JPH0492083A - Directional control method of tunnel excavator - Google Patents

Abstract

PURPOSE:To enable directional control corresponding to the soil by detecting a load for a plurality of grippers provided in the circumferential direction of the side of an excavator, and obtaining the relationship of the displacement of the excavator to driving force to obtain an advancement direction of the excavator. CONSTITUTION:In a displacement characteristic operating section 56, the relationship of the displacement of a cutter head 16 to the soil in front of the cutter head 16 is obtained from a distribution state of the soil of a bedrock 17 in front of the cutter head 16 obtained by a signal treatment device 26, a load acted on grippers 28a-28m detected by load detection sensors 30a-30m, the size and direction of general driving force derived from the distribution of pushing force of thrust jacks 36a-36n detected by force sendors 38a-38n and the displacement of the cutter head 16 obtained by a displacement operating section 54. In an advancement direction operating section 58, the displacement of the cutter head 16 when it is driven forward by the present driving force is anticipated from the relationship and position of the cutter head 16 obtained by a head position operating section 52.

Description

[Detailed Description of the Invention] [Field of Industrial Application] The present invention relates to a tunnel excavating machine that excavates underground, and particularly to a tunnel excavating machine that advances a cutter head using a plurality of jacks to control the direction of excavation. Concerning directional control force method.

(Prior Art) A tunnel excavator generally has a cylindrical main body with a plurality of cutter bits (having a single-digit cutter head, ζ
The cutter head is rotated by the motor, and the cutter is moved forward by multiple jacks arranged in the circumferential direction of the main body to excavate the ground, and the excavated earth and sand is conveyed using a scree conveyor, etc. The material is transported to the rear of the excavator. Further, directional control of the excavator such as curve node I and meandering correction is performed by selecting and driving a plurality of jacks arranged in the circumferential direction of the main body.

Conventional direction control is achieved by measuring the tunnel excavation machine's position using a transit system, emitting laser light along the tunnel planning line, and reading the light spot on a target attached to the excavator. The operator determines the deviation of the tunnel excavator from the tunnel planned line, and if the excavator's direction of travel deviates from the planned direction, the operator selects the jack to be driven as appropriate based on experience and corrects the direction. I was going.

Furthermore, in recent years, when excavating a curved portion of a tunnel, an articulated tunnel excavator is used, in which the main body is divided into a plurality of parts in the axial direction and connected in a bendable manner. When excavating a curved section, the bending angle of the main body, which is divided into two parts, is changed by jacking, and in order to control the direction, excavation is carried out while the gripper provided on the side of the main body is in contact with the excavated wall surface. (for example, Japanese Patent Application Laid-Open No. 1-315600).

[Problem to be solved by the invention]

As mentioned above, the direction control of conventional tunnel excavators is performed by selecting the jack to be driven based on the experience of one operator, so sufficient excavation accuracy cannot be obtained. Instead of adjusting the pushing force of each jack, a binary control w5 was used to determine whether each jack was driven, up, down, or not.

That is, for example, when steering a tunnel excavator by 1 degree,
Only the jacks on the lower half of the cross section of the main body are driven, and the jacks on the upper half are not driven.
Direction control is difficult and excavation accuracy is reduced.

Further, when a tunnel excavator excavates, the state of excavation resistance varies depending on the soil quality in front of the excavator, so that the excavator is swept away and the excavation direction shifts. However, in the direction control of conventional excavators, the influence of the soil quality in front of the cutter head is not considered, which is a factor that reduces the accuracy of direction control and excavation accuracy.

The present invention has been made to eliminate the drawbacks of the prior art, and is capable of controlling the direction of a tunnel excavator in accordance with the quality of the front of the excavator, thereby improving the excavation accuracy. The purpose is to provide law.

(Means for Solving the Problems) In order to achieve the above object, the directional control force method for a tunnel excavator according to the present invention provides a ft load of each of a plurality of grippers provided in the circumferential direction on the side of the excavator. In addition to detecting
The present invention is characterized by determining the correlation between the displacement of the excavator relative to the propulsive force and the detected load on the gripper, predicting the displacement of the excavator relative to the propulsive force, and determining the traveling direction of the excavator based on this predicted displacement. There is.

When predicting displacement, it is desirable to take into account the soil quality in front of the excavator detected by underground radar.

[Operation] The present invention configured as described above uses an underground radar to ascertain the soil quality in front of the excavator, and also determines the correlation between the displacement of the excavator and the load on the gripper. That is, since the excavator tends to bend in a direction where the load on the gripper is small, the load on the gripper is detected to predict in which direction and by how much the soil in front of the excavator will bend the excavator. Then, the direction of travel of the excavator is determined in consideration of this predicted displacement, and the excavator is controlled to move toward a predetermined target. Therefore, directional control can be performed in consideration of the soil quality in front of the excavator, and the accuracy of directional control of the excavator can be improved, and the accuracy of excavation can be increased.

Moreover, it does not require any operations based on the operator's experience.
Real-time direction control is possible, making more accurate direction control possible.

Note that the accuracy of directional control can be further improved by detecting the soil quality in front of the excavator using an underground radar and predicting the displacement of the excavator by taking into account the data from this underground radar.

〔Example〕

A preferred embodiment of the direction control method for a tunnel excavator according to the present invention will be described in detail with reference to the accompanying drawings.

FIG. 1 is an explanatory diagram of a tunnel excavator to which the directional control force method according to the present invention is applied.

In FIG. 1, a tunnel excavator 10 has a cylindrical main body, and is divided into a plurality of parts in the axial direction, for example, a front main body 12 and a rear main body 14. It is connected to the rear main body 14 in a bendable and expandable manner.

A cutter head 16 is rotatably provided at the front end of the front body 12. A plurality of cutter bits (not shown) are attached to the front surface of the cutter head 16, and by rotating the cutter head 16 with a motor, the ground 17 in front can be excavated. A plurality of pairs (for example, four pairs equally spaced in the circumferential direction) of a transmitter antenna 18 and a receiver antenna 20 are provided on the front surface of the cutter rod 6, for example.

These transmitting antenna 18 and receiving antenna 20 constitute an underground radar and are connected to a transmitter 22 and a receiver 24, respectively. Then, the output signal of the receiver 24 is sent to a signal processing device 26, and the signal processing device 11tf26 determines the state of the ground 17 in front of the cutter head 16 based on the output signal of the receiver 24. It is designed to detect soil quality, presence of faults, etc.).

On the other hand, a plurality of grippers 28a to 28m are provided on the side of the front main body 12 in the circumferential direction. Each gripper 28a-2
8rn is configured to move forward and backward in the radial direction by a cylinder (not shown), and when propelling the rear body 14, it protrudes from the side of the front body 12, pushes it against the excavated wall surface, and attaches to it. 6, which fixes the front main body 12, and the tip of the rib 28.4 to 28m is constituted by a roller, and the roller is in contact with the surrounding ground. This allows the cutter head 16 to move forward. In addition, each gripper 28a to 28
The cylinder of rr+ is provided with load detection sensors 30a to 30m such as oil pressure sensors, and grippers 28a to 28
This is so that the load that m is subjected to from the ground can be detected.

Inside the front main body 12, a laser measuring device 32 as a position sensor, an inclinometer 34, etc. are provided.

It is possible to detect the position of the front main body 12 with respect to the reference point, rolling, biasing, etc.

A plurality of thrust jacks 36a to 36n are provided between the front main body 12 and the rear main body 14.

These thrust jacks 36a to 36n are comprised of double-acting hydraulic cylinders, are arranged in the circumferential direction of the main body, receive hydraulic oil from the hydraulic pump via the jack controller 40 via L7, and are connected to the front main body. Pushing forces f1 to f7 are applied to 12 to move the 'ζ cutter head 16 forward. Each of the thrust jacks 36a to 36n is provided with a force sensor 38a to 38I, such as a hydraulic sensor, which detects the push, force f, and force f of each thrust jack 36a to 36n, and controls the motion controller 50. Enter.

The arithmetic controller 50 has a laser measuring device 32 of approximately 1 centimeter.
Detection signals from the inclinometer 34 are input to the Rad position calculation section 52, the displacement calculation section 54 receives the output ε of the head position wave ρ6 section 52, the load detection sensors 30a to 30n1 and the Kasenzas 38a to 38n. A displacement characteristic calculation unit 56 to which the detection signal of the signal processing device 26 and the output signal from the displacement calculation unit 54 is input;
A traveling direction calculating section 58 receives the output signals from the head position calculating section 52 and is connected to the output side of the traveling direction calculating section 58, and calculates the pushing force of each thrust jack 36a to 36n.
It consists of a propulsive force calculation section 60 that outputs a control body number to the jack controller 40.

Note that reference numerals 42a to 42n shown in FIG. Then, it protrudes from the rear main body 14 as indicated by an arrow 44, and fixes the rear main body 14.

Directional control of the excavator configured as described above is performed as follows.

The cutter rad 16 is rotated by a drive motor (not shown). In addition, the initial pushing force of each thrust jack 36a to 36n can be obtained from the jack and jack port 40), and the hydraulic oil supplied from the hydraulic pump to each thrust jack 36a to 36n. Pressure is set. Each of the thrust jacks 36a to 36n receives hydraulic oil at a pressure set in the jack controller 40 from a hydraulic pump, and receives hydraulic oil from a hydraulic pump through the front main body 12.
...Move RAD 16 forward. This thrust jack 3
The pushing force of 6a-36n is Kasen-'+38a ~ 38
n is detected and sent to the displacement characteristic calculation unit 56 of the calculation controller 50.

On the other hand, grippers 28f1 to 28 provided on the front main body 12
The rri is made to protrude from the front main body 12 and is in contact with the surrounding ground. Then, 28m to each gripper 28a.
The load detection sensors 30a'' and 30m provided in the grippers 28a to 28m detect the force (load) that each gripper 28a to 28m receives from the ground and input it to the displacement characteristic calculation section 56.

A transmitting antenna 8 constituting the underground radar emits pulsed radio waves of a predetermined frequency emitted by the transmitter 1!22 to the ground 17 in front of the cutter throat 16.

The receiving antenna 20 receives radio waves (echoes) reflected from the ground 17 of the radio waves emitted by the transmitting antenna 18, and sends them to the receiver 1!24. The fg receiver 24 has a receiving antenna 18
is proportional to the strength of the radio waves received by the receiver and sends it to the signal processing device 26. This signal processing device 26 analyzes the signal from the receiver 24 and determines the soil quality of the ground 17 of Katta / Rad 16. (for example, whether it is a gravel layer, a clay layer, or whether there is a fault) and the distribution of the soil quality are determined and input to the displacement characteristic calculation unit 56 of the calculation controller 50.

A laser beam is irradiated from the rear body 14 side to the laser measuring device 32 including the position r sensor, and the relative position of the front body 12 with respect to the reference point is determined and inputted to the rad position calculation section 52. And head position i performance '11. The section 52 calculates the pitching, rolling, yaw, and ink of the front main body 2 from the output signal of the inclinometer 34, and also calculates the output of the inclinometer 34 and the laser measuring device 32 from the cutter head 16.
The center position 1 is calculated, stored in a memory (not disclosed), and sent to the displacement calculation section 54 and the traveling direction calculation section 58.The displacement calculation section 54 calculates the calculation result of the head' position calculation section 52. 2) Position calculation unit 5
The previous position of the cutter head 16 determined by No. 2 or the displacement relative to the reference point stored in the memory 54 is determined and input to the displacement characteristic calculation section 56.

The displacement characteristic calculation unit 56 calculates the distribution state of the soil texture of the other mountain in front of the cutter head 16 obtained by the signal processing device 26 and the grippers 2 detected by the load detection sensors 30a-30m.
11. Acts on 8a-28rn. #.

The magnitude and direction of the total propulsive force detected by the force sensors 38a to 38n and obtained from the distribution of the pushing force of each thrust jack 36a to 36n, and the displacement of the canterhead 16 determined by the displacement calculation unit b4. From this, the relationship between the displacement of the cutter 16 relative to the soil quality in front of the cutter head 16 is determined and sent to the advancing direction calculation unit I58.

The advancing direction calculating section 58 calculates the correlation between the displacement of force/inter rad 1G obtained by the displacement characteristic calculating section 5 [; The cutter head 16 when the cutter\end 16 is advanced by the current propulsion force from the position of the radius 16.
The predicted displacement is compared with the target position to which the force head 16 should move. Then, the advancing direction calculation unit 58 calculates the cutter head 1 calculated by the head position calculation unit 52.
From the current position of cutter head 6, the cutter head 1 is moved considering the predicted displacement.
The direction in which the cutter head 16 should be advanced so that the cutter head 6 reaches the target position is calculated and outputted to the propulsive force calculation section 60.

That is, the thrust jacks 363 to 36n are driven based on the push cover turn that causes the cutter head 16 to move straight, and the cutter head 16 is displaced from the position shown by the two-dot chain line in FIG. 1 to the position 1 shown by the solid line. Suppose we did. At this time, the load on the gripper on the J side of the front main body 12 is greater than the load on the lower gripper, and the load on the gripper on the J side of the front main body 12 is greater than the load on the gripper on the lower side.
If i is softer on the lower side of the front body 12 than on the side 1, the excavator is likely to be displaced downward, so the traveling direction calculating section 58 calculates the traveling direction of the cutter head 16 taking this into account, and calculates the propulsion force. It is output to the calculation section 60.

The propulsive force calculation unit 60 calculates the pushing force of each thrust jack 36a to 36n so as to obtain the direction in which the cutter head 16 should move as determined by the traveling direction calculation unit 58, and outputs a control signal based on the calculation result. It is sent to the controller 40.

The jack controller 40 controls each thrust jack 36.
Adjust the set pressure to 1 so that a~・36r+ can obtain the pushing force determined by the propulsive force calculation unit 60, and perform the famous thrust jakatsuki 3.
Controls the outputs of 6a to 36n. Below, the calculation controller 50
controls the direction of movement of the cutter head 16 in the same manner as described above.

In this way, in this example, the soil quality in front of the excavator is grasped using data from the underground radar, and the state of the gripper is determined, and the load state of the gripper and the excavator determined by the underground radar are Calculate the correlation between the forward quality and the displacement of the excavator, taking into consideration The driving direction of the excavator is determined so that the excavator reaches the target position, and the pushing force distribution of the thrust jacks 36a to 36n is controlled so that the excavator moves toward the predetermined target. Since directional control is performed taking into account the distribution of negative soil in front of the excavator, the accuracy of the directional control of the excavator is improved, and the excavation accuracy can be increased. Real-time control is possible without the need for control.Furthermore, since the seven pushes of the famous thrust shirts #36a to 36n are controlled in an abrasive manner, the accuracy of direction control can be further improved.

In addition, when propelling the rear main body I4, the rear main body 14
The grippers 42a to 42rn of the front body 12 are retreated into the rear body 14, and the grippers 28a to 28rn of the front body 12 are strongly pushed against the surrounding ground to fix the front body 12, and the articulated gear (not shown) is Rear body 1 by luck
4 toward the front main body 12 side, and the rods of the thrust jacks 36a to 36n are advanced into the cylinder.

In the embodiment, the displacement characteristic calculation unit 56 calculates the grippers 28a to 30m detected by the load detection centers t30a to 30m.
28rn load, cutter head 1 detected by underground radar
6. We have explained the case in which the relationship between the soil quality of the front force and the displacement is calculated, and the traveling direction calculation section 5 calculates the traveling direction of the cutter head 1G by taking these relationships into account, but the underground radar has been omitted. , the relationship between the load and displacement of the grippers 28a to 28m is determined, and the advancing direction calculation unit 58 estimates the soil quality in front of the cutter head 16 from this relationship and predicts the displacement of the cutter head 16 from the relationship between the load and displacement. , the direction of movement of the cutter head 16 may be determined in consideration of this predicted displacement. Based on the data output L7 by the displacement characteristic calculation unit 56 during the previous propulsion,
Although the case where the traveling direction calculation unit 58 calculates the traveling direction of the cutter head 16 has been described, the accuracy of direction control can be further improved if the traveling direction is determined based on data from the past several propulsion times. can.

Further, in the above embodiments, the description has been given of an articule 1 type excavator having a bendable main body, but the present invention can also be applied to an excavator other than a Cheety 4 unit type excavator. Further, in the above embodiment, the load detection sensors 30a to 30m and the force sensors 38a to 3Eln are oil pressure sensors, but these sensors may be load cells, strain gauges, etc. Furthermore, in the embodiment described above, the cutter head 16 is provided with an antenna consisting of a loop coil, but the antenna is not limited to this. Radar data may also be used. In the embodiment described above, the position of the cutter head 16 is determined using the laser measuring device 32 and the inclinometer 34. However, the position of the cutter head 16 can be detected using an underground survey, a gyro, a distance meter, etc. May be used.

〔Effect of the invention〕

As explained below, according to the present invention, the gripper failure is detected, the soil quality in front of the excavator is estimated from the relationship between the load and the excavator displacement, and the excavator displacement is predicted. This predicted displacement is taken into account to determine the direction in which the excavator will reach the target position, and the pushing force is controlled so that the excavator moves toward the predetermined target, improving the accuracy of the excavator's directional control. This can improve excavation accuracy.

Then, by detecting the soil quality in front of the excavator using an underground radar and predicting the displacement of the excavator by taking this detected soil quality into consideration, the accuracy of directional control can be further improved.

[Brief explanation of drawings]

FIG. 1 is an explanatory diagram of a tunnel excavator to which a direction control method according to an embodiment of the present invention is applied. 10-...---) Tunnel excavator, 16--Cutter head, 18.20.22.24--Underground radar (transmitting antenna, receiving antenna, transmitter, receiver), 28a, 2
8rn ・-1-Gripper, 30a, 30m--Load detection sensor number, 32-11 Laser measuring instrument, 34.--
Inclined needle, 36a, 36n - Thrust needle 7ki, 3
8a, 38n--one sensor, 50--m-arithmetic controller.

Claims (2)

[Claims] (1) Detect the load on each of the plurality of grippers provided in the circumferential direction on the side of the excavator, and find the correlation between the displacement of the excavator relative to the propulsive force and the detected load on the gripper, and 1. A direction control method for a tunnel excavator, comprising predicting the displacement of the excavator and determining the traveling direction of the excavator based on the predicted displacement. (2) The direction control method for a tunnel excavator according to claim 1, wherein the prediction of the displacement takes into account soil quality in front of the excavator detected by an underground radar.