JP7032733B2 - Tunnel spray control method - Google Patents

Description

The present invention relates to a spray control method for spraying a spray material onto an excavated wall surface in tunnel excavation by the NATM method.

For example, in the construction of mountain tunnels, the NATM method, which mainly uses rock bolts inserted in the ground and sprayed concrete constructed along the excavated wall surface, is the mainstream. The excavation method is roughly classified into a blasting method for excavating with an explosive, a TBM method using a full-section excavator called TBM, and a mechanical excavation method using a free-section excavator with a cutter boom.

Conventionally, in the above-mentioned sprayed concrete work, mainly, as shown in FIG. 9, a boom 51 for holding a spray nozzle is attached to a movable trolley 50 such as a movable crawler type, a tire type or a rail type, and the boom 51 is attached. This was done using a spraying machine that operated the spray nozzle 52 by boom operation.

In the spraying work, a nozzle man who controls the nozzle, a sprayer operator who operates the sprayer, and a ready-mixed concrete driver who supplies the sprayed concrete to the sprayer with the sprayer installed near the face. However, it is a difficult work in a narrow space, and even if a ventilation system is installed, it is forced to work in a bad environment exposed to relatively dense dust. rice field.

Therefore, in recent years, attempts have been made to automate the spraying work of tunnels, that is, to unmanned or automate the spraying work by remote control.

For example, in Patent Document 1 below, at the spraying work site; a light wave distance measuring device for measuring the shape of the inner wall surface of the spraying work site, a remotely controlled spraying robot, and measurement work by the light wave range measuring device. A camera for monitoring the spraying work by the spraying robot is installed at the remote control site; a computer for processing the measurement signal measured by the light wave rangefinder and displaying it on a monitor, and the above. A remote control controller for the spraying robot for remote control of the spraying robot and a monitor device for displaying the image taken by the camera are installed, and the device group installed at the spraying work site. , Disclosed by a remote control system for spraying work in underground excavation that connects various signals to and from the equipment group installed in the remote control site so that they can be spatially transmitted by radio waves via wireless communication or wired transmission by signal cable. Has been done.

Further, in Patent Document 2 below, a photographing unit equipped with a stereo camera device in which a plurality of cameras are fixed at regular intervals so as to be rotatable and controllable is carried into a tunnel, and the photographing unit is used before spraying concrete. After photographing the inner sky cross section, inputting the stereo imaging data into a computer and calculating the inner sky cross section shape by the principle of stereo image measurement, the planned inner sky cross section is calculated based on the inner sky cross section shape, and the said. A concrete spraying management method for spraying concrete based on the data of the empty cross-sectional shape in the plan is disclosed.

On the other hand, regarding the management of the spray thickness, conventionally, as shown in FIG. 10, there is a method of measuring the wall shape along the tunnel circumferential direction by a total station 61 installed by a tripod behind the face 60 to measure the spray thickness. It was used exclusively. However, in the case of this method, since the laser beam is incident on the measurement point at an oblique angle, there is a problem that the measurement accuracy is not ensured and the cross-section measurement error becomes large when there is extra digging or the like. rice field. That is, as shown in _FIG . 11, when a surplus moat is generated with respect to the design planning line S1 and the actual excavation shape is in the state shown by the excavation line S2, the measurement target cross section T.I. Assuming that the measured values obtained by collimating the points T ₁ and T ₂ on D are a ₁ and a ₂ , the calculated internal cross section is (a ₁ cos θ ₁ + a ₂ cos θ ₂ ). On the other hand, the actual inner cross section is (b ₁ + b ₂ ), and there is a problem that a large error occurs in the measured value due to the surplus moat.

Therefore, in Patent Document 3 below, the vehicle is mounted on a circumferential rail arranged along the circumferential direction with a substantially constant separation distance inside the excavated cross section, and is movable along the circumferential rail. A spray thickness measuring device equipped with a light wave rangefinder that collimates the excavated surface almost orthogonally on the trolley, or at least the inside of the excavated cross section can be moved and controlled along the circumferential direction at a substantially constant distance. After excavation, a spray thickness measuring device holding a light wave range finder at the tip of the arm is used, and the excavated bare surface is scanned along the circumferential direction of the excavation by the light wave range finder at a predetermined cross-sectional position after ground excavation. After obtaining the raw surface shape data of the above, the spraying surface is scanned again along the circumferential direction of the cross section by the laser rangefinder at the predetermined cross-sectional position at an arbitrary stage during the spraying work or at the spraying work completion stage. As a result, a spray thickness measuring method that obtains the spray thickness shape data during or after spraying and obtains the spray thickness based on the bare digging surface shape data and the spray thickness shape data. It has been disclosed.

Further, in Patent Document 4 below, in order to further control the spray thickness as well as the supply amount of the spray material, the spray pressure, etc., as shown in FIG. 12, from the wall surface in the circumferential direction of the tunnel. A circumferential rail member 70 having a traveling rail surface formed along the circumferential direction of the tunnel with a substantially constant separation distance inside and being movable along the longitudinal direction of the tunnel, and the circumferential rail member 70. It consists of a spray nozzle holding device 71 that is mounted on the tunnel and is free to travel around the tunnel circumferential direction along the traveling rail surface, and sandwiches the spray nozzle position with respect to the spray nozzle holding device 71 when viewed from the front. Discloses a tunnel spraying device in which light wave distance measuring instruments 72 and 73 for collimating a tunnel wall surface are arranged and fixed at front and rear positions in the traveling direction.

Japanese Unexamined Patent Publication No. 2000-20394 Japanese Unexamined Patent Publication No. 2003-13699 Japanese Unexamined Patent Publication No. 2000-283756 Japanese Unexamined Patent Publication No. 2000-120393

According to the above-mentioned Patent Document 3, there is an advantage that the thickness of the sprayed material can be controlled easily and accurately.

According to Patent Document 4, in the process of moving the spray nozzle holding device around the tunnel, one traveling process is performed by measuring both the spray thickness before spraying and the spray thickness after spraying. It becomes possible to know the thickness of the sprayed concrete in real time, which has the advantage that the pressure-fed amount and the pressure-fed pressure of the sprayed concrete can be easily managed.

However, the tunnel excavation method according to these Documents 3 and 4 is basically excavation using TBM, and is intended for the case where the excavation cross section is almost constant. That is, since the excavation cross section by the TBM method has an almost constant shape and the design spray thickness is also almost constant in the tunnel circumferential direction, it is possible to know the spray thickness sprayed in one running process in real time. The remaining spray thickness can be known, and after the final spray thickness is completed, it can be made to almost match the design spray shape line. Subsequent minor modifications, as described in paragraph [0028] of Patent Document 4, increase the area portion that is less than the planned spray thickness while comparing the design spray shape line with the current spray shape line. In this way, the spray nozzle holding device is moved and controlled to spray, and concrete is sprayed according to the planned spray shape line over the entire circumference in the tunnel circumferential direction.

On the other hand, when the excavation method is particularly the blasting method, the excavation wall surface does not have a beautiful curved surface, and irregular irregularities are present, so that the planned spray shape line is reached. The spray thickness of the tunnel will change significantly at each position in the circumferential direction of the tunnel. Therefore, as in Patent Documents 3 and 4, if the spray nozzle is sprayed at a constant speed and at a constant spray amount, the spray is made after running while spraying a plurality of times in the tunnel circumferential direction. It is impossible to make a shape line close to the planned spray shape line in the attached state.

That is, when the spray nozzle is sprayed at a constant speed and a constant spray amount even though there are many uneven portions, the largest convex portion has the planned spray thickness shape. After spraying to the state where the line is reached, it becomes necessary to scan the part where the thickness to the planned spray thickness shape line is insufficient in the circumferential direction of the tunnel and spray so as to make the shortage. However, it was a complicated and time-consuming task.

Therefore, the main subject of the present invention is to hold a spray nozzle at the tip of an articulated boom that can be moved and controlled along the tunnel wall surface at an arbitrary distance from the excavation wall surface, targeting the tunnel excavation wall surface by the NATM method. Even if there are uneven parts on the wall surface when spraying with the spraying machine, the spraying surface is corrected to be smooth at the initial stage of spraying to improve the efficiency of the spraying work. There is something in it.

In order to solve the above-mentioned problems, as the present invention according to claim 1, an articulated boom capable of controlling movement along a tunnel wall surface at an arbitrary distance from the excavation wall surface for a tunnel excavation wall surface by the NATM method. When spraying with a sprayer that holds a spray nozzle at the tip of
Place a distance measuring instrument to measure the distance to the tunnel wall,
In the process of moving the spray nozzle along the wall surface of the tunnel to perform spraying, the moving speed of the spray nozzle is measured, and the distance before and after the spray is measured by the distance measuring device. Measure the spray thickness by spraying, and obtain the proportional relational expression between the moving speed of these spray nozzles and the spray thickness.
Under the condition that uneven parts are present on the tunnel excavation wall surface, at the initial stage of moving the spray nozzle and spraying while keeping the pumping amount of the spray material constant, relatively based on the proportional relational expression. Provided is a tunnel spray control method characterized in that a movement control is performed in which the movement speed is slowed down in a concave portion and the movement speed is increased in a convex portion so that the spray surface is smoothed.

In the invention according to claim 1, a distance measuring instrument for measuring the distance to the tunnel wall surface is arranged with respect to the spraying machine. In addition, in the process of moving the spray nozzle along the wall surface of the tunnel to perform spraying, the moving speed of the spray nozzle is measured, and the distance before and after the spray is measured by the distance measuring instrument. The spraying thickness due to the spraying is measured, and the proportional relational expression between the moving speed of these spraying nozzles and the spraying thickness is obtained. That is, by grasping the proportional relational expression in advance, it is possible to obtain the relationship between how much the spraying nozzle can be changed in moving speed and how much the spraying thickness can be increased or decreased. It is necessary to properly grasp the degree of increase / decrease in the moving speed of the spray nozzle for repairing the convex portion and smoothing the spray surface.

Under the condition that uneven parts are present on the tunnel excavation wall surface, in the actual spraying work, the above-mentioned proportional relationship is performed at the initial stage of spraying by moving the spray nozzle while keeping the pumping amount of the spray material constant. Based on the formula, by modifying the movement control so that the moving speed is relatively slowed down in the concave portion and the moving speed is increased in the convex portion to smooth the spraying surface, the concave portion and the convex portion can be moved earlier. Eliminate the effects and enable efficient subsequent spraying work.

According to the second aspect of the present invention, the distance measuring instrument is sprayed on a tunnel according to claim 1, which is arranged at a position on the front side in the moving direction and a position on the rear side in the moving direction of the spray nozzle. A control method is provided.

In the invention according to claim 2, regarding the arrangement of the distance measuring instrument, on the premise that the spray nozzle is moved in the tunnel circumferential direction, the position to be the front side in the movement direction and the rear side in the movement direction of the spray nozzle. It is arranged at each position. With these distance measuring instruments, it is possible to measure the spray thickness by the spray.

According to claim 3, the distance measuring instrument is provided at least at four locations including a front-rear position straddling the spray nozzle in the tunnel circumferential direction and a front-rear position straddling the spray nozzle in the tunnel direction. The spray control method for the arranged tunnel according to claim 1 is provided.

In the invention according to claim 3, in order to correspond to an arbitrary movement direction of the spray nozzle, the distance measuring instrument is placed in the front-rear position across the spray nozzle in the tunnel circumferential direction and the spray nozzle in the tunnel direction. It is provided at least four places including the front and rear positions straddling the above.

According to the fourth aspect of the present invention, the spray nozzle according to any one of claims 1 to 3, wherein the spray nozzle is controlled to the optimum position of the separation distance to the tunnel wall surface based on the measured value by the distance measuring instrument. A control method is provided.

According to the fourth aspect of the present invention, regarding the position control of the spray nozzle, it is desirable that the separation distance to the tunnel wall surface is controlled to the optimum position where the rebound rate is the smallest, based on the measured value by the distance measuring instrument.

According to the fifth aspect of the present invention, claims 1 to 4 in which the current spraying shape line is a shape line close to the planned spraying shape line in the sprayed state after the spraying of a predetermined thickness is completed on the tunnel wall surface. The tunnel spray control method according to any one is provided.

In the invention according to claim 5, the current spraying shape line is obtained in the sprayed state after the spraying of a predetermined thickness is completed by modifying the spraying surface so as to be smoothed by the method according to claim 1. Is a shape line close to the planned spray shape line. In other words, by making the shape line close to the planned spraying shape line when the spraying of the specified thickness is completed on the tunnel wall surface, the auxiliary work such as repairing the part where the spraying thickness is insufficient is eliminated or labor is saved and spraying is performed. Streamline your work.

The invention according to claim 6 provides the tunnel spray control method according to any one of claims 1 to 5, wherein a radar range finder is used as the distance measuring instrument.

In the invention according to claim 6, any range finder such as a light wave range finder, a laser range finder, an ultrasonic range finder, or a radar range finder can be used as the distance measuring instrument. Since dust and rebound are likely to become noise and cannot be measured with a laser rangefinder, a radar rangefinder that is resistant to noise such as environmental factors is used because it uses microwaves with a short wavelength.

As described in detail above, according to the present invention, a spray nozzle is applied to the tip of an articulated boom that can be moved and controlled along the tunnel wall surface at an arbitrary distance from the excavated wall surface for the tunnel excavation wall surface by the NATM method. Even if there are uneven parts on the wall surface when spraying with a spraying machine that holds the above, it is possible to correct the spraying surface so that it is smooth at the initial stage of spraying. The attachment work can be made more efficient.

It is a side view which shows the spraying procedure by a spraying machine 1. It is the plan view. It is a front view of the spray nozzle 12 part. This is the spraying procedure (No. 1) according to the present invention. This is the spraying procedure (No. 2) according to the present invention. It is a spraying procedure (No. 3) according to the present invention. This is the spraying procedure (No. 4) according to the present invention. It is a conceptual diagram of the proportional relation expression of the moving speed of the spray nozzle 12 and the spray thickness. It is a side view which shows the spraying procedure by a spraying machine 50. It is a figure which shows the measurement procedure of a spray thickness. It is explanatory drawing of the measurement error factor at that time. It is a front view which shows the spraying apparatus for a tunnel which concerns on patent document 4. FIG.

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

The spraying machine 1 shown in FIG. 1 is a heavy machine having a structure in which a spraying nozzle 12 is held by an articulated boom 11 with respect to a traveling carriage 10. Various sensors are attached to the movable portion of the articulated boom 11, and the position information of the spray nozzle 12 is obtained based on the measurement data by these various sensors, and the spray nozzle 12 is sprayed to a predetermined value by the servo mechanism. It has a control mechanism to move it to a position.

In the vicinity of the face, heavy equipment for tunnel construction such as wheel jumbo, sprayer, wheel loader, etc. are placed. After drilling holes and charging holes / charging in parallel, the upper and lower halves are cut down at once, and then slipping out → hitting → primary spraying → (steel support construction) → (secondary blowing) (Attachment) → Excavation is performed every cycle by procedures such as placing lock bolts. In addition, a centre is placed behind the face, and the lining body is constructed and invert construction is performed.

The spraying machine 1 is used for the spraying work of the primary spraying and the secondary spraying.

As shown in FIGS. 1 and 2, when the spraying machine 1 is positioned at the spraying portion near the tunnel face, the position coordinates and the posture state of the spraying machine 1 are clarified by measurement by surveying. All coordinate data such as tunnel shape coordinate data and measurement spray shape line data are input to the controller, and the measurement of the position coordinates of the spray nozzle 12 and the coordinates of the movement control of the spray nozzle 12 are managed. This is because it is necessary to first grasp the coordinate state of the spraying machine 1.

First, a total station 2 for measurement is installed in the tunnel mine. At least two reference points (not shown) are pre-installed in the tunnel mine, and the backward interaction method is based on the distance measurement and angle measurement data obtained by collimating the two reference points with the total station 2. The installation coordinates of the total station 2 are obtained by. It should be noted that the position coordinates of the station 2 are performed at appropriate time intervals in order to check whether or not the position shift has occurred.

At least two collimation targets 3A and 3B are installed on the rear side of the sprayer 1. These two collimation targets 3A and 3B are separated from each other in the horizontal direction, and are installed at different heights in the vertical direction, so that the collimation targets 3A and 3B are collimated by the total station 2 to blow. It is possible to obtain the posture state (roll angle, pitch angle, yaw angle) of the spraying machine 1 together with the installation coordinates of the attaching machine 1. By these measurements, the coordinates of the base turning center O of the articulated boom 11 are determined. From the coordinates of the base turning center O to the position coordinates of the spray nozzle 12, it is obtained by measuring the operating amount of various sensors (rotation angle sensor, displacement sensor, proximity sensor, etc.) provided at each joint of the articulated boom 11. Be done. As for the position and attitude of the spraying machine 1, one collimation target is installed at the rear, a three-axis angle sensor is attached to the machine body, coordinates are acquired by the collimation target, and the three-axis angle sensor is used. The posture state may be grasped by.

<Spraying machine 1>
In the spraying machine 1, as shown in FIG. 3, a support base 15 is provided on the spray nozzle 12, and the spray nozzle 12 is located at one side position and the other side position adjacent to each other in the tunnel circumferential direction with the spray nozzle 12 interposed therebetween. Distance measuring instruments 13 and 14 for measuring the distance to the tunnel wall surface are arranged, respectively, and these distance measuring instruments 13 and 14 enable the spraying thickness to be measured in parallel with the spraying. That is, when the spray nozzle 12 is moved along the tunnel circumferential direction, the distance measuring instruments 13 and 14 are arranged at the position on the front side in the moving direction and the position on the rear side in the moving direction, respectively, and these distance measuring instruments are arranged. 13 and 14 make it possible to measure the spray thickness by the spray.

As the distance measuring instruments 13 and 14, any range finder such as a light wave range finder, a laser range finder, an ultrasonic range finder, or a radar range finder can be used. Since rebound becomes noise and measurement may not be possible, it is desirable to use a radar rangefinder that is resistant to noise due to environmental factors, etc. because it uses microwaves with a short wavelength. In addition, since microwaves with a short wavelength are used, the measurement accuracy can be improved.

Since the spray is basically moved alternately in the clockwise direction and the counterclockwise direction in the circumferential direction of the tunnel, if it is moved in the clockwise direction as shown in the figure, it is located on the front side in the moving direction. The distance before spraying is measured by the distance measuring instrument 13, the distance after spraying is measured by the distance measuring instrument 14 located on the rear side in the moving direction, and the spraying thickness is calculated from these differences. That is, in the process of spraying while moving the spray nozzle 12 along the tunnel wall surface at an arbitrary distance from the excavation wall surface, it is possible to grasp the spray thickness due to the spraying in real time. It has become.

The "spraying" in the present invention includes various spraying materials such as mortar spraying in addition to general concrete spraying. Further, it is desirable to set the separation distance from the spray nozzle 12 to the spray surface at an optimum position where the rebound rate is the smallest.

<Blowing control method by spraying machine 1>
The spraying by the spraying machine 1 described above targets the tunnel excavation wall surface by the NATM method, and is the spraying control under the condition that the uneven portion exists on the tunnel excavation wall surface.

First, as shown in FIG. 4, since the excavation is performed by the blasting method, the excavation line has concave portions and convex portions irregularly generated on the tunnel wall surface. First, using the distance measuring instrument 13 on one side of the pair of left and right distance measuring instruments 13 and 14, which is the front side in the moving direction in the illustrated example, continuous measurement is performed in the process of moving the spray nozzle 12 in the tunnel circumferential direction. And measure the shape of the unearthed surface. As a result, the cross-sectional shape of the excavation is clarified, and the amount of recesses (mm) and the amount of protrusions (mm) at each position along the tunnel circumferential direction are grasped with respect to the reference excavation line.

Next, the data measured in the preparatory process before spraying by moving the spray nozzle in the circumferential direction of the tunnel while keeping the pumping amount of the spray material constant, or in the middle of spraying or at the place where spraying has already been completed. Based on this, a proportional relational expression between the moving speed V of the spray nozzle 12 and the spray thickness t is obtained. Specifically, as shown in FIG. 8, for example, in a graph in which the vertical axis is the spray thickness t (mm) and the horizontal axis is the moving speed V (cm / s), the proportional relational expression t = -a. Obtain V + b (a and b are constants). As shown in the figure, assuming the reference spray thickness and the reference movement speed, it is easy to increase or decrease the movement speed V to correct it according to the degree of the concave portion (mm) or the convex portion amount (mm). It is designed to be guided.

The pumping amount of the sprayed material shall be a constant amount at least from the movement start point to the movement end point in the tunnel circumferential direction. It is possible to change the pumping amount of the spray material, but as the number of parameters increases, the control becomes complicated, and the proportional relationship between the moving speed of the spray nozzle and the spray thickness for each pumping amount of the spray material. It is necessary to prepare the above, which makes the control complicated. Therefore, the pumping amount of the spray material is basically constant from the start of spraying to the stage before the final spraying from the movement start point to the movement end point in the tunnel circumferential direction, and for the final spray thickness adjustment. It is desirable to prepare other 1 or 2 patterns in which the pumping amount is increased or decreased.

Normally, the spraying thickness is set per lap, and the spraying is performed so that the planned spraying shape line is obtained by spraying a plurality of times. However, in the present invention, the spraying nozzle is provided in the tunnel circumferential direction. At the initial stage of moving and spraying, the spraying surface is smoothed by performing movement control that relatively slows the moving speed in the concave portion and increases the moving speed in the convex portion based on the proportional relational expression. The spray control is performed so as to be corrected. That is, under the condition that the uneven portion exists on the tunnel excavation wall surface, the spraying is performed while keeping the spraying thickness constant, and after some part reaches the planned spraying shape line, the spraying is insufficient. If the spraying is performed on the spot while scanning the spot and searching for the missing spot, the spraying work will take too much time and effort. In this control, in the initial stage of spraying (described as the first spraying operation in this embodiment), the spraying control is performed so as to eliminate the influence of the concave portion and the convex portion and smooth the spraying surface. ..

Specifically, FIG. 5 is a spraying procedure diagram showing the first spraying state, but the shape line before spraying is measured by the distance measuring instrument 13 located on the front side in the moving direction, and the position is located on the rear side in the moving direction. The shape line after spraying is measured by the distance measurement 14 to be performed. By measuring the distance with the distance measuring instrument 13, the portion to be sprayed is specified, and the concave amount (mm) or the convex portion amount (mm) is specified. Once the concave amount (mm) or convex amount (mm) is specified, if it is applied to the proportional relational expression shown in FIG. 8, the spray thickness of the relevant part is determined and the moving speed V (cm / s) is determined. It will be decided naturally. By controlling the movement of the spray nozzle 12 in this way, as shown in FIG. 5, the spray surface after spraying can be modified to be smooth. In this embodiment, an example of smoothing by one spraying operation is shown, but depending on the degree of concave portion (mm) or convex portion amount (mm), smoothing is performed at the end of the second or third spraying. You may do so. Although it is basically intended to be smoothed by the first spraying operation, there is a construction error, so even in the second and third spraying (final in this example), FIG. 8 shows. By fine-tuning the spraying speed based on the proportional relational expression shown, it is possible to gradually improve the smoothing accuracy.

FIG. 6 is a spraying procedure diagram showing the spraying state of the third (final), but since the spraying surface is almost smoothed by the second spraying operation, the third (final) spraying operation is performed. In spraying, the spray nozzle 12 is sprayed while moving at a substantially constant spraying speed V (cm / s). In order to control the spraying so that the spraying surface is smoothed at the initial stage of spraying, after spraying a predetermined thickness (in this embodiment, the spraying thickness by 3 times) on the tunnel wall surface. In the sprayed state of, the current sprayed shape line can be made into a shape line close to the planned sprayed shape line (see FIG. 7).

When the spraying is completed, as shown in FIG. 7, the spray nozzle is used on one side of the pair of left and right distance measuring instruments 13 and 14, or in the illustrated example, the distance measuring instrument 13 on the front side in the moving direction. In the process of moving the 12 in the circumferential direction of the tunnel, the measurement is continuously performed, the finished shape of the spraying completed state is measured, and the spraying at the spraying point is completed.

[Examples of other forms]
(1) In the above embodiment, the spraying when the spray nozzle 12 is moved along the tunnel circumferential direction with respect to the top end and the upper side surface position of the tunnel has been described, but the lower side surface of the tunnel is the lower side. The spray may be performed by moving it in a zigzag manner in the horizontal direction toward the direction or the upper side. Even in this case, the present invention can be applied in the same manner. In this case, the distance measuring instruments 13 and 14 are arranged at a position on the front side in the moving direction and a position on the rear side in the moving direction of the spray nozzle 12, respectively. In addition, in order to correspond to an arbitrary movement direction of the spray nozzle 12, the distance measuring instrument is placed in the front-rear position across the spray nozzle 12 in the tunnel circumferential direction and before and after straddling the spray nozzle 12 in the tunnel direction. It may be provided at least four or more places including the position to be the position.

(2) In this embodiment, spraying is performed by a spraying machine 1 holding a spray nozzle 12 at the tip of an articulated boom 11 that can be moved and controlled along the tunnel wall surface at an arbitrary distance from the excavated wall surface. Although the control method has been described, the present control method is mounted on a circumferential rail arranged along the circumferential direction with a substantially constant separation distance inside the excavation cross section as shown in Patent Document 3. The same can be applied to a spray thickness measuring device in which a light wave rangefinder that collimates an excavated surface almost orthogonally on a traveling carriage that is movable along the circumferential rail is provided. Is.

1 ... sprayer, 2 ... total station, 3A / 3B ... collimation target, 10 ... trolley, 11 ... articulated boom, 12 ... spray nozzle, 13/14 ... distance measuring instrument

Claims (6)

For the tunnel excavation wall surface by the NATM method, spraying is performed by a sprayer holding a spray nozzle at the tip of an articulated boom that can be moved and controlled along the tunnel wall surface at an arbitrary distance from the excavation wall surface. In doing
Place a distance measuring instrument to measure the distance to the tunnel wall,
In the process of moving the spray nozzle along the wall surface of the tunnel to perform spraying, the moving speed of the spray nozzle is measured, and the distance before and after the spray is measured by the distance measuring device. Measure the spray thickness by spraying, and obtain the proportional relational expression between the moving speed of these spray nozzles and the spray thickness.
Under the condition that uneven parts are present on the tunnel excavation wall surface, at the initial stage of moving the spray nozzle and spraying while keeping the pumping amount of the spray material constant, relatively based on the proportional relational expression. A tunnel spraying control method characterized in that the spraying surface is corrected to be smoothed by performing movement control in which the moving speed is slowed down in a concave portion and the moving speed is increased in a convex portion. The method for controlling spraying a tunnel according to claim 1, wherein the distance measuring instrument is arranged at a position on the front side in the moving direction and a position on the rear side in the moving direction of the spray nozzle. Claims that the distance measuring instrument is arranged at least four places including a front-rear position straddling the spray nozzle in the tunnel circumferential direction and a front-rear position straddling the spray nozzle in the tunnel direction. Item 1. The method for controlling spraying of a tunnel according to Item 1. The tunnel spray control method according to any one of claims 1 to 3, wherein the spray nozzle is controlled at an optimum position for the separation distance to the tunnel wall surface based on the value measured by the distance measuring instrument. The tunnel spraying according to any one of claims 1 to 4, wherein the current spraying shape line is a shape line close to the planned spraying shape line in the spraying state after the spraying of a predetermined thickness is completed on the tunnel wall surface. Control method. The tunnel spray control method according to any one of claims 1 to 4, wherein a radar range finder is used as the distance measuring instrument.

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