target values for direction control, etc.
27 stores the measurement data up to the last excavation. These files are composed of writable and readable external storage devices. The keyboard 28 is used for inputting set values and the like, and the monitor 29 is used for monitoring the state of excavation, displaying statistically processed data, and the like.

The computer 23 performs control calculations such as directional control based on input information from the sequence controller 21, various measuring instruments 24, the set value file 26, and the measurement data file 27, excavation start / end determination processing for each ring, and data statistics. Each function of the processing is executed according to each program.

Among them, the contents of the excavation start / end determination processing will be described in detail below.

The procedure for starting the excavation of one ring in the shield excavator is as follows. (See FIGS. 2 and 3).

(1) The cutter 3 starts rotating.

(2) From the state where the push of the shield jack 6 has been completed to the position of the segment 9 assembled this time, the selected use jack is further extended to start propulsion.

(3) Confirm that the total thrust, the face pressure, and the cutter torque have increased.

(4) In the earth pressure type shield, the earth removal by the screw conveyor 7 is started, and the speed is adjusted at the same time (in the muddy water type shield, the timing of starting the fluid transport is not directly related to the start of the excavation).

The excavation management device of the present invention automatically determines excavation start in steps 101 to 104 of the flowchart shown in FIG.

First, for the start of the cutter rotation, for example, the sequence controller 21 outputs a 1-bit flag indicating the presence or absence of the cutter rotation as an operation state signal.
23, the cutter rotation start is determined from the contents of the flag. Instead of the operation state signal, the start of rotation may be determined from a change in the measured data of the cutter rotation speed (step 101).

Next, the data of the excavation stroke in the front ring and the segment width of the segment ring assembled this time are read from the measurement data file 27 and the set value file 26, respectively, and by subtracting these two data, the empty space of the shield jack 6 until the start of excavation is obtained. The push stroke is determined, and it is determined that the jack stroke has exceeded a predetermined value based on the calculated idle push stroke. In soft ground, when the segment is assembled, the shield sinks down due to its own weight and assumes a downward position, so after the end of the empty pushing, press the shield jack while rotating the cutter before starting the excavation to correct the forward downward position of the shield. . In this case, a value obtained by adding a stroke predicted in advance for correcting the forward-downward posture to the idle pushing stroke as a predetermined value is compared with the measured jacking stroke (step 102).

For the total thrust rise, the total thrust is calculated from the measured jack operating hydraulic pressure and the number of used jacks detected by the sequence controller 21, and the excavation state is determined based on the total thrust of the front ring read from the measurement data file 27. It is determined that the required thrust has been reached (step 103). The reason why the total thrust of the front ring is used as a reference is that the required thrust does not change abruptly with the front ring.

The decision to start excavating one ring is programmed to be made when all the above three conditions are satisfied (step 104). If it is determined that excavation has started, collection of excavation data and execution of control calculation are instructed on the program from that point (step 105). That is, the measurement data of the various measuring instruments 24 is taken as it is or converted into a total thrust and the like, and is taken into a data buffer (not shown) in the computer 23 as excavation data. Is started, and the control target value for the current ring read from the set value file 26 is compared with the measured shield posture (pitching amount and yawing amount) to perform the necessary control for the up, down, left, and right direction control. The signal is output to the sequence controller 21. Thus, direction control during excavation is performed in real time. As described above, by correcting the sinking (retreating posture) of the shield generated at the time of segment assembly before the start of excavation, it is possible to prevent meandering of the shield due to overshoot immediately after the start of control.

The procedure for ending the excavation of one ring in the shield excavator is as follows. (See FIG. 4).

(1) Check that the shield jack stroke has reached the stroke required for the next segment assembly.

(2) In the earth pressure type shield, the earth discharging is stopped (in the muddy water type shield, the timing of stopping the fluid transport is not directly related to the end of the excavation).

(3) The pushing operation of the shield jack 6 is stopped.

(4) The rotation of the cutter 3 is stopped.

(5) The operation proceeds to jacking operation for the next segment assembly.

In the excavation management device of the present invention, the end of excavation is automatically determined by the staples 106 to 108 in the flowchart shown in FIG.

That is, at the start of excavation, the segment width of the segment ring to be assembled next is read from the set value file 26,
A margin value is added to the segment width to obtain a digging stroke (value of l + α shown in FIG. 4) necessary for assembling the next segment. Based on this value, it is determined that the jack stroke has reached the digging end value. (Step 106).
Further, it is determined from the change in the jack operating speed or the operation state signal from the sequence controller 21 that the jack pushing operation has stopped and the operation has shifted to the pulling operation (step 107).

When the above two conditions are satisfied, it is programmed to determine the end of the excavation of one ring (step 108). Although not shown, if the condition for stopping the cutter rotation is further included in the judgment item, the certainty of the end of the excavation can be further increased. The jacking operation check is performed to prevent the temporary stop of the excavation when the jack stroke approaches the excavation end value to be mistaken for the end of excavation.It is not necessary to perform it for all jacks. It is enough to check the jack pull operation near the bottom of the shield.

When it is determined that the excavation is completed, the collection of the excavation data and the control calculation are stopped by a command on the program at that time, and the measurement data for one ring is transferred from the data buffer to the measurement data file 27 and further set. The process of updating the current ring number in the value file 26 is automatically performed (Step 109).

In FIG. 7, Steps 101 to 104 correspond to the excavation start judgment element, Step 105 corresponds to the first command signal, Steps 106 to 108 correspond to the excavation end judgment element, and Step 109
Respectively correspond to the second command means.

In the above embodiment, the shield direction control has been described as an example of the excavation control. However, the present invention can also be used for an excavation management system for each ring such as an operation data measurement system that does not include a control operation element.

〔The invention's effect〕

 According to the present invention, the following effects can be obtained.

(I) Since the start and end of the excavation for each ring can be automatically determined and the processing associated therewith can be automatically performed, the burden on the operator is reduced.

(Ii) Since the data in the jack empty state and the data after the excavation are not transferred to the measurement data file by mistake as the excavation data due to the operator's input error (forgot), the statistical processing of the excavation data etc. Can be done accurately.

(Iii) Control disturbance due to an input error (forgot) can be prevented, and the state of recovery of the shield sinking during segment assembly can be confirmed by digging start determination, so that input of direction control target values and measurement data can be started. The control is performed at an appropriate timing, and stable control can be performed without causing overshoot immediately after the control is started.

(Iv) The current ring number in the set value file is automatically updated by the determination of the completion of excavation of one ring, so that the set value of each ring input in advance can be read from the file without error.

[Brief description of the drawings]

Fig. 1 is a schematic view of the present invention, Figs. 2 to 4 are cross-sectional views showing a state of a shield excavator at the end of segment assembly, an excavation state, and a state immediately before the end of excavation, and Fig. 5 is a shield jack hydraulic pressure. FIG. 6 is a circuit diagram, FIG. 6 is a system configuration diagram of an embodiment of the excavation management device according to the present invention, and FIG. 7 is a flowchart of excavation start / end determination processing executed by the computer of FIG. DESCRIPTION OF SYMBOLS 1 ... Shield excavator, 2 ... Shield body, 3 ... Rotary cutter, 5 ... Cutter drive motor, 6 ... Shield jack, 9 ... Segment, 10 ... Jack stroke meter, 12 ... Attitude measuring device , 15… Hydraulic sensor, 20 …… Actuator, 21 …… Sequence controller, 22 ……
Operation panel, 23 ... Computer, 24 ... Various measuring instruments, 26 ...
… Setting value file, 27 …… Measurement data file, 101-1
04 …… Steps corresponding to the excavation start judgment element, 105 ……
Steps corresponding to the first command means, steps 106 to 108 ... steps corresponding to the excavation end determination element, steps 109 ... steps corresponding to the second command means.

Continued on the front page (72) Inventor Hitoshi Takahashi 650, Kandate-cho, Tsuchiura-shi, Ibaraki Pref.Hitachi Construction Machinery Co., Ltd. (58) Field surveyed (Int.Cl. ⁶ , DB name) E21D 9/06 301

Claims (2)

(57) [Claims] An excavation management apparatus for collecting excavation data of a shield excavator and performing excavation control such as shield direction control in units of one ring of a segment. An operator operation signal from an operation panel and a control signal from a control operation element to be described later. A sequence controller that directly controls the cutter drive motor, excavating actuator such as a shield jack, various measuring instruments that measure jack stroke, jack operating oil pressure, shield attitude, etc., and a ring number and segment width for each ring. A set value file for storing set values such as control target values, a data buffer for holding measurement data obtained during excavation as excavation data,
The measurement data file storing the measurement data up to the last excavation, the control target value in the set value file and the measurement data of various measuring instruments corresponding thereto are calculated and calculated in real time and necessary for direction control and the like. Based on the control calculation element that outputs the control signal and the input information from the sequence controller, various measuring instruments, the set value file and the measurement data file, the cutter rotation start, the shield jack total thrust is based on the total thrust at the last excavation. Excavation starts when at least the following three conditions are satisfied: the required thrust in the excavation state has been reached and the shield jack has extended by a predetermined stroke determined by the previous excavation stroke and the segment width of the segment ring assembled this time. The excavation start judging element for judging the excavation and the excavation start judgment result And first command means for commanding execution of the control operation, and based on input information from the sequence controller, various measuring instruments and a set value file, that the shield jack has been extended to a predetermined stroke required for the next segment assembly, And an excavation end judging element for judging the end of excavation of one ring when at least two conditions that the pushing operation of the shield jack is stopped and the operation is shifted to the pulling operation are satisfied; And second command means for commanding the stop of the control calculation, the data transfer from the data buffer to the measurement data file, and the update of the current ring number in the set value file. Excavation management device for shield excavators. 2. The excavation management device for a shield excavator according to claim 1, wherein the excavation end judging element is determined based on input information from the sequence controller, various measuring instruments, and a set value file. Judgment of completion of excavation of one ring when the condition of three items of elongation to the predetermined stroke necessary for assembly, pushing of the shield jack stopped and pulling operation, and stop of cutter rotation were satisfied. An excavation management device for a shield excavator, characterized in that: