JP4573815B2 - Drilling direction control device for shield machine in propulsion shield method - Google Patents

Description

  The present invention relates to a digging direction control device for a shield machine in a propulsion shield method.

  When laying underground pipes in the ground, a propulsion shield method is often employed in which a plurality of underground pipes connected to the shield machine are pushed and installed while excavating the ground with a shield machine.

In the above-described propulsion shield method, in order to lay the buried pipe at the planned position, it is necessary to manage the propulsion locus and propulsion posture of the shield machine that excavates in the ground.
For this purpose, the shield machine is provided with a target composed of light reflecting means, a light source that projects diffused light toward a rear target, which will be described later, and a camera or imaging means that images the reflected light from the rear target. At the same time, an intermediate measuring machine is provided at predetermined intervals in a plurality of buried pipes connected to the shield machine, and diffused light is projected onto the intermediate machine toward the target of the front or rear shield machine or intermediate machine. A light source, a light receiving unit that receives reflected light from a front or rear target, a lightwave rangefinder that measures a distance between the front target from a wavelength shift between the projected light and the reflected light confirmed by the light receiving unit, and A camera or camera that captures images of front or rear targets, measures the target displacement, and confirms the angle and posture of the target relative to the drilling plan line. It has been provided and means. (For example, refer to Patent Document 1).

JP 2004-184094 A

  The conventional digging direction control device of the shield machine in the propulsion shield method is configured as described above, projects light from the light source toward the front target, receives the reflected light from the target, and measures distance and shield digging. Although the position and orientation of the machine were confirmed, for example, when the projection light from the light source is a laser beam, the beam diameter (spot diameter) of the laser beam is large in proportion to the distance, becomes dark, and becomes approximately 150 m or more. There was a problem that it was impossible to measure the distance and confirm the position and orientation.

  In addition, a light source that projects diffused light toward the front target, a light source that projects diffused light toward the rear target, a light receiving unit that receives reflected light from the front target, and a reflected light from the rear target Light receiving unit, a light wave distance meter for measuring distance based on front light receiving unit data, a light wave distance meter for measuring distance based on rear light receiving unit data, a camera or an imaging means for confirming displacement of a front target If the camera or imaging means for checking the displacement of the target and the rear target are integrated back to back and mounted on the intermediate measuring machine, the pump, data transmission unit, inclinometer, etc. are to be installed on the intermediate measuring machine. In some cases, the camera or the imaging means, the light source, the target, or the like may interfere with the installation position.

  Furthermore, the intermediate measuring machine is provided with wheels at the four corners of the lower surface so that the intermediate measuring machine can move in the buried pipe in the extending direction of the pipe. There is a problem that the work in and out cannot be smoothly performed.

  The present invention has been made to solve the above-described problems, and is capable of measuring a distance and confirming the position and posture of a shield machine without using reflected light from a target, and an intermediate measuring machine. Providing a digging direction control device for the shield machine in the propulsion shield method that makes it easy to mount a pump, data transmission unit, inclinometer, etc., and allows the intermediate measuring machine to move smoothly in the buried pipe The purpose is to do.

The digging direction control device for the shield machine in the propulsion shield method according to the present invention is configured to propel a propulsion body coupled with a buried pipe behind the shield machine while excavating from a stand and formed by the buried pipe. In the propulsion shield method, the front camera is provided in the shield machine, and includes a target composed of a surface light source that emits light toward the rear, and a front camera that images the light emission of the front target and checks the amount of displacement of the front target. An imaging means, a rear camera or imaging means for imaging the light emission of the rear target and confirming the amount of displacement of the rear target, a front target comprising a surface light source that emits light toward the front camera or imaging means, and the rear The rear target consisting of a surface light source that emits light toward the camera and the tilt angle in the horizontal direction or in the extension direction of the buried pipe A plurality of intermediate measuring instruments that are installed in the buried pipe so as to be movable at a predetermined interval, and a rear side of the intermediate measuring instrument that is located in the rear and located at the end A camera or imaging means for imaging the emission of the target for the target and confirming the amount of displacement of the target for the rear, the amount of displacement of the target for the rear of the last intermediate measuring machine confirmed by the camera or the imaging means, and the rear The position and orientation of the last intermediate measuring device are obtained based on the distance between the target for the camera and the imaging means and the angle of the inclinometer of the last intermediate measuring device, and in front of the last intermediate measuring device. Displacement of the rear target confirmed by imaging the light emission of the rear target of the intermediate measuring device or shield machine further forward by the camera or imaging means, and the intermediate meter The position of the intermediate measuring machine or shield machine located in front based on the distance between the machines or the distance between the shield machine and intermediate measuring machine and the angle of the inclinometer of the intermediate measuring machine or shield machine located in front And calculating means for calculating the attitude, calculating the error between the propulsion direction of the shield machine and the propulsion plan line based on the calculation result of the calculator, and controlling the propulsion direction of the shield machine , The intermediate measuring machine has a carriage on which the front and rear targets, the front and rear cameras or imaging means, and the inclinometer are mounted, and the carriage is rotatably arranged in the buried pipe. It can be moved on the installed roller in the propulsion direction of the shield machine .

The digging direction control device for the shield machine in the propulsion shield method according to the present invention is also configured to propel a propulsion body coupled with a buried pipe behind the shield machine while excavating from a stand and formed by the buried pipe. In the propulsion shield construction method for laying a road, a front camera that is provided in the shield machine and includes a surface light source that emits light toward the rear, and a front camera that images the light emission of the front target and checks the amount of displacement of the front target. Or imaging means, a rear camera or imaging means for imaging the light emission of the rear target and confirming the amount of displacement of the rear target, and a front target comprising a surface light source that emits light toward the front camera or imaging means, A rear target consisting of a surface light source that emits light toward the rear camera, and a tilt in the horizontal direction or in the extension direction of the buried pipe An inclinometer for measuring the degree, and a plurality of intermediate measuring machines installed in the buried pipe so as to be movable at a predetermined interval; A camera or imaging means for imaging the light emission of the rear target and confirming the displacement amount of the rear target, and the displacement amount of the rear target of the last intermediate measuring machine confirmed by the camera or imaging means, Based on the distance between the rear target and the camera or imaging means and the angle of the inclinometer of the last intermediate measuring device, the position and orientation of the last intermediate measuring device are obtained, and the last intermediate measuring device The amount of displacement of the rear target confirmed by imaging the light emission of the rear target of the intermediate measuring device or shield machine further forward by the front camera or imaging means, Based on the distance between the measuring machines or the distance between the shield machine and the intermediate measuring machine and the angle of the inclinometer of the intermediate measuring machine or shield machine that is located in front of the intermediate measuring machine or shield machine that is located in front and an arithmetic means for calculating the position and orientation, the propulsion direction of the shield machine based on the calculation result of the calculating means calculates an error between the promotion plan line controls the propulsion direction of the shield machine The intermediate measuring device has a carriage on which the front and rear targets, the front and rear cameras or imaging means, and the inclinometer are mounted, and the carriage is rotatable in the buried pipe. It can be moved on the arranged roller in the propulsion direction of the shield machine and can be rotated on contact with the inner wall of the buried pipe provided on both sides of the carriage. It has the side roller made into .

  In the propulsion shield method according to the present invention, the shield direction machine digging direction control device is further connected so that each intermediate measuring machine can be displaced between adjacent trolleys by a connecting rod of a predetermined length. is there.

  The digging direction control device for the shield machine in the propulsion shield method according to the present invention further includes a front device comprising a front target and a front camera or imaging means, and the rear target and rear camera or imaging means. And a rear device comprising the above-mentioned cart, and the inclinometer is disposed between the front device and the rear device.

  In the propulsion shield method according to the present invention, the shield digging direction control device for the shield machine also includes a front device and a rear device arranged on a pair of turntables provided separately on the carriage. is there.

  In the propulsion shield method according to the present invention, the shield direction machine digging direction control device is also equipped with a transmission coil for transmitting electromagnetic waves to the shield machine, and the electromagnetic wave receiving coil is provided at a position where the shield machine will reach. The shield machine is guided to the receiving coil position based on the receiving strength of the receiving coil.

  The digging direction control device of the shield machine in the propulsion shield method according to the present invention is also composed of two coils in which the receiving coil is held at an angle of approximately 90 degrees.

  In the propulsion shield method according to the present invention, the shield direction machine digging direction control device is also configured such that the transmission coil is wound in a groove formed on the outer circumference of the shield machine, and the outer circumference side of the transmission coil in the groove. Is filled with resin.

The digging direction control device of the shield machine in the propulsion shield method according to the present invention is also:
The transmission coil is wound in a groove formed on the outer periphery of the shield machine and filled with resin on the outer peripheral side of the transmission coil in the groove, and the propulsion direction of the shield machine in the groove On the side, a protective iron plate is provided on the outer periphery of the shield machine.

The digging direction control device of the shield machine in the propulsion shield method according to the present invention is also:
At least one surface light source of the target, the front target, and the rear target is a color light source.

The digging direction control device of the shield machine in the propulsion shield method according to the present invention is also:
At least one surface light source of the target, the front target, and the rear target is formed in a circular shape.

The digging direction control device of the shield machine in the propulsion shield method according to the present invention is also:
The entire surface light source can be blinked, or the surface light source is divided into a plurality of areas, and only a predetermined area can be selectively blinked.

  The digging direction control device of the shield machine in the propulsion shield method according to the present invention is configured as described above, and the light of the surface light source constituting the target is directly viewed by the camera or the imaging means. Even if the distance between them increases, the light beam does not spread and can be reliably captured, and the distance, position, orientation can be easily confirmed, calculated, etc., and the accuracy is further improved.

In addition, since the focal position of the camera or the imaging unit and the installation position of the target can be made the same, the error can be reduced.
In addition, the intermediate measuring machine is configured such that the carriage moves on a roller disposed in the buried pipe, and further, side rollers that rotate when contacting the inner wall of the buried pipe are provided on both sides of the carriage. The movement in the buried pipe is performed very smoothly, and it is easy to take in and out work at the time of failure.

  Further, in the intermediate measuring machine carriage, the front device composed of the front target and the front camera or imaging means and the rear device composed of the rear target and the rear camera or imaging means are only measured in advance. Since they are arranged apart from each other and a sufficient space is secured between them, an inclinometer, a pump, a data transmission unit, etc. can be arranged in the above-mentioned space without hindering measurement.

  In addition, the inclinometer mounted on the intermediate measuring machine measures the inclination in the circumferential direction of the shield machine or intermediate measuring machine by the displacement of the conventional target in order to measure the inclination with respect to the horizontal direction or the extension direction of the buried pipe In this method, when there are a plurality of intermediate measuring machines, errors are integrated for a plurality of units, whereas in the present invention, the measurement results of individual inclinometers can be used as they are. Even if there are a plurality of units, errors are not integrated, and therefore accuracy is increased.

  Furthermore, since the forward device and the backward device are each arranged on a rotating table provided on the bogie of the intermediate measuring machine, the device rotates at a place where the propulsion direction of the shield machine has a large curve. By rotating the table, the angle of the camera or imaging means can be adjusted to the local curve in advance.

  Moreover, since the transmission coil which transmits electromagnetic waves is attached to the shield machine and the reception coil for the electromagnetic wave is provided at the expected arrival position, the shield machine can be accurately and easily guided to the arrival position. In particular, when there is a considerable distance between the transmitting coil and the receiving coil, induction by electromagnetic waves includes a large error, but the closer the both coils are, the stronger the electromagnetic wave becomes, so it reaches the shield machine. It can be accurately guided to the position.

Embodiment 1 FIG.
Embodiment 1 of the present invention will be described below with reference to the drawings. FIG. 1 shows a configuration of a propulsion body composed of a shield machine according to Embodiment 1 and a plurality of buried pipes connected to the shield machine, and a situation of shield excavation when the propulsion body excavates a straight tunnel. (A) is a plan view showing the state of the propulsion body as viewed from above, (b) is a longitudinal sectional view showing the state of the propulsion body as seen from the side, and illustrates the buried pipe. Is omitted.

  When laying underground pipes in the ground, the underground pipes connected to the shield machine are pushed out from the grounds while being excavated from the ground using the shield machine at the excavation start position. A propulsion shield construction method is used that is laid along the planned line.

  As is well known, this method proceeds with excavation while supplying muddy water, for example, to the cutter head 1A with a pipe (not shown), and excavates while excavating the excavated mud with another pipe along with the position of the shield machine. The propulsion direction is measured and controlled along the propulsion plan line.

  The shield machine 1 includes a cutter head 1A for excavating the underground 3 and a target 1B having a surface light source made of, for example, an LED for measuring the position and propulsion direction of the cutter head, and the cutter head rotating direction or buried pipe of the shield machine. An inclining machine main body 1F provided with an inclinometer 1C for measuring the inclination angle in the extending direction of the slab and jacks 1D and 1E for controlling the propulsion direction of the cutter head 1A based on the measurement result. The target 1B is configured to form a surface light source by arranging a plurality of light emitters such as LEDs vertically and horizontally.

A plurality of buried pipes 2 pushed out from the resister 4 are connected to the rear of the shield machine 1 and form a propelling body together with the shield machine 1.
An imaging means 5 (hereinafter simply referred to as a camera) 5 such as a camera or a CCD is installed in the resist 4 in a form attached to the theodolite or transit, and the shield machine 1 is installed through the internal space of the plurality of buried pipes 2. The light from the target 1B is imaged, the amount of displacement from the reference position corresponding to the propulsion plan line is measured, and this data is transmitted to the personal computer 6.

  The personal computer 6 calculates the displacement amounts Δx and Δy of the target 1B from the propulsion plan line in consideration of the distance L between the target 1B and the camera 5. Based on this calculation, the automatic jack control device 7 sends a control signal to the excavator main body 1F, adjusts the push-out amount of the jacks 1D and 1E, controls the propulsion direction of the cutter head 1A, and controls it along the propulsion plan line. To do.

  The distance L can be measured by calculating the total length of extrusion using a rotary encoder or the like of a main pushing jack (not shown) for embedding pipes installed in the counter 4 or the dimensions reflected on the target monitor. In some cases, it may be calculated by calculating the total length of the buried pipe that has been extruded.

  The first embodiment is configured as described above, and the target 1B is configured as a surface light source composed of an LED or the like. As a result of directly imaging the light of the surface light source with the camera 5, there is no spread of light depending on the distance. As described above, the target is configured by a reflector, and light from a light source provided on the camera side is reflected by the target, and long-distance imaging can be accurately performed as compared with a system in which the reflected light is imaged by the camera. It is.

  In addition, if the entire surface light source is configured as a color light source including the target 1B and the front target 82 and the rear target 85 shown in the second embodiment to be described later, for example, green light is emitted. Since the surface light source can be easily confirmed even when sunlight enters from a part of the excavation path, the measurement error of the amount of displacement from the reference position is reduced. Note that the color of the surface light source is not limited to green, and the same effect can be expected even when other colors are used.

  The shape of the surface light sources of the targets 1B, 82 and 85 described above is shown as an example in the case of forming an inverted U shape in FIG. 4, but is not limited to such a shape, for example, formed in a circular shape. May be. Also, any shape other than a circle may be adopted, and the same effect can be expected in any shape.

  The surface light sources of the targets 1B, 82, and 85 described above may also be configured to blink the entire surface light source, or the surface light source may be divided into a plurality of areas and only a predetermined area may be selectively blinked. You may comprise. FIG. 8 shows an example of how to divide the blinking region when blinking a predetermined region of the target 1B formed in an inverted U shape. FIG. 8A shows a case where four blinking regions are set. b) shows a case where two blinking areas are set.

  That is, in the case of (a), a total of four locations, two locations of the inverted U-shaped corner portion 1BA and two locations of the tip portion 1BB, are used as blinking regions, and in the case of (b), the inverted U-shaped Two portions of the falling straight line portion 1BC from the corner portion to the tip portion are used as blinking regions.

  Thus, by dividing the surface light source into a plurality of areas and selectively blinking only a predetermined area or blinking the entire surface light source, it becomes easy to check the light source even when the surface light source is a white light source. Therefore, it is effective especially when the excavation distance becomes large and it is difficult to confirm with a normal light source or surface light source. Can be prevented. Such an effect is further enhanced when the surface light source is a color light source.

Embodiment 2. FIG.
Next, a second embodiment of the present invention will be described with reference to the drawings. FIG. 2 is a schematic diagram for explaining a situation in which shield excavation is performed along a propulsion plan line of a curved tunnel by a propulsion body composed of a shield excavator and a plurality of buried pipes connected to the shield excavation machine. The top view which shows the state which looked at the body from the upper part, (b) is a longitudinal cross-sectional view which similarly shows the state which looked at the propulsion body from the side, and all figures are illustration of the several buried pipes connected to the shield machine Is omitted. In these drawings, the same or corresponding parts as in FIG.

  In this embodiment, in order to obtain data for calculating the horizontal deviation Δx and the vertical deviation Δy from the propulsion plan line of the target 1B of the shield machine 1 excavating and propelling along the propulsion plan line of the curved tunnel. In addition, a plurality of intermediate measuring machines 8A to 8D are arranged in the plurality of buried pipes 2 at a predetermined interval.

That is, an attempt is made to calculate Δx and Δy based on data obtained from the target 1B provided in the shield machine 1, the intermediate measuring machines 8A to 8D, and the camera 5 provided in the resister 4. To do. As the specific configuration of the intermediate measuring machines 8A to 8D will be described later, only the measuring means mounted on the intermediate measuring machine will be described here. Moreover, since all the intermediate measuring machines 8A to 8D have the same configuration, only one 8A will be described.
In addition, the mutual space | interval of an intermediate measuring machine is hold | maintained at predetermined length so that it may mention later.

  The intermediate measuring machine 8A has a flat carriage 81 having an appropriate size, and each device described below is mounted thereon. That is, the front target 82 having a surface light source composed of an LED or the like that emits light forward and the front camera 83 that is disposed forward and captures the light emission of the target located in front are integrated into the front. Device 84 is configured and installed at a position near the front of the carriage 81.

  In addition, a rear target 85 having a surface light source composed of an LED or the like that emits light toward the rear, and a rear camera 86 that is disposed rearward and captures light emission of the target located at the rear are integrated into the rear. The apparatus 87 is comprised and it installs in the position near the back of the trolley | bogie 81. FIG.

  The front device 84 and the rear device 87 are electrically connected, but a sufficient space is provided between them, and an inclinometer 88 is installed in the space. This inclinometer can measure the inclination angle of the carriage 81 in the horizontal direction or in the extension direction of the buried pipe. Although not shown, a data transmission unit and a pump are also installed in the space.

  At the time of measurement, the camera 5 in the resist 4 captures the light emission of the rear target 85 of the rear intermediate measuring device 8D to collect displacement data of the rear target 85, and the rear camera of the intermediate measuring device 8D. The light emission of the target in the resist 4 is imaged by 86 and its relative displacement data is collected. Also, angle data from the inclinometer 88 is collected.

  Next, the front camera 83 of the intermediate measuring machine 8D at the rearmost part captures the light emission of the rear target 85 of the intermediate measuring machine 8C located in front of the intermediate measuring machine 8D, collects displacement data, and collects angle data of the inclinometer 88. At the same time, the front camera 83 of the intermediate measuring device 8C captures the light emission of the rear target 85 of the intermediate measuring device 8B positioned further forward to collect displacement data.

Such measurement is repeated between the intermediate measuring machines 8A to 8D and between the shield machine 1 and the data collected from each is transmitted to the personal computer 6 to calculate Δx and Δy, and the shield machine 1 The direction of digging is corrected.
As a result, the propulsion body composed of the shield machine 1 and the plurality of buried pipes 2 is propelled along the curved tunnel's propulsion plan line.

Embodiment 3 FIG.
Next, a third embodiment of the present invention will be described with reference to the drawings. FIG. 3 is a schematic diagram showing the configuration of the intermediate measuring machine according to Embodiment 3 and the movement status in the buried pipe, (a) is a side view showing the arrangement status in the buried pipe, and (b) is a plan view of the same. It is. 4 is a front view showing the state of arrangement in the buried pipe as seen from the direction of extension of the buried pipe, and FIG. 5 is a diagram of the front device, the rear device, the turntable, the inclinometer, and the data transmission unit. It is a top view which shows arrangement | positioning relationship.

  As shown in FIG. 4, the pipe support mechanism 10 is provided at the bottom in the buried pipe 2, and the mud pipe 11 and the mud pipe 12 are supported and can be moved in the extending direction of the buried pipe 2 by the wheels 13. It is configured. A flooring 14 is supported on the upper part of the pipe support mechanism 10, and three rollers 15A, 15B, 15C are rotatably supported on the upper surface thereof.

  As shown in FIG. 3B, three rollers are disposed only at one end of the buried pipe 2, but only the central roller 15B is disposed at a constant interval from the intermediate portion to the other end. Has been. The reason for this configuration will be described later.

  On the rollers 15A, 15B, and 15C, a carriage 81 that constitutes the above-described intermediate measuring machine 8A is placed so as to be movable in the extending direction of the buried pipe 2. Note that when the carriage 81 is moved, both sides thereof may come into contact with the inner wall of the buried pipe 2 to hinder the movement. Therefore, side rollers 16A and 16B are provided on the both sides of the carriage one by one on the front and rear sides. Smooth movement is made possible.

The carriage 81 is provided with two turntables 17 separated from each other, and the above-described front device 84 and the rear device 87 are placed on each of them to be rotatable.
In the figure, 89 is a data transmission unit, and 90 is a cover covering each device on the carriage.

The carriages 81 are connected to each other by a connecting rod 18 having a predetermined length so that a horizontal displacement and a vertical displacement are possible.
When the plurality of intermediate measuring machines 8A to 8D connected in this way move in the buried pipe 2, as shown in FIG. 3B, the central portion of the connecting rod 18 is on the central roller 15B in the curved portion. May move to the center side of the curve and become unable to move smoothly, but at this time, the intermediate measuring machine is moved by supporting a part of the connecting rod 18 from below with the rollers 15A or 15C. So as not to cause any trouble. Since such an operation is sufficiently performed without providing the three rollers 15A, 15B, and 15C over the entire length of the buried pipe 2, in the illustrated example, three pieces are provided only at one end of the buried pipe 2. The rollers 15A, 15B, and 15C are installed, and the other portions are only the central roller 15B.

  The third embodiment is configured as described above, and the bottom surface of the flat carriage 81 is supported by rollers, and side rollers are provided on both sides, so that the inside of the buried pipe can be moved smoothly. In addition, since the front and rear devices consisting of the target and camera are rotatably supported on the carriage, the target and camera angles can be set according to the local curve. Yes, you can easily measure even tight curves.

  In addition, since the front device and the rear device in which the target and the camera are integrated are provided separately and a sufficient space is secured between them, it is easy to install an inclinometer, a data transmission unit, etc. In addition, when such an intermediate obstacle is provided, the measurement can be performed without any trouble by measuring the positional relationship with the target and the camera in advance.

Embodiment 4 FIG.
Next, a fourth embodiment of the present invention will be described with reference to the drawings. 6A and 6B are schematic diagrams showing a guiding method of a shield machine using electromagnetic waves according to the sixth embodiment. FIG. 6A is an explanatory diagram for explaining the principle of the guiding method using electromagnetic waves, and FIG. It is a schematic sectional drawing explaining the induction | guidance | derivation system.

  In the propulsion shield method, it is not easy to propel the shield machine while excavating it along a predetermined propulsion plan line so as to accurately reach the planned arrival position. For this reason, Embodiment 4 tries to guide the shield machine to the intended arrival position by using the attraction action by the magnetic force lines of electromagnetic waves.

First, the principle of this method will be described. As shown in FIG. 6 (a), when the transmission coil 20 is wound around the shield machine 1 and a current is passed through the transmission coil 20, the shield machine 1 acts as an iron core to form a strong magnetic field, thereby generating an electromagnetic wave. Is generated.
For example, as shown in FIG. 7, the transmission coil 20 wound around the shield machine 1 is formed with one or two grooves 1G having a depth of 20 mm to 30 mm on the outer periphery of the cutter head 1A. The transmission coil 20 made of enameled wire is wound several tens of times, and the outer peripheral side of the transmission coil 20 is filled with epoxy resin 1H so as to close the groove 1G. In addition, since the surface part of the epoxy resin 1H is scraped off by sand and gravel during excavation, a protective iron plate 1J is attached to the outer periphery of the cutter head 1A on the cutter side of the groove 1G in order to prevent this.

  On the other hand, if the receiving coil 21 is provided at the expected position of the shield machine 1, the receiving coil 21 functions as a magnetic field sensor for electromagnetic waves emitted from the transmitting coil 20, and an output corresponding to the magnetic field lines can be obtained. It is possible to reach the intended arrival position by guiding the shield machine 1 in the direction of the magnetic field lines.

  More specifically, in order to distinguish the magnetic field transmitted from the transmission coil 20 from the earth magnetic field (DC magnetic field), an AC magnetic field is used on the transmission side, and the reception coil is constituted by two coils arranged at an angle of 90 degrees on the reception side. 21 is formed.

  If both the transmission coil 20 and the reception coil 21 are on the propulsion plan line, the outputs of the two coils of the reception coil 21 have the same magnitude, but if the transmission coil 20 of the shield machine 1 is not on the propulsion plan line, 2 is output. The outputs of the two coils are different. The difference in the output is that the output of one coil is smaller than the output of the other coil depending on the direction of deviation of the shield machine 1 from the propulsion plan line, and therefore the direction of propulsion of the shield machine 1 according to the difference in the output of the two coils. It is possible to easily guide to the expected arrival position by controlling.

More specifically, the output obtained by the receiving coil 21 is subjected to a band-pass filter in a receiver to be described later, and a wave having the same transmission frequency is extracted.
Next, after the signal intensity is amplified by an amplifier, the analog data is digitized through an AD converter.

  By applying Fourier transform to the digitized and digitized wave, the intensity of the wave having the same phase as the transmission waveform is obtained, and this is input to a computer for graphic display and displayed as the propulsion direction of the shield machine 1 Let

  FIG. 6B shows the arrangement relationship between the transmission coil and the reception coil in the case where the propulsion shield method is implemented with the above-described contents. The shield machine 1 around which the transmission coil 20 is wound starts excavation along the propulsion plan line from the excavation start point of the resisting 4, and the reception coil 21 arrives at an expected arrival position such as an iron liner plate, an iron casing, or reinforced concrete. Is installed in a pipe 24 projecting from the anti-mouth 23 toward the outside of the reaching resistance 22.

  The transmission coil 20 of the shield machine 1 is energized by the current sent from the transmitter 19, and an electromagnetic wave is output. The output of the receiving coil 21 is input to the receiver 25, and after the above processing is performed, the propulsion direction of the shield machine 1 is calculated by the computer 26, and the calculation result passes through the automatic jack control device 7 and the shield machine 1 Given to. 6 shows an example in which the receiver 25 and the computer 26 are connected by a transmission line, and the data received by the receiver 25 is transmitted to the computer 26 through the transmission line. You may make it transmit to the computer 26 by radio | wireless.

This embodiment is configured as described above, and the closer the distance between the transmission coil and the reception coil is, the higher the electromagnetic wave intensity becomes and the output of the reception coil increases, so the propulsion direction of the shield machine 1 is controlled. This makes it easier to reach the intended arrival position.
In addition, if the data of the receiver is wirelessly transmitted to the computer, wiring on the road becomes unnecessary, there is no risk of damage to the wiring, and the distance between the excavation start point resist 4 and the ultimate resist 22 is increased. In the case of several hundred meters, the effect of omitting wiring is great.

BRIEF DESCRIPTION OF THE DRAWINGS It is the schematic explaining the structure in the case of excavating the structure of the propulsion body by Embodiment 1 of this invention, and a linear tunnel, (a) is a top view which shows the state which looked at the propulsion body from the upper part, (b) FIG. 3 is a longitudinal sectional view showing a state in which the propelling body is viewed from the side. It is the schematic explaining the condition in the case of excavating the curved tunnel by Embodiment 2 of this invention, (a) is a top view which shows the state which looked at the propulsion body from the upper part, (b) is also a propulsion body sideways It is a longitudinal cross-sectional view which shows the state seen from. It is the schematic which shows the structure of the intermediate measuring machine by Embodiment 3 of this invention, and the movement condition in a buried pipe, (a) is a side view which shows the arrangement | positioning condition in a buried pipe, (b) is a top view similarly. is there. It is a front view which shows the condition which looked at the arrangement | positioning condition of the intermediate measuring machine in an burial pipe from the extension direction of the burial pipe. It is a top view which shows the arrangement | positioning relationship of the apparatus for front, the apparatus for back, a turntable, an inclinometer, and a data transmission unit. It is the schematic which shows the induction system of the shield machine using the electromagnetic waves by Embodiment 4 of this invention, (a) is explanatory drawing for demonstrating the principle of the induction system by electromagnetic waves, (b) is underground It is a schematic sectional drawing explaining a guidance system. FIG. 10 is a schematic diagram showing another example of the fourth embodiment. An example of how to divide a blinking area when a predetermined area in a target surface light source blinks is shown. (A) sets four blinking areas, (b) sets two blinking areas. Shows the case.

Explanation of symbols

1 shield machine, 1A cutter head, 1B target, 1C inclinometer,
1D, 1E jack, 1F propulsion unit, 1G groove, 1H epoxy resin,
1J protective iron plate, 2 buried pipe, 3 ground, 4 resistance, 5 camera,
6 PC, 7 Automatic jack control device, 8A-8D Intermediate measuring machine,
81 dolly, 82 front target, 83 front camera,
84 device for the front, 85 target for the rear, 86 camera for the rear,
87 Rear equipment, 88 Inclinometer, 89 Data transmission unit,
10 pipe support mechanism, 11 mud pipe, 12 drain pipe, 13 wheels,
14 Floor material, 15A, 15B, 15C roller, 16A, 16B Side roller,
17 turntable 18 connecting rod 19 transmitter 20 transmitting coil
21 receiving coil, 22 reaching resistance, 23 opening, 24 pipe,
25 receivers, 26 computers.

Claims (12)

In a propulsion shield construction method in which a propulsion body coupled with a buried pipe is propelled while excavating from a stand and laid a pipeline formed by the buried pipe, the shield machine is provided in the shield machine, A target consisting of a surface light source that emits light toward the front, a front camera or imaging means for imaging the light emission of the front target and checking the amount of displacement of the front target, and the amount of displacement of the rear target by imaging the light emission of the rear target A rear camera or imaging means, a front target comprising a surface light source that emits light toward the front camera or imaging means, a rear target comprising a surface light source that emits light toward the rear camera, and a horizontal direction Alternatively, an inclinometer that measures an inclination angle in the extension direction of the buried pipe is provided, and a compound installed in the buried pipe so as to be movable at a predetermined interval. An intermediate measuring instrument, and a camera or imaging means that is provided within the counter and captures the light emission of the rear target of the intermediate measuring instrument located at the end, and confirms the amount of displacement of the rear target; The amount of displacement of the rear target of the last intermediate measuring machine confirmed by the camera or imaging means, the distance between the rear target and the camera or imaging means, and the angle of the inclinometer of the last intermediate measuring machine, Based on the above, the position and orientation of the last intermediate measuring machine are obtained, and the light emitted from the rear target of the intermediate measuring machine or shield machine located further forward by the front camera or imaging means of the last intermediate measuring machine The amount of displacement of the rear target confirmed by imaging the distance between the intermediate measuring machines or the distance between the shield machine and the intermediate measuring machine, and the middle position Calculating means for obtaining the position and orientation of the intermediate measuring machine or shield machine located forward based on the angle of the inclinometer of the measuring instrument or shield machine, and the shield machine based on the calculation result of the calculation means An error between the propulsion direction of the machine and a propulsion plan line is calculated to control the propulsion direction of the shield machine, and the intermediate measuring machine includes the front and rear targets, and the front and rear cameras. Or it has a cart mounted with imaging means and the inclinometer, and this cart can move in the propulsion direction of the shield machine on a roller rotatably disposed in the buried pipe. An apparatus for controlling the direction of excavation of a shield machine in the propulsion shield method. In a propulsion shield construction method in which a propulsion body coupled with a buried pipe is propelled while excavating from a stand and laid a pipeline formed by the buried pipe, the shield machine is provided in the shield machine, A target composed of a surface light source that emits light toward the front, a front camera or imaging means for imaging the light emission of the front target and confirming the amount of displacement of the front target, and the amount of displacement of the rear target by imaging the light emission of the rear target A rear camera or imaging means, a front target consisting of a surface light source that emits light toward the front camera or imaging means, a rear target consisting of a surface light source that emits light toward the rear camera, and a horizontal direction Alternatively, an inclinometer that measures an inclination angle in the extension direction of the buried pipe is provided, and a compound installed in the buried pipe so as to be movable at a predetermined interval. An intermediate measuring instrument, and a camera or imaging means that is provided within the counter and captures the light emission of the rear target of the intermediate measuring instrument located at the end, and confirms the amount of displacement of the rear target; The amount of displacement of the rear target of the last intermediate measuring machine confirmed by the camera or imaging means, the distance between the rear target and the camera or imaging means, and the angle of the inclinometer of the last intermediate measuring machine, Based on the above, the position and orientation of the last intermediate measuring machine are obtained, and the light emitted from the rear target of the intermediate measuring machine or shield machine located further forward by the front camera or imaging means of the last intermediate measuring machine The amount of displacement of the rear target confirmed by imaging the distance between the intermediate measuring machines or the distance between the shield machine and the intermediate measuring machine, and the middle position Calculating means for determining the position and orientation of the intermediate measuring machine or shield machine located forward based on the angle of the inclinometer of the measuring instrument or shield machine, and the shield machine based on the calculation result of the calculation means An error between the propulsion direction of the machine and the propulsion plan line is calculated to control the propulsion direction of the shield machine, and the intermediate measuring machine includes the front and rear targets, and the front and rear cameras. Or having a carriage on which the imaging means and the inclinometer are mounted, and the carriage can move in a propulsion direction of the shield machine on a roller rotatably disposed in the buried pipe. Shield digging in a propulsion shield method, characterized in that it has side rollers provided on both sides of the carriage and adapted to rotate when contacting the inner wall of the buried pipe The machine direction control device. 3. The shield excavation method in the propulsion shield method according to claim 1, wherein each of the intermediate measuring machines is coupled so that adjacent carts can be displaced by a connecting rod having a predetermined length. The machine direction control device. A front device comprising the front target and a front camera or imaging means, and a rear device comprising the rear target and the rear camera or imaging means are disposed separately on the carriage, and The said inclinometer was arrange | positioned between the apparatus for front, and the apparatus for back, The digging direction control apparatus of the shield machine in the propulsion shield method of any one of Claims 1-3 characterized by the above-mentioned. 5. The shield machine in the propulsion shield method according to claim 4, wherein the front device and the rear device are respectively disposed on a pair of turntables provided separately on the carriage. Direction control device. A transmission coil for transmitting electromagnetic waves is attached to the shield machine, and a reception coil for the electromagnetic wave is provided at a position where the shield machine will reach, and the shield machine is installed on the reception coil based on the reception intensity of the reception coil. The digging direction control device of the shield machine in the propulsion shield method according to any one of claims 1 to 5 , wherein the digging direction control device is guided to a position. 7. The shield direction control device for a shield machine in a propulsion shield method according to claim 6, wherein the receiving coil is composed of two coils held at an angle of approximately 90 degrees. Together with the transmission coil is wound in a groove formed on the outer periphery of the shield machine, according to claim 6, characterized in that it is constructed by filling a resin on the outer peripheral side of the transmission coil in the groove Digging direction control device for shield machine in the propulsion shield construction method. The transmission coil is wound in a groove formed on the outer periphery of the shield machine and filled with resin on the outer peripheral side of the transmission coil in the groove, and the propulsion of the shield machine in the groove 7. The shield direction control device for a shield machine in the propulsion shield method according to claim 6 , wherein a protective iron plate is provided on an outer periphery of the shield machine on the direction side.   3. The digging direction control device for a shield machine in the propulsion shield method according to claim 1, wherein at least one surface light source of the target, the front target, and the rear target is a color light source.   3. The shield direction control device for a shield machine according to claim 1, wherein at least one surface light source of the target, the front target, and the rear target is formed in a circular shape. And configured so as to blink the entire above surface light source, or the surface light source is divided into a plurality of areas, according to claim 10 or claim, characterized by being configured so as to selectively flashing only a predetermined region Item 12. A digging direction control device for a shield machine in the propulsion shield method according to Item 11 .

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