JPH06240979A - Automatic control method of position and attitude in broken type shield tunneling machine - Google Patents

Abstract

PURPOSE:To enhance the efficiency of execution of works by detecting a slippage to a construction planning line and a broken angle with a displacement detector set up in a broken type shield tunneling machine, and on the basis of these data, controlling a bending jack and a propulsive jack so as to make the body go along the planning line. CONSTITUTION:A displacement detector is installed in a shield body 1 to which a front drum 2 and a rear drum 3 are bendably connected by means of each jack 4, whereby any slippage from a construction planning line S and each of broken angles theta, delta and so on are detected. Next, at a controller, these detected data are compared with the setting value and operated, driving a bending jack 4, and it is made so as to go along the construction planning line S. In addition, a position of the front drum is corrected, while a propulsive jack 5 of the rear drum is operated for boring. With this constitution, turning performance of this shield machine 1 is improved and a span of boring time can be shortened.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a position / posture automatic control method for a center-bending shield machine.

[0002]

2. Description of the Related Art Normally, when excavating a tunnel with a shield machine, the excavation is carried out along a pre-planned construction plan line, and if the construction plan line has a large curvature, A center-breaking shield machine consisting of a body and a rear body is used.

By the way, in this center-bending shield machine, a predetermined center-bending angle is set so that the shield body is along the planned construction line, and a turning jack is used to change the turning moment. It was generated and the shield body was displaced in a predetermined direction.

[0004]

However, according to the above-mentioned conventional position and attitude control method, since the position and attitude of the shield machine are controlled by using the propulsion jack, the turning performance of the shield body is improved. There are limits,
It is always necessary to keep the propulsion jack in contact with the segment, so there is a problem that the excavation time will inevitably become long, and if the excavation cannot proceed with the curvature according to the construction plan line at the predetermined middle bending angle, Since the position and attitude of the shield machine are corrected using the jack for propulsion, the correction is delayed or insufficient, and there is a problem that the construction accuracy is inevitably deteriorated.

Therefore, an object of the present invention is to provide an automatic position / posture control method for a center-breaking shield machine which can solve the above problems.

[0006]

In order to solve the above-mentioned problems, the first means of the present invention is to fold a shield body in which a front body and a rear body are foldably connected to each other so as to adjust a middle bending angle. A method for controlling the position and attitude of a center-bending shield machine having a jack for bending, which detects a deviation of the position and attitude of the front body and the rear body with respect to a construction plan line to be excavated, and the front body and the rear body. The automatic position / posture control method of the center-break type shield excavator that detects the center bending angle of and the thrust data is generated on the above-mentioned bending jack so that the shield body follows the planned construction line based on these detection data. Is.

In order to solve the above-mentioned problems, the second means of the present invention is a bending jack for adjusting the middle bending angle of the shield body, in which the front body and the rear body are foldably connected. A method of controlling the position and attitude of a center-breaking shield machine having, which detects a deviation of the position and attitude of the front body and the rear body with respect to a construction plan line to be excavated,
The center-bending type characterized by detecting the middle bending angle between the front body and the rear body and generating thrust on the above-mentioned bending jack so that the shield body follows the construction planning line based on each of these detection data. This is a method for automatically controlling the position and orientation of a shield machine.

[0008]

According to the position / posture control method of the shield machine of the first means described above, the shield jack is controlled to the construction planned line by controlling the bending jack for adjusting the middle bending angle between the front body and the rear body. As compared with the case of controlling the position and posture of the shield body by controlling the jack for propulsion provided on the rear trunk side so as to follow, the turning performance of the shield machine can be significantly improved and It is not necessary to keep the jack for use in contact with the segment all the time, and the excavation work time can be shortened.

Further, according to the position / posture control method of the shield machine of the second means, the bending jack and the propulsion jack for controlling the center bending angle of the front body and the rear body are continuously controlled. Then, in order to make the shield main body follow the planned construction line, after setting the predetermined center bending angle, control the jack for propulsion provided on the rear trunk side to control the position and attitude of the shield machine. The position and orientation of the shield machine can be corrected more quickly and more accurately than in the case of doing so, and therefore the construction accuracy can be improved.

[0010]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS A first embodiment of the present invention will be described below with reference to FIGS. In FIG. 3, reference numeral 1 is a shield body of a middle-breaking shield machine, and this shield body 1 is a front body 2
The rear body 3 and the rear body 3 are bendably connected to each other, and a plurality of folding jacks (hydraulic cylinders) are arranged at predetermined intervals along the circumferential direction at the connecting portion between the front body 2 and the rear body 3. 4 are arranged, and a plurality of propulsion jacks (hydraulic cylinders) 5 are also arranged at the rear end of the rear body 3 at predetermined intervals along the circumferential direction thereof. Of course, the propelling jack 5 is for advancing the shield body 1 by pushing the segment (former for primary lining) 6.

In each of the bending jacks 4 described above, a control device (see FIG. 1) 7 is used so that the front body 2 and the rear body 3 as the shield body 1 are along a predetermined construction plan line s to be excavated. Its thrust is controlled.

Further, the shield body 1 has a detector for detecting the positions and postures of the front body 2 and the rear body 3 and for detecting the bending angle between the front body 2 and the rear body 3 (see FIG. 1).
9 is provided, and each detection data detected by the detector 9 is input to the control device 7.

Further, as shown in FIG. 1, the control device 7 inputs the initial data setting section 11 and the detection data from the detector 9, and at the same time, detects the detection data and the initial data from the setting section 11. And a calculation control unit 13 that outputs a control signal to the drive unit 8 of the folding jack 4 based on the difference output from the comparison unit 12. There is.

Next, the procedure for controlling the position and attitude of the shield body 1 will be described with reference to the flow chart of FIG. First, the control device 7 is instructed in advance as three-dimensional data of the construction planning line s, specifically, position data, posture angle data (θ _r ) as posture data, and center bending as a refraction angle between the front body 2 and the rear body 3. The angle data (δ _r ) is input, and then the control target distance (distance until it matches the construction planning line s) is set.

The posture angle data (θ _r ) includes
For example, the angle data in the horizontal plane and the angle data in the vertical plane are included. Next, the position data, the posture data (θ) and the center bending angle data (δ) of the front body 2 and the rear body 3 detected by the detector 9 provided on the shield body 1 side are input in advance. The comparison unit 12 compares the three-dimensional data of the construction planning line s, and the difference between them, that is, the position data difference (ξ) and the attitude data difference (Δθ = θ _r −
θ) and the difference between the middle bending angle data (Δδ = δ _r −δ) are obtained, and then the difference is output to the arithmetic control unit 13.

Then, the arithmetic and control unit 13 generates a turning moment that causes the shield body 1 to follow the construction planned line s based on the difference data sent from the comparison unit 12 every several tens of centimeters. The control signal is output as a jack pattern to the driving unit 8 of the folding jack 4.

Further, in the calculation control unit 13, a calculation method for obtaining the jack pattern which gives a predetermined turning moment, that is, the on / off (operation / non-operation) of each of the bending jacks 4, is as follows. There is a control algorithm based on a motion model of the position, posture, and bending angle of the shield body 1.

That is, feedback is applied to the control signal, and the feedback gain at this time is
The control target distance is considered, and the trajectory of the shield body 1 is set to a value that does not vibrate and that a steady deviation does not remain.

As described above, by controlling the jacking moment generated by the bending jack 4, the shield body 1 is displaced along the construction planned line s.
The turning performance, that is, the control performance, of the shield machine can be significantly improved as compared with the conventional one, and it is not necessary to keep the propulsion jack 5 provided on the rear body 3 side in contact with the segment 6 at all times. Can be shortened.

Next, a second embodiment of the present invention will be described with reference to FIGS. In the first embodiment,
In order to control the position and attitude of the shield machine, the thrust of the bending jack is controlled, whereas in the second embodiment, the thrust of both the bending jack and the propulsion jack is controlled. Is a control method for generating a predetermined turning moment.

That is, the bending jack 4 and the propulsion jack 5 described in the first embodiment are arranged so that the shield body 1, that is, the front body 2 and the rear body 3 follow the predetermined construction planned line s to be excavated. In addition, each thrust force is controlled by the control device 7, and a predetermined turning moment is generated in the shield body 1.

Therefore, as shown in FIG. 5, the signal from the drive unit 8 is applied to the bending jack 4 and the propulsion jack 5.
Is output to both of them, and both are controlled.
Therefore, each data (ξ) of the front body 2 and the rear body 3,
After the difference between (θ) and (δ) and the three-dimensional data of the construction planning line s is obtained, this difference is output to the arithmetic control unit 13, and the arithmetic control unit 13 advances every several tens of centimeters. To
Based on the data of the difference, a control signal for generating a turning moment that causes the shield body 1 to follow the planned construction line s is input to the drive unit 8 as a jack pattern, and the bending jack 4 and the propulsion jack are input. A predetermined thrust force is applied to the gear 5, and a predetermined turning moment is generated in the shield machine.

In this way, by controlling the jacking moments generated by the bending jack 4 and the propulsion jack 5, the shield body 1 is moved to the construction planned line s.
The position and orientation of the shield machine can be corrected more quickly and more accurately than before, and therefore the construction accuracy can be improved.

[0024]

As described above, according to the position / orientation control method of the first means of the present invention, the bending jack for adjusting the center bending angle is controlled so that the shield main body follows the planned construction line. Therefore, unlike the conventional case, the turning performance of the shield body, that is, the control performance can be significantly improved, and it is not necessary to keep the propulsion jack in contact with the segment at all times, and therefore the construction time can be shortened. it can.

Further, according to the position / orientation control method of the second means of the present invention, the bending jack and the propulsion jack for adjusting the center bending angle are controlled to generate a predetermined turning moment in the shield body. Since the shield body is arranged along the planned construction line, the position and orientation of the shield machine can be corrected quickly and accurately, and therefore the construction accuracy can be improved.

[Brief description of drawings]

FIG. 1 is a block diagram showing a schematic configuration of a control device for controlling a position / attitude of a shield machine according to a first embodiment of the present invention.

FIG. 2 is a flow chart showing a position / orientation control method for the shield machine in the first embodiment.

FIG. 3 is a plan view showing a schematic overall configuration of a shield machine according to the first embodiment.

FIG. 4 is a block diagram showing a schematic configuration of a control device for controlling the position / attitude of a shield machine in the second embodiment of the present invention.

FIG. 5 is a flow chart showing a position / orientation control method of the shield machine in the second embodiment.

[Explanation of symbols]

 1 Shield main body 2 Front body 3 Rear body 4 Bending jack 5 Propulsion jack 6 Segment 7 Control device 8 Drive part 9 Detector 11 Setting part 12 Comparison part 13 Arithmetic control part

Claims (2)

[Claims] 1. A method of controlling the position and posture of a center-breaking shield machine having a folding jack for adjusting the center bending angle of a shield body in which a front body and a rear body are foldably connected to each other. Position of the front body and rear body with respect to the construction plan line to be excavated, and the bending angle between the front body and the rear body is detected, and the shield body is constructed based on these detection data. A position / posture automatic control method for a center-breaking shield machine, characterized in that thrust is generated in the bending jack along a planned line. 2. A method for controlling the position and attitude of a center-breaking shield machine having a folding jack for adjusting the center bending angle of a shield body in which a front body and a rear body are foldably connected to each other. Position of the front body and rear body with respect to the construction plan line to be excavated, and the bending angle between the front body and the rear body is detected, and the shield body is constructed based on these detection data. A position / posture automatic control method for a center-breakable shield machine, characterized in that thrust is generated in the bending jack and the propulsion jack along a planned line.