JPH05125896A - Automatic control method for shield excavating direction - Google Patents

Abstract

PURPOSE:To provide a shield excavating direction automatic control method through which the excavating course of a shield excavator is continuously confirmed for controlling the shield excavator so as to keep its excavating direction along a planning line, and an obstacle existing between the shield excavator and a total station is prevented from disturbing the detection of a center on the excavating course of the shield excavator. CONSTITUTION:A longitudinal and a lateral line to express a display line for a shield excavation planning line in every direction are drawn on a display, and a target symbol to express the center of a shield (s) is continuously expressed on the display. The hydraulic pressure of a shield jack (sj) to press the shield (s) is selectively regulated on the expressed position of the target symbol to control the excavating direction of the shield (s).

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a shield excavation direction automatic control method.

[0002]

2. Description of the Related Art Conventionally, various attempts have been made to control the direction of shield excavation, but even if a laser beam is projected onto a shield machine from a total station provided in a completed track, many obstacles exist between the total station and the shield machine. The laser beam cannot reach the light receiving element of the shield machine continuously because it is unavoidable. Therefore, there is a problem that it is difficult to detect the center of excavation of the shield machine.
Further, since the information on the transition of the excavation route is intermittently transmitted to the control room, there is a problem that the continuous excavation route cannot be confirmed.

[0003]

[Problem to be Solved by the Invention] To continuously check the excavation route of a shield machine.

The detection of the center of the excavation path of the shield machine is performed without being obstructed by an obstacle between the shield machine and the total station.

[0005]

[Means for solving the problems] Shield excavation plan line display lines p1hl, p1 in the left-right and up-down directions on a display
A display in which vertical and horizontal lines are drawn to display the allowable error range hal; val along with vl, and a pitching meter p. m and shield jack with stroke gauge stsj
, A gyro jro, and a circuit for continuously calculating the position of the center o of the shield s by inputting the information of the rolling meter ro, and the calculated position of the center o of the shield s on the display target symbol target. a circuit for continuously displaying as s, a circuit for storing the planes of shield progress lines p1h, p1v in the plane and the vertical direction, and continuously displaying them within an allowable error range on the display,
The target symbol target.
a circuit for instructing the adjustment of the hydraulic pressure of the shield jack sj according to the display of s, and the target symbol t
target. When s is located at the intersection cr of the vertical and horizontal lines of the allowable error range hal; val, the excavation is continued,
Target symbol target. s is the intersection cr
When it deviates further, the hydraulic pressure of the shield jack sj is adjusted by the instruction of the hydraulic pressure adjustment instruction circuit of the shield jack sj, and the target symbol target on the display is displayed.
t. By directing s to the intersection cr, the center o of the shield s is brought closer to the planned lines p1h and p1v, and the excavation of the shield s is further continued, and at that time, the center o of the shield s is detected. The target prism pr is attached, the erector e is rotated along the inner circumference of the shield s, and the laser beam emitted from the total station ts is traced to the rotating target prism pr, and the tracking result, the pitching meter pm, and the shield jack sj. Stroke meter s
An automatic excavation direction control method that continuously detects the center O of the shield s by combining the measurement information of the jm, the rolling meter roll, and the gyro jro.

[0006]

In the control room, it is possible to continuously monitor on the display surface whether or not the excavation route slides from the planned line.
If it slides from the planned line, a command is issued from the control room to control the shield shuck sj according to the jack pattern control law depending on whether the excavation path is lowering to the right, rising to the right, lowering to the left, or rising to the left. Further, since the center o of the shield machine s is detected while rotating the erector e, the total station ts can be set on an obstacle between the automatic tracking type total station ts and the shield machine s.
Even if the laser beam l ₀ emitted from is temporarily blocked, the center O of the shield machine s can be continuously detected as a whole.

[0007]

【Example】

(a) Excavation control The horizontal and vertical excavation plan lines plh and plv are set for each one pitch of 90 cm, and these are entered on the display.

FIGS. 2a and 2b show the case where the horizontal and vertical direction excavation plan lines plh and plv are input to the display to form the plan line display lines plhl and plvl.

In the method of the present invention, the horizontal and vertical direction excavation plan line display lines plhl and plvl are collectively displayed in one pattern. That is, as shown in FIG. 1, the horizontal and vertical direction excavation plan line display lines plhl and plvl are orthogonal to each other so that the intersection point o thereof coincides with the center of the shield machine s.
hal and val are excavation plan line display lines plhl, pl
This is an allowable error range for vl. That is, if the actual shield machine center o displayed on the display is within the intersection cr of the vertical and horizontal allowable error ranges val and hal, it means that the excavation is proceeding smoothly along the planned lines plh and plv. ..

FIG. 3 shows three-dimensionally the state in which the actual excavation path slides with respect to the planned line. FIG. 3a shows the display on the display at the time point aa in FIG. 3, and FIG. 3b shows the time point bb in FIG. The display of is displayed.

FIG. 4a shows a case in which the actual excavation route rises to the right with respect to the vector α of the excavation planning line. γ is the planned line vector α and the vector β that tries to slide from the planned line
Is a composite vector of and. FIG. 4b is a plan view of FIG. 4a. In FIG.
rt indicates the starting point of one stroke.

5A and 5B show the case where the excavation path is downwardly sloping like FIG.

In FIG. 1, the actual shield machine center O, that is, the target symbol X, is offset by Θα from the horizontal planning line display line plhl and by θβ from the vertical planning line display line plvl.

When the target symbol X is displaced from the planned lines plh and plv in this way, the target symbol X is corrected to approach the planned lines plh and plv by the jack pattern control law shown in FIG.

That is, in FIG. 1, the target symbol X indicating the shield machine center O is the center O of the planning lines plh and plv.
Since the angle is further to the left, it corresponds to the pattern P4 in Table 1.

The jack pattern will be described later.

At this time, No. The pressure of 3 jacks (j3) should be released. As a result, the shield machine S is pushed to the upper right and approaches the planned line.

B Jack Pattern As described above, the method of the present invention employs the jack pattern control shown in Table 1 as a reference for correcting the position of the target S shown in FIG.

[0019]

[Table 1]

In Table 1, α is the planned line plh, the excavation vector in the direction of plv β is the displacement vector γ is the composite of the excavation vector α and the displacement vector β β ′ is the correction vector The jack numbers (j1 to j10) are shown in FIG.
It is shown in.

Table 1 shows a pattern P1 : a pattern which goes to the right above the planned lines plh and plv. At this time, the second jack j
Add 2. At this time, when r <α, r is located on the left side of α.

Pattern P2 : Shows a pattern that goes to the left above the planned lines plh and plv. At this time 1
Add No. 1 jack j11. At this time, when r <α, r is located on the right side of α.

Pattern P3 : Shows a pattern that falls to the right of the planned lines plh and plv. At this time 1
Add 0th jack j10. At this time, r> α and r is located on the left side of α.

Pattern P4 : Shows a pattern that is lower left than the planned lines plh and plv. At this time 3
Add number j3. At this time, r> α and r is located on the right side of α.

In the above pattern control, the patterns p ₁ and p ₂ are directed upward from the planned lines plh and plv due to the reaction force, so that the upper jacks j2 or j11 other than the operating jacks j3 to j10 are not in operation. To add.

On the other hand, in the patterns p ₃ and p ₄ , the actual excavation direction is downward from the planned lines plh and plv, so the pressure of the upper jack j3 or j10 of the operating jacks j3 to j10 is released.

That is, when γ> α, the upper jack j3 or j1 among the operating jacks j3 to j10.
Release 0 pressure.

When γ <α, the operating jacks j3 to j
A pressure of inactive jacks j2 or j11 other than 10 would be added.

C Setting of planning line A one-stroke planning line is set for each 90 cm of stroke.

In FIGS. 6 and 7, plh and plv are whole excavation plan lines, and in FIGS. 6 and 7, only strokes 1 to 3 are shown.

And the first stroke 1st stroke
At the end point of e, the center O of the shield S is the overall planning line pl
It is assumed that it is located at the point a by sliding Θα Θβ from h and plv.

That is, on the display surface, the target X
Indicates the position of a in FIG. 8a.

At this time, the entire planning line is set to the second line all at once.
Attempting to return to the shield machine center 0 at the stroke 2nd stroke is not preferable because a large direction changing force is applied to the shield S. Therefore, as shown in FIGS. 6 and 7, the first modified planning line 1st adjustment
Set t pl on the second stroke 2nd stroke. That is, the shield machine center 0 is at the end of the second stroke 2ndstroke, the first modified planning line 1st adjust aiming at point B in FIGS. 6 and 7.
Set pl. At this time, the target B shown in FIG. 8a on the display is made to coincide with the intersection point crp of the planned line display line as shown in FIG. 8a. This operation moves the entire screen of the display in the direction of arrow 8b in FIG. 8a in FIG. 8a.

Next, the second stroke 2nd stroke
At the end point of e, the 1st modified planning line 1st a is actually
Whereas djust pl was aiming at Θα ₁ , θ
It is located at position b ', which is slid by α ₂ .

In the third stroke 3rd stroke, therefore, the second modified plan line 2nd adjust pl shown in FIG. 6 and FIG. 7 is set starting from b ′, and the point c corresponding to the overall plan lines plh, plv is set as the first point. Aim at the end of the 3rd stroke 3rd stroke.

This second modified planning line 2nd adjustment
When setting t pl, the display surface is shown in FIG.
c, as shown in FIG. 8d, b'is matched with the intersection point Cr of the planned line display line.

FIGS. 6, 7 and 8 show that the third stroke 3rd stroke is also located at the position c ′ which is slid by Θα ₁ and Θα _{2 with} respect to the target point c at the end point.

Similarly, in each stroke, one stroke planning line 1stroke pl is set each time.

D Center Detection of Shield Machine In the present invention, the center O of the shield machine S is detected by rotating the erector e equipped with the target prism target pr and rotating the target prism ta.
Automatic tracking type total station ts on rget pr
The laser beam lo emitted from the laser beam emitting device lej is tracked.

In FIGS. 9, 10 and 11, S is a shield machine, e is an erector, r is a rolling gauge, seg is a segment, sj is a shield jack, stsj is a shield jack with a jack stroke gauge, and ts is an automatic tracking type. The total station lej is a laser beam emitting device of the total station ts. ej is an erector telescopic jack, and stej is an erector telescopic jack with a stroke gauge.

The detection order will be described below.

First, the position and orientation of the shield machine S are
It is detected by a rolling meter γ, an inclinometer pm, a gyro meter jro, and a shield jack stsj with a stroke meter. Next, the erector e is rotated and the shield center O is detected from the rotation locus of the laser beam lo from the total station ts following the target prism target pr.

At this time, since the erector turning angle detection encoder erd is attached to the erector e, the laser beam follows the target prism target pr to detect the center O of the shield machine S from the rotation locus of the erector e. be able to. In addition, the erector e with stroke gauge is attached to the erector e.
The shield center O can be detected by computer control even if the erector expansion jack ej expands or contracts.

Sd is an ultrasonic range finder which is attached to the erector e to detect the inner sky shape of the segment seg. Therefore, the center of the segment seg is the shield s.
The coupling in the direction coinciding with the center O of the shield s can be detected by using the ultrasonic rangefinder sd together with the center O of the shield s.

The center O thus detected is continuously input to the display as the target X.

E Flow Sheet of the System of the Present Invention Table 2 shows the flow sheet of the system of the present invention.

[0047]

[Table 2]

[0048]

【The invention's effect】

a. Since the transition of the excavation route can be continuously displayed on the display surface, the shield jack sj that attempts to bring the excavation route closer to the planned line can be quickly controlled.

B. The horizontal excavation plan line display line plhl and the vertical excavation plan line display line plvl are displayed at a right angle at the intersection point crp on one screen, so that the control room monitor can see the excavation route to the left and right at a glance. It is possible to discriminate between descending, upper left and upper right, and promptly issue jack pattern control commands.

C. Since the center O of the shield machine s is detected while rotating the erector e, the total station t
Even if there is an obstacle between s and the shield machine s and the laser beam l _{0 of the} total station ts is temporarily blocked, the center o of the shield machine s can be continuously detected.

[Brief description of drawings]

FIG. 1 is a front view of a display used in the method of the present invention.

FIG. 2A is a front view of a display displaying a horizontal overall planning line plh. b is a front view of a display displaying a vertical overall planning line plv.

[Fig. 3] a is a-a which represents a deviation between the planned line pl and the excavation route
The front view of the display which displayed the line. b is the front view of the display which displayed the plan line pl and the aa line showing the deviation of the excavation route. c is the front view of the display which displayed the plan line pl and the bb line showing the deviation of the excavation route.

FIG. 4A is a perspective explanatory view of a vector in the case of upward excavation and rising to the right. b is a plane vector explanatory view of a.

FIG. 5A is a perspective explanatory view of a case in which an excavation of an upward direction results in a downward slope to the right. b is a plane explanatory view of a.

FIG. 6 is an explanatory diagram showing a relationship between a horizontal overall planning line and a horizontal one-stroke planning line.

FIG. 7 is an explanatory diagram showing a relationship between a vertical overall planning line and a vertical one-stroke planning line.

FIG. 8A is a schematic view of a display display method when a planning line is changed for each stroke. b is a schematic view of a display method of a display when the planned line is changed for each stroke. c is a schematic diagram of a display method of the display when the planned line is changed for each stroke. d is a schematic view of the display method of the display when the planned line is changed for each stroke.

FIG. 9 is a side view showing a perspective view of a shield machine for carrying out the method of the present invention.

FIG. 10 is a side view of the same main part.

FIG. 11 is a view on arrow of FIG. 10A-A.

[Explanation of symbols]

s ... Shield pl ... Planning line plh ... Horizontal planning line plv ... Vertical planning line plhl ... Horizontal planning line display line plvl ... Vertical planning line display line jro ... Gyro pm.・ ・ Pitching meter roll ・ ・ ・ Rolling meter seg ・ ・ ・ Segment sj ・ ・ ・ Shield jack stm ・ ・ ・ Stroke meter stsj ・ ・ ・ Shield jack with stroke meter e ・ ・ ・ Electa em ・ ・ ・ Elector swivel motor eg ・..Electr swivel gears target. s ... Target symbol pr ... Target prism ts ... Automatic tracking type total station lej ... Laser beam emitting device lo ... Laser beam erd ... Elector turning angle detection encoder o ... Shield machine s Center cr: intersection of vertical allowable range val and horizontal allowable range hal crp: intersection of planning line display line val ... allowable range for vertical excavation planned line plv hal: horizontal excavation planned line plh Allowable range for x: Target symbol on display pm: Inclinometer (pitching meter) stej: Elector telescopic jack with stroke meter ej ... Elector telescopic jack sd ... Ultrasonic rangefinder adjust pl. ..Modified planning lines

Claims (5)

[Claims] 1. A display in which vertical and horizontal lines are drawn along the shield excavation plan line display lines (p1hl) (p1vl) in the left-right and up-down directions on the display, and vertical and horizontal lines are drawn to display the allowable error range (hal; val). Pitching meter (pm) and stroke jack shield jack (s)
t, sj) stroke gauge (sjm) and gyro (j
The circuit for continuously calculating the position of the center (O) of the shield (s) by inputting the information of ro) and the rolling meter (roll) and the position of the center (O) of the calculated shield (s). The target symbol (target) is displayed on the display.
t. a circuit for continuously displaying as s), and a circuit for storing the plane of shield plan line (p1h) (p1v) in the plane and the vertical direction and continuously displaying it within an allowable error range on the display, And a circuit for instructing the adjustment of the hydraulic pressure of the shield jack (sj) according to the display of the target symbol (target.s) on the display,
When the target symbol (target.s) is located at the intersection (cr) of the vertical and horizontal lines of the allowable error range (hal; val), the excavation is continued as it is, and the target symbol (target.s) is located at the intersection (cr). ), The oil pressure of the shield jack (sj) is adjusted by the instruction of the oil pressure adjustment instruction circuit of the shield jack (sj), and the target symbol (targ) on the display is displayed.
et. The center (o) of the shield (s) is aligned with the planned line (p1h) (p1) by orienting s) toward the intersection (cr).
v) A method of automatically controlling the shield advancing direction, which is characterized by continuing the excavation of the shield (s) while approaching v). 2. A target symbol (target.
When s) is outside the allowable error range (hal; val), the vector for excavating the excavation direction vector (α) along the excavation plan line (p1h) (p1v) to the actual excavation direction vector (γ) Is a displacement vector (β), and hydraulic pressure is applied to the shield jack (sj) located in the opposite direction to this displacement vector (β), or the displacement vector (β)
The shield jack (sj) located in the direction of is removed by hydraulic pressure, and the correction vector (β ′) is added to the actual excavation direction vector (γ) to correct it toward the original excavation direction vector (α). The method for automatically controlling the shield excavation direction according to claim 1. 3. A shield jack (sj) to which the hydraulic pressure is applied or a shield jack (s) to release the hydraulic pressure.
The method for automatically controlling the shield excavation direction according to claim 2, further comprising a circuit for displaying j) on the display. 4. A method for detecting the center (o) of the shield (s), a target prism (target.pr) is attached to the erector (e), and the erector (e) is attached.
Is rotated along the inner circumference of the shield (s), and the target prism (target.pr) that rotates together with the shield is rotated.
The laser beam (lo) emitted from the total station (ts) is tracked, and the tracking result and pitching meter (pm), stroke meter (sjm) of shield jack (sj), gyro (jro), and rolling meter (roll) are tracked. ) And the measurement information, and the shield (s)
The method for automatically controlling a shield excavation direction according to claim 1, wherein the center (O) of the shield is detected. 5. When the actual excavation route greatly differs from the planned line (pl) at the stroke end point, a modified planned line (adjust.pl) different from the planned line is set on the basis of the point (a) different from the planned line. The correction plan line (adjust.
Pl) is continuously input on the display surface in place of the original planning line (pl), that is, the point (a) different from the planning line (pl) is input to the planning line display line (p) of the display.
lhl, plvl) to the intersection (crp), and then the corrected plan line (adjus) stored on the display.
t. p. l) is the planning line display line (plhl, plv
The shield digging direction automatic control method according to any one of claims (1) to (4), wherein the position is alternately input to the position of l) continuously.