JP5380167B2 - Position control method and position control device for self-propelled erector - Google Patents

Description

  The present invention relates to a position control method and a position control device for a self-propelled erector that assembles segments along an inner wall of a tunnel hole while traveling in a tunnel hole excavated on a planned line on which a tunnel is planned to be constructed.

  As a self-propelled erector, the one described in Patent Document 1 is known. This self-propelled erector includes a cart unit that travels on an existing segment, and an erector unit that is provided on the cart unit so as to extend forward in the traveling direction and assembles the segments.

  This self-propelled erector was an epoch-making thing that could assemble a segment in a tunnel hole formed by hand digging or machine digging, but the load of the entire device acts on the existing segment, and the durability of the existing segment There was a possibility of lowering. For this reason, a self-propelled erector having a new structure is currently under development (unpublished) in order to solve this problem.

  The self-propelled erector under development is mainly composed of a truck that runs on rails laid on excavated ground (inside the tunnel hole) and a main body that has an erector part provided on this trolley. By traveling on the front rail, an excessive load is not applied to the existing segment.

JP 2008-223260 A

  However, since this self-propelled erector runs on a rail laid on a natural ground, it is difficult to lay the rail with high accuracy, and it is difficult to position the erector part at the center of the tunnel. There was a problem of being.

  Moreover, since the carriage is ahead of the existing segment at the time of curve construction, the direction of the existing segment does not match the direction of the erector part, and the deviation amount of the erector part with respect to the existing segment is within a predetermined allowable range (about 50 mm). There was a problem that it might not fit.

  Accordingly, the object of the present invention is to solve the above-mentioned problems, prevent an excessive load from acting on the existing segment, and can align the erector portion with respect to the existing segment with high accuracy. An object of the present invention is to provide a position control method and position control device for an erector.

  In order to solve the above problems, the present invention lays a rail in a tunnel hole excavated on a planned line on which a tunnel is planned to be constructed, and a carriage is installed on the rail so as to be able to travel back and forth. A main body extending in the front-rear direction and having an erector part for assembling the segment in the rear part is provided, and a movable support part is provided to support at least two positions separated from the front-rear part of the main body so that the position can be adjusted vertically and horizontally. A self-propelled position control method for controlling the movable support so that the center of the erector is positioned on the planned line and the erector is directed in a tangential direction of the planned line, the erector A plurality of marks are provided on the main body in the vicinity so as to be separated from each other on the left and right sides, and the position of the mark is measured from the tunnel behind the mark and the inclination angle of the main body is measured. The mark should be moved in order to position the center of the erector part on the planned line from the dimension information of the main body and the mounting position information of the mark and to direct the direction of the erector part to the tangential direction of the planned line. The ideal point is calculated, and the deviation of the mark position with respect to the ideal point is calculated, and the movable support portion moves the two front and rear portions of the main body so that the deviation falls within a predetermined allowable range.

  When the main body is moved by the movable support portion so that the deviation falls within a predetermined allowable range, the movable support portion is supported from the surveying information, the tilt information, the dimensional information of the main body, and the mounting position information of the mark. The support position of the main body to be calculated is calculated, two virtual measurement points having the same position in the front-rear direction as the support position and spaced apart from each other are calculated, and the center of the erector part is calculated on the plan line. And calculating a virtual ideal point to which the virtual measurement point should be moved in order to position the erector portion in a tangential direction of the planned line, and to reduce a deviation between the virtual ideal point and the virtual measurement point As described above, the support position may be moved by the movable support portion.

  When the support position is moved so as to reduce the deviation between the virtual ideal point and the virtual measurement point, the deviation amount is multiplied by a positive gain value smaller than 100%, and the support position is moved in a plurality of times. Good.

  The movable support unit includes a horizontal / vertical adjustment device that is provided on the carriage so as to be separated from the front, rear, left, and right, has a vertical jack that moves the main body up and down, and has a horizontal jack that slides the vertical jack left and right. The horizontal / vertical adjusting device may be used to move the front / rear / right / left support positions of the main body simultaneously up / down / left / right.

  In addition, a rail is laid in the tunnel hole excavated on the planned line where the construction of the tunnel is planned, a carriage is installed on the rail so as to be able to run back and forth, and extends forward and backward on the carriage, and a segment at the rear. A main body having an erector part for assembly is placed, and a movable support part is provided to support at least two positions separated from the front and rear of the main body so that the position can be adjusted vertically and horizontally. The center of the erector part is on the planned line. It is a position control device for a self-propelled erector that is positioned and controls the movable support unit so that the erector part faces the tangential direction of the planned line, and is separated from the main body in the vicinity of the erector part from side to side. A plurality of marks provided, a surveying instrument provided in a tunnel behind the mark for measuring the position of the mark, a tilt angle detector provided in the main body for measuring a tilt angle of the main body, and the tilt From the inclination information obtained from the angle detector, the survey information obtained from the surveying instrument, the dimension information of the main body and the mounting position information of the mark, the center of the elector part is positioned on the planned line and the orientation of the elector part is determined. Calculate the ideal point to which the mark should be moved so as to be directed in the tangential direction of the planned line, calculate the deviation of the mark position with respect to the ideal point, and move the movable support so that the deviation is within a predetermined allowable range. And a controller that moves the front and rear of the main body.

  When the main unit is moved by the movable support unit so that the deviation falls within a predetermined allowable range, the control unit determines from the surveying information, the inclination information, the dimensional information of the main unit, and the mounting position information of the mark. Calculate the support position of the main body supported by the movable support portion, calculate two virtual measurement points that are the same in the front-rear direction as the support position and are separated from each other on the left and right, and A virtual ideal point to which the virtual measurement point is to be moved is calculated in order to position the center of the elector part and to direct the direction of the erector part in the tangential direction of the planned line, and the virtual ideal point and the virtual measurement point The support position may be moved by the movable support portion so as to reduce the deviation.

  The movable support unit includes a horizontal / vertical adjusting device that is provided on the carriage so as to be separated from the front, rear, left, and right, and has a vertical jack that moves the main body up and down and a horizontal jack that slides the vertical jack to the left and right. The unit may move the front / rear / left / right support positions of the main body simultaneously up / down / left / right by the horizontal / vertical adjustment device when the main body is moved.

  According to the present invention, it is possible to prevent an excessive load from acting on an existing segment and to accurately align the erector portion with respect to the existing segment.

FIG. 1 is a side view of a self-propelled erector. FIG. 2 is a view taken along line AA in FIG. FIG. 3 is a front view of the carriage. 4 is an enlarged view of a main part of FIG. FIG. 5 is a plan view of FIG. FIG. 6 is an enlarged view of a main part of FIG. FIG. 7 is an explanatory diagram for explaining a surveying method of the main body of the self-propelled erector, (a) is a plan explanatory diagram of the self-propelled erector, and (b) is a side explanatory diagram of the self-propelled erector. FIG. 8 is an explanatory plan view for explaining the position control method of the self-propelled erector, where (a) shows the self-propelled erector during surveying, and (b) is the self-propelled while calculating the virtual measurement point for adjustment. (C) shows the self-propelled erector that is calculating the deviation between the virtual ideal point to which the virtual measurement point is to be moved and the virtual ideal point. 9A is a rear view of the self-propelled erector showing the position of the mark, and FIG. 9B is a rear sectional view of the self-propelled erector showing the position of the horizontal / vertical adjusting device. FIG. 10 is a front view of a display screen that outputs position information of the front adjustment position. FIG. 11 is a front view of a display screen that outputs position information of the rear adjustment position. FIG. 12 is a front view of a display screen for outputting position information of the assembly origin position. FIG. 13 is an explanatory side view of the tunnel showing the procedure for changing the surveying instrument performed in the order of (a) to (d). FIG. 14 is an explanatory rear view of the self-propelled erector showing the procedure for fixing the main body to the tunnel hole. It is front explanatory drawing of an inclination angle sensor.

  EMBODIMENT OF THE INVENTION Below, the form for implementing this invention is demonstrated based on an accompanying drawing.

  As shown in FIG. 1, the self-propelled erector 1 includes a carriage 4 installed on a rail 3 laid in a tunnel hole 2 so as to be able to run back and forth, and is mounted on the carriage 4 and extends in the front and rear, and at the rear. A main body 6 having an erector section 5 for assembling segments, and a movable support section 7 which is provided on the carriage 4 and supports two positions separated from the front and rear of the main body 6 so that the position can be adjusted vertically and horizontally.

  The tunnel hole 2 is excavated by hand digging or machine digging coaxially with the planned line 8 where the construction of the tunnel is planned.

  As shown in FIGS. 1, 3 and 6, the carriage 4 includes a frame base 9 having a rectangular shape in plan view that is formed to extend in the front-rear and left-right directions, and an axis that is rotatable about the vertical axis and extends in the left-right direction on the frame base 9. The wheel unit 10 is provided so as to be rotatable, and the moving jack 11 is provided on the frame base 9 and takes a reaction force from the rail 3 to generate a propulsive force on the frame base 9. The wheel unit 10 includes a plurality of wheels 12 rotatably provided on a support frame 13. The moving jack 11 has a clamp mechanism 14 that is pivotally connected at one end to the frame base 9 and grips and releases the rail 3 at the other end. The rail 3 is opened and contracted from the extended state. The carriage 4 is advanced to the left in FIG. 1 by grasping 3 and extending from the contracted state. A plurality of mounting tables 15 for mounting the main body 6 are provided on the frame table 9 apart from each other in the front-rear and left-right directions.

  The main body 6 includes a frame portion 16 formed in a rectangular tube shape extending in the front-rear direction, an erector portion 5 provided at the rear portion of the frame portion 16, and a pressing jack 18 that presses the tip of the existing segment 17 backward. The frame portion 16 has a steel frame structure in which steel shapes such as H-shape steel are joined in a lattice shape. Gripper 19, 20, 21 for fixing the main body 6 to the natural ground is provided at the front part and the rear part of the frame part 16. The grippers 19, 20, and 21 include an upper gripper 19 that extends upward on the upper portion of the frame portion 16, a side gripper 20 that extends laterally on both left and right sides of the frame portion 16, and a frame portion 16 and a lower gripper 21 provided to extend downward from the lower portion of 16. The upper gripper 19, the side gripper 20, and the lower gripper 21 are each made of a jack that can be extended and contracted in the extending direction, and stretched to stretch between the upper and lower inner walls 22 and the left and right inner walls 22 of the tunnel hole 2. Yes. In addition, a support ring portion 23 that rotatably supports the erector portion 5 is formed at the rear portion of the frame portion 16. As shown in FIG. 1 and FIG. 2, the erector portion 5 is provided on the inner periphery of the support ring portion 23 so as to be rotatable via a plurality of rollers 24, and provided on the rotation ring 25 so as to protrude rearward. The arm portion 26 includes a suspension beam 27 provided on the arm portion 26 so as to be movable in the radial direction of the tunnel hole 2, and a segment gripping portion 28 provided on the suspension beam 27 so as to be movable in the front-rear direction. The rotating ring 25 is disposed coaxially with the central axis 29 extending in the front and rear direction of the frame portion 16 and is rotated around the central axis 29. A plurality of the pressing jacks 18 are provided along the inner periphery of the support ring portion 23, and each assembled segment 30 is pushed backward to crush a seal (not shown) made of an elastic material between the segments 30. The water stoppage between the segments 30 is increased.

  As shown in FIGS. 3 and 6, the movable support portion 7 includes a horizontal / vertical adjustment device 31 that is provided on the frame base 9 so as to be separated from the front, rear, left, and right and supports the main body 6 so that it can be raised and lowered and slidable left and right. . As shown in FIGS. 4 and 5, the horizontal / vertical adjusting device 31 includes a vertical jack 32 that raises and lowers the main body 6 and a horizontal jack 33 that slides the vertical jack 32 left and right. The horizontal jack 33 is provided on the frame base 9 via the mounting board 34. The vertical jack 32 is provided on a slide board 35 that slides on the mounting board 34. The slide board 35 is provided with a horizontal jack 33, and the slide board 35 slides in the left-right direction on the mounting board 34 as the horizontal jack 33 expands and contracts. Further, a shoe 36 that is in contact with the bottom surface of the frame portion 16 is provided at the upper end of the vertical jack 32. The horizontal / vertical adjusting device 31 is formed so that the height of the shoe 36 is lower than the mounting table 15 when the vertical jack 32 is retracted, and the shoe 36 is moved from the mounting table 15 when the vertical jack 32 is extended. It is formed to increase the height. The vertical jack 32 and the horizontal jack 33 of each horizontal / vertical adjusting device 31 can be extended and contracted independently, so that the front / rear / right / left support positions 49 of the main body 6 can be freely moved up / down / left / right. . Each of the vertical jacks 32 and the horizontal jacks 33 is provided with a stroke sensor (not shown) for measuring the extension length of the jacks, so that the jack length information is always sent to the control unit 37 described later. ing. As shown in FIG. 9B, the position of the support position 49 with respect to the central axis 29 is measured in advance and input to the control unit 37.

  The position control device 38 for aligning the erector unit 5 is configured such that the center of the erector unit 5 (that is, the center of the rotating ring 25) is positioned on the planned line 8 and the erector unit 5 is tangential to the planned line 8. The movable support portion 7 is controlled so as to face (the central axis 29 faces the tangential direction of the planned line 8).

  Specifically, the position control device 38 measures the positions of a plurality of marks 39 provided on the main body 6 in the vicinity of the erector portion 5 so as to be separated from each other left and right, and a mark 39 provided in a tunnel behind the mark 39. The surveying instrument 40, the tilt angle detector 41 provided in the main body 6 for measuring the tilt angle of the main body 6, the tilt information of the main body 6 obtained from the tilt angle detector 41, and the survey information of the mark 39 obtained from the surveying instrument 40 The ideal point to which the mark 39 should be moved in order to position the center of the erector portion 5 on the plan line 8 is calculated from the dimension information of the main body 6 and the mounting position information of the mark 39, and the deviation of the mark position from the ideal point is calculated. The control unit 37 is configured to calculate and move the front and rear two parts of the main body 6 by the movable support unit 7 so that these deviations are within a predetermined allowable range. The two places are a front support position 49 and a rear support position 49.

  The marks 39 are made of a self-luminous target having LEDs, and two marks 39 are arranged at substantially the same height and the same left-right position as the horizontal / vertical adjusting device 31. As shown in FIG. 9A, the attachment position of the mark 39 with respect to the central axis 29 is measured in advance and input to the control unit 37.

  The surveying instrument 40 is made of a laser transit, and is an automatic tracking type that detects the light from the LED and detects the distance to the LED and the angle from the reference position. The surveying instrument 40 detects the mark 39 every predetermined time and transmits the position of the mark 39 to the control unit 37.

  The inclination angle detector 41 includes a rolling inclination angle sensor (not shown) that detects an inclination angle in the rolling direction (left-right direction) and a pitching inclination angle sensor (not shown) that detects an inclination angle in the pitching direction (front-rear direction). Built-in). As shown in FIG. 15, the tilt angle sensor 42 includes a magnet 45 that is swingably suspended in a case 43 via a leaf spring 44, a magnetoresistive element 46 that is provided in the case 43 and faces the magnet 45, It has an equivalent circuit (not shown) for obtaining a change in the resistance ratio of the magnetoresistive element 46 at the position of the magnet 45, and a damper oil 47 accommodated in the case 43, and the inclination angle is changed by a change in the electrical signal from the equivalent circuit. Is supposed to be detected.

  The control unit 37 is composed of a computer, and controls expansion / contraction of the vertical jack 32 and the horizontal jack 33 of the horizontal / vertical adjusting device 31 based on information from the surveying instrument 40 and the stroke sensor.

  Next, the position control method and operation of the self-propelled erector 1 will be described. The program is always executed in the control unit 37, and the calculation of various positions and the drive control of the horizontal / vertical adjustment device 31 described later are all performed by the control unit 37 based on the program.

  When the self-propelled erector 1 assembled with the segments 30 for one ring is adjusted to the front segment assembly position, the rail 3 is gripped by the clamp mechanism 14 of the moving jack 11 after the predetermined traveling preparation, The jack 11 is extended to advance the self-propelled erector 1 by one segment ring. In preparation for traveling, after all the pressing jacks 18 are retracted, the side grippers 20 are retracted and the upper grippers 19 are retracted, and the vertical jacks 32 of the horizontal / vertical adjusting devices 31 are extended to extend the horizontal / vertical adjusting devices 31. The load of the main body 6 is loaded on the upper gripper 21 and the lower gripper 21 is retracted. As a result, the self-propelled erector 1 fixed to the tunnel hole 2 can be detached from the tunnel hole 2 and can be driven.

  Thereafter, centering adjustment (position adjustment) of the main body 6 is performed so that the center of the erector 5 is positioned on the planned line 8 and the central axis 29 of the erector 5 is directed to the tangential direction of the planned line 8.

  In the centering adjustment, the position of the mark 39 is measured, the inclination angle of the main body 6 is measured, the center of the erector part 5 is positioned on the plan line 8, and the center axis 29 of the erector part 5 is placed on the plan line 8. The ideal point to which the mark 39 should be moved in order to be directed in the tangential direction is calculated, the deviation of the mark position with respect to the ideal point is calculated, and two positions before and after the main body 6 are set so that these deviations are within a predetermined allowable range. It is done by moving it. The allowable range is about 50 mm.

  As shown in FIGS. 7A, 7 </ b> B, and 8 </ b> A, surveying of the position of the mark 39 is performed by first providing a surveying instrument 40 in the tunnel behind the mark 39 and behind the surveying instrument 40. A back target 48 is provided at a reference position, the surveying instrument 40 automatically measures the relative position of the mark 39 with respect to the back target 48, and the control unit 37 calculates the three-dimensional coordinates of the mark 39 from the relative position information. To do. At this time, the X coordinate in the horizontal direction, the Y coordinate in the vertical direction, and the Z coordinate in the front / rear direction of the surveying instrument 40 are clear in advance, and the three-dimensional coordinates of the back target 48 are also clear in advance. 40 searches for the back target 48, aims at the back target 48, rotates in the horizontal direction and the vertical direction to search for the mark 39, and aims at each mark 39, so that each mark is detected from the back target 48. The horizontal rotation angle (horizontal angle) up to 39 can be measured, the vertical rotation angle (elevation angle) can be measured, and the distance from the surveying instrument 40 to each mark 39 can be measured.

  The tilt angle of the main body 6 is measured by detecting the tilt angle in the pitching direction and the tilt angle in the rolling direction with the tilt angle detector 41.

  The ideal point is calculated by determining the position of the mark 39 when the center of the erector 5 is positioned on the plan line 8 and the central axis 29 of the erector 5 is directed in the tangential direction of the plan line 8. Is calculated from the position information, the dimension information of the main body 6 and the attachment position information of the mark 39. Specifically, the dimensional information of the main body 6 is the coordinates of each part with the center of the erector part 5 as a base point, and includes at least the coordinates of the respective support positions 49 where the main body 6 is supported by the horizontal / vertical adjustment device 31. .

  The operation of moving the front and rear portions of the main body 6 so that the deviation of the mark position with respect to the ideal point is within the allowable range is performed by moving the support position 49 of the main body 6 to a predetermined position by the movable support portion 7. Specifically, as shown in FIGS. 8B and 8C, the front-rear direction position (Z coordinate) where the support position 49 of the main body 6 exists is calculated, and the support position 49 and the front-rear direction are calculated. Two points having the same position (Z coordinate) and spaced left and right, specifically, two points on the left and right (hereinafter referred to as virtual) with only the Z coordinate of the coordinates of the mark 39 as the support position 49 of the main body 6. (Measurement points) are calculated, and the coordinates of the virtual ideal points to which the two virtual measurement points are to be moved in order to position the center of the erector unit 5 on the plan line 8 are calculated, and the coordinates of these virtual ideal points are calculated. This is done by moving the support position 49 with the movable support portion 7 so as to reduce the deviation between the coordinate and the virtual measurement point. As shown in FIG. 10, the virtual measurement point 50 and the virtual ideal point 51 of the front support position (front adjustment position) 49 of the main body 6 are displayed on the display screen of the control unit 37 as a graph and a table. As shown in FIG. 11, the virtual measurement point 52 and the virtual ideal point 53 of the support position (rear adjustment position) 49 on the rear side of the main body 6 are displayed on another display screen of the control unit 37 as a graph and a table. As shown in FIG. 12, the measurement point and the ideal point of the mark (origin for assembly) 39 are displayed on a further display screen of the control unit 37 as a graph and a table.

  Further, the movement of the support position 49 is obtained by multiplying the deviation amount between the virtual measurement points 50 and 52 and the virtual ideal points 51 and 53 by a positive gain value smaller than 100%, specifically, a gain value of 50% to 90%. , Divided into multiple times. Specifically, after measuring the mark 39, the inclination angle is measured, the ideal point is calculated, the deviation between the ideal point and the measurement point is calculated, and the main body 6 is moved by a distance obtained by multiplying the deviation amount by the gain value. By repeating this series of operations several times, the four support positions 49 on the front, rear, left and right of the main body 6 are gradually brought closer to the virtual ideal points 51 and 53. At this time, the horizontal shift amount and the vertical shift amount at each support position 49 are calculated separately, and the horizontal / vertical adjustment device 31 uses the horizontal jack 33 to move the support position 49 in the horizontal direction. Since the vertical movement of the support position 49 is performed by the vertical jack 32, the four support positions 49 can be moved simultaneously and the respective support positions 49 can be moved simultaneously in the horizontal direction and the vertical direction. It is possible to center the erector portion 5 easily and quickly.

  When the alignment of the main body 6 is completed in this way, the lower gripper 21 is extended as shown in FIG. 14A, the upper gripper 19 is extended as shown in FIG. As shown in c), the main body 6 is fixed to the tunnel hole 2 by extending the left and right side grippers 20. In addition, if a misalignment is detected after the grippers 19, 20, and 21 are overhanged, an excessive load may be applied to the grippers 19, 20, and 21 when the position is corrected by the grippers 19, 20, and 21. Therefore, all the grippers 19, 20, and 21 are once retracted and the main body 6 is placed on the movable support portion 7 again, and the position adjustment operation is performed in the same procedure as described above.

  As shown in FIG. 13A, when the self-propelled erector 1 travels and exceeds the distance that can be measured by the surveying instrument 40, or when the mark 39 cannot be confirmed from the surveying instrument 40 by a curve, the back target 48 and The surveying instrument 40 is changed to the front position. Specifically, as shown in FIG. 13B, a new gantry 54 is installed in the tunnel in the vicinity of the self-propelled erector 1, and the new gantry 54 is replaced on the new gantry 54 as shown in FIG. 13C. A working target 55 is provided, and the position of the target 55 is surveyed with reference to the back target 48. As shown in FIG. 13 (d), the surveying instrument 40 is moved on the new mount 54 and the surveying instrument 40 is installed. The back target 48 is moved to the gantry 54 that has been used.

  In this way, a plurality of marks 39 are provided on the main body 6 in the vicinity of the erector portion 5 so as to be separated from each other left and right, and the position of the mark 39 is measured from the tunnel behind the mark 39 and the inclination angle of the main body 6 is measured. An ideal point to which the mark 39 should be moved in order to position the center of the erector 5 on the plan line 8 is calculated from the surveying information, the tilt information, the dimension information of the main body 6 and the mounting position information of the mark 39 and Since the shift of the mark position is calculated and the movable support portion 7 moves the front and rear of the main body 6 so that these shifts are within a predetermined allowable range, an excessive load is prevented from acting on the existing segment 17. In addition, the erector portion 5 can be easily and accurately aligned with the existing segment 17.

  Further, when the main body 6 is moved by the horizontal / vertical adjusting device 31 so that the deviation is within a predetermined allowable range, the movable support portion 7 is determined from the survey information, the tilt information, the dimensional information of the main body 6 and the mounting position information of the mark 39. The support position 49 of the main body 6 supported by is calculated, and two virtual measurement points 50 and 52 having the same position in the front-rear direction as the support position 49 and spaced apart from each other are calculated. The virtual ideal points 51 and 53 to which the virtual measurement points 50 and 52 should be moved in order to position the center of the erector unit 5 are calculated, and the deviation between the virtual ideal points 51 and 53 and the virtual measurement points 50 and 52 is calculated. Since the support position 49 is moved by the movable support portion 7 so as to decrease, the center of the rotating ring 25 can be brought close to the plan line 8 with simple control and the center axis 29 of the erector portion 5 can be moved to the plan line 8. In the tangential direction You can kick it.

  When the support position 49 is moved so as to reduce the deviation between the virtual ideal points 51 and 53 and the virtual measurement points 50 and 52, the deviation amount is multiplied by a positive gain value smaller than 100%, and the support position is divided into a plurality of times. 49 is moved, the deviation between the virtual ideal points 51 and 53 and the virtual measurement points 50 and 52 can be reduced stepwise, and the support position 49 can be reliably brought close to the virtual ideal points 51 and 53.

  The movable support portion 7 includes a horizontal / vertical adjustment device 31 that is provided on the carriage 4 so as to be separated from the front, rear, left, and right, has a vertical jack 32 that moves the main body 6 up and down, and a horizontal jack 33 that slides the vertical jack 32 left and right. When the main body 6 is moved, the horizontal / vertical adjusting device 31 simultaneously moves the front / rear and left / right support positions 49 of the main body 6 in the vertical and horizontal directions, so that the main body 6 can be quickly aligned.

  The virtual measurement points 50 and 52 are the points where only the Z coordinate of the coordinates of the mark 39 is set as the support position 49 of the main body 6, but the Z coordinate is the same as the support position 49 of the main body 6. In addition, it may be any two points separated from each other on the left and right, and may be the support position 49.

  Moreover, although the virtual measurement point of the same Z coordinate as the support position 49 was made into two points left and right spaced apart, it may be a plurality of three points or more, or one point. In the case of one point, the virtual measurement point may be a point on the central axis 29 whose Z coordinate is the same as the support position 49 of the main body 6. In this case as well, the virtual ideal point may be calculated in the same manner as described above, and the horizontal / vertical adjusting device 31 may be controlled so as to reduce the deviation between the virtual measurement point and the virtual ideal point. Moreover, since the rolling angle is not adjusted only by this control, the rolling angle may be corrected separately.

DESCRIPTION OF SYMBOLS 1 Self-propelled erector 2 Tunnel hole 3 Rail 4 Carriage 5 Electa part 6 Main body 7 Movable support part 8 Plan line 31 Horizontal / vertical adjustment apparatus 32 Vertical jack 33 Horizontal jack 37 Control part 39 Mark 40 Surveying instrument 41 Inclination angle detector 49 Support position 50 Virtual measurement point 51 Virtual ideal point 52 Virtual measurement point 53 Virtual ideal point

Claims (7)

  A rail is laid in the tunnel hole excavated on the planned line where the construction of the tunnel is planned, and a carriage is installed on the rail so as to be able to run forward and backward. And a movable support portion that supports at least two positions separated from the front and rear of the main body so that the position of the main body can be adjusted vertically and horizontally, and the center of the erector portion is positioned on the planned line. And a position control method for a self-propelled erector that controls the movable support so that the erector is directed in a tangential direction of the planned line, wherein a plurality of marks are separated from each other on the main body in the vicinity of the erector. The position of the mark is measured from the tunnel behind the mark and the inclination angle of the main body is measured, and the survey information, the inclination information, the dimension information of the main body, and the mark are measured. And calculating the ideal point where the mark should be moved to position the center of the erector part on the planned line from the mounting position information and to direct the direction of the erector part in the tangential direction of the planned line. A position control method for a self-propelled erector, wherein the displacement of the mark position with respect to is calculated, and the movable support portion moves the front and rear of the main body so that these displacements fall within a predetermined allowable range.   When the main body is moved by the movable support portion so that the deviation falls within a predetermined allowable range, the movable support portion is supported from the surveying information, the tilt information, the dimensional information of the main body, and the mounting position information of the mark. The support position of the main body to be calculated is calculated, two virtual measurement points having the same position in the front-rear direction as the support position and spaced apart from each other are calculated, and the center of the erector part is calculated on the plan line. And calculating a virtual ideal point to which the virtual measurement point should be moved in order to position the erector portion in a tangential direction of the planned line, and to reduce a deviation between the virtual ideal point and the virtual measurement point The position control method for a self-propelled erector according to claim 1, wherein the support position is moved by the movable support portion.   When the support position is moved so as to reduce the deviation between the virtual ideal point and the virtual measurement point, the deviation amount is multiplied by a positive gain value smaller than 100%, and the support position is moved in a plurality of times. The position control method of the self-propelled erector according to claim 1 or 2.   The movable support unit includes a horizontal / vertical adjustment device that is provided on the carriage so as to be separated from the front, rear, left, and right, has a vertical jack that moves the main body up and down, and has a horizontal jack that slides the vertical jack left and right. The position control method for a self-propelled erector according to any one of claims 1 to 3, wherein the horizontal / vertical adjustment device simultaneously moves the front / rear / left / right support positions of the main body up / down / left / right.   A rail is laid in the tunnel hole excavated on the planned line where the construction of the tunnel is planned, and a carriage is installed on the rail so as to be able to run forward and backward. And a movable support portion that supports at least two positions separated from the front and rear of the main body so that the position of the main body can be adjusted vertically and horizontally, and the center of the erector portion is positioned on the planned line. And a position control device for a self-propelled erector that controls the movable support portion so that the erector portion faces a tangential direction of the planned line, and is provided on the main body in the vicinity of the erector portion so as to be separated from the left and right. A plurality of marks, a surveying instrument provided in the tunnel behind the mark for measuring the position of the mark, an inclination angle detector provided on the main body for measuring the inclination angle of the main body, and the inclination angle detecting device. Inclination information obtained from the measuring instrument, surveying information obtained from the surveying instrument, dimensional information of the main body, and mounting position information of the mark, the center of the erector part is positioned on the planned line, and the direction of the erector part is planned. The ideal point to which the mark should be moved in order to be directed in the tangential direction of the line is calculated, and the deviation of the mark position with respect to the ideal point is calculated, and the movable support unit is configured so that the deviation is within a predetermined allowable range. A position control device for a self-propelled erector, comprising: a controller that moves the front and rear of the main body.   When the main unit is moved by the movable support unit so that the deviation falls within a predetermined allowable range, the control unit determines from the surveying information, the inclination information, the dimensional information of the main unit, and the mounting position information of the mark. Calculate the support position of the main body supported by the movable support portion, calculate two virtual measurement points that are the same in the front-rear direction as the support position and are separated from each other on the left and right, and A virtual ideal point to which the virtual measurement point is to be moved is calculated in order to position the center of the elector part and to direct the direction of the erector part in the tangential direction of the planned line, and the virtual ideal point and the virtual measurement point The position control device for a self-propelled erector according to claim 5, wherein the support position is moved by the movable support portion so as to reduce the deviation.   The movable support unit includes a horizontal / vertical adjusting device that is provided on the carriage so as to be separated from the front, rear, left, and right, and has a vertical jack that moves the main body up and down and a horizontal jack that slides the vertical jack to the left and right. 7. The position control device for a self-propelled erector according to claim 5 or 6, wherein when the main body is moved, the horizontal / vertical adjustment device simultaneously moves the front / rear / right / left support positions of the main body up / down / left / right.

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