JP3821538B2 - Tunneling machine excavation control method - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to a tunneling method of controlling a tunneling machine for controlling the excavation state in response to geological conditions.
[0002]
[Prior art]
Conventionally, a tunnel excavator (TBM) advances a cutter head having a plurality of disc cutters attached to its tip while rotating by a motor to excavate natural ground. The excavated ground is not uniform, and the geological situation always changes as the excavation progresses. Therefore, the geological situation is judged based on the experience of skilled workers, and excavation works according to the geological situation. Has been done.
[0003]
On the other hand, in JP-A-4-92095, an excavation control device that controls the rotational speed of the cutter head and the propulsion speed of the cutter head in accordance with the geological situation and holds the total propulsive force of the cutter head at a predetermined value. Is disclosed.
[0004]
[Problems to be solved by the invention]
However, if the excavation work is performed according to the judgment of the operator as described above, the optimum excavation cannot always be performed, and it takes time for the judgment, or the face and the pit wall are disturbed due to an erroneous judgment. There is a problem. In addition, there is a problem that it is necessary to construct a large support as such a measure, or conversely, the construction speed is not progressed as planned due to excavation in an excessively large state. Furthermore, there is a problem that a skilled worker is necessary or that the worker needs to be educated.
[0005]
Further, the excavation control device disclosed in the Japanese Patent Laid-Open No. 4-92095 is mainly used for a shield excavator that excavates a soft ground, and this excavation control device is used for TBM to perform excavation work. In such a case, the cutter head rotation speed and the excavation speed are increased in the weak layer portion and the ground is disturbed, and in the hard rock portion, the cutter head rotation speed and the excavation speed are decreased, resulting in excessive excavation. Further, in the excavation control device, it is necessary to control two variables of the cutter head rotation speed and the excavation speed, so that there is a problem that the control is difficult.
[0006]
The present invention has been made to solve such problems. When a tunnel is constructed using a tunnel excavator, labor saving, high speed excavation, and reduction of support are possible. The object of the present invention is to provide a tunnel excavator control method that leads to full automation.
[0007]
[Means for solving the problems and actions / effects]
In order to achieve the above object, a tunnel excavation control method for a tunnel excavator according to the present invention provides:
An excavation control method for controlling excavation according to the geological situation of the natural ground when performing excavation work of the natural ground with a tunnel excavator,
First determine the geological conditions, the cutter head rotation speed, after setting the cutter head rotation speed that is set in advance according to the geological conditions, gradually increasing the pressure oil flow rate supplied to the propulsion jacks, the propulsion jacks When the flow rate of pressure oil supplied to reaches a predetermined flow rate, the flow rate is maintained .
[0008]
According to the excavation control method according to the present invention, for example, after the geological situation of the natural ground from the data or the like in the excavation work is detected, the cutter head rotation speed that is set in advance according to the number of rolling cutter head once geological conditions to be set. Next, gradually increase the flow rate of pressure oil supplied to the propulsion jack, hold the flow rate of the propulsion jack when the flow rate of pressure oil supplied to the propulsion jack reaches a predetermined flow rate, and digging work can be performed with this flow rate maintained. Done.
[0009]
Thus, since the cutter head rotation speed is set to a cutter head rotation numerical value that is set in advance according to the geological situation, only the propulsion jack is actually controlled. This makes it possible to automatically select the optimal excavation state according to the geological situation, saving labor, reducing high-speed excavation when the geology is hard rock, and reducing support when the geology is soft rock. It becomes possible. Thus, since it can excavate in the state according to the geological situation, there exists an effect that work efficiency is good and a tunnel construction period can be shortened.
[0010]
Furthermore, as described above, by determining the geological situation using the data during the excavation work, it is possible to judge the geological situation more accurately than a skilled worker, and the automatic direction that has already been put into practical use. Together with the control system, it can lead to complete automation of tunnel construction.
[0011]
In the present invention, the cutter head rotation speed that is set in advance is preferably set to be small fence according geological conditions is directed from the hard rock soft rock. Thus, when the geological condition is soft rock, the tunnel head wall can be dug without being disturbed by reducing the cutter head rotation speed, and there is no need to construct a large support as in the past. . On the other hand, when the geological condition is hard rock, there is little risk of the tunnel pit wall being disturbed, so high speed excavation can be performed by increasing the rotational speed of the cutter head.
[0012]
In the present invention, said predetermined that definitive when geological conditions are hard rock flow is preferably a flow rate during the scan last pressure maximum. When the geological condition is hard rock, increase the propulsion jack flow rate until the thrust pressure reaches the maximum flow rate so that the thrust jack flow rate is maintained when the thrust pressure reaches the maximum flow rate. High-speed excavation is performed under the automatic control. Thus, when the tunnel pit wall is hard rock, the construction period can be shortened because there is no fear of being disturbed even if high-speed excavation is performed.
[0013]
In the present invention, said predetermined that definitive when geological conditions is medium hard rock flow is preferably either at the time of the scan last pressure maximum flow or the flow rate at the cutter head drive current up. In this way, when the geological situation is medium hard rock, the tunnel wall is less likely to be disturbed. However, if high-speed excavation similar to hard rock is performed, the tunnel wall will be disturbed, and the cutter head drive motor will be excessive. Since the load on the propulsion jack is controlled to be maintained at the point when the thrust pressure reaches the maximum flow rate or the maximum flow rate of the cutter head drive current, the excavation is performed. Is called. By carrying out like this, it can dig without disturbing a tunnel well wall and without being in an excessive state.
[0014]
In the present invention, the predetermined flow rate definitive when the geological conditions are soft rock, the scan last pressure maximum at the flow rate, the allowable maximum flow rate or propulsion jacks advancing speed hits rotating cutter head 1 at the time of the cutter head drive current up It is preferable that the flow rate be one of the flow rates when it is equal to the excavation speed obtained by the product of the cutting depth and the cutter head rotational speed. When the geological condition is soft rock, the tunnel wall may be disturbed or an excessive load may be applied to the cutter head drive motor. Therefore, the thrust jack flow rate is the flow rate at the maximum thrust pressure, the cutter head drive current. When the flow rate reaches either the maximum flow rate or the flow rate at Vh = Pe · n (Vh: propulsion speed of the jack jack, Pe: maximum allowable cutting depth per cutter head rotation, n: cutter head rotation speed) Then, the flow is controlled so that the flow rate is maintained, and excavation is performed. By doing so, the cutter head can be prevented from excessively penetrating into the natural ground, so that the tunnel wall is not disturbed and the excavation can be performed with simple support.
[0021]
DETAILED DESCRIPTION OF THE INVENTION
Next, specific embodiments of the excavation control method according to the present invention will be described with reference to the drawings.
[0022]
FIG. 1 schematically shows a system configuration diagram of an excavation control apparatus according to an embodiment of the present invention.
[0023]
The tunnel excavator (TBM) 1 provided with the excavation control device of the present embodiment rotates the cutter head 3 supported on the front side by the cutter head support 2 by the cutter head drive motor 4 and reacts against the ground 5. Excavation is performed by a thrust jack 7 provided between the main gripper 6 and the excavator body.
[0024]
The tunnel machine 1 includes a cutter head tachometer 8 that measures the rotation speed (C / H rotation speed) of the cutter head 3 and an ammeter 9 that is connected to the cutter head drive motor 4 and measures the drive current. And a cutter head drive motor controller (cutter head rotational speed setting means) 10 that can set the cutter head rotational speed in three stages of the rated rotational speed or higher, the rated rotational speed, and the rated rotational speed or lower, and the thrust jack 7. A hydraulic pressure gauge 11 for measuring the hydraulic pressure, a stroke gauge 12 for measuring the stroke, and a thrust jack flow controller (propulsion jack flow control means) 13 for adjusting the flow rate are provided. From the output of the ammeter 9, rotational torque (C / H torque) of the cutter head 3 is obtained, and from the output of the hydraulic pressure gauge 11, the thrust force and thrust pressure of the thrust jack 7 are obtained, and the stroke meter From the 12 outputs, the propulsion speed is obtained.
[0025]
The propulsive force, propulsion speed, rotational speed, and rotational torque obtained in this way are input to the personal computer 14 as excavation data. In this personal computer 14, the specifications of the disk cutter used in the tunnel excavator 1, the number of disk cutters, the pitch, and the like are previously input as input data. By analyzing this excavation data and the input data, the cutting depth per rotation of the cutter head and the uniaxial compressive strength (geological status) are uniquely determined, and thereby the uniaxial compressive strength (geological status) is obtained.
[0026]
Further, the tunnel excavator 1 is provided with two penetrating bars 15 so as to protrude and retract so as to face the side support portion immediately after the cutter head 3. A natural ground strength measuring device 16 is connected to the penetrating rod 15, and the natural ground strength measuring device 16 measures the amount of penetration when the penetrating rod 15 penetrates into the natural ground by a protruding operation. A measurement mechanism and a penetration input measurement mechanism for measuring the penetration input are provided. Further, the ground strength measuring device 16 includes an intrusion geology data storage means for preliminarily storing intrusion geology data as a standard, and each measured value by the penetration amount measuring mechanism and the penetration input measuring mechanism. And a function to calculate the uniaxial compressive strength (geological condition) from the intrusion geological data. The penetration bar 15 is suitable when the natural ground is made of soft rock, and the penetration operation is performed when the tunnel excavator 1 is stopped.
[0027]
Thus, among the geological situation obtained by analyzing from the excavation data (measured values of propulsive force, propulsion speed, rotational speed, and rotational torque) and the geological situation calculated from the measured values related to the penetrating rod 15 Any appropriate value is selected and the geological condition of the natural ground is selected. This selection mechanism can be provided in the personal computer 14 or the ground strength measuring device 16. In addition, the most appropriate geological situation can be obtained by using appropriate parameters from the geological situation obtained from the excavation data and the geological situation obtained from the measurement value relating to the penetrating rod 15.
[0028]
When the geological situation is obtained in this way, the personal computer 14 controls the thrust jack flow controller 13 and the cutter head drive motor controller 10 so as to set the thrust jack flow rate and the cutter head rotation speed according to the geological situation, respectively. Appropriate automatic excavation can be performed.
[0029]
In the excavation control method by the tunnel excavator 1 provided with the excavation control device of the present embodiment, as shown in the flow chart of FIG. 2, first, the excavation start signal is input to the personal computer 14 (S1), and then the thrust The initial values of the jack flow rate and the cutter head rotational speed are respectively input to the thrust jack flow rate controller 13 and the cutter head drive motor controller 10 to start digging (S2).
[0030]
Thus, the excavation is started by the tunnel excavator 1, and as described above, the geological condition is detected based on the excavation data and the measured values related to the penetrating rod 15 (S3), hard rock (S4), medium hard rock (S5), soft rock (S6). ).
[0031]
When excavating the natural ground identified as the hard rock, the thrust jack flow controller 13 is controlled by the output of the personal computer 14 to increase the flow rate of the thrust jack 7 and the cutter head drive motor controller 10 is controlled. The cutter head rotational speed is set to a constant value equal to or higher than the rated rotational speed (S7). Thus, the thrust jack flow rate is increased until the thrust pressure reaches the maximum value (S8), and when the thrust pressure reaches the maximum value, the thrust jack flow controller 13 is controlled to maintain the flow rate of the thrust jack 7 (S9). .
[0032]
When excavating the natural ground determined to be medium hard rock, the thrust jack flow controller 13 is controlled by the output of the personal computer 14 to increase the flow rate of the thrust jack 7 and the cutter head drive motor controller 10 is controlled. Then, the cutter head rotational speed is set to the rated rotational speed (S10). Thus, the thrust jack flow rate is increased until the thrust pressure reaches the maximum value or the current value of the cutter head drive motor reaches the maximum value (S11), and either the thrust pressure or the current value reaches the maximum value. At the indicated time, the thrust jack flow controller 13 is controlled to maintain the flow rate of the thrust jack 7 (S12).
[0033]
When excavating the natural ground determined to be soft rock, the thrust jack flow controller 13 is controlled by the output of the personal computer 14 to increase the flow rate of the thrust jack 7, and the cutter head drive motor controller 10 is controlled to cut the cutter. The head rotation speed is set to a constant value equal to or less than the rated rotation speed (S13). Thus, whether the thrust pressure becomes the maximum value, the current value of the cutter head driving motor becomes the maximum, or Vh = Pe · n (Vh: thrust jack extension speed, Pe: disc cutter allowable maximum cutting amount, n: cutter) The thrust jack flow rate is increased until the head rotational speed is reached (S14). In this way, when any one of them is applied, the thrust jack flow controller 13 is controlled to maintain the thrust jack flow (S15).
[0034]
Thus, the excavation is carried out while maintaining the flow rate of the thrust jack corresponding to each of the geological conditions (hard rock, medium hard rock, soft rock) to be excavated. Since the geological situation changes as the excavation is performed in this way, if the excavation is not finished, the geological situation is judged again, and the excavation is performed by repeating the above-described operation (S16). On the other hand, when the excavation is ended, the thrust jack flow rate holding and the cutter head rotation are stopped (S17).
[0035]
In this embodiment, the geological situation can be automatically grasped by using data obtained during excavation by the tunnel excavator 1, and if the geological situation to be excavated is hard rock, there is a risk of disturbing the natural ground. Therefore, it is possible to increase the cutter head rotation speed and increase the thrust jack flow rate to increase the excavation speed to the limit where the disc cutter is pressed against the face, thereby performing high-speed excavation. On the other hand, when the geological condition to be excavated is soft rock, since the excavation is carried out so as not to disturb the natural ground by controlling the cutter head rotation speed and the thrust jack propulsion speed, it is not necessary to construct a large support. In the case of medium hard rocks, the cutter head rotation speed and thrust jack propulsion speed are controlled so that the excavation work can be performed without disturbing the ground and being in an excessive state.
[0036]
Therefore, since this excavation control method and excavation control apparatus can automatically select an appropriate excavation state automatically, it is possible to save labor, and at the same time, high-speed excavation and support reduction are possible, and tunnel construction is possible. There is an effect that the period can be shortened. In addition to the automatic directional control system for tunnel excavators that have already been put into practical use, it will lead to full automation of tunnel excavation.
[0037]
Further, in this embodiment, the number of revolutions of the cutter head is set to any one of three stages of the rated speed or higher, the rated speed, and the rated speed or less according to the geological condition, and only the flow rate of the thrust jack is set. It is only necessary to control and excavation control can be easily performed.
[0038]
In the present embodiment, the geological situation is detected by the excavation data or the ground strength measuring device, but the operator may judge the geological situation. Further, the operator may select the digging data or the natural ground strength measuring device 14.
[Brief description of the drawings]
FIG. 1 is a schematic diagram of a system configuration diagram of an excavation control apparatus according to an embodiment of the present invention.
FIG. 2 is a flowchart illustrating a tunnel excavation control method for a tunnel excavator according to the present embodiment.
[Explanation of symbols]
DESCRIPTION OF SYMBOLS 1 Tunnel excavator 2 Cutter head support 3 Cutter head 4 Cutter head drive motor 5 Ground 6 Main gripper 7 Thrust jack 8 Cutter head tachometer 9 Cutter head drive motor ammeter 10 Cutter head drive motor controller 11 Hydraulic pressure gauge 12 Stroke meter 13 Thrust jack flow controller 14 Personal computer 15 Penetration bar 16 Ground strength measuring device

Claims (5)

An excavation control method for controlling excavation according to the geological situation of the natural ground when performing excavation work of the natural ground with a tunnel excavator,
First determine the geological conditions, the cutter head rotation speed, after setting the cutter head rotation speed that is set in advance according to the geological conditions, gradually increasing the pressure oil flow rate supplied to the propulsion jacks, the propulsion jacks A tunnel excavator control method for holding a tunnel excavator , wherein the flow rate of pressure oil supplied to the vehicle is maintained at a predetermined flow rate . The cutter head rotation speed that is set in advance, excavation control method of tunnel boring machine according to claim 1, characterized in that the geological conditions are set to be small fence toward the hard rock soft rock. The predetermined flow rate, excavation control method of tunnel boring machine according to claim 1 or 2, characterized in that the flow rate during the scan last pressure maximum definitive when the a geological situation hard rock. The predetermined flow rate definitive when the geological situation is medium hard rocks, in claim 1 or 2, characterized in that either at the time of the scan last pressure maximum flow or the flow rate at the cutter head drive current up The tunnel excavation control method of the tunnel excavator as described. The predetermined flow rate definitive when the geological conditions are soft rock, the scan last pressure maximum at the flow rate, the allowable maximum depth of cut of the flow rate or propulsion jacks advancing speed hits rotating cutter head 1 at the time of the cutter head drive current up to a cutter excavation control method for tunnel boring machine according to claim 1 or 2, characterized in that either a flow rate of equal to resulting penetration rate by the product of the head speed.

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