JPH0347444B2 - - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION [Technical Field of the Invention] The present invention relates to a position detection device for a shield excavator that detects the position of a shield excavator during tunnel construction.

[Prior art]

In recent years, with the spread of sewage systems, tunnel construction for burying sewage pipes has been carried out in various places. In urban areas, a propulsion method using a shield excavator called the ``mole method'' is often used to prevent this construction from affecting road traffic. In this case, it is necessary to accurately control the direction in which the shield tunneling machine excavates, but for this purpose it is necessary to accurately detect the position of the shield tunneling machine.

This position detection has normally been performed by acquisition using transit or the like. Furthermore, in recent years, laser beams with excellent directivity have come into use, making it possible to perform accurate detection, but this method is not suitable for curved construction. When constructing curved lines, a method has been proposed in which the shield tunneling machine is equipped with a gyroscope compass to detect the position.

However, the gyro compass is not only expensive, but also takes a long time after starting to give a stable indication, so it is necessary to turn on the power before it starts working, and if the gyro compass stops operating due to a power outage, After the power is restored, accurate position detection cannot be performed for a while, resulting in wasted time, which has the disadvantage of poor work efficiency.

[Object and structure of the invention]

Therefore, the purpose of this invention is to have good economy and
Moreover, it is an object of the present invention to provide a position detection device for a shield excavator that can improve work efficiency.

In order to achieve this purpose, this invention
A wire is stretched across the opposing inner surfaces of the propulsion tube, and the change in wire length caused by the change in the direction of the shield tunneling machine from the initially set direction is detected, and the position of the shield tunneling machine is detected from the amount of change in wire length. This is what I did. Hereinafter, the present invention will be explained in detail using drawings showing embodiments.

〔Example〕

FIG. 1 is a plan sectional view showing an embodiment of a shield tunneling machine constructed using the present invention. In the figure, 1 is a shield tunneling machine, 2 ₁ to 2 ₁₅ are propulsion pipes, 3 is a vertical shaft entrance, and 4 ₁ and 4 ₂ are main push jacks. 5 ₁ , 5 ₂ are direction correction jacks for correcting the direction of the shield tunneling machine 1, 6 ₁ to 6 ₄ are propulsion pipes 2 ₁ ,
2 ₂ , 2 ₄ - 2 ₆ , 2 ₈ - 2 ₁₀ , 2 ₁₂ - 2 ₁₄ guides provided on the inner facing surfaces, 7 ₁ , 7 ₂ are the shield tunneling machine 1 and the propulsion pipes 2 ₃ , 2 ₇ , 2 Wire fixtures provided on the inner facing surfaces of ₁₁ , 8 ₁ and 8 ₂ , 8 ₃ and 8 ₄ ,
8 ₅ and 8 ₆ , 8 ₇ and 8 ₈ are propulsion tubes 2 ₈ , 2 ₇ , 2 ₁₁ , 2 ₁₅
The detectors are respectively provided on the inner facing surfaces of the detectors. 9 _{1 and} 9 ₂ are wires made of stainless steel or the like with _a small coefficient of linear expansion;
extends from wire fixtures 7 ₁ and 7 ₂ to the detector, and is supported by guides 6 ₁ to 6 ₄ in between. Guides 6 ₁ to 6 ₄ are provided on opposing inner walls, for example, as shown in FIG. 2 (guides 6 ₁ and 6 ₂ are not shown), and wires 9 ₁ and 9 ₂ are extended through holes a.

The maximum length from the shaft entrance 3 to the shield excavator 1 is about 300 meters, and this distance is divided into sections of about 10 meters, and wires 9 ₁ ,
9 ₂ is expanded, and one detector 8 ₁ to 8 ₈ is provided for each wire to detect changes in wire length on the vertical shaft entrance side of the wire.

The vertical shaft side of the wire ₉₁ is supported by a roller 10, as shown in FIG. 3, and tension is applied by a weight 11 attached to the end thereof. A rotary encoder (not shown) is attached to the roller 10, and when the wire length (the length from the wire fixture 7 ₁ to the roller 10) changes, the roller 1
The change is detected by the rotation of 0. Although FIG. 3 only shows the end of the wire 9 ₁ , the end of the wire 9 ₂ also has a similar structure.

FIG. 4 is a block diagram of the position detection device. In the figure, 12 ₁ to 12 ₄ are data transmitters/receivers, and 13
1 is a calculation section, 14 is a data setting section, and 15 is a display section. Data transmitter/receiver 12 ₁ to 12 ₄ are arithmetic units 13
According to the instructions, the output signal of the corresponding detector is converted into a serial signal and sent to the line. The data setting unit 14 is configured to set the initial values of each detector and each propulsion pipe direction, and the distance from the rearmost detectors 8 ₇ and 8 ₈ to the shaft entrance 3. The calculation unit 13 calculates the position of the shield excavator 1 with respect to the shaft entrance 3 based on signals from each detector and data from the data setting unit 14. FIG. 5 is a block diagram showing the data transmitter/receiver 12 ₄ , which is composed of a difference detection circuit 12 _4a , a signal amplification circuit 12 _4b , an analog/digital conversion circuit 12 _4c , and a data communication circuit 12 _{4d .} ~ ₁₂₃ also have the same configuration.

The operation of the device configured in this way is as follows. The shield tunneling machine 1 is given a forward force by the force from the original push jacks 4 ₁ , 4 ₂ applied via the propulsion pipes 2 ₁₅ to 2 ₁ , and the direction correction jack 5 is applied.
The forward direction is determined by the force given by ₁ and 5 ₂ . At this time, since the section between the propulsion tubes 2 ₁₅ to 2 ₁₁ is a straight section, the wire lengths of the wires 9 ₁ and 9 ₂ are equal. However, since the sections of the propulsion tubes 2 ₁₁ to 2 ₇ are curved sections, the length of the wire 9 ₁ is longer than the wire 9 ₂ . For this reason, the wires 9 ₁ , 9 ₂
If the wire lengths are the same, it is a straight section, and if the wire lengths are different, it is a curved section, and the angle between the axis of the leading part of the curved section and the axis of the straight section can be determined from the amount of change in the wire.

In FIG _. 1, the horizontal direction of the paper is taken as the x coordinate, and the vertical direction is taken as the y _coordinate , and as shown in _{FIG .} , the coordinates of the center of the propulsion tube 2 ₇ are (x ₂ , y ₂ ), and its traveling direction is θ ₂ . The difference in wire length is Δd,
Assuming that the length of each propulsion tube is l and that the propulsion tube is uniformly curved, x ₂ , y ₂ , and θ ₂ are determined as follows. However, the direction of travel is based on the y-axis, and the clockwise angle is taken as a plus.

x ₂ = x ₁ + l _n 〓 ⁱ⁼¹ sin (θ ₁ + i/mΔθ) ...(1) y ₂ = y ₁ + l _n 〓 ⁱ⁼¹ cos (θ ₁ + i/mΔθ) ...(2) θ ₂ = θ ₁ + Δθ ₁ ...(3) Δθ ₁ = Δd ₁ /D・180/π ...(4) However, m: the number of propulsion tubes in the detection span (in Fig. 6, m =
4) Δd ₁ : Difference in the length of the two wires (obtained by subtracting the length of the right wire from the wire length on the left in the direction of travel) D: Spreading distance between the two wires Point (x ₂ , y ₂ ) Once the coordinates of the propulsion tube 2 ₇ are determined, the coordinates of the propulsion tube 2 ₈ are determined based on this point (x ₂ , y ₂ ), and this time, based on the coordinates of the propulsion tube 2 ₈ , the shield tunneling machine 1 The coordinates of can be found. Therefore, the calculation unit 13 is connected to the data transmitter/receiver 12
₁ to 12 ₄ are sequentially controlled, data detected by each detector is transmitted, and the position of the shield excavator 1 is calculated based on this data.

When the angle Δθ ₁ formed by both axes is small, the amount of change in wire length is small, but in this case, the amount of change can be increased by moving the wire back and forth several times between adjacent propulsion tubes. FIG. 7 is a diagram when the wire 9 ₁ is reciprocated between the propulsion tubes 2 ₈ and 2 ₇ . In this case, although the wire ₉₂ is not shown, it is expanded in the same manner as in FIG.

In Figure 1, two wires 9 ₁ and 9 ₂ are stretched out in the horizontal plane, but if they are also stretched out in the vertical plane, the position of the shield tunneling machine 1 can be known not only in the horizontal plane but also in the vertical plane. can. In addition, although the change in the length of the wires 9 ₁ and 9 ₂ is detected using a rotary encoder, it may also be detected using a potentiometer.
tension was applied to the wires 9 ₁ and 9 ₂ by
This may be a spring. In addition, equations (1) and (2) calculate the position of the propulsion tube assuming that the propulsion tube within the span where the detector is installed is uniformly curved.
When the point where a straight section enters a curved section or the point where a curved section exits a straight section can be determined by the number of propulsion pipes from the entrance of the shaft, in the detection span that includes those locations, formulas (1) and (2) are used. Using equations (5) and (6) instead of
Calculating coordinates increases calculation accuracy.

x ₂ = x ₁ + l {m ₁ sin θ ₁ + _n2 〓 ⁱ⁼¹ sin (θ ₁ + i/m ₂ Δθ ₁ ) + m ₃ sin θ ₂ } +D/2 (1−cos Δθ ₁ ) ...(5) y ₂ = y ₁ +l{m ₁ cosθ ₁ + _n2 〓 ⁱ⁼¹ cos (θ ₁ +i/m ₂ Δθ ₁ )+m ₃ cosθ ₂ } +D/2sinΔθ ₁ ...(6) However, each symbol is as follows.

m ₁ : Number of propulsion pipes in the straight section on the shaft entrance side m ₂ : Number of propulsion pipes in the curved section m ₃ : Number of propulsion pipes in the straight section on the tunnel side The sum of m ₁ , m ₂ and m ₃ is the detection span It is equal to the number of meters of propulsion tubes inside.

Figures 8 and 9 show a detector 8 attached to each propulsion tube to improve detection accuracy;
The figure shows one data transmitter/receiver 20 provided for each of a plurality of propulsion tubes. FIG. 10 is a block diagram of the data transceiver 20 shown in FIG. 9, in which a signal switching relay 20 ₁ and an address decoder 20 ₂ are added to the data transceiver 12 ₄ shown in FIG. Detector 21 ₁ by relay 20 ₁ ,
A pair of detectors such as 22 ₁ , 21 ₂ , 22 ₂ , . . . 21n, 22n are selected.

In addition, in hard ground where the track of the constructed tunnel will not shift during construction, the detector will be installed only in a part of the shield tunnel machine and the propulsion pipe that follows it, and the detector will be installed at the tunnel machine location. It is sufficient to calculate this by integrating the amount of change in position as the position moves.

〔Effect of the invention〕

As explained above, the shield tunneling machine position detection device according to the present invention detects the position of the shield tunneling machine from the amount of change in the length of the wires extended on the opposing walls of the propulsion tube, so the configuration is simple. This makes it more economical, and since measurements can be taken immediately after startup, it eliminates wasted time and improves work efficiency.

[Brief explanation of drawings]

FIG. 1 is a plan sectional view showing an embodiment of a shield excavator constructed by applying the device of the present invention, and FIG.
The figure is a front view of the propulsion pipe, Figure 3 is a perspective view showing the expanded state of the wire at the entrance of the vertical shaft, Figure 4 is a block diagram showing one embodiment of the position detection device, and Figure 5 is the same as Figure 4. Block diagram of the data transceiver shown in Fig. 6.
The figures are for explaining the position detection method, FIG. 7 is a diagram showing a means for enlarging the amount of change in the wire, and FIG.
9 are block diagrams showing other embodiments, and FIG. 10 is a block diagram showing the data transmitter/receiver of FIG. 9. 1... Shield tunneling machine, 2 ₁ to 2 ₁₅ ... Propulsion tube,
6 ₁ to 6 ₄ ... guide, 8 ₁ , 8 ₂ ... detector, 9 ₁ ,
9 ₂ ... wire, 10 ... roller, 11 ... weight,
12 ₁ to 12 ₄ . . . data transmitter/receiver, 13 . . . arithmetic unit.

Claims (1)

[Claims] 1. In a position detection device used in a propulsion construction method in which a tunnel is constructed by adding propulsion pipes as excavation progresses, small holes are provided in each of the opposing inner walls of the propulsion pipes in a direction parallel to the wall surface. first and second guides having a first guide, and a first guide extending through a plurality of propulsion tubes while passing through a small hole in the first guide in each propulsion tube, with one end fixed and the other end aligned with the first roller. In this state, the first wire is tensioned by a weight, and the first wire is passed through a small hole in the second guide in each propulsion tube, and is stretched across multiple propulsion tubes, with one end fixed and the other end attached to the second guide. a second wire tensioned by a weight while being placed along the second roller; a first rotary encoder that detects the amount of rotation of the first roller; and a first rotary encoder that detects the amount of rotation of the second roller. a second rotary encoder that calculates the position of the shield tunneling machine based on the angle that is deviated from the traveling direction of the propulsion tube from the detected amounts of the first and second rotary encoders; A position detection device for a shield excavator, characterized by comprising: