JPH02140393A - Shield machine - Google Patents

Abstract

PURPOSE:To facilitate the operation by an operator by inputting the information obtained from a various sorts of sensors installed onto a shield machine body into a control means installed outside a pit and carrying out the excavation instruction which is determined on the basis of the position at present, direction, and a designed basic line. CONSTITUTION:An operation ON/OFF switch, pitching meter, stroke meter, stroke difference meter, rolling meter, level meter, direction meter, etc., are installed onto a shield machine body. The information supplied from a variety of sensors is input through an interface 5 into a control means 1 installed outside a pit, and the position at present and direction of the shield machine are calculated. Then, a previously set designed basic line and an excavation instruction which is obtained from the position at present and the direction are given to an operator through the second display device 4. Therefore, the operator can operate the shield machine easily without requiring the special skilfullness.

Description

DETAILED DESCRIPTION OF THE INVENTION [Field of Industrial Application] The present invention relates to a shielding machine for carrying out shielding work, and particularly to a shielding machine that can easily control the direction of excavation.

[Prior Art] A shield machine is widely used for excavating tunnels and the like, and an example of its configuration is shown in FIG. 15.

FIG. 15 is a diagram showing a schematic configuration of a mud pressure type shield machine. In the figure, a cutter head 51 is provided with an excavating cutter (not shown) at the tip of a shield machine 50.
is attached and rotationally driven by a cutter motor 52. Note that the cutter motor 52 is normally capable of forward and reverse rotation in order to control rolling of the shield machine 50. The excavated earth and sand is made into mud or clay by adding water, bentonite, etc. inside the partition wall 53, and is transported to the outside by a screw conveyor 54 and a belt conveyor (not shown).

When the shield machine 50 finishes excavating a predetermined distance,
The operation of the shield machine 50 is stopped, a steel or concrete segment 60 is assembled around the excavation periphery, and mortar or the like is back-filled into the gap between the excavation hole and the segment 60, which is indicated by the shaded area θ1 in the figure. In addition, the length of the segment 60 is about 90 cm in the straight part,
In the curved part, a short one of about 50 cm is used. Then, as shown in the figure, the next excavation is performed by pushing the segment 60 with the jack 55. The unrolling process can be performed by repeating these steps.

Further, the shield machine 50 is equipped with a level meter 56 and a direction gauge 67 to check the current position, and a pitching/rolling meter 58 to detect the pitching state and rolling state of the shield machine 50. Furthermore, a stroke meter 59 is attached to measure the stroke of each jack. Although these measuring instruments are well known, a gyro compass can be used as the compass 57, and a reference tank 62, a communication pipe 6, etc. can be used as the level meter 56, as shown in FIG.
4 and a pressure sensor 63. That is, the height between the reference tank 62 and the pressure sensor 63 can be detected by guiding the water contained in the reference tank 62 to the pressure sensor 63 in the shield machine 50 through the communication pipe 64 and detecting the water pressure. If you integrate this from the ground surface, you can find out the depth of your current location from the ground surface.

The data obtained by these measuring instruments is taken into a control device inside or outside the mine and processed, and a screen like the one shown in FIG. 17 is displayed on a second display device such as a CRT display device. Ru.

In Fig. 17, the left and right jack strokes, the actual stroke indicating the average stroke, the stroke difference between the left and right jacks, the current direction, pitching and rolling conditions, direction deviation, pitching deviation, etc. are displayed numerically. , azimuth deviation and pitching deviation are displayed graphically.

In addition, in the figure, "replacement 0FFJ" has the following meaning.In FIG. Since the length of is fixed, when the length limit approaches, the position of the base μ tank 62 is replaced, for example, with the position shown by A in the figure.This is commonly called "replacement", and therefore, “Replace 0FF
J means that there is no need to change the position of the reference tank.

Although operations should be carried out in accordance with predetermined design baselines, they often deviate from the design baseline due to the nature of the shield machine and the nature of the soil. Therefore, the operator operating the shield machine 50 can recognize the deviation from the design baseline from the screen shown in FIG. 17, and judge which position and stroke of the jack should be used to excavate according to the design baseline. was.

[Problems to be Solved by the Invention] However, in the conventional system, only the current position of the shield machine and the deviation from the target are displayed on the second display device, and the target stroke can be calculated from these data. Since the selection of the jack must be done to maintain the difference and pitching, it had to be done by an experienced expert, and it was required that anyone could operate it easily.

In addition, in conventional shield machines, the target stroke difference or pitching is determined by the operator's experience, so even if the screen shown in Figure 17 is displayed, there is a problem that the judgment criteria and instruction method differ depending on the operator. was.

The present invention solves the above problem, and by calculating and displaying the direction and level in which the shield machine should go, the same excavation can be performed regardless of the operator, and even if the operator has knowledge about shield machines. It is an object of the present invention to provide a shield machine that can easily perform excavation along a design baseline.

[Means for Solving the Problem] In order to achieve the above object, the shield machine of the present invention has the following features:
It is characterized by giving an excavation instruction determined based on the current position and orientation and a design baseline.

[Operations] According to the present invention, the target stroke difference is determined based on the current position and orientation of the shield machine in the horizontal and vertical planes obtained by various sensors and a predetermined design baseline.
Since the excavation instruction called target pitching is determined and the data is displayed on the screen of the display device, the operator can accurately grasp the movement of the shield machine by visual inspection, and can also execute the excavation instruction according to the displayed excavation instruction. You can easily operate it by just setting the stroke.
Thereby, it is possible to improve the excavation accuracy and the finished product.

[Example code] Examples will be described below with reference to the drawings.

FIG. 1 is a diagram showing the configuration of one embodiment of the shield machine control system according to the present invention, in which 1 is a control means, 2 is a first display device, 3 is a printer, and 4 is a second display device. device, 5
indicates an interface, and 6 indicates a converter.

In FIG. 1, a control means 1 is placed outside the mine, and via an interface 5 receives operation on/off information, direction information from a direction meter, level information from a level meter, rolling information from a rolling meter, and pitching information from a pitching meter. It takes in the pitching information from the controller, the information on the stroke meters of each jack, and the information on the stroke difference between the jacks, performs arithmetic processing to be described later, and also controls the interface 5, saves data, etc. It goes without saying that data necessary for performing calculation processing, such as a calculation processing program, design trajectory data, and segment length data, which will be described later, is provided in advance. Note that each measuring device such as a direction meter is provided in the main body of the shield machine in the same way as shown in FIG.

Like the control means 1, the first display device 2 is placed outside the mine, and displays the calculation results of the control means 1 and the like.

The printer 3 is provided to output data as a hard copy if necessary.

The second display device 4 is placed in the mine and provides necessary information to the operator, and a repeater is provided as necessary for connection to the control means 1.

The interface 5 converts analog data input from each measuring device into digital data and supplies it to the control means 1.

The converter 6 corrects the level value obtained by the level meter based on the amount of rolling obtained by the rolling meter, and determines the level at the center of the shield machine. In other words, if the level meter is placed at the center of the shield machine 50 as shown at A in Figure 2, the value indicated by the level meter will be constant regardless of whether it is rolling or not. If the shield is placed off the center of the shield machine, the level meter value will vary depending on the amount of rolling. The converter 6 is provided for the latter case, and corrects the value obtained by the level meter according to the amount of rolling, and always supplies the level value at the center of the shield machine to the interface 5.

A flowchart of the processing performed by the control means 1 is shown in FIG.

First, in step S1, the control means 1 determines whether or not the shield machine is currently in operation. This can be known from the operation on/off information shown in FIG. Note that when the operation is off, the erector used for the segment installation work is made operable, and the segment installation is performed. If it is determined in step S1 that the operation is off, the processes from step 82 onwards are not performed, and the excavation instruction obtained last time is held. As will be described later, the processes from step S2 to step S6 are performed every predetermined excavation distance, for example, 3 to f3 cm, so when starting excavation after installing the segments, the previously obtained excavation instructions can be used as they are. This is because it is sufficient to display the information.

If the operation is on in step S1, the control means 1 performs data acquisition in step S2. This is to find the current position of the shield machine and the direction it is facing.The horizontal position and direction of the shield machine are determined by the compass, and the vertical position, that is, the altitude (level) at which the shield machine is located, is determined by the compass. It is clear that each can be determined using a level meter. Also, the pitch meter can tell you the vertical orientation. Furthermore, the current stroke length of the jack can be known from the stroke meter, and the stroke difference between the left and right or top and bottom jacks, for example, can be known from the stroke difference meter. As for the stroke difference, it goes without saying that the control means 1 may calculate the difference between jack strokes determined by a stroke meter.

Next, the control means 1 sets a target line in step S3.

In other words, it determines where to aim for the next excavation and in what direction. It is clear that this is necessary both when excavating on the design baseline and when deviating from the design baseline.

Regarding the horizontal direction, one method is to target a point Q located a certain distance LH on the design baseline 10 from the current position P of the shield machine, as shown in Fig. 4, and connect points P and Q. The connecting line 11 can be used as the target line. In other words, the setting is made so that when the excavation distance LH is excavated along the target line from the current position, the excavation site will be located on the design baseline. Note that the constant distance LH is preferably about 10 to 20 m, for example. Further, the distance between the point P and the design base line 10 at this time is referred to as a horizontal deviation.

Another reason is that, as shown in FIG. 5(A), when excavating a straight portion of the design baseline 10,
(Beginning of Curve) If the target line is a straight line connecting the current position and point BC, and the target line is the starting point of the curve indicated by (Beginning of Curve), and the target line is the straight line connecting the current position and point BC, and the curved part of the design base line is being excavated, as shown in the same figure (B). Pass through the current position and enter E C (
The target line can be a circular arc that is in contact with the end point of the curve indicated by "End of Curve". In particular, when the target line is set in the latter manner, it is possible to smoothly approach the design baseline even if the target line deviates from the design baseline.Hereinafter, a case where this method is adopted will be taken as an example. The horizontal deviations at this time are shown in Figure 5 (A).
, is defined as shown in (B).

The same applies to the vertical direction, but as shown in FIG. 6, the target line is a straight line connecting the current position R of the shield machine and a point S located a certain distance LV on the design baseline 10,
It is preferable to position it on the design baseline when excavating by LV from the current position. In addition, in the case of vertical direction,
The constant distance LV is about 4 to 6 m, which is shorter than the horizontal target point. This is because, as can be seen when assuming the case where water is allowed to flow inside a tunnel, accuracy of the slope is often required. In addition, in FIG. 6, the distance between the current position of the shield machine and the design baseline 10 is called a vertical deviation.

The control means 1 calculates the equations of these target lines, but the trajectory of the design baseline 10 is registered in advance, and the horizontal position and level of the shield machine are determined in step S.
2, so it can be easily obtained.

Now, once the target line is set in this way, the control means 1 next calculates the target deviation in step S4. The target deviation indicates how much the direction of the shield machine should be corrected in the horizontal and vertical directions.
As shown in FIG. 7, the horizontal target deviation is determined as the difference between the current heading of the shield aircraft and the target heading, that is, the direction indicated by the target line. Since the control means 1 has taken in the current orientation of the shield aircraft in step S2 and determined the target orientation in step S3, the target deviation can be determined from the difference between these orientations.

The above is a case where the shield machine is excavating in a straight section of the design baseline, but if it is excavating in a curved part, the current direction of the shield machine and the current The angle formed between the target line 12 and the tangent at the position becomes the target deviation.

The vertical target deviation can be determined, for example, by the angle between the current pitching of the shield machine and the direction of the target line, but here, the difference between the target level and the current level of the shield machine is defined as the target deviation. Let's explain the case. This is because the level can be determined with higher accuracy than the pitching amount.

As shown in FIG. 8, the target level is the level at which the current excavation is completed, for example, 1 level from the excavation start position U.
The level of the point T on the target line at the distance obtained by advancing 2 segment lengths IJiii is set as the target level. In other words, the target for excavation is a point on the design baseline that is a certain distance Lv ahead, but as mentioned above, high accuracy is required in the vertical direction, so the target level is the level of a closer point. .

Since the segment length data is given to the control means 1 in advance, it is clear that the target deviation can be calculated.

After the horizontal and vertical target deviations are determined in this way, the control means 1 then determines the target stroke difference and target pitching in step S5.

First, the target stroke difference will be explained. To change the direction in the horizontal direction, it is sufficient to adjust the stroke difference between the left and right jacks, so how much difference should be made between the strokes of the left and right jacks in order to achieve the target deviation in the horizontal direction obtained in step S4? The process of this step is to calculate whether the data is good or not.

This can be determined by simple geometric calculations. for example,
Assuming that the current shield plane direction and target direction are as shown in FIG. 9, the length indicated by 15 in the figure becomes the required jack stroke difference. By increasing the jacking stroke while maintaining this stroke difference, it is possible to dig in the direction of the target direction. However, it is difficult to dig in the target direction using the stroke difference determined by such simple calculations. This is because each shield machine has its own peculiarities, and even if the same stroke difference is given, the direction of excavation will change depending on the soil quality of the excavation location. Therefore, in this embodiment, the stroke difference is determined by taking past results into consideration.

In other words, since a certain length in the past, for example, about 8 to 12 segment lengths, may have the same soil quality, from the actual data of the certain length, as shown in Figure 10, the correlation is calculated from the relationship between the stroke difference and the direction. The stroke difference is determined from this correlation. A linear function is sufficient for the correlation in this case.

Next, regarding the target pitching, the vertical target deviation determined in step S4 can be achieved by adjusting the pitching. Therefore, the target pitching is calculated from the target deviation, and in this case, as in the case of calculating the stroke difference described above, it is calculated from past performance data for a certain length, for example, 8 to 12 segment lengths. In this case, the actual data is the first
As shown in Figure 1, the amount of pitching and the amount of deviation in each segment are shown. As described with reference to FIG. 8, since the target level is set at a distance of one to two segment lengths in the vertical direction, it is sufficient to consider the amount of pitching per one segment length.

Since the target stroke difference and target pitching are calculated based on past performance data in this way, it is possible to perform calculations that also take into account the habits of the shield machine and the soil quality. This is especially important when determining target pitching. In other words, depending on the position of the center of gravity of the shield machine, the soil quality, etc., even if a certain pitch is applied, it may not necessarily dig in the desired direction. This is because it becomes important data.

Once the stroke difference and target pitch are determined in step S5, the information is displayed on the first display device 2 and second display device 4 in step S6.

This will be the digging instruction.

The display screen can be as shown in FIG. 12, for example.

The design baseline 20.21 for the horizontal plane is displayed in the upper half of the screen, and the design baseline 22.23 for the vertical plane is displayed in the lower half. Furthermore, the movement of the shield aircraft over a relatively long range is displayed on the right side, and the movement of the shield aircraft over a short range is displayed on the left side. The long range displayed on the right side is, for example, 2 to 3 times that of the shield captain, approximately 7 to 8
It is better to set it to m. Furthermore, the distance of the short range displayed on the left side is one segment length.

The "○" mark 24 in the upper right display area is the horizontal target point BC or EC. The reason why the target point is not shown in the lower right display area is because the vertical target point is always a point on the design baseline that is a certain distance away, as described above. Also, the arrows 25 in the upper right and lower right display areas
．． 26 respectively indicate the current heading and pitching of the shield aircraft.

To display this information, a color CRT is used as the first display device 2 and the second display device 4. For example, the background is black, the design baselines 20 to 23 are green, and the target point 2 is
4 and arrows 25 and 26 in red, the operator can easily check the movement of the shield machine.

In addition, as information on the horizontal plane, horizontal deviation, target direction, current direction, target deviation, stroke difference, and actual stroke difference data indicating the actual stroke difference are displayed, as well as the stroke difference and direction for the past 10 rings (segments). Actual declination data is displayed. The operator can accurately grasp the movement of the shield machine on the horizontal plane from this screen, and also sets the stroke difference between the left and right jacks to the displayed value, which is -16 in the case of Figure 12. By doing so, it is possible to dig in the target direction. Note that the numerical sign of the target deviation indicates whether the current orientation is deviated clockwise or counterclockwise from the target azimuth, and this is predetermined.

The same applies to the information on the vertical plane, and the stroke difference between the two pitchers can be set so that the target pitching can be achieved.

As described above, in this embodiment, in addition to simply displaying the position of the shield machine as in the conventional case, it is possible to approach the target position (how to set the jack stroke difference in order to Since digging instructions are displayed indicating how much pitching should be applied, not only experts but also those with knowledge of shield machines can operate it.

When the display process in step S6 is completed,
Return to and repeat the same process. It goes without saying that this period can be selected as appropriate, but it is clear that it is better to do it in a relatively short period of time.
0 to 50I1m The above process may be repeated each time the excavation is performed, or may be performed at predetermined intervals, for example, every few minutes. By updating the excavation instructions gradually at relatively short intervals in this way, even if the excavation instruction deviates from the design baseline, it is possible to draw a smooth curve and get on the design baseline.

In this way, each time the excavation instructions are updated for a predetermined distance or for a predetermined period of time, an "x" mark is displayed on the design baseline in the display area on the left side of Fig. 12, and as a result, one segment It is possible to easily check how much of the area has been excavated.

Note that since various data are stored in the control means 1, for example, as shown in FIG. 13 or 14,
If necessary, actual data such as strokes can be displayed as a trend. In addition, Figure 13 is an example of displaying various performance data all at once. In this case, each graph is displayed in a different color, and it can be seen that the display color of rPenJ and the color of the corresponding graph are the same. It can be displayed easily. Moreover, FIG. 14 is an example in which performance data is displayed individually.

Although one embodiment of the present invention has been described above, the present invention is not limited to the above embodiment, and various modifications are possible. For example, in the above embodiment, the operator sets the selection of gloss, but this can also be done automatically. In other words, it is clear that the target stroke difference and target pitch determined in step S3 in FIG. 3 can be applied to an appropriate gloss drive device, thereby automatically operating the gloss. Furthermore, although the above embodiments have described a mud pressure type shield machine, the present invention can also be applied to other shield machines.

[Effects of the Invention] As is clear from the above description, according to the present invention, the following effects can be obtained.

■The direction of excavation is determined based on the shield machine's current position, orientation, and design baseline, and is displayed on the display screen or automatically controlled, allowing the operator to accurately judge the shield machine's movement. The jack selection can be easily set or confirmed, and therefore, not only an expert but also a person with knowledge of shield machines can operate the machine.

■Since the target line is always set in a direction that converges with the design baseline, problems such as too high, too low, or too curved will not occur.

- Excavation instructions do not vary depending on the operator or level of skill, and are always based on the same basis.

■Drilling instructions are obtained based on past performance data, and the performance data is updated sequentially as the digging progresses.
The most effective excavation instructions are given regardless of soil changes within the route, backfilling, mounding, muddy conditions, or the characteristics of the shield machine.

■The shield machine does not cause large deviations from the design baseline, and therefore, the frequency of surveying with the shield machine stopped is extremely reduced, improving the yield.

(2) Even if a discrepancy occurs between the measurement result of the present invention and the actual measurement value, it can be easily corrected, and subsequent excavation instructions can be given based on the corrected value.

-Automatic excavation can be performed by giving the obtained excavation instruction to the jack via an appropriate drive device.

■By adding the amount of ground deviation, ie, the amount of subsidence, etc. as data, it is possible to not only control direction but also perform overall excavation management.

■If you use a laser or light wave needle in addition to a compass,
Since so-called lateral deviation can also be detected, the amount of deviation from the design baseline can be further reduced.

[Brief explanation of the drawing]

FIG. 1 is a diagram showing the configuration of one embodiment of the rolled machine control system according to the present invention, FIG. 2 is a diagram for explaining the action of the converter 6, and FIG. 3 is a flowchart of the processing performed by the control means 1. Figure 4 shows the horizontal target line 1
Figure 5 is a diagram to explain an example. Figure 5 is a diagram showing another example of setting a horizontal target line. Figure 6 is a diagram to explain setting a vertical target line. Figure 7 is a horizontal diagram. Figure 8 is a diagram to explain the target deviation in the vertical direction. Figure 9 is a diagram to explain the calculation for determining the jerk stroke difference. Figure 10 is the stroke. FIG. 11 is a diagram showing the correlation between the difference and the direction, FIG. 11 is a diagram showing the correlation between pitching and deviation amount, and FIG. 12 is a diagram showing an example of display of excavation instructions.
Figures 13 and 14 are diagrams showing examples of trend display.
FIG. 5 is a diagram showing a schematic configuration of a conventional mud pressure type shield machine, FIG. 16 is a diagram for explaining refilling, and FIG. 17 is a diagram showing an example of a conventional screen display. 1... Control means, 2... First display device, 3...
Printer, 4... Second display device, 5... Interface, 6... Converter. Figure 1 Applicant Shimizu Corporation Agent Patent attorney Ryukichi Abe (5 others) Figure 2 Figure 4 Figure 5 (A) (B) Figure M3 Figure 6 Figure 7'-10 Koshiki Figure 8 (Figure 11) Figure 9 Figure 10 Figure 11 Pino i, Figure 15 Figure 16

Claims (3)

[Claims] (1) A shield machine characterized by giving an excavation instruction determined based on the current position and orientation and a design baseline. (2) The shield machine according to claim 1, wherein the digging instruction is displayed on a display device. (3) The shield machine according to claim 2, wherein the display device also displays the current position and orientation of the shield machine in the horizontal and vertical directions, and the stroke difference of the jack.