JPH0492082A - Automatic directional control method of shield excavator - Google Patents

Abstract

PURPOSE:To enable directional control with high accuracy by providing the course of a shield excavator caused by the soil characteristic and load distribution properly in the case excavation is made for a target value. CONSTITUTION:A self-position detecting receiver 30, an attitude angle detecting pitching meter 31, a vectorial angle detecting gyro 32, a load detecting sensor 34 for each driving jack 16, an earth pressure gauge 36 for detecting 3 axial earth pressure applied to a cutter head 10 and the like are mounted on a shield excavator. The present position and attitude of the shield excavator are measured, and the position and attitude of the shield excavator in a target point are calculated. After that, a vectorial angle of earth pressure vector acted on the present shield excavator is measured, and the correction of a target value is made in consideration of the course of the shield excavator. Then, a target value of load distribution is corrected, and a penetration test is made in advance to calculate a displacement characteristic of the land. When there is no pervious spiral excavation line execution data, calculated execution data is applied as it is, and pressure control of the driving jack 16 is made to drive.

Description

[Detailed description of the invention] [Industrial application field]

The present invention relates to an automatic direction control method for a shield excavator, and more particularly to a direction control method suitable for automatically performing direction control with respect to a tunnel excavation target value.

[Conventional technology]

In general, a shield excavator is propelled by a propulsion jack using segments and the like as reaction force support to perform excavation work along a planned route. When performing curved excavation with such an excavator,
The shield body has a center-fold structure, and multiple propulsion jacks are placed on the circumference of the center-fold part, and by selecting the operating jack and adjusting the load distribution, the pressing force on the front of the shield can be adjusted to allow digging. Control the direction.
I'm here. Conventional direction control involves pattern management of 8 propulsion jacks and 2
The propulsion jacks were divided into a group of propulsion jacks that pressurized and a group of propulsion jacks that did not, and hydraulic pressure was supplied to the propulsion jack group determined by the direction of the propulsion force (, to direct the cutter head in a predetermined direction (j) to make it dig. Usually, while measuring the position of the excavator,
When there is a J-slip from the edge, the pattern can be managed manually.

[I'm there. [Problems to be Solved by the Invention (2)] However, in the conventional directional control method described in 11, the propulsion jack pattern for the excavation direction is manually operated, so there is a problem that sufficient directional control cannot be achieved. In addition, even if you point the cutter head at the next excavation target from the current position of the shield excavator, the change in the ground will not necessarily result in the pressing force of the jack, so there may be a shift in the excavation direction. arise. For this reason, the amount of deviation has conventionally been measured and adjusted using feedback control, but since the error is corrected by excavation after the cow has detected it, it is not possible to increase the excavation accuracy by more than 1.8 times a certain level. In addition, the resultant force of the earth pressure acting on the cutter head from the ground is not always in the direction of propulsion, so even if the target direction of excavation is determined and excavation is performed, the earth pressure vector and shield excavator The excavator drifts in the direction of the resultant force of the excavation vector (7. It was undeniable that the position would be deviated by the amount corresponding to the hectoral resultant force.In any case, even if the target was accurately measured and the target was correct at 7, the displacement of the ground would not be expected. Due to the characteristics, deviation from the target occurs,
In addition, the shield excavator drifts due to the combined vector effect of earth pressure, making it impossible to excavate with high precision. In particular, when excavation is carried out along a continuous line of excavation 31 whose curvature changes, it is difficult to control the direction. When excavating large cross-section cavities, which have been attracting attention in recent years, as disclosed in Japanese Patent Application Laid-open No. A method has been proposed in which the culm is excavated, forming an outer shell, and then excavating the inside of the closed space surrounded by the outer shell.When performing such spiral excavation, the curvature changes continuously. Therefore, it is extremely difficult to excavate along the planned route exactly. Therefore, the flow of the shield excavator due to the characteristics of the soil, etc.]
When excavating toward a target value, it is possible to appropriately distribute the load and control the direction accurately, and also to avoid places where there are extreme changes in soil characteristics, such as faults in the direction of the excavation force. It is an object of the present invention to provide an automatic direction control method for a shield excavator, which can perform direction control with high accuracy even when the shield excavator is in use. [Means for Solving the Problems] In order to achieve the object described in item 1, the automatic direction control method for a shield excavator according to the present invention firstly enables the shield excavator to make a curved excavation along a spiral line. At the same time as taking into account the flow of the excavator caused by the earth pressure vector acting on the front surface of the excavator from the face side (7. Excavation L), the propulsion jack due to the displacement characteristics of the front ground was revised. Calculate the predicted load distribution [Construction is such that the construction data for excavation is stored, the construction data near the face part is read out during the round excavation after at least one round excavation is completed, and excavation is performed using this data. Second, when making a shield excavator excavate in a curved line along a spiral line, the excavation target was modified to take into account the flow of the excavator caused by the earth pressure vector acting from the face side to the front of the excavator. At the same time, the construction data for excavation is stored while calculating the predicted load distribution of the propulsion jack based on the displacement characteristics of the front ground. During excavation, construction data in the vicinity of the straight 4F section is read out, and both construction data are weighted and used for the next excavation data, thereby allowing excavation to be carried out.

[Effect]

When using a shield excavator, even if the machine digs toward the target value due to the action of the earth pressure vector during excavation, the machine may drift (reach the target value after 7 seconds) or run out. By modifying the flow by the amount of 1, it is possible to set a standard value of 1.Also, even if a load distribution toward the target value of 1 is applied to the propulsion jack, due to the displacement characteristics of the ground, Even if the propulsion is carried out with the load distribution determined by the By giving JT,
[Can be propelled in a certain direction.] Such correction of target values and optimization of propulsion load distribution is not required every time excavation is carried out.
By storing this in memory, you can read it at any time,
iJ Noh and (, keep. The shield excavator made a spiral excavation line 7 years ago)
When the shield excavator performs one circular movement and enters the second circular movement, the shield excavator will be located in the same stratum as the stratum in the straight 11 section. Therefore, in equivalent strata, the 4-pressure vector to the excavator and the ground deformation 41 can be considered to have the same characteristics, so it is necessary to read out the application J1 data near the top of one excavator5 and use it as is. This makes it possible to control the excavation direction with high accuracy without having to detect both degrees of the earth pressure vector or perform a penetration test to measure ground displacement again. Furthermore, according to the second invention configuration, excavation is performed from the second circular excavation by weighting 11 and 7 the previous construction data and some of the construction data. . As a result, the spiral excavation line may expand or contract sequentially from the second time onwards, and the geological changes will be corrected. Even if some construction data cannot be used as is, the previous construction data will be taken into account [, In addition, by adjusting the degree of use of the construction data on the target, it is possible to reflect the exact geological conditions in the construction, making it possible to control the direction in an i=J manner.

[Embodiment] Hereinafter, an embodiment of the automatic direction control method for a shield excavator according to the present invention will be described in detail with reference to the drawings. Fig. 1 is a block diagram of the automatic directional control device of a shield excavator, and Fig. 2 shows a flow chart for directional control. Next, I will explain the direction control of shield excavation, which takes soil quality into account. A shield excavator equipped with an automatic direction control device is equipped with a cutter head "10" at the tip.
and a rear shield 14 fitted to the rear end, and both shields 12 and 14 are driven by propulsion jacks] 6 arranged in plurality along the circumference of the shield in order to control the direction of the cutter head 10. In addition, the rear shield 14 is provided with a shield jack 20 that uses the end face of the segment 18 constructed behind it as a propulsion reaction force supporting surface. In addition, in this excavator, the outer peripheral surfaces of the front shield 12 and the rear shield 14 protrude from the earth mine wall (the front gripper 2
2 and a rear gripper 24 are provided (pulled), and the front gripper 22 grips the rear gripper 2 when the rear shield 14 is propelled.
4 is a front shield] When the front shield 2 is propelled, each protrudes and serves to hold the shield fixed. Such an excavator includes a receiver 30 for detecting its own position, a bitching meter 31 for detecting the attitude angle, a gyro 32 for detecting the direction angle, a sensor 34 for detecting the load of each propulsion jack 16, and An earth pressure J136 and the like for detecting earth pressure applied to the cutter head 10 in three axial directions is mounted. Therefore, the following direction control is performed based on the relationship between these detection signals and the predetermined one-mountain route. That is, as shown in FIG. 2, first, the current position and attitude of the shield excavator are calculated (step 100), and then the position and attitude of the shield excavator at the target point are calculated (step 100). 110). The current position is detected by receiving the ζ signal from a known oscillation source by a receiver 30 mounted on the excavator, and the attitude can be detected by the gyro 32. The position and orientation can be more easily determined each time the coordinates of the planned route are read from the memory in record E. Next, this current value and 1.1 target value are calculated, and after that, the direction angle of the earth pressure vector currently acting on the shield excavator is measured I7 (step 120) 1. Considering the flow of the shield excavator due to the l+earth pressure vector, [1, ta 1'' is corrected to the target value (step 130). Excavation is carried out from the straight bend position (dotted chain line in the figure) to the current position (solid line in the figure) toward the target position (dashed line in the figure), but the earth pressure vector (arrow) is acting. Therefore, due to the resultant force with the excavation vector, "] does not match the target position correctly (displacement angle G)
. For this reason, unless the target value set in step 1.1.0 is corrected in step 1.2, the excavator will similarly be displaced from the target value due to the earth pressure vector, and the result will be 7). 7 Therefore,
The target value is corrected so that the target value is reached with the excavator flowing in advance. Refer to Fig. 3 for the direction of light in the vertical direction (explained in 7).If the direction of movement of the shield excavator is 2 axes and 1.
The position is (x,, yゎ, z,), and the attitude is (σ. β, ,) (where (, α is the biting angle, β is the isog angle) and j, 5 In this case, the action angle of the hand pressure vector is 14, and similarly, the value up to the current A device is (X ++ Y ++ z
, 1) (α1.βl), γ9, and the base of the [] gauge is (X
H+i3',,+1i Z n-)1), (α7
．． 1. βn+1) , γ, , and I. Looking at the actual pitch angle displacement over a given span from the past to the present, we find that Σ((y l+1-y +)/
(z m−z +)l・−・−= (1). However, L
i=0 to n-1. Therefore, the displacement coefficient per unit vector angle of 4 is K, = −Σf(y ++t −y +)/(z ++t
-z +) l/I ta, nγ (2) , '= can be obtained. Therefore, our standard pitching angle is α0.1, and the revised target pitching angle that takes into account the flow of the excavator is αfi+1'.
Then, αni1“−αn+l−knγゎ ・・・・・・(3)
This process can be performed also for the horizontal force direction to obtain the yawing angle. Then, the correction target value calculator 40 to which the calculation result is inputted calculates the calculation result according to the above formula (2).
) calculations are performed based on the formula. When the correction of the target value is completed, the target value of the load distribution is then corrected (step 140). This is because even if the load distribution of the propulsion jack 16 is set according to the target value, it will not reach the target point immediately due to the displacement characteristics of the ground.For this reason, a penetration test is conducted in advance.
The ground displacement characteristics are calculated (step 15).
0). This principle will be explained based on FIG. As shown in Figure 4 (1), from the current position to the target attitude,
The pressure target value of each propulsion jack 16 is set so that the pressure is directed toward the target position. The biting angle Δα and yawing angle Δβ to be adjusted can be obtained from the following equations. Δα knee αn+I−α.・・・・・・(4) Δβ=β
,, -β7 ......(5) Now, considering the case where Δα is calculated by considering only the vertical direction, Fig. 4 (2)
It is necessary to calculate the pressure nozzle j distribution by 14, as shown in . Therefore, the load distribution f1 to f of the propulsion jack 16 is determined in advance as shown in the same figure (3).
In addition, the characteristics of the penetration stress σ and displacement ε as shown in FIG. 3 (3) B are calculated for each jack 16 using a penetration testing machine installed in the shield excavator. Then, displacements ε] to ε6 for each load are calculated from the load distributions f1 to f5 and the area of action for this characteristic diagram ((3) C in the same figure). The distribution of this displacement ε, ~ε6 is
Since this corresponds to the load distribution that should be applied to the ground displacement characteristics, the slope of this distribution is calculated using the following formula. tanΔα−fR/(n−1)l・Σ((ε;−ε,)
/11. +...(6) However, it is i.2 to n. Note that 1 above does not include the distance between the penetration test positions. 12 Dakka-C1 The result calculated by this (6) is set as the load distribution of propulsion jack]6.\ and output as 5. 3, which allows for control of the ground's durability
Such processing is similarly performed for the water i'T1 force direction to obtain the above-mentioned Δβ. These are shown in FIG. 1, and the displacement characteristics are calculated using the Iha signal from the sensor 34 installed at each propulsion shirt 4:16 and the displacement characteristics obtained by the penetration test device 42. Set the load distribution calculator 4 with (No. 73) from the calculator 44.
output to 6

[,2.Here, the calculation based on the above equation (6) is performed. The set load distribution calculator 46 also includes a corrected target value calculator 4 based on the upper pressure vector.
The target value was revised taking into account the fact that the signal from 0 is also human power and the excavator flow. 2, which calculates the load distribution. 2.The output of the set load distribution calculator 46 is outputted to the controller 48 of the propulsion shirt 16, and the propulsion pressure based on the output signal and the J and TF quaternary jacks for the stroke 1 are determined. Adjust 16-? (Snap 160). The shield excavator is made to excavate along the excavation J1 drawing line set in this way based on the construction data for directional control, but as shown in Fig.
When the purpose is to create a large-scale cavity 50, the spiral excavation line 50 set along the outer surface of the cavity 50 is used as the excavation line to form an outer shell surrounding the cavity 50. . Since the shield excavator excavates circularly along the spiral excavation line 50 (1, hoop-), the second and subsequent excavations will be carried out in the circumferential spiral excavation line 50□-1 of the face section.
In many cases, excavation is carried out in the same geological strata. Therefore,
The present invention aims to correct the deviation in the excavation direction due to the flow and displacement characteristics of the excavator due to the influence of the soil quality.
．． The construction data for directional control is the construction data used in a part of the spiral excavation line 50ゎ-1. For this reason, the direction control device is located at tFj position sensor-IJ-3.
0 and the position data of the direction angle sensor 32 are input manually.
The setting values of 6 can be memorized and stored, and the past excavation construction data can be sequentially manually read out. , the set load distribution calculator 46 determines that the current position of the shield excavator is the direct part, and the previous spiral excavation line 50.1 is 1.l.
Check whether there is any construction data (step 160).
), if there is no construction data, calculate (2, ta) - data with the swift 140 (apply the propulsion shirt - 1:16 pressure control?] and propel it (step 1).
90), the load distribution on the propulsion jack 16 is measured and the same operation is repeated. Spiral drilling line 5 for second and subsequent times by Sealed excavator
When excavation is carried out along 0, the construction data exists in the straight section (b in the same figure) of the current excavation position (a in Fig. 5). Therefore, in such a case, the construction data at the face position is read out of the construction data stored in the memory 50 (step 170). Then, use the set load distribution calculator 46 to find the target correction coefficient based on the earth pressure vector and the correction angle Δα of the distributed load based on the ground displacement characteristics, based on the values of the current location and the straight line 1. Then, use the new correction coefficient and load I distribution modification j1 - angle △α2 and calculate J, ・
) at 15 (step] 80). Zunawaji, calculate the 11-point correction coefficient based on the earth pressure vector at the current location. If the target correction coefficient immediately above read from the memory 50 is Knb and [5, then the second and subsequent] target correction coefficient K is K=A-Kfi, +B-KIlb... (7
), and similarly, the correction angle of the pitching angle α at the current location based on the ground displacement characteristics is calculated as ΔαJ2, and the readout angle is ΔαJ2.
If the correction angle of ゛ is Δα, then the correction distribution angle Δα after 2-1-1 is calculated as Δα; A・Δα, +B・Δα, (8) and 7. Do and be. However, 1, A+B=1. Naturally, such processing is also performed in the horizontal direction. In this way, from the second circular excavation of the spiral excavation line 50, the set load distribution calculator 46 receives
), the controller 48 calculates the correction angle Δα based on the equation (8), calculates the correction angle Δα, and uses this as the propulsion jack] 6.
The output is output to 5 to perform pressure control or stroke control, and then excavation work is carried out (step 19Q).
. By the way, the weighting values A and B in equations (7) and (8) are set as follows. If the soil quality of the ground at the current location is the same as the soil quality directly above and immediately before, A=B
= 0.5 or B > A, and if the shield excavator passes through a fault, the soil quality at the current location and the soil quality in the immediate area change l, then it is better to use the same soil quality than to use and omit the previous data. You must use the 9-inch nib directly above the exposed position. In this case, A,=OSB=1 and (7) are set.This kind of -↑- quality judgment is carried out by a penetration test2, and it is automatically judged by a preset correspondence table, etc., and the specified By making the weights even, it is possible to automate these processes.As described above, according to this embodiment, when the shield excavator excavates along the spiral excavation line 50, In order to compensate for the flow of the machine by the earth pressure vector and to stabilize the ground (☆measures for modifying the load distribution according to the characteristics)-1 data, directly calculate the - Taking advantage of the evening, 5
Since direction control can be performed using Only when there is a change in the soil quality, the current target location can be corrected and the load distribution corrected as in t).), and work efficiency can be greatly improved. Effects of the Invention As explained above, according to the present invention, when a shield excavator excavates along a spiral line (7), the flow of the shield excavator due to soil characteristics and the target In addition to appropriately giving the load distribution when excavating toward the value to achieve accurate directional control, it is also possible to prevent extreme changes in quality characteristics, such as the presence of faults in the direction of the excavation force. According to the present invention, it is possible to provide an automatic direction control method for a shield excavator, which allows direction control to be performed with high precision.

[Brief explanation of the drawing]

Figure 1 is a block diagram of the automatic directional control device of the excavator, Figure 2 is a block diagram of the automatic direction control device for the excavator, Figure 2 is a diagram of the automatic direction control system for the excavator, Figure 23 is the manual pressure vector of the shield excavator, and explanation of the flow. Figure 4 is an explanatory diagram of the method for calculating the propulsion load distribution, and Figure 5 is an explanatory diagram of the shield excavator excavating along the Rei Suba Ilar excavation line.

Claims (1)

[Claims] 1) When a shield excavator excavates in a curve along a spiral line, the excavation target is modified by taking into account the flow of the excavator caused by the earth pressure vector acting on the front surface of the excavator from the face side. At the same time, the construction data for excavation is stored while calculating the predicted load distribution of the propulsion jack based on the displacement characteristics of the front ground, and the construction data in the immediate vicinity of the upper part is read out during the circular excavation after the completion of at least one circular excavation. An automatic direction control method for a shield excavator, characterized by causing excavation to be performed based on this data. 2) When making a shield excavator make a curved excavation along a spiral line, the excavation target is modified to take into account the flow of the excavator caused by the earth pressure vector acting on the front of the excavator from the face side, and the The construction data for excavation is stored while calculating the predicted load distribution of the propulsion jack based on the displacement characteristics, the immediately previous construction data is read out, and the construction data near the immediate upper part is read out during circular excavation after at least one circular excavation is completed. An automatic direction control method for a shield excavator, characterized in that reading and weighting both construction data and using the data for the next excavation data to cause excavation to be performed.