JPH04153497A - Method and apparatus for guiding shield excavator - Google Patents

Abstract

PURPOSE:To permit guidance along a planned line by a method in which a pilot pipe is advanced toward a shield excavator from an arrival pit, an electromagnetic radar, etc., are provided to the excavator to measure the positions and distances of X-, Y-, and Z-axes. CONSTITUTION:A pilot pipe 8 is advanced from an arrival shaft 2 toward a shield excavator 1. A transmitting antenna 4 and an electromagnetic radar 6 are provided to the excavator 1 to measure the distance to the pipe 8 by the radar 6. Also, sensors 10 and 11 to detect X-and Y-axes of the excavator 1 are movably set on the pipe 8. Data obtained are connected to a lock-in amplifier in the shaft 2 through an isolation amplifier 12 and a lead wire 15. The positions of X-and Y-axes and the distance of Z axis can thus be measured, and the excavator can be guided along a planned line.

Description

Detailed Description of the Invention (Industrial Field of Application) This invention provides a method and guide for guiding a shield tunneling machine by detecting the position of a shield tunneling machine digging underground from a shaft and guiding the shield tunneling machine. Regarding equipment.

(Prior Art) When excavating l/f tunnels using a conventional shield excavator, it is necessary to measure whether the shield excavator is accurately excavating along a planned line.

Conventionally, this measurement has been carried out using a measurement device installed at the rear of the shield excavator, and optically measured visually or using Rayleigh light, or by polling from the ground to the shield excavator by bending. Every time I did it, I knew the location of the shield tunneling machine.

However, with the former method of LI viewing or optical measurement from the rear of the shield excavator, when excavating a long distance + ;j'
This method has the disadvantage of poor measurement accuracy because errors are accumulated every measurement.

In addition, the latter method of confirming the position of the shield excavator by polling has the disadvantage that it is difficult to measure nine positions when there are architectural structures on the ground or at great depths.

In order to improve the shortcomings mentioned above, a pilot pipe was propelled underground from the vertical shaft toward the silt excavator that excavates underground.
For example, a measuring device for measuring the position of the shield tunneling machine using a receiving sensor installed in the pilot pipe is disclosed in Japanese Patent Application No.
No. 05921.3 has been filed.

(Problem to be solved by the invention) However, in the above measuring device, the distance from the shield tunneling machine to the pilot pipe is determined by measuring from both the shield tunneling machine and the pilot pipe, so the measurement error of both is measured. This resulted in problems such as poor measurement accuracy without affecting the value.

This invention was made for the purpose of improving the above-mentioned problems, and by improving the position measurement accuracy of the shield tunneling machine, it is possible to accurately guide the shield tunneling machine along the planned line. The present invention aims to provide a guidance method and a guidance device.

(Means and effects for solving the problem) This invention is "1"
In order to achieve this purpose, the pilot pipe is advanced one step from the reaching shaft toward the shield excavator that excavates underground.
The electromagnetic wave radar installed in the shield tunneling machine measures the distance in the Z-axis direction from the shield tunneling machine to the pilot pipe, and the receiving sensor for X-axis and Y-axis detection installed in the pilot pipe measures the distance between the shield tunneling machine and the pilot pipe. By detecting the position in the Y-axis direction and detecting the current position of the shield excavator based on the obtained position data and distance data,
This is a 3L system that guides the shield tunneling machine along the planned line to the reaching shaft.

As a result, compared to the case where the distance is determined by 1 jllll from both the shield tunneling machine and the pilot pipe, the errors of both are not added, so the measurement accuracy is improved. can be guided accurately.

In addition, since it is possible to excavate without checking the pilot tube using electromagnetic wave radar, if the shield tunneling machine deviates from the planned line, it will be immediately known because the bi-I-1v1 pipe becomes impossible to confirm.

(Example) An example of the present invention will be described in detail with reference to the drawings.

In the figure, 1 is a shield excavator that excavates underground from a starting shaft (not shown) to a reaching shaft 2 with the same number, and has a cut head 3 at the tip. After being taken into the machine 1, it is carried out to the rear of the shield excavator 1 by an earth and sand conveying device (not shown).

In addition, the transmitting antenna installed on the top of the shield tunneling machine 1 generates a magnetic field for detecting the position of the shield tunneling machine 1 in the X-axis direction (the axis that intersects the excavation direction horizontally). A transmitting coil 4a and a transmitting coil 4b that generates a magnetic field for detecting the position of the shield excavator 1 in the Y-axis direction (an axis parallel to the excavation direction) are arranged in a grid pattern. 4a.

When detecting the position, current is passed through the AC type rX5 through a switching circuit (not shown) to 4b.

On the other hand, on the front side of the transmitting antenna 4, an electromagnetic wave is emitted from the reaching shaft 2 to a pilot tube propelled upwards of the shield excavator 1 to measure the distance I from the shield excavator 1 to the bi-1 cage 8.

An electromagnetic wave radar 6 is installed to measure .

A computer 9 is connected to the electromagnetic wave radar 6 via a controller 7, and from the counter waves received by the electromagnetic wave radar 6 from the pylons 1 to the tubes 8, the deflection of the shield 1 [Z from 1 to the pilot tube 8] An axial distance I7 is calculated.

Also, the bi-1 control tube 8 reached above the shield tunneling machine 1.
Inside, an X-axis detection receiving sensor 10 and a Y-axis detection receiving sensor 11 are movably installed.

2. Each of the receiving sensors 10 and 11 is made up of a total of 4 (coils 10a of 11, 1) Ob, lla, llb, a pair of which are assembled so that their central axes are perpendicular to each other, and X-axis detection. Receiving sensor] 0 is transmitting coil 4a
The Y-axis detection receiving sensor 11 is installed with a phase shift of 90° so as to receive the electromagnetic waves emitted from the transmitting coil 4b, and the Y-axis detection receiving sensor 11 receives the electromagnetic waves emitted from the transmitting coil 4b.

1. The receiving sensor 10 for X-axis detection and the receiving sensor 11 for Y-axis detection are connected to the vertical shaft 2 via an isolation amplifier 12 installed in the pilot pipe 8 and a lead wire 15.
Each lock-in amplifier 13 is connected to a computer 14.

Next, to explain the method of guiding the shield tunneling machine 1 that excavates underground, in guiding the shield tunneling machine 1, first bend the shield tunneling machine 1 upward from the reaching shaft 2 to connect the pylon I/pipe 8 to the I11. advance the pylon] - When the tube 8 reaches above the shield excavator 1, 1. Sequentially apply current to the transmitting coil 4 installed on the upper part of the shield excavator 1, and the transmitting coil 4a
and a receiving sensor 10 for X-axis detection that generates a magnetic field from the transmitting coil 4b and installs these magnetic fields in the pilot tube 8.
and is received by the receiving sensor 11 for Y-axis detection, and the data is sent to the microcomputer 14 via the lock-in amplifier 13 of the arrival shaft 2.

At the same time, shield tunneling machine 1-. 1: Emit an electromagnetic wave from the electromagnetic wave radar 6 towards the pilot tube 8 and measure the time it takes for it to be reflected from the pylon 1 to the tube 8,
Based on the obtained time, the microcomputer 9 calculates the distance Fill L in the Z-axis direction from the shield tunneling machine 1 to the pilot pipe 8 using the following formula, and sends this data to the computer 4.

C L = 2　°σ　°゛ Note that C is the speed of light, and ε is the dielectric constant of the earth.

X! Based on the data sent to the computer 14 from the reception sensor 10 for 1III detection and the reception sensor 11 for sensor axis detection, and the distance ^1117 data sent from the computer 9, the controller 14 determines the X of the shield excavator 1. Y
Calculate the position in the axial direction and Z-axis direction.

In addition, as the shield excavator 1 excavates, the X-axis detection receiving sensor 10 and the Y-axis detection receiving sensor 11 in the bi-1 control pipe 8 are moved to follow the shield excavator 1 and position the shield excavator 1. By measuring and correcting the excavation direction (q), it becomes possible to accurately guide the shield excavator 1 along the planned line.

(Effects of the Invention) As described in detail below, the pilot pipe is propelled from the reaching shaft toward the shield tunneling machine that is digging underground. At the same time, the distance in the Z-axis direction to the pilot pipe is measured, and at the same time, the position of the shield tunneling machine in the X-axis and Y-axis directions is detected by the receiving sensor for detecting the Since the current position of the shield tunneling machine is detected based on the current position of the shield tunneling machine and the shield tunneling machine is guided along the planned line, the distance from the conventional shield tunneling machine to the piping pipe can be measured from both sides. Since the measurement accuracy is significantly improved compared to the previous method, it is possible to accurately guide the shield tunneling machine along the planned line.

Shield digging again! ! Because it measures the distance from inside the machine to the pylon pipe and detects the position of the shield excavator from the biloft pipe, measurements are possible regardless of the presence or absence of buildings on the ground, even at great depths. .

[Brief explanation of the drawing]

The drawings show an embodiment of the present invention, with FIG. 1 being a perspective view showing the guiding state, and FIG. 2 being a perspective view showing the relationship between the transmitting antenna' and the receiving sensor. 1...Shield excavator 4...Transmitting antenna 8...By I cot pipe 10...
・X-axis detection receiving sensor 11... Y-axis detection receiving sensor 2... Reaching shaft 6... Electromagnetic wave radar patent applicant Komatsu Ltd. Representative (patent attorney) Osamu Matsuzawa (and one other person)

Claims (2)

[Claims] (1) The pilot pipe 8 is propelled from the reaching shaft 2 towards the shield excavator 1 that excavates underground, and the shield excavator 1
The distance L in the Z-axis direction from the shield excavator 1 to the pilot pipe 8 is measured by the electromagnetic wave radar 6 installed in By detecting the position of the machine 1 in the X-axis and Y-axis directions and detecting the current position of the shield machine 1 based on the obtained position data and distance data, the shield machine 1 can be moved along the planned line. A method for guiding a shield excavator, characterized by guiding the shield excavator to a reaching shaft. (2) A transmitting antenna 4 that is installed on the shield excavator 1 that excavates underground and generates a magnetic field underground, and a reaching shaft 2
An X-axis and Receiving sensor 10, 1 for Y-axis detection
1, an electromagnetic wave radar 6 that is installed in the shield excavator 1 and measures the distance L in the Z-axis direction from the shield excavator 1 to the pilot tube 8 by emitting electromagnetic waves toward the pilot tube 8; A guidance device for a shield tunneling machine comprising a calculation device that detects the current position of the shield tunneling machine 1 based on data detected by reception sensors 10 and 11 and an electromagnetic wave radar 6.