JPH0361881B2 - - 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 advances, and in particular, it is necessary to accurately detect the position of the shield tunneling machine.

This position detection has normally been performed manually using a transit system or the like. In recent years, laser light with excellent directivity has come into use, making it possible to perform accurate detection, but this method is not suitable for curved construction. A method has been proposed in which a shield tunneling machine is equipped with a gyroscope compass to detect the position when constructing a curved line.

However, the gyro compass is not only expensive, but also does not indicate stability until more than 3 hours have passed after starting, so it is necessary to turn on the power before starting work, and if the gyro compass stops operating due to a power outage. However, after a power outage is restored, accurate position detection cannot be performed for a while, leading to wasted time and 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
Wires are stretched on the opposing inner walls of the propulsion tube, and when the direction of the shield tunneling machine changes from the initially set direction, changes in the length of the wires stretched on the opposing inner walls are detected, and shield tunneling is performed based on the amount of change in wire length. It is designed to detect the position of the aircraft. 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 excavator, 2 ₁ to 2 ₁₅ are propulsion pipes, 3 is a tunnel entrance, and 4 ₁ and 4 ₂ are 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 ₁₁ is a wire fixture provided on the inner facing surface, 8 is a propulsion tube 2 ₃ , 2 ₇ ,
These are the detectors installed at 2 ₁₁ and 2 ₁₅ . Reference numeral 9 indicates a wire having a small coefficient of linear expansion made of stainless steel or the like, and this wire 9 is used, for example, in the propulsion tubes 2 ₁₁ to 2 ₁₅ .
Then, after expanding along one inner wall of the propulsion tubes 2 ₁₁ to 2 ₁₅ , it is turned back at the propulsion tube 2 ₁₅ via the detector 8 and stretched along the other inner wall of the propulsion tubes 2 ₁₅ to 2 ₁₁ . It's expanding. The wire 9 is supported by guides 6 ₁ to 6 ₄ provided on the opposing inner wall of each propulsion tube. The guides 6 ₁ to 6 ₄ are provided on opposing inner walls, for example, as shown in FIG. 2 (guides 6 ₁ , 6 ₂
(not shown) Wire 9 is stretched through hole a.

The maximum length from the tunnel entrance 3 to the shield excavator 1 is about 300 meters, and this distance is divided into sections of about 10 meters, and the wire 9 is stretched for each section. A detector 8 is provided to detect the difference between the length of the wire stretched on one inner wall and the length of the wire stretched on the other inner wall.

As shown in FIG. 3, the detector 8 includes a boule 10,
It consists of a rotary echoder 11 and a data transmitter/receiver (not shown), and when the wire 9 moves in the direction of the arrow, the pulley 10 rotates, so that the rotary encoder 11 detects the amount of movement of the wire 9. . This detector 8 is slidably supported by arms 8a and 8b,
Arms 8a and 8b are pillars 8c provided in the propulsion tube.
Fixed. Further, the rotary encoder 11 is supported by an arm 8e that is slidably inserted into the arm 8d, and the column 8c of the arm 8e is connected by a spring 8f, so that the rotary encoder 11 is moved in the direction of the column 8c. It gives the force that acts on

FIG. 4 is a block diagram of the position detection device.
2 is a data transmitter/receiver connected to each detector 8, 1
3 is a calculation section, 14 is a data setting section, and 15 is a display section. The arithmetic unit 13 selects a data transmitter/receiver 12, and the selected data transmitter/receiver 12 converts the detection signal of the detector 8 connected thereto into a serial signal and transmits the serial signal. The data setting unit 14 is configured to set the initial values of the orientations of each detector and each propulsion pipe, the distance from the propulsion pipe in which the detector 8 closest to the shaft entrance 3 is installed to the shaft entrance, etc. The calculation unit 13 calculates the position of the shield excavator 1 with respect to the tunnel entrance 3 based on signals from each detector and data from the data setting unit 14.

FIG. 5 is a block diagram of the data transmitter/receiver 12, including a difference detection circuit 12a, a signal amplification circuit 12b,
Consists of an analog/digital conversion circuit 12c, a data communication circuit 12d, and a difference detection circuit 12a.
The detector 8 is adapted to detect the length of the wire 9 extended on one inner wall and the other inner wall of each propulsion tube from the direction and amount of rotation of the pulley 10.

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, the propulsion tubes 2 ₁₅ to 2 shown in FIG.
Since section ₁₁ is a straight section, propulsion tube 2 ₁₅ ~ 2
The lengths of the wires 9 stretched on both inner walls of _{the housing 11} are equal. However, since the section between the propulsion tubes 2 ₁₁ to 2 ₇ is a curved section, the wire 9 in this section is connected to the propulsion tube 2
A stronger tension than that of the wire 9 in the section ₁₅ to 2 ₁₁ acts, and the pulley 10 is pulled toward the shield excavator 1 side. Since the tension acting on the wire 9 is stronger on the outside of the curve than on the inside, the pulley 10 is pulled toward the shield propulsion device until the tension becomes equal. As a result, the wire 9 on which strong tension was applied
The wire 9 is longer than the wire 9 on the opposite side, but this difference is caused by pulling the wire 9 while rotating the pulley 10. At this time, the rotary encoder 11 detects the amount of rotation of the pulley 10 as described above. At this time, the positions of the respective propulsion tubes are determined from the difference in length of the wires 9 stretched between the opposing inner walls of the propulsion tubes as follows.

In Figure 1, the left and right direction of the paper is the x-ray coordinate,
Taking the vertical direction as the y coordinate, as shown in Figure 6, the coordinates of the center of the propulsion tube 2 ₁₁ are (x ₁ , y ₁ ), the traveling direction is θ ₁ , and 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 ₁ , the rotation angle of the rotary encoder is Δ ₁ The length of each propulsion tube is l, and assuming that the propulsion tubes are uniformly curved, x ₂ , y ₂ , θ ₂ The result is 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) + D/2 (1-cos Δθ ₁ ) ...(1) y ₂ = y ₁ + l _n 〓 ⁱ⁼¹ cos (θ ₁ + i/ mΔθ) +D/2sinΔθ, ...(2) θ ₂ =θ ₁ +Δθ ₁ ...(3) Δθ ₁ =2rΔ ₁ /D ...(4) However, m: Number of propulsion tubes in the detection span (6th Figure time m
= 4) r: Radius of pulley Δ ₁ : Rotation angle of rotary encoder (clockwise angle is positive) D: Distance between wires stretched on opposing inner walls Coordinates of point (x ₂ , y ₂ ), i.e. Once the coordinates of the propulsion tube 2 ₇ are determined, the coordinates of the propulsion tube 2 ₃ are determined based on this point (x ₂ , y ₂ ), and then the coordinates of the shield tunneling machine 1 are determined based on the coordinates of the propulsion tube 2 ₃ . can be found. Therefore, the calculation unit 13 sequentially controls the data transmitter/receiver 12 and calculates the position of the shield excavator 1 based on the data detected by each detector.

FIG. 1 shows an example in which the wire 9 is folded and extended in a horizontal plane, but if it is extended in a 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. Furthermore, if the position of the installed propulsion pipe does not shift, there is no need to perform subsequent position detection for the portion from the tunnel entrance to the propulsion pipe ₂₄ for which position detection has already been completed in FIG. Furthermore, although the difference in wire length was detected using a rotary encoder, it may also be detected using a potentiometer. In addition, equations (1) and (2) calculate the position of the propulsion tube assuming that the propulsion tube within the span in which the detector is installed is uniformly curved, but when it enters a curved section from a straight section, When the point where a straight section exits from a curved section can be determined by the number of propulsion pipes from the entrance of the shaft, in the detection span that includes those locations, instead of formulas (1) and (2),
Calculating the coordinates using equations (5) and (6) increases the 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
−cosΔθ 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/2sin
Δθ 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 excavation pipe side The sum of m ₁ , m ₂ and m ₃ is the detection Equal to the number of meters of propulsion tubes in the span.

Figures 7 and 8 show a detector 8 installed on each propulsion tube to improve detection accuracy, Figure 7 shows a data transmitter/receiver 12 installed on each propulsion tube, and Figure 8 shows a data transmitter 8 installed on each propulsion tube. One transmitter/receiver 20 is configured to transmit data from four propulsion tubes. 9th
The figure is a block diagram of the data transmitter/receiver 20 shown in FIG. 8. The data transmitter/receiver 12 shown in FIG.
0b functions are increasing, address decoder 20
Signal switching relay 2 with the signal decoded by b
0a to switch the detectors.

〔Effect of the invention〕

As explained above, the position detection device for a shield tunneling machine according to the present invention detects the position of the shield tunneling machine by checking the lengths of the wires extended on the opposing walls of the propulsion tube, so the configuration is simple. This makes it more economical, and the work efficiency is better because measurements can be taken immediately after startup.Also, the wires that are stretched across the opposing inner walls are folded back at the detector position. Expansion and contraction of the wire due to temperature affects the width of the wires on both sides, so there is an effect that expansion and contraction due to temperature does not cause errors.

[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 tube, Figure 3 is a perspective view showing how the detector is installed, Figure 4 is a block diagram showing one embodiment of the position detection device, and Figure 5 is the data transmitter/receiver shown in Figure 4. FIG. 6 is a diagram for explaining the method of position detection, FIGS. 7 and 8 are block diagrams showing other embodiments, and FIG. 9 shows the data transmitter/receiver of FIG. 8. It is a block diagram. 1... Shield tunneling machine, 2 ₁ to 2 ₁₅ ... Propulsion tube,
6 ₁ to 6 ₄ ... Guide, 8 ... Detector, 9 ... Wire, 10 ... Pulley, 11 ... Rotary encoder, 12, 20 ... Data transceiver, 13 ...
Arithmetic section, 14...data setting section.

Claims (1)

[Scope of Claims] 1. In a position detection device for a shield excavator used in a propulsion construction method in which a tunnel is constructed by adding propulsion pipes as excavation progresses, a wire is installed along the length of the pipes across adjacent propulsion pipes. A wire that is folded back inside the propulsion tube by extending it along one inner wall of the propulsion tube and then extending it along the other inner wall of the propulsion tube, and a wire between one inner wall and the other inner wall. A detector detects the difference in length, and the angle between adjacent propulsion tubes is calculated from the difference in wire length. From that angle and the length of the tube, the relative position of the tip of the shield tunneling machine to the rear end is calculated. 1. A position detection device for a shield excavator, characterized by comprising a calculation unit that performs calculations.