JPH04333797A - Excavation control method of shield machine - Google Patents

Abstract

PURPOSE:To control an attitude angle and an direction of excavation in the case of excavation and to fit an excavation course to a planned line by control ling a center bent angle of a shield machine and moment added to a shield machine body. CONSTITUTION:Shield frames 3 and 4 of a shield machine 2 are divided into two parts of the front and the rear and are made to be in a center lent state in a divided part, and a center bent angle can be changed with center bent jacks 5A-5J. A frictional variation between an external wall of the shield machine 2 and soil is caused by controlling the center bent angle and the moment added to the body of the shield machine 2. By making use thereof, an attitude angle and a direction of excavation in the case of excavation can be properly controlled, an excavation characteristic of the shield machine 2 is compensated, delicate control corresponding to a variation in the soil is made, and an actual excavation course is accurately fitted to a planned line.

Description

[Detailed description of the invention]

0001

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a shield machine excavation control method, and more particularly to a shield machine excavation control method for controlling the actual excavation path of the shield machine to match a predetermined planned line.

0002

[Prior Art] Conventionally, in tunnel construction, etc., as a shield machine excavates, the attitude angle is successively measured using a gyro compass, etc., and the attitude angle is measured to eliminate the error between this attitude angle and the direction of a preset planned line. An excavation control method is known in which a shield machine is controlled to excavate along a planned line.

0003

[Problems to be Solved by the Invention] However, in such a conventional shield machine excavation control method,
As schematically shown in FIG. 6, at a certain point, even if the excavation direction and attitude angle of the shield machine main body 1 (indicated by the solid line in the figure) coincide with the extension direction V of the planned line, As shown by the dotted line in the figure, even though the attitude angle of the shield machine main body 1 matches the extension direction V of the planned line, the actual excavation direction v is different from the extended direction V of the planned line. There was a problem in that the attitude angle of the shield machine and the digging direction did not match.

[0004]Such a situation occurs due to the inherent excavation characteristics of the shield machine itself, changes in the soil, etc., and especially in large-scale excavation work or excavation work in large cities or densely populated areas. , was an important issue to be solved. The present invention has been made in view of such conventional problems, and provides a shield machine for controlling the attitude of a shield machine with more precision so that the actual excavation path of the shield machine matches the planned line. The purpose of this invention is to provide a method for controlling excavation.

[0005]

[Means for Solving the Problems] In order to achieve such an object, the present invention provides a shield frame of a shield machine with a front part provided with a cutter for excavation, and a rear part which is on the rear side with respect to the excavation direction. The object of the present invention is a method for controlling excavation in a shield machine which is divided into at least two parts and is bent at the divided parts so that the entire shield frame is bent in the middle.

[0006]The setting control of the bending angle between the front and rear parts is controlled by appropriately expanding and contracting a plurality of bending jacks installed along the circumferential direction of the shield frame between the front part and the rear part, and by controlling the bending angle between the front part and the rear part. While measuring the difference between the direction of the planned line and the actual excavation direction each time the shield machine moves, the data of the above-mentioned center bend angles corresponding to this difference are sequentially stored, and furthermore, these stored data are analyzed statistically. By processing, the excavation characteristics of the shield machine are predicted, and based on this prediction result, the expansion and contraction control of the plurality of bent jacks is performed so as to reduce the error between the next excavation direction of the shield machine and the direction of the planned line. We decided to control the tunnel so that the shield machine's excavation route and the planned line matched by excavating while performing the excavation.

[0007]Furthermore, data on the center bending angle for the error between the actual excavation direction of the shield machine and the direction of the planned line, and data on the moment added to the shield machine main body to cause the shield machine main body to excavate are stored. death,
The excavation characteristics of the shield machine are predicted by comprehensive statistical processing of these data, and based on this prediction result, the above-mentioned multiple By excavating while controlling the expansion and contraction of the folding jack and controlling the moment, control was made so that the shield machine's excavation route and the planned line matched.

[0008]

[Operation] According to the shield machine excavation control method of the present invention, when the shield machine body is controlled by the size of the above-mentioned center bend angle, the outer wall of the shield machine due to the change in the shape of the shield machine body. This causes a frictional change in the contact surface between the shield machine and the soil, so it is possible to adjust the attitude angle and digging direction during excavation, compensate for the excavation characteristics that the shield machine itself has in advance, and adjust the subtle changes in response to changes in the soil. The actual excavation route can be made to match the planned line by performing various controls.

[0009]

DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the present invention will be described below with reference to the drawings. First, the structure of the shield machine will be explained based on FIG. 1. In FIG. 1(A), the cylindrical shield frame forming the outer wall of the shield machine 2 is
It is divided into at least two parts: a front part 3 on the side, and a rear part 4 on the rear side with respect to the excavation direction V. The joints are sealed to prevent dirt, sand, etc. from entering.

FIG. 1(B) shows a plurality of folding jacks 5A~
5J, a plurality of bent jacks 5A to 5J indicated by black circles are placed at equal intervals on the circumference at a certain distance from the center position of the shield machine 2 (the position where the virtual lines P and Q intersect). is set up. In this embodiment, ten folding jacks 5A to 5J are arranged at equal intervals, but it is necessary to install at least three jacks at an angle of 120° with respect to the center position, so the number of jacks should be increased. The more it is possible to improve the accuracy of attitude control, which will be described later.

[0011] These folding jacks 5A to 5
By independently driving J to expand and contract, the shield frame can be bent at a desired angle and in a desired direction. For example, in FIG. 1(B), the center-folding jacks 5A to 5C are extended, and the remaining center-folding jacks 5
When D to 5J are controlled to shrink relative to them, the shield frame on the side of the center-folding jacks 5A to 5C protrudes, and the opposite side to the center line becomes concave, resulting in the expansion and contraction of the center-folding jacks. As shown in FIG. 2, by appropriately controlling
It has a structure that allows it to be folded in the middle.

A plurality of digging jacks 6A are installed between one end of the front part 3 of the shield machine 2 and the terminal end of the segment rings 13 that are sequentially laid in the tunnel formed by digging.
~6L is installed, and these digging jacks 6A~
6L are installed at predetermined intervals on the circumference at a constant distance from the center position of the shield machine 2, as shown by white circles in FIG. 1(B). Then, the propulsion jacks 6A to 6L are selectively extended with respect to the segment ring 13 to apply a moment in the excavation direction V to the shield machine 2, thereby causing the shield machine 2 to excavate.

Although this embodiment shows the case where 12 digging jacks are arranged, if the structure is such that the moment from the segment ring 13 to the shield machine 2 is uniformly applied to each part, the number of jacks to be installed can be reduced. It is not limited. A cutter 8 for excavation is provided at the tip of the front part 3 of the shield machine 2, and excavation is performed by rotating with a moment applied by the propulsion jack 6.

Next, the bending jack 5 and the propulsion jack 6
The configuration of a control system for controlling the expansion and contraction of the shield machine and the attitude control of the shield machine will be explained with reference to FIG. In FIG. 3, a plurality of propulsion jacks 6A to 6L and a bending jack 5
A to 5J are specific drive units 7A to 7L and 8A to 8J, respectively.
Drive unit 7 is driven by hydraulic pressure individually supplied from
Supply/non-supply of hydraulic pressure and control of supply amount by A to 7L and 8A to 8J are performed in accordance with instructions from a calculation control section 9 that incorporates calculation means such as a microcomputer. Then, the arithmetic control section 9 sets the bending angle of the shield machine 2 by controlling the hydraulic pressures of the drive sections 8A to 8J, and generates a moment for digging by instructing the drive sections 7A to 7L.

Reference numeral 10 denotes an attitude angle sensor installed at a predetermined location of the shield machine 2 to detect the azimuth and pitch angle, and sequentially detects the actual attitude angle of the shield machine 2 and sends the detected data to the calculation control unit 9. supply Reference numeral 11 denotes a storage section composed of a semiconductor memory (RAM), etc., which stores data regarding the bending angle and moment data that the arithmetic control section 9 instructs to each of the driving sections 7A to 7L and 8A to 8J for excavation. , data on the attitude angle detected by the attitude angle sensor 10 of the actual attitude angle of the shield machine 2 after digging a certain distance based on the bending state and moment conditions set by those data, Data on the azimuth error between the actually measured attitude angle and the direction of the planned line are sequentially stored for each excavation.

For example, at a certain point, the arithmetic control section 9 sets the bending angle to θ1 and the moment to F1, and after digging a certain distance L under these setting conditions, the attitude angle sensor 10
When the amount of change in attitude angle detected by is Δβ1, these data (θ1, F1, Δβ1) are stored. Similarly, for the data of each setting condition during the next excavation and the data of the orientation error after excavation, (θ2, F2, Δβ
2) is stored, and in the same way, data (θ3, F3, Δβ3), ..., (θi, Fi, Δβ
i) memorize.

[0017] Then, the arithmetic control unit 9 calculates the difference between the direction of the planned line and the actual attitude angle by statistically processing the above data (hereinafter referred to as attitude data) stored in the storage device 11 for each excavation. Before starting the next excavation, optimal control is performed to automatically determine the optimal setting conditions to minimize the difference, and this control is performed every time the excavation is continued for a predetermined distance By doing so, the shield machine 2 is automatically controlled to dig along the planned line.

Reference numeral 12 denotes an operation unit for the operator to operate, and has functions such as inputting excavation plan data to the calculation control unit 9 and displaying whether actual excavation is being carried out as planned. has. Incidentally, the operator can manually input setting conditions before excavation into the arithmetic and control unit 9. Next, the operation of this embodiment will be explained based on the flowchart shown in FIG. still,
The following description assumes that the data of the planned line for excavation is stored in the arithmetic and control unit 9 in advance.

First, in step 100, the center bending angle is set by independently driving the center bending jacks 5A to 5J to extend and retract. Next, in step 110, hydraulic pressure is supplied from the drive units 7A to 7L to the propulsion jacks 6A to 6L. Next, in step 120, the cutter 8 is rotated and excavated by a predetermined distance L.

In step 130, after this excavation, the attitude angle sensor 10 detects the actual attitude angle of the shield machine 2, and calculates the difference between the direction of the planned line and the actually measured attitude angle. Then, in step 140, the storage unit 11
stores attitude data including bending angle, moment force, and orientation error data obtained as a result of excavation under these setting conditions.

Next, in step 150, setting data for minimizing the above difference is determined by statistical calculation, and then in step 160, it is determined whether excavation to the final position of the planned line has been completed, Step 100-1
By repeating the process 60, excavation continues to the final position. Here, according to the statistical calculation in step 150, posture data is sequentially accumulated in the storage unit 11 every time digging is performed, and for example, as shown in FIG. The moment generated by ~6L, the bending angle, and the attitude error will be stored as each point in the orthogonal coordinate system, and by statistically examining the movement trends of these points, the optimal setting conditions can be predicted. This allows excavation to be carried out along the planned line with high precision.

In this embodiment, the above-mentioned three types of bending angle, moment, and attitude error are used as attitude data for attitude angle control, but if the moment is to be constant at all times, the remaining two types are used. Types of data may also be applied.

[0023]

[Effects of the Invention] As explained above, according to the present invention,
In a shield machine that is broken into at least two pieces,
Since the bending angle of the shield machine and the moment are controlled as necessary, changes in the friction of the contact surface between the outer wall of the shield machine and the soil due to changes in the shape of the shield machine body occur, making it easier to reduce the impact during excavation. The attitude angle and digging direction of the shield machine can be adjusted, and the actual digging path can be adjusted to the planned line by compensating for the digging characteristics that the shield machine itself has in advance, and by performing subtle controls according to changes in the soil. Can be matched.

[Brief explanation of drawings]

FIG. 1 is a structural explanatory diagram of an embodiment of a shield machine to which the present invention is applied.

FIG. 2 is a structural explanatory diagram showing the shield machine shown in FIG. 1 in a folded state;

FIG. 3 is a block diagram showing the configuration of a control device provided in the shield machine of FIG. 1.

FIG. 4 is a flowchart for explaining the operation of the shield machine of FIG. 1;

FIG. 5 is an explanatory diagram for explaining the principle of statistical processing in the control device of FIG. 3;

FIG. 6 is an explanatory diagram for explaining problems in the prior art.

[Explanation of symbols]

2; Shield machine 3; Front of shield frame 4; Rear part of shield frame 5A~5J; Center-folding jack 6A~6L; Propulsion jack 8; cutter 9; Arithmetic control section 10; Attitude angle sensor 11; Storage part 13; Segment ring

Claims (2)

[Claims] Claim 1: The shield frame of a shield machine is divided into at least two parts: a front part provided with a cutter for excavation, and a rear part located on the rear side with respect to the excavation direction, and the shield frame is bent at this divided part. In an excavation control method for a shield machine configured so that the entire shield machine is bent in the middle, a setting control for the bend angle between the front part and the rear part is installed along the circumferential direction of the shield frame between the front part and the rear part. In addition to expanding and contracting the plurality of bent jacks as appropriate, and measuring the difference between the direction of the planned line and the actual excavation direction each time the shield machine moves as the shield machine excavates, the data on the bent angle described above for this difference is calculated. The excavation characteristics of the shield machine are predicted by sequentially memorizing and statistical processing of the stored multiple data, and the error between the next excavation direction of the shield machine and the direction of the planned line is determined based on the prediction result. A method for controlling excavation of a shield machine, characterized in that excavation is performed while controlling expansion and contraction of the plurality of folding jacks so as to reduce 2. The shield frame of the shield machine is divided into at least two parts: a front part provided with a cutting cutter for excavation, and a rear part located on the rear side with respect to the excavation direction, and the shield frame is bent at this divided part. In an excavation control method for a shield machine configured so that the entire shield machine is bent in the middle, a setting control for the bend angle between the front part and the rear part is installed along the circumferential direction of the shield frame between the front part and the rear part. While expanding and contracting the plurality of bent jacks appropriately, and measuring the difference between the direction of the planned line and the actual excavation direction each time the shield machine moves during excavation, , the data on the moment added to the shield machine body in order to make it dig is stored, and by performing complex statistical processing on this data, the excavation characteristics of the shield machine are predicted, and based on this prediction result. By excavating while controlling the expansion and contraction of the plurality of bent jacks and controlling the moment so as to reduce the error between the next excavation direction of the shield machine and the direction of the planned line, the excavation route of the shield machine and the planned line are 1. A method for controlling excavation of a shield machine, characterized in that the excavation is controlled so that the values match.