JPH0565795A - Excavation controlling method for shield tunnel excavator - Google Patents

Abstract

PURPOSE:To reset the propelling locus of a shield tunnel excavator on an excavation designing line reasonably when the locus gets out of the line. CONSTITUTION:When the propelling locus La of a shield tunnel excavator 1 gets out of a tunnel excavation designing line Lb, then on the tunnel excavation designing line Lb on the front side of the several machine lengths of the shield tunnel excavator 1, a desired point P is set. A correcting line Lc directed to the desired point P is set, and the shield tunnel excavator 1 is propelled along the correcting line Lc.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a method for controlling the excavation direction of a shield tunnel excavator for controlling the excavation direction of the shield tunnel excavator.

[0002]

2. Description of the Related Art In cities in Japan, it is expected that the development and use of underground spaces will continue to progress in the future as land use becomes more sophisticated. On the other hand, since many cities have developed on relatively soft ground, the shield method is often adopted when using the underground space.

In the excavation of a shield tunnel excavator in the shield construction method, the primary lining by the segment built in and inserted in the tail portion of the shield tunnel excavator is used as a reaction force.
This is a mechanism in which the shield tunnel excavator body moves forward on the premise that the segments are fixed by extending the rod of the hydraulic jack for propulsion installed inside the machine with hydraulic pressure.

However, in the shield tunnel excavator, even if the force of the hydraulic jacks for propulsion arranged evenly around the entire circumference of the shield tunnel excavator main body is made equal, it depends on the soil conditions around or in front of the shield tunnel excavator main body. Normally, the shield tunnel excavator does not propel in a straight line, but escapes in a direction in which the reaction force, which is a propulsive resistance, is small, and it is difficult to control the posture direction.

The operator of the shield tunnel excavator is
The attitude of the shield tunnel excavator is basically controlled so that it does not deviate from the tunnel excavation planned route.

[0006]

However, when the propulsion trajectory of the shield tunnel excavator deviates from the planned excavation route by a certain amount or more for some reason, conventionally, the guide is immediately returned to the planned excavation route. Since the attitude was controlled, if the deviation from the planned excavation route is large, the excavation direction changes suddenly and the tail part of the shield tunnel excavator damages the lining by the already assembled segment, etc. There was a problem that caused the problem of.

An object of the present invention is to provide a method for controlling excavation of a shield tunnel excavator that can be reasonably returned to the excavation planned route when the propulsion trajectory of the shield tunnel excavator deviates from the excavation planned route. ..

[0008]

Means for Solving the Problem To explain the means of the present invention for achieving the above object, the present invention uses an automatic surveying device for surveying the propulsion trajectory of a shield tunnel excavator, and the shield tunnel excavator In a propulsion control method for a shield tunnel excavator that controls the attitude so that the excavation trajectory of the machine matches the tunnel excavation planned route, when the propulsion trajectory of the shield tunnel excavator deviates from the tunnel excavation planned route, the shield tunnel It is characterized in that a target point is set on the tunnel excavation planned route ahead of several machine lengths of the excavator, a correction route is set toward the target point, and the shield tunnel excavator is propelled along the correction route. ..

[0009]

By controlling the shield tunnel excavator in this way, it is possible to return the shield tunnel excavator to the excavation control following the excavation planned route without difficulty even if the deviation from the excavation planned route is large. Become. Therefore, it is possible to prevent the lining from being damaged by the segments already assembled in the tail portion of the shield tunnel excavator when the excavation direction is corrected.

[0010]

Embodiments of the present invention will now be described in detail with reference to FIGS.

As shown, the shield tunnel excavator 1
Is a shield tunnel excavator main body 2 and, for example, twelve propulsion hydraulic jacks 3 provided on the outer periphery of the tail portion thereof.
And so on. The drive of each hydraulic jack 3 is controlled by an electromagnetic valve 3a.

Such a shield tunnel excavator 1 is
The shield tunnel excavator main body 2 advances on the premise that the segment 5 is fixed by extending the rod of the hydraulic jack 3 for propulsion with hydraulic pressure using the lining 5 formed by the segment of the shield tunnel 4 formed at the rear portion as a reaction force. It is like this.

In order to control the attitude of the shield tunnel excavator 1 as described above, the attitude control device of this embodiment includes an automatic surveying means 6 for continuously measuring the position and attitude of the shield tunnel excavator in real time. A trajectory management means 7 for processing data from the automatic surveying means 6 to automatically calculate a propulsion trajectory Lb of the shield tunnel excavator 1, and data from the trajectory management means 7 for a tunnel excavation planned route Lb.
And attitude control means 8 for automatically controlling each hydraulic jack 3 for propulsion of the shield tunnel excavator 1 according to the comparison data.

Further, the attitude control means 8 is arranged so that, when the propulsive trajectory La of the shield tunnel excavator 1 is largely deviated from the planned excavation line Lb for some reason, the excavation plan several caps ahead of the shield tunnel excavator 1 is advanced. A target point P is set on the route La, a corrected route Lc is set toward the target point P, and control for propelling the shield tunnel excavator 1 along the corrected route Lc is also performed.

The automatic surveying means 6 is an optical surveying device 9 for continuously measuring the position of the shield tunnel excavator main body 2.
have. The surveying device 9 includes a reference target 11 provided on the ceiling corresponding to a reference point 10 whose position is known in advance in the shield tunnel 4 behind the shield tunnel excavator 1, and a rear surface of the shield tunnel excavator 1. A moving target 12 provided on the upper part and these targets 1
It is composed of an optical distance measuring device 13 provided on the ceiling of the shield tunnel 4 between the first and the second portions. The optical distance measuring device 13 includes a vertical turning laser light generator 14 which emits vertical turning laser light to the targets 11 and 12, and a light wave which outputs distance measuring light to the targets 11 and 12 in parallel with the laser light. Distance meter 15 and goniometer 1 for measuring the turning angle of laser light from one target 11 to the other target 12
6, a personal computer 17 that processes these survey data, and a display 18 such as a CRT that displays the personal computer 17. Each of the targets 11 and 12 is composed of an electronic stuff 19 and nine reflecting prisms 20.

Further, the automatic surveying means 6 includes a gyro compass 2 for detecting the direction of the shield tunnel excavator 1.
1, an inclinometer 22 for detecting rolling and pitching, and a water pressure gauge 23 for detecting vertical deviation. The water pressure gauge 23 is connected to the reference tank 24 by a hose 25, and the vertical deviation is measured by the difference in water pressure.

The survey data from the automatic surveying means 6 is transmitted from the transmission device 26 in the tunnel 4 to the locus management means 7 via the cable 27 and the transmission device 29 in the office 28.

The trajectory management means 7 includes a personal computer 30 to which survey data is input via a transmission device 29,
The display 31 is composed of a CRT or the like for displaying the display.

The posture control means 8 to which the trajectory information of the deviation from the trajectory management means 7 is given, the personal computer 32 which makes an inference based on the previously described knowledge base based on the deviation / trajectory information, and its display. And a display device 33 such as a CTR for performing.

The control signal from the attitude control means 8 is applied to the hydraulic pressure sequence 34 via the transmission device 26 and applied to the solenoid valve 3a for driving the hydraulic jack 3. Next, the operation of the attitude control device for the shield tunnel excavator 1 will be described. In the automatic surveying means 6, when the laser light vertically swirled from the vertical swivel type laser light emitter 14 crosses the electronic staff 19 of the reference target 11, a signal is input from the electronic staff 19 to the persol computer 17. ..

With this signal, the computer 17 resets the angle value of the goniometer 16 to zero. Next, when the laser light vertically swirls and crosses the electronic staff 19 of the moving target 12, a signal is output to the computer 17 and the computer 1
7 reads the angle of the goniometer 16 at this time and transmits an angle signal to the personal computer 30 of the trajectory management means 7.

At the same time, the light wave range finder 15 measures the distance to the reflecting prism 20 of the reference target 11 and the distance to the reflecting prism of the moving target 12 and inputs it to the computer 17, where the moving target 12 is used as a reference. The positions of 12 are obtained and input to the computer 30 of the trajectory management means 7. In this example, target 1
The lengths of the light receiving surfaces 1 and 12 are 549 mm, and the detection resolution of the light receiving position is 0.1 mm. At the same time, the gyro compass 21 measures the direction of the shield tunnel excavator body 2, the tilt meter 22 measures the pitching and rolling of the shield donnel excavator body 2, and the water pressure gauge 23 measures the shield tunnel excavator body 2. The deviation in the vertical direction is measured, and is input to the computer 30 of the trajectory management means 7. The computer 30 of the trajectory management means 7 processes the hourly transmission data from the automatic surveying means 6 to set a preset excavation plan. The deviation amount from the line La is calculated in real time, and the relative position to the excavation planned line Lb is displayed on the display 31.

The deviation amount from the excavation planned route Lb in the center line of the shield tunnel excavator 1 is input as a control element to the computer 32 of the attitude control means 8 and also to the computer 17 of the automatic surveying means 6. ,
The operator can grasp the position and orientation of the shield tunnel excavator 1.

The computer 32 of the attitude control means 8 makes an inference based on the deviation / trajectory information from the trajectory management means 7 based on a built-in knowledge base, and gradually approaches the excavation planned route Lb. A control signal for automatically selecting the hydraulic jack 3 for propulsion is given to the hydraulic sequence 34.

As a result, only the predetermined hydraulic jack 3 is driven, and the shield tunnel excavator main body 2 is propelled in a desired posture.

Propulsion trajectory La of the shield tunnel excavator 1
If for some reason the deviation from the planned excavation route Lb is significantly deviated, the attitude control means 8 sets the target point P on the planned excavation route Lb several machine length forward (for example, 10 to 20 m) of the shield tunnel excavator 1. The fixed route Lc toward the target point P is set, and the shield tunnel excavator 1 is propelled along the corrected route Lc.

When the shield tunnel excavator 1 is controlled in this manner, the shield tunnel excavator 1 is returned to the excavation control following the excavation planned route Lb without difficulty even if the deviation from the excavation planned route Lb is large. be able to.

Thereafter, similar control is repeated, and the shield tunnel excavator 1 is excavated along the propulsion planned route Lb.

[0029]

As described above, in the excavation control method for a shield tunnel excavator according to the present invention, when the propulsion trajectory of the shield tunnel excavator deviates from the tunnel excavation planned route, the shield tunnel excavator excavator The target point is set on the tunnel excavation planned route in front of the several machine lengths, the modified route is set to the target point, and the shield tunnel excavator is propelled along the modified route, so the deviation from the excavated planned route Even if is large, the shield tunnel excavator can be returned to the excavation control following the excavation planned route without difficulty. Therefore, it is possible to prevent the lining segment already assembled at the tail portion of the shield tunnel excavator from being damaged when the excavation direction is corrected.

[Brief description of drawings]

FIG. 1 is a conceptual diagram showing an example of a system configuration of an attitude control device for implementing a method for controlling excavation of a shield tunnel excavator according to the present invention.

FIG. 2 is a block diagram showing a configuration of a part of automatic surveying means by the apparatus of the present embodiment.

FIG. 3 is a conceptual diagram showing an example of the implementation status of the excavation control method of the present invention.

[Explanation of symbols]

 1 shield tunnel excavator 2 shield tunnel excavator main body 3 hydraulic jack 3a for propulsion 3a solenoid valve 4 shield tunnel 5 lining 6 automatic surveying device 7 trajectory management device 8 attitude control device 9 optical surveying device 10 reference point 11 reference target 12 Moving target 13 Optical distance measuring device 14 Vertical rotation type laser light generator 15 Lightwave distance meter 16 Goniometer 17,30,32 Personal computer 18,31,33 Indicator 19 Electronic staff 20 Reflective prism 21 Gyro compass 22 Inclinometer 23 Water pressure gauge 24 Reference tank 25 Hose 26, 29 Transmission device 27 Cable 28 Office 34 Hydraulic sequence La Propulsion trajectory Lb Tunnel excavation planned route Lc Modified route P Target point

Claims (1)

[Claims] 1. A propulsion control for a shield tunnel excavator, which uses an automatic surveying device for measuring the propulsion trajectory of the shield tunnel excavator, and controls the attitude so that the excavation trajectory of the shield tunnel excavator matches a tunnel excavation planned route. In the method, when the propulsive trajectory of the shield tunnel excavator is deviated from the tunnel excavation plan route, a target point is set on the tunnel excavation plan route several caps ahead of the shield tunnel excavator and directed toward the target point. A modified excavation route is set, and the shield tunnel excavator is propelled along the corrected route.