JP3386969B2 - Direction control method of shield machine - Google Patents

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a direction control method for a shield machine.

[0002]

BACKGROUND ART As a direction control device for controlling the excavation direction of a shield machine of this type, for example, JP-A-3-286094, JP-A-1-263385, and JP-A-57- 137596, JP-A-4-285293 and JP-A-5-5396 are known.

The above-mentioned documents are all directed control methods of shield machine for a tunnel having a circular cross section.
That is, in order to control the direction of a shield machine having a circular cross section, as shown in FIG. 15 (A), the shield jack is selected according to the shield jack action point P which is inferred based on the deviation Δδ in the direction of advance with respect to the planned line Z1. By selectively pressing the plurality of shield jacks 200 by the combined shield jack pattern, the control in each of the X and Y directions is performed. In this case, in the circular shield machine, the shape of the tunnel space after excavation is hardly deformed even if the tunnel is slightly rolled during direction control because the tunnel shape itself is circular.

For such a tunnel having a circular cross section, a tunnel having a special cross sectional structure such as a rectangular cross section has been constructed in order to make an advantage of the tunnel cross sectional area. In this case, concretely, for example, when excavating an underground water supply, an underground road, a common ditch, etc., when excavating a circular tunnel, an unnecessary portion will occur in the tunnel cross section, and therefore, close to the target cross sectional shape. A rectangular shield machine that excavates a rectangular section is used.

In the tunnel having the rectangular cross section, unlike the case of the circular cross section, when the shield excavator rolls during the direction control, the underground space is twisted.

For example, in excavating a tunnel having a rectangular cross section, when the direction of the shield machine is to be controlled by a method used in an ordinary circular shield machine,
Since the displacement amount is corrected by the combined pattern as shown by an arrow J in FIG. 15B, the shield machine may roll due to the ground reaction force and the tunnel may be twisted. Especially, in a vertically long rectangular cross section, such a twist becomes remarkable.

The present invention has been made to solve the above-mentioned problems of the technology, and its object is to roll a shield machine even in a special tunnel having a vertically long rectangular cross section. It is an object of the present invention to provide a method for controlling the direction of a shield machine, which can prevent such problems and perform an accurate control by optimally controlling the amount of deviation in the direction of excavation with respect to the planned line, and can construct a tunnel space satisfactorily.

[0008]

A method for controlling a direction of a shield machine according to a first aspect of the present invention selectively uses a plurality of shield jacks arranged circumferentially in the rectangular shield machine, A direction control method for controlling the excavation direction of the shield machine by correcting each deviation amount with respect to the planned line of the shield machine in the horizontal direction and the vertical direction intersecting each other with the excavation direction of the shield machine as the shield machine progresses. There is a step of determining whether each deviation amount in the horizontal direction and the vertical direction is within an allowable range, and when each deviation amount in the horizontal direction or the vertical direction is outside the allowable value, A selection step of selecting one of the horizontal direction and the vertical direction based on either the horizontal deviation amount or the vertical deviation amount that is outside the allowable value, and the horizontal direction or the front direction. By operating the shield jacks vertically, it comprises a first correction step of correcting the deviation amount in the selected one direction, the allowable range,該許
Each of the horizontal and vertical directions defined as the range
When the direction is controlled based on the combined displacement amount,
The machine is set to a value that will not cause rolling.
Characterized in that that.

According to the first aspect of the present invention, the amount of deviation in the horizontal (or vertical) direction is corrected and then the amount of deviation in the vertical (or horizontal) direction is corrected.
Since the shield machine does not tilt in any direction other than the direction, rolling can be reliably prevented and twisting of the tunnel space can be prevented.

The invention according to claim 2 is the same as in claim 1.
After correcting the deviation amount in the selected one direction,
When there is a deviation amount outside the allowable value in the other direction that is not selected
Select the other direction and operate the shield jack.
Second correction to make a correction for the amount of deviation in the other direction
It is characterized by further including a step. That is, when performing posture control in the diagonal direction, a certain section is divided, and first, either the vertical or horizontal control direction is selected to generate a reaction force in the vertical (or horizontal) direction, for example. , Its direction control. Next, contrary to this, a reaction force in the horizontal (or vertical) direction is generated and its direction is controlled. In this way, the direction control in the vertical direction and the direction control in the horizontal direction are disassembled and independently performed, so that accurate direction control can be performed without causing rolling.

The invention according to claim 3 is the invention according to claim 1 or 2.
In, when the respective shift amounts in the horizontal direction and the vertical direction are within an allowable range, the shift amounts in the horizontal direction and the vertical direction are combined, and the combined shift amount is corrected, It is characterized by further comprising a third correction step of correcting each of the deviation amounts.

According to the third aspect of the invention, when the amount of deviation in the horizontal and vertical directions is within the allowable range, the tunnel space after excavation has a small amount of inclination in the horizontal and vertical directions. A method of synthesizing the component and the vertical component may be adopted. In this way, by combining the independent control for individually controlling in the horizontal direction and the vertical direction and the combined control, the direction control can be performed without twist even in a special tunnel space such as a rectangular cross section. It can be carried out.

According to a fourth aspect of the present invention, there is provided a shield machine direction control method according to the first aspect, wherein the selecting step selects a direction having a larger displacement amount. .

According to the fourth aspect of the invention, by selecting the one with the larger deviation amount in time earlier, the amount of tunnel space excavated with the deviation amount with respect to the planned line, that is, the continuous excavation It is possible to form an ideal tunnel space that is as close to the planned line as possible by reducing the deviation in the tunnel space after excavation by the shield machine that continues.

According to a fifth aspect of the present invention, there is provided a shield machine direction control method according to the first aspect, wherein the first or second correction step is based on each deviation amount with respect to the planned line. It is characterized by including a step of inferring a point and a step of calculating a shield jack pattern according to the shield jack action point.

According to the fifth aspect of the invention, in order to make a correction, first, the point of action of the shield jack dedicated to the one-way correction is inferred. Then, a shield jack pattern dedicated to one-way correction is obtained in accordance with the shield jack action point in one direction, and the selected location of the shield jack is designated based on this pattern. As a result, the direction control can be performed more accurately by exclusively performing the processing in one direction.

[0017]

BEST MODE FOR CARRYING OUT THE INVENTION Hereinafter, an example of a preferred embodiment of the present invention will be specifically described with reference to the drawings.

<About Shield Machine> First, prior to the direction control device, which is a feature of the present invention, the basic configuration of a rectangular shield machine will be outlined with reference to FIGS. 1 and 2. FIG. 1 is a partially cutaway side view showing an example of the overall configuration of a rectangular shield machine. 2 is a cross-sectional view taken along the line AA of FIG. 1 showing a rectangular shield machine.

The mechanical structure of the rectangular shield machine 1 of this embodiment is, as shown in FIGS. 1 and 2, a shield machine body 10 and a tip end portion of the shield machine 1 which is rotatably arranged. And a cutter 12.

The shield machine main body 10 is formed in a rectangular shape having substantially the same shape as the rectangular segment 14 forming a tunnel having a rectangular cross section, and the front trunk portion 20 on the cutter 12 side.
And a rear trunk portion 22 on the side of the segment 14 are connected by a plurality of center-folding jacks 25 so that they can be curvedly constructed.

A partition wall 24 is provided between the front body portion 20 and the cutter 12, and a hood 18 is provided on the front outer periphery of the partition wall 24.
The hood 18 defines a shield chamber 16 between the cutter 12 and the partition wall 24.

The front body portion 20 includes a partition wall 24 and a cutter 12.
The inside of the shield chamber 16 between and is filled with pressurized mud water by the mud pipe 26 provided in the shield machine main body 10 to stabilize the ground in front of the cutter 12, and excavate the earth and sand into the mud water. As the taken-in sludge water, the sludge pipe 28 fluidly transports it to the ground.

A cutter 12 is attached to the front body portion 20, and the cutter 12 is composed of two upper and lower cutter units 40. Each cutter unit 40
Is two drum cutters 42 arranged on both left and right sides,
It is composed of two upper and lower ring cutters 44 arranged between the drum cutters 42. The drive source for driving each of these cutters is, for example, two in one cutter unit 40.
The left and right drum cutters 42 are individually mounted, and the number of rotations and the like can be independently controlled. In particular,
The drum cutter 42 and the ring cutter 44 of each cutter unit 40 are supported integrally by each gear case 34 that penetrates the partition wall 24 from the inside of the shield machine main body 10 and projects toward the shield chamber 16 side. In each gear case 34, a cutter driving electric motor 36 as a cutter driving source and a plurality of gears for transmitting power from the cutter driving electric motor 36 to the drum cutter 42 and the ring cutter 44 of each cutter unit 40 are housed. The drum cutter 42 and the ring cutter 44 are rotated by the drive motor 36 via a gear (not shown), and each drum cutter 42 can be rotated independently by the cutter drive motor 36. .

Further, an overcutter 48 capable of advancing and retracting sideways is disposed at the outer edge of the side surface of the drum cutter 42. Each drum cutter 42 is provided with a plurality of spokes 49 on the inner side of the outer peripheral surface between the side surfaces, and a storage portion for the overcutter 48 is formed on one side of a plurality (two in this example) of the spokes 49. Then, the hydraulic cylinder and the overcutter 48 are housed in this housing part, and the drum cutter 4
The overcutter 48 can be moved forward and backward from the outer peripheral edge of the side surface 2. Further, a total of four overcutters 48 are provided, one for each drum cutter 42.

In the rear trunk portion 22 of the shield machine body 10, the rear end of the tail plate 23 is sealed with the segment 14 through the tail seal 16. Further, a plurality of, for example, 14 shield jacks 30 (30-1 to 30-) are provided on the rear body portion 22 along the circumferential direction.
14) is provided, and the shield jack 30 is extended and brought into contact with the tip of the segment 14 so that the segment 14 has a reaction force and the shield machine 10 is propelled. The shield jack 30 is driven by a drive means such as hydraulic pressure (not shown). In addition, segment 14
Is assembled by operating the erector 32 disposed inside the rear trunk portion 22 of the shield machine main body 10 by the erector turning hydraulic motor 32.

In the shield machine 1 described above, the course is adjusted so as to proceed along a predetermined planned line, the position of the shield machine 1 is actually measured using a laser measuring device, a level meter, etc. The deviation from the planned line is calculated by a computer, and the course is adjusted so that this deviation becomes zero.

When excavating using this rectangular shield excavator, first, muddy water is supplied from the mud pipe 26 into the cutter chamber 20, and the four cutter driving electric motors 36 are actuated respectively to move the upper side and the upper side. The drum cutter 42 and the ring cutter 44 of each lower cutter unit 40 are rotated to excavate the ground into a rectangular shape. In addition, the earth and sand generated by excavation are discharged from the mud pipe 28 together with muddy water.

Along with this excavation, the shield jack 30
To stretch and apply reaction force to the segment 14 at the tip,
The shield machine body 10 is excavated for a predetermined distance.

It should be noted that it is possible to easily carry out the curved construction of the tunnel by the operation of the middle-breaking jack 25 and the overcut by the overcutter 48.

Then, after excavating a rectangular shape for a predetermined distance by the cutter 12, the rectangular segment 14 can be easily assembled by operating the erector 32 by the hydraulic motor 33 for turning the erector to assemble the rectangular segment 14. .

In this shield machine 1, the shield jack 30 is used to control the direction of the shield machine 1.

<Regarding Direction Control Device> Next, a direction control device which is a characteristic configuration of the present invention will be described with reference to FIGS.
Will be explained.

In this example, the shield machine 1 as described above is used.
A vertical tunnel, for example, by arranging two front trunks in the vertical direction and arranging two rear trunks corresponding to the two front trunks I try to form a space.

In this direction control device, as shown in FIG. 5, 24 shield jacks 30 (30-1 to 30-) are provided.
24) can be controlled in a unified manner.

Each of these shield jacks 30 (30-1)
30 to 24) are symmetrically arranged in the left-right direction and the vertical direction. Thereby, for example, in order to turn the shield machine 1 to the left side, the right shield jacks 30-4 to 30-13
To drive the shield machine 1 with a counterclockwise turning moment. In order to turn the shield machine 1 to the right, an operation reverse to the above may be performed. Further, in order to change the direction of the shield machine 1 to the upper side, the lower shield jacks 30-13 to 30-16 are driven,
It is sufficient to give the shield machine 1 an upper turning moment.

Therefore, a plurality of, for example, 24 shield jacks 30 (30-1 to 30-24) shown in FIG. 5 are used to set a jack pattern in an arbitrary combination, and the set jacks are controlled to arbitrarily set the jack patterns. The action point P of the shield jack can be set at the position of.

9 (A) and 9 (B) show examples of points of action set by the jack pattern. In FIG. 9 (A) and FIG. 9 (B), the action points are set at positions P ₁ and P ₂ depending on how the jack pattern is set. This means that points can be set.

More specifically, the shield jack action point when the correction is made only in the horizontal direction is set to the position P ₁ shown in FIG. 9A, for example (how to determine this will be described later).
Then, for example, the black circle shield jacks (30-24, 30-2, 30-4, 30-6, 3 shown in FIG. 9A).
0-8, 30-9, 30-11, 30-13, 30-1
5, 30-17) are selectively driven. As a result, the shield jacks 30-6, 30-8, 30-9, 30-11 in the direction opposite to the correction direction (X + direction)
The shield machine 1 is turned as a whole in the correction direction (X-direction).

The point of action of the shield jack when the correction is made only in the vertical direction is, for example, P ₂ shown in FIG. 9B.
If the position is decided (how to make this decision will be described later), for example, a black circle shield jack (30-8, 30-9, 30-10, 30-11, 30 shown in FIG. 9B).
-12, 30-13, 30-14, 30-15, 30-
16, 30-17, 30-18, 30-19, 30-2
0, 30-21) are selectively driven. As a result, by selecting the shield jack in the direction opposite to the correction direction (Y-direction), the shield machine 1 is turned in the correction direction (Y + direction) as a whole.

FIG. 4 shows an example of the case where the shield machine 1 is controlled to move along the planned line Z1 by setting the jack pattern. In order to advance the shield machine 1 along the planned line Z1 of the tunnel, the reference point of the shield machine 1 is on the planned line Z1, and the direction Z2 of the excavation route is the direction Z1 of the planned line.
It is necessary to match with.

Therefore, the current reference point position of the shield machine 1-2 is detected, and the horizontal and vertical position deviation amount Δδ of the shield machine 1 from the planned line Z1 and the horizontal and vertical directions of the excavation direction with respect to the planned line. Each deviation Δθ is obtained as a deviation amount.
In addition, the position of the shield machine 1-1 at the time of the last survey,
Plan line Z between the current position of shield machine 1-2
The distance on 1 is defined as the digging distance l.

Then, the target course of the shield machine 1 is calculated based on the deviation amount thus obtained, and the shield jack action point for guiding the shield machine 1 to the target course is set. Then, a combination pattern of the shield jacks 30 is set and driven according to the set shield jack action point. With this, the shield machine 1 can be controlled toward the target course, and the shield machine 1 can be advanced along the planned line Z1.

FIG. 3 shows a block diagram of a direction control device used in the shield machine 1 of this example. Details of the direction control device will be described with reference to FIG. 3 and FIG.

The direction control device of this embodiment is a shield machine 1
Based on the position data detection unit 50 that detects the current position and the direction of excavation, the storage unit 54 that stores the data of the planned line Z1 in FIG. 4 of the shield machine 1, and the data of the position data and the planned line Z1. A target course calculation unit 52 that calculates a target course of the shield machine 1, a control selection unit 55, a correction direction selection unit 56, a vertical direction action point inference unit 60, a horizontal direction action point inference unit 70, and a vertical direction. A jack pattern setting unit 80, a horizontal jack pattern setting unit 82, a jack control drive unit 84, an action point combining unit 90, and a combined jack pattern setting unit 92 are included.

The position data detecting section 50 measures the deviation amount Δδ and the deviation angle Δθ shown in FIG. 4, and can use a measuring means such as a gyro compass, a jack stroke, and a water level meter. The deviation amount Δδ is calculated with reference to the central axes X and Y axes shown in FIG. Further, instead of the position data detector 50, the position data of the shield machine 1 may be manually obtained by surveying.

The target course calculation unit 52, based on the data of the planned line Z1 stored in the storage unit 54 and the position data input from the position data detection unit 50, is horizontal and vertical with respect to the planned line Z1 of the shield machine 1. A displacement amount in the direction (positional displacement amount Δδ, angular displacement amount Δθ) is calculated. Then, the target course of the shield machine 1 is calculated based on the obtained deviation amounts Δδ and Δθ. Here, the positional deviation amount Δδ with respect to each target point is arithmetically output from the target course calculating unit 52 as a control displacement for controlling the shield machine 1, and the angular deviation amount Δθ between the target course and the excavation direction of the shield machine 1 is Δθ. Is output as a control angle from the target course calculator 52. Then, the control amounts in the horizontal direction and the vertical direction calculated by the target course calculation unit 52 are input to the control selection unit 55.

The control selection unit 55 includes the planned line Z1 calculated by the target course calculation unit 52 shown in FIG.
If the positional deviation amount Δδ and the angular deviation amount Δθ with respect to 0 are outside the preset allowable deviation amount and deviation angle range, the data of the positional deviation amount Δδ and the angular deviation amount Δθ are transmitted to the correction direction selection unit 56. However, if it is within the allowable range, it has a function of transmitting it to the action point combining unit 90.

The correction direction selecting unit 56 compares the values of the horizontal component and the vertical component of the positional deviation amount Δδ and the angular deviation amount Δθ shown in FIG. 4 transmitted via the control selecting unit 55, and determines the larger one. It has the function of selecting the direction that is the amount of deviation.

The horizontal action point inference unit 70 has a function of inferring the shield jack action point based on the selected displacement amount when the correction amount selection unit 56 selects the horizontal displacement amount. Having, a horizontal direction fuzzy inference unit 72
And a horizontal direction fuzzy operation unit 74.

The horizontal fuzzy inference unit 72 performs fuzzy inference according to the fuzzy rule based on the input control amount, that is, the horizontal control amount for guiding the shield machine 1 to the target course, and the shield jack action. It is configured to infer points. In this example, the point of action of the shield jack is inferred using fuzzy inference.

FIGS. 6B and 8 show an example of a fuzzy inference method performed by the horizontal action point inference unit 70, and FIG. 7 shows an example of a control rule used for this fuzzy inference. It is shown.

In this example, as shown in FIG. 8A, the input membership function corresponding to the angular deviation amount Δθ and the positional deviation amount Δδ and the output membership function shown in FIG. It is set in advance. Here, NB represents a negative big, NS represents a negative small, ZE represents zero, PS represents a positive small, and PB represents a positive big. The parameters of these membership functions can be freely set and input.

For example, when the horizontal angular displacement amount Δθ and the positional displacement amount Δδ are a0 and b0, respectively, the shield jack action point c0 (x0) in the horizontal direction is inferred as follows.

First, the input membership functions corresponding to the angular displacement amount a0 are PS and ZE. And FIG.
From (A), the goodness of fit of the membership functions of PS and ZE is 0.6 and 0.4. Further, the input membership functions corresponding to the positional deviation amount b0 are PS and ZE, and their matching degrees are 0.7 and 0.3, respectively.

Therefore, the angular displacement amount a0 and the positional displacement amount b
The combination of membership functions corresponding to 0 is shown in FIG.
There are four patterns (1) to (4) shown in (A). These four patterns are collated with the control rule shown in FIG. 7, and the output pattern corresponding to each input pattern is obtained as shown in FIG. 8B. For example, in the input pattern (1), since the amount of angular displacement and the amount of positional displacement are PS and NS, this is shown in FIG.
The output pattern becomes ZE when collated with the control rule shown in FIG. Further, in the input pattern (2), since the angular displacement amount and the positional displacement amount are PS and NS, respectively, the output pattern thereof is PS.

In this way, four output patterns can be obtained. At this time, the fitness of the output membership function takes a smaller value of the fitness of the two input membership functions. For example, in the pattern (1), the smaller value of the fitness values 0.6 and 0.7 of the two input membership functions is 0.6. In the pattern (2), 0.6,
The smaller value of 0.3 is 0.3. In this way
After the four output patterns are obtained, these patterns are integrated as shown in FIG. 8 (C).

The horizontal direction fuzzy calculation section 74 has a function of calculating the center of gravity position (defuzzy calculation) based on the combination of the output patterns (fuzzy sets) inferred by the horizontal direction fuzzy inference section 72. This position of the center of gravity becomes the moment action point.

By this defuzz operation, the value of the barycentric position c0 of the output membership function is obtained. At this time, a large value is selected for the matching degree of the overlapping portion of the two patterns. For example, in the overlapping portion of NS and ZE, ZE is larger, so this value is adopted. In this way, when a combination of output patterns as shown in FIG. 8C is obtained, the barycentric position co of this combination pattern, that is, the length of the distance Xo shown in FIG. ), The point of action of the shield jack in the horizontal direction P ₁
Becomes

As described above, the horizontal action point inference unit 70 of this example first determines the horizontal control amount, that is, the angular deviation amount and the positional deviation amount, which are input from the target course calculation unit 52. Point of action of the shield jack in the horizontal direction P ₁
Estimate (x0) (FIG. 9A). This shield jack point of action is inferred to guide the target path of the shield machine.

Next, using the same method as for the horizontal direction, the vertical action point inference unit 60 determines, based on the control amount in the vertical direction, that is, the amount of angular deviation and the amount of positional deviation, which is input from the target course calculation unit 52. Shield jack action point y in each direction
Estimate 0. That is, the vertical direction fuzzy inference unit 62
Thus, based on the control amount in the vertical direction for guiding the shield machine 1 to the target course, fuzzy inference is performed by the fuzzy rule to infer the shield jack action point.
Then, the vertical direction fuzzy calculation unit 64 calculates the position of the center of gravity based on the combination of the output patterns (fuzzy sets) inferred by the vertical direction fuzzy inference unit 62. Further, FIGS. 6A and 6B respectively show the center of gravity position Xo in the horizontal direction and the center of gravity position Yo in the vertical direction obtained by such fuzzy inference.

When the excavation environment of the shield machine is constant, the operating point P (P ₁ · P ₂ ) shown in FIGS. 9A and 9B is obtained.
Does not change, but the value of the action point P also changes when the shield excavation environment changes. In this case, the position of the shield jack action point obtained by fuzzy inference may be corrected by the action point correction unit. Here, the action point correction unit
The input point of the shield jack is formed to be corrected and calculated based on the data of the excavation environment item of the shield machine. As the excavation environment items used for such a correction calculation, the copy cutter stroke of the shield machine, the center bending angle, the jack speed, the tail clearance, etc. are adopted as the excavation environment items and the correction calculation is performed.

Next, the coordinates of the shield jack action point P ₁ (xo) (P ₂ (yo)) shown in FIGS. 9A and 9B which are fuzzy inferred by each action point inference unit 70 (60) are jacked into a jack pattern. Output to the setting unit 20.

The horizontal jack pattern setting section 80 is
It has a function of selecting a jack pattern based on the shield jack operating point. As the selection method, the jack pattern having the closest moment position is selected.

That is, in order to obtain the jack pattern from the best acting point, for example, in the case of the horizontal direction, the following is performed. First, when the horizontal and vertical reference axes X and Y coordinate axes shown in FIG. 5 are set and the distances from the origin O of each shield jack 30 are x ₁ , x ₂ , ... X _n , the formula (x ₁ +
... + x _n ) / n, the position of the action point according to the jack pattern used is calculated in advance. For example, in the jack pattern as shown in FIG. 9A, from the distance in the x direction from the origin of each black circle position (shield jack use position), (+ 2 + 2 + 3 + 3 + 3-1-1-3-3) / 10
= 0.8, and P ₁ comes to a position 0.8 from the origin O. The P ₁ positions for all jack patterns thus obtained are stored in advance in a memory as a table. Then, when the value of P ₁ calculated based on the actual shift amount is obtained, the value is retrieved from the memory (table), and the jack pattern corresponding to the value of P ₁ is inversely set.

Based on the shield jack action point P ₁ (P ₂ ) thus input, an optimum jack pattern dedicated to each direction for obtaining the action point is selected and set.
For example, FIG. 9A shows an example of the pattern at the selected action point P ₁ position. In the figure, a black circle is a shield jack used. Even in the vertical direction, P ₂
The pattern at the position is as shown in FIG.
The jack pattern table is provided for each direction.

The jack control drive unit 84 drives and controls each shield jack 30 shown in FIG. 5 in accordance with the input jack pattern, and controls the direction of the shield machine 1 toward the target point.

The action point combination unit 90 is selected only when the control selection unit 55 performs the combination control, and in that case, the vertical direction fuzzy operation unit 64 and the horizontal direction fuzzy operation unit 7 are selected.
4 has a function of synthesizing each shield jack action point calculated in 4, for example, P ₁ and P ₂ shown in FIGS. Then, the combined jack pattern setting unit 92 sets a combined shield jack pattern based on the combined shield jack action points.

<Regarding Direction Control Method> The direction control device of the shield machine according to the present embodiment has the above-mentioned structure, and the direction control method will be sequentially described below with reference to FIG.
FIG. 10 shows a flowchart of a procedure for obtaining the shield jack action point by the direction control device of this example.

The direction control device of the shield machine of this example is
For example, target points are set at pitch intervals of 100 mm (step "below s" 100). That is, in s100, first, the shift amount / shift angle is measured by the position data detection unit 50 (see FIG. 3) (s101). Next, based on the data of the respective measurement results, the planned line information stored in the storage unit 54 (see FIG. 3) is extracted, and the target line is set by the target course calculation unit 52 (see FIG. 3) (s10).
2).

Next, various selections are made (s110). That is, in step 100, first, the horizontal direction X
If each deviation amount in the vertical direction Y is within the allowable range, the control selection unit 55 (see FIG. 3) selects the combination control (s111). If synthesis control is selected, s12
Perform 0. If the deviation amounts in the horizontal direction X and the vertical direction Y are within the allowable range, the control selection unit 55 selects the independent control, and s112 is performed.

At s112, the correction direction is selected. That is, the correction direction selection unit 56 (see FIG. 3) selects the direction in which the amount of deviation is larger in the amount of deviation in the horizontal direction X or the amount of deviation in the vertical direction Y. For example, when the amount of deviation in the horizontal direction X is larger than the amount of deviation in the vertical direction Y, various horizontal flows, that is, s130, are performed, and then various vertical flows, that is, s140.

On the contrary, when the deviation amount in the vertical direction Y is larger than the deviation amount in the horizontal direction, various flows for the vertical direction,
That is, s140 is performed, and thereafter, various flows for the horizontal direction, that is, s130 is performed.

At s130, based on the shield jack pattern selected according to the shield jack action point P ₁ shown in FIG. 9A, which is inferred based on the selected horizontal shift amount, the selected horizontal direction is selected. Correct the amount of deviation.

That is, in s130, for example, 100 m
When the target points are set at pitch intervals of m, the shift amount and shift angle in the horizontal direction are calculated so as to move the shield machine 1 toward the set target points (s131).

Next, first, the target course calculating unit 52 and the horizontal direction action point inferring unit 70 (see FIG. 3) use the horizontal coordinate x of the action point P ₁ of the shield jack 30 shown in FIG. 9A.
Fuzzy inference for o is performed (s132). That is, first, the target course calculation unit 52 sets a target point 100 mm ahead based on the positional deviation amount and the angular deviation amount of the shield machine, and sets the control amount in the horizontal direction for guiding the shield machine 1 to this target point. It is calculated and output to the horizontal action point inference unit 70. The horizontal action point inferring unit 70, based on the horizontal control amount input in this manner, is shown in FIG.
The fuzzy inference is performed on the horizontal moment amount xo of the shield jack action point P ₁ shown in FIG. And each PS, Z
E and the like are integrated, data as shown in FIG. 8C is created, and the position of the center of gravity is obtained as the value of the horizontal action point xo (defuzz operation) (s133).

As a result, the horizontal shield jack action point P ₁ (xo) is calculated (s134).

The horizontal jack pattern table is searched based on the value of xo at the point of action P ₁ (s135).
This jack pattern table search is performed by the horizontal jack pattern setting unit 82 (see FIG. 3), and at the same time, the horizontal pattern is calculated (s136). The horizontal moment Xo of the action point P ₁ of the shield jack is obtained, and the jack pattern that matches the action point P ₁ is set.
As a result, the shield machine is advanced by the control pitch (s137), and horizontal correction is performed (s).
138). Then, the direction of the shield machine is controlled by controlling the shield jack based on the set jack pattern.

Then, s140 is performed. In s140,
After correcting the deviation amount in the selected horizontal direction, if there is a deviation amount in the unselected vertical direction, select the vertical direction and select the shield according to the vertical shield jack action point P ₂ (yo). Correct the vertical shift based on the jack pattern. In addition, s140 of s140
148 differs from s131 to s13 only in that the horizontal direction of s131 to s138 of s130 is the vertical direction.
Since the processing procedure is the same as that in 8, detailed description thereof will be omitted.

After the correction of the shift amount in the horizontal direction, if there is a further shift amount in the horizontal direction, the horizontal direction is selected and the shield jack pattern selected according to the horizontal shield jack action point. Based on the above, the amount of deviation in the horizontal direction may be corrected.

In addition, s120 when the composite control is selected
S121 to s128 are the same as s131 to s138, except that the process of (1) is performed based on the combined displacement amount with respect to s130 in the horizontal direction and s140 in the vertical direction. That is, each of the shield jack action points in the vertical direction and the horizontal direction is synthesized by the action point synthesis unit 90 (see FIG. 3), and based on this action point, the synthetic jack pattern setting unit 92 (FIG. 3), a jack pattern is selected and is controlled by the jack control drive unit 84 (see FIG. 3). As a result, the deviation amounts in the horizontal direction and the vertical direction are combined, and the combined deviation amounts are corrected, whereby the deviation amounts are corrected.

As described above, the present embodiment has the following effects.

(1) Since the amount of deviation in the horizontal (or vertical) direction is corrected, and then the amount of deviation in the vertical (or horizontal) direction is corrected, the shield excavation is performed in the tilt direction other than the two directions of the horizontal and vertical directions. Since the machine does not tilt, rolling can be reliably prevented and twisting of the tunnel space can be prevented. That is, when performing the attitude control in the diagonal direction,
A certain section is divided, and first, either the vertical or horizontal control direction is selected, and for example, a reaction force in the vertical (or horizontal) direction is generated, and the direction control is performed. Next, contrary to this, a reaction force in the horizontal (or vertical) direction is generated and its direction is controlled. In this way, the direction control in the vertical direction and the direction control in the horizontal direction are disassembled and independently performed, so that accurate direction control can be performed without causing rolling.

(2) When the amount of deviation in the horizontal and vertical directions is within the allowable range, the tunnel space after excavation is horizontal,
Since the amount of inclination in the vertical direction is small, a method of combining the horizontal component and the vertical component may be adopted. in this way,
By combining the independent control that controls the horizontal direction and the vertical direction individually and the combined control, it is possible to control the direction without twisting even in a special tunnel space such as a rectangular cross section. .

(3) By selecting the one with the larger displacement amount in time earlier, the amount of tunnel space excavated with the displacement amount with respect to the planned line, that is, excavation with a shield machine that continues to excavate continuously. It is possible to form an ideal tunnel space as close as possible to the planned line by reducing the deviation in the tunnel space after excavation.

While the apparatus and method of the present invention have been described in accordance with some specific embodiments thereof, those skilled in the art can practice the invention as described in the text of the present invention without departing from the spirit and scope of the invention. The following (1) to the form of
Various modifications of (6) are possible.

(1) In this example, the case where two front body portions are connected in the vertical direction to form a vertically long tunnel space has been described as an example, but the present invention can also be applied to a horizontally long rectangular cross section. At this time, as shown in FIGS. 11A and 11B, the shield machine 1 has two front trunk portions arranged in a row, and in this case, the shield jack used also has a peripheral rectangular cross section corresponding thereto. Use the one arranged in the direction. The jack pattern is shown in the horizontal state of FIGS. 9A and 9B.

(2) Further, a shield jack 102 having a vertically long triple front body portion shown in FIG. 12 (A), and a shield jack 102 having a horizontally long triple station shown in FIG. 12 (B). Alternatively, the shield jack 112 may be provided. In this case, the erector may also be vertically or horizontally long. Furthermore, FIG.
As shown in (C), the shield jack 122 may be provided to the shield machine 120 having two front and rear body parts. Furthermore, the present invention is not limited to the one having a plurality of shield jacks along the circumferential direction with respect to the cross section, and the point is that the method of the present invention can be applied to a configuration in which the shield jacks are arranged symmetrically with respect to the center. . Further, the shield machine is not limited to a rectangular cross section, but may be a polygon having a pentagonal shape or more.

(3) Further, a second correction direction selecting section 76 is provided, and based on the moment action points in the X and Y directions,
A method of selecting a shield jack may be used. The block diagram in this case is as shown in FIG. 13, and the flowchart is as shown in FIG.

In this case, the second correction direction selector 76
As shown in FIG. 13, by connecting to the output of the vertical action point inference unit 60 and the output of the horizontal action point inference unit 70, the vertical and horizontal jack pattern setting units 80 and 82 are selected. Constitute. Also, as shown in FIG.
Between s134 and s135 and between s144 and s145 in FIG.
160 is provided, and s150 is newly added as a determination block corresponding to s112. For convenience of description, s140 is replaced with s140-1 to s144 to s140-1.
And s140-2 of s145 to s148 and s130-1 of s131 to s134.
And s130-2 from s135 to s138.

Then, the procedure is as follows.

First, the correction direction is temporarily set to s152.
When "Horizontal" is selected, this is the first time (first time) that the "Horizontal" direction is selected, so s130-1 is performed. After that, also in the determination of s161, since the correction in the “horizontal ′” direction is the first correction, s130-2 is selected and this is performed.

Next, returning to s102, N is returned in s151.
o is selected, and either is selected in s152.
If No, No is selected in s154, and Yes
Also in the case of, Yes is selected in s153 and s140-1 is performed. And since s162 is Yes, s140-2
And then return to s102.

This completes the first time, but in the second time,
Yes is selected in s151 and s163 is performed. Here, at the first time, the moment action point obtained in s130-1 and s140-1, that is, the horizontal shield jack action point P ₁ inferred based on the horizontal shift amount.
The size xo is compared with the size yo of the vertical shield jack action point P ₂ inferred based on the amount of vertical deviation, and the second correction direction selection unit 76 selects the larger direction. Yes (s160).

Then, the shift amount in the horizontal (vertical) direction is corrected based on the shield jack pattern corresponding to the selected horizontal (vertical) direction of the shield jack action point (s130-2).

Then, the following step (a) or (a) is performed.

(A) After correction of the deviation amount in the horizontal (vertical) direction, a vertical (horizontal) direction that is not selected is selected, and the vertical (horizontal) direction is selected based on the shield pattern corresponding to the point of action of the shield jack. The amount of deviation in the horizontal direction is corrected (s140-2).

(A) After the deviation amount in the selected horizontal (vertical) direction is corrected, the horizontal direction or the vertical direction is determined again based on the size of each shield jack action point based on each deviation amount in the horizontal direction and the vertical direction. One of the vertical directions (horizontal) is selected, and based on the shield jack pattern selected according to the selected one direction horizontal (vertical) shield jack action point, the other direction (horizontal Correct the deviation amount in the vertical direction (s130-2 (s140-
2)).

As an effect of the method in the above step, after the deviation amount is corrected in one direction, if the deviation is further generated, the deviation amount in one direction can be corrected again. Therefore, it is advantageous when the positional deviation does not exceed the allowable range in the other direction.

(4) A rolling correction system, for example, a center bending jack, a deflection jack, a cutter rotating direction, a movable sled, a stabilizer, etc., which have a high rolling correction effect, are operated, and various rolling correction systems are also used after the direction control system is operated. It may be configured. This allows
It is possible to omit the correction calculation by the excavation work item in the direction control. Further, by providing the rolling correction system, it becomes easy to correct the direction.

(5) In this example, the case of inferring the shield jack action point by fuzzy inference has been described as an example, but an inference method other than this can be adopted if necessary.

(6) In this example, the muddy water pressure type shield construction method has been described, but the present invention is not limited to this example, and can be applied to earth pressure system shield construction method, propulsion construction method and the like.

[0102]

[Brief description of drawings]

FIG. 1 is a partially cutaway side view showing an example of the overall configuration of a shield machine according to the present invention.

2 is a cross-sectional view taken along the line AA of FIG. 1 showing the shield machine of FIG.

FIG. 3 is a block diagram schematically showing an example of an embodiment of a direction control device for a shield machine according to the present invention.

FIG. 4 is an explanatory view showing a state of a shield machine which moves in a state of being displaced from a planned line.

5 is an explanatory diagram showing an arrangement of shield jacks of the shield machine shown in FIG. 1. FIG.

FIG. 6 is an explanatory diagram showing an example in which a shield jack action point is calculated using a fuzzy inference method;
(A) shows a horizontal direction and (B) shows a vertical direction.

FIG. 7 is an explanatory diagram of control rules used in the fuzzy inference shown in FIG.

FIG. 8 is an explanatory diagram showing an example in which a shield jack action point is calculated using a fuzzy inference method.

9A and 9B are diagrams showing an example of a shield jack action point and a shield jack pattern when the direction control device of FIG. 3 is used. FIG. 9A is an example of a horizontal shield jack pattern, and FIG. 9B is a vertical direction. It is a figure which shows an example of the shield jack pattern of FIG.

10 is a flowchart illustrating an operation of the direction control device of FIG.

FIG. 11 is a diagram showing an example of a shield jack action point and a shield jack pattern when a direction control device showing another example of another embodiment according to the present invention is used;
(A) is an example of a vertical shield jack pattern,
FIG. 6B is a diagram showing an example of a horizontal shield jack pattern.

FIG. 12 is a diagram showing an example of a shield jack action point and a shield jack pattern when a direction control device showing an example of still another embodiment according to the present invention is used, and (A) three stages in the vertical direction. When connected, (B) shows a case where three stages are connected in the horizontal direction, (C) shows a case where two stages are used in each of the vertical direction and the horizontal direction, and (D) shows a case where the shield jacks are arranged in a circle. .

FIG. 13 is a block diagram schematically showing an example of another embodiment of the direction control device for the shield machine according to the present invention.

FIG. 14 is a flowchart illustrating an operation of the direction control device of FIG.

FIG. 15 is an explanatory view for pointing out a problem when a conventional circular shield machine is used, (A) is a shield jack pattern of the circular shield machine, and (B) is a rectangular shield machine. A cross section is shown.

[Explanation of symbols]

1 shield machine 10 shield machine main body 30 shield jack 40 cutter unit 50 Position data detector 52 Target course calculation unit 54 storage 56 Correction direction selection section 60 Vertical action point inference unit 70 Horizontal action point inference unit 80 Vertical jack pattern setting section 82 Horizontal jack pattern setting section 84 Jack control drive

─────────────────────────────────────────────────── ─── Continued Front Page (72) Inventor Mitsuru Shinohara 1-7-1, Kyobashi, Chuo-ku, Tokyo Toda Construction Co., Ltd. (72) Riichi Okayama 1-1-7 Kyobashi, Chuo-ku, Tokyo Toda Construction Co., Ltd. (72) Inventor Akira Usami 1-7-1, Kyobashi, Chuo-ku, Tokyo Toda Construction Co., Ltd. (72) Inventor Takeshi Yagura 1-7-1, Kyobashi, Chuo-ku, Tokyo Toda Construction Co., Ltd. (56) References JP-A-6-257399 (JP, A) JP-B 2-62163 (JP, B2) JP-B 8-33095 (JP, B2) Utility model registration 2502340 (JP, Y2) (58) Fields surveyed (Int.Cl. ⁷ , DB name) E21D 9/06 301 E21D 9/08

Claims (5)

(57) [Claims] 1. A shield in a horizontal direction and a vertical direction which intersect with each other as the shield machine advances as the shield machine is selectively used by selectively using a plurality of shield jacks arranged circumferentially in the rectangular shield machine. A direction control method for controlling the excavation direction of the shield machine by correcting each deviation amount with respect to the planned line of the excavator, and is each deviation amount in the horizontal direction and the vertical direction within an allowable range? And a step of determining whether or not each of the deviation amounts in the horizontal direction or the vertical direction is outside the allowable value, and either one of the deviation amount in the horizontal direction or the deviation amount in the vertical direction that is outside the allowable value. On the basis of the selection step of selecting one of the horizontal direction or the vertical direction, by operating the shield jack in the horizontal direction or the vertical direction, in the selected one direction A first correction step for correcting the amount of deviation , wherein the allowable range is the horizontal level defined as the allowable range.
Direction based on the combined displacement amount of each direction and vertical displacement amount
When controlled, the shield machine will roll
A method for controlling the direction of a shield machine, which is characterized by being set to a non-value . 2. The correction method according to claim 1, wherein after correction of the deviation amount in the one selected direction, if there is a deviation amount outside the allowable value in the other unselected direction, the other direction is selected, The method for controlling the direction of a shield machine, further comprising a second correction step of operating the shield jack to correct a deviation amount in the other direction. 3. The shift amount in each of the horizontal direction and the vertical direction is within an allowable range, and the shift amount in each of the horizontal direction and the vertical direction is combined, and the combination is obtained. A direction control method for a shield machine, further comprising a third correction step of correcting each of the deviation amounts by correcting the generated deviation amount. 4. The shield excavator direction control method according to claim 1, wherein the selecting step selects a direction having a larger displacement amount. 5. The shield jack operation according to claim 1, wherein the first or second correction step is to infer a shield jack action point based on each deviation amount with respect to the planned line. A method of controlling the direction of a shield machine, comprising: a step of calculating a shield jack pattern corresponding to a point;