JPH076347B2 - Method and apparatus for detecting relative position of shield machine - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION [Industrial field of application] The present invention relates to a shield construction method of excavating from both ends of a tunnel to be constructed by shield excavators, and docking shield excavators facing each other in the middle of the tunnel. The present invention relates to a method and apparatus for detecting the relative position of a shield machine.

[Prior Art] As is well known, a shield machine has a cylindrical shield that prevents the collapse of the soil wall, a cutter disk that cuts the ground (cutting face) at the front end of this shield, and a rear of the cutter disk. It is located and is composed mainly of a bulkhead that prevents the entry of soil and water into the shield, and a shield jack that advances the shield as the excavation work progresses.

By the way, when docking the shield machines facing each other as described above, it is necessary to reduce the allowable positional deviation of both machines, for example, 50 mm or less. In order to keep the position deviation of both trench excavators within this allowable range, when the distance between both shield excavators reaches a certain distance (for example, 30 m) that can correct the direction, the relative position of the shield excavators Need to detect.

Conventionally, in order to detect the relative position of the shield machine, there is a method of detecting the actual position of the shield machine by digging check boring holes from the ground at predetermined intervals, and this method is available. It takes time and effort to excavate the check boring hole, and cannot be applied to tunnel excavation work under the surface of the water or under the structure.

Therefore, as a method for detecting the relative position of the shield machine without excavating the check boring hole, Japanese Patent Laid-Open No. 63-22996 has been proposed.
The method described in the issue is proposed. This method extends a boring pipe from one shield machine, penetrates a receiving part having a water blocking function provided in the bulkhead of the other shield machine, and irradiates laser light into the boring pipe. The relative position of the shield machine is detected by measuring the positional relationship between the shield machine and the reference line of both machines.

[Problems to be Solved by the Invention] However, in the method disclosed in the above publication, a boring pipe extended from one shield machine is penetrated into a slit of a cutter disk of the other shield machine. Or, in other words, nothing is disclosed about how to detect the position of the slit. Further, since the boring pipe is penetrated through the bulkhead, a receiving portion having a water blocking function is provided, which causes a problem that the structure becomes complicated.

The present invention has been made in view of the above-mentioned points, and the relative position of the shield excavator facing each other relatively far (a position-correctable distance) before docking is checked without excavating a check boring hole or the like from the ground. Can also be accurately detected, and unlike the method described in the above publication, it is not necessary to penetrate the bulkhead of one shield machine with a boring pipe or the like, and a receiving part with a water-stop treatment or a water-stop function is provided. It is an object of the present invention to provide an unnecessary relative position detecting method for shield machine and its device.

[Means for Solving the Problems] In order to achieve the above-mentioned object, the relative position detecting method of the present invention includes a first shield machine and a second shield machine that are opposed to each other with a certain distance. While boring through the ground, project the boring pipe a certain length,
The tip of the measuring pipe inserted into the boring pipe from the first shield machine is inserted into the recess provided in the bulkhead through the slit of the cutter disk of the second shield machine, and the measurement is performed. Rotate the pipe appropriately and measure the displacement of the tip of the measuring pipe with respect to the reference position in the recess (usually the center position of the recess) with the length measurement sensor at the tip, and measure the tip position of the measuring pipe. By measuring with a measuring device, the relative positions of both shield machines are detected.

Further, the detection device of the present invention for carrying out the above method,
a) A boring pipe which is pierced through the bulkhead and the slit of the cutter disk of the first shield machine and is arranged so as to be excavable toward the second shield machine facing each other with a certain distance. A measuring pipe rotatably insertable into the boring pipe, c) a length measuring sensor and a slit position detecting sensor provided at the tip of the measuring pipe, and d) a point provided at the tip of the measuring pipe. A measuring device for measuring the tip position of the measuring pipe, which comprises a light source and an optical measuring device provided on the proximal end side of the measuring pipe in the first shield machine, and e) at a proper position of the bulkhead of the other shield machine. And a rectangular recess that is formed.

Further, as described in claim 3, it is desirable to use an ultrasonic sensor (transceiver) for each of the length measurement sensor and the slit position detection sensor.

[Operation] According to the detection method and apparatus of the present invention having the above-described configuration, the boring pipe that extends in the ground from one (first) shield machine to the other (second) shield machine. With the front surface of the cutter disk of the second excavator reaching the tip of the
The measuring pipe is inserted from the machine side. Since a sensor that can detect the slit position of the cutter disc is provided at the tip of this measuring pipe, rotate the cutter disc slowly and stop the cutter disc when the slit position is detected. Insert the tip through the slit of the cutter disk. Further, the tip of the measuring pipe is inserted into the recess of the bulkhead, and the displacement of the tip of the measuring pipe with respect to the reference point in the recess (that is, the reference point of the second excavator) is detected by the length measuring sensor. , Find the tip position of the measuring tube with a measuring device. As a result, the relative position of the machine is detected.

As described above, since the measuring pipe in the method and apparatus of the present invention does not need to penetrate the bulkhead on the second excavator side, a watertight treatment for preventing infiltration of muddy water into the excavator and a mechanism therefor. Is completely unnecessary. Further, according to the device of the present invention, since the slit position detection sensor is provided at the tip of the measuring pipe together with the length measuring sensor, the detection of the slit position and the displacement of the tip of the measuring pipe with respect to the reference point of the recess are detected. This can be done with a single measuring tube, improving work efficiency.

Particularly when the ultrasonic sensors are used for the length measuring sensor and the slit position detecting sensor as described in claim 3, the size can be easily reduced, so that the measuring pipe can be easily incorporated in the tip portion of the measuring pipe having a relatively small diameter.

[Embodiment] An embodiment of the present invention will be described below with reference to the drawings.

(A)-(e) of FIG. 1 is a schematic diagram showing the procedure of the relative position detection method of the shield machine.

In the figure, an opening provided in advance in the bulkhead 2 of the shield machine 1 on one side (left side of the figure, hereinafter referred to as the first)
The lid 2 is opened to remove the lid 2a, the boring pipe 20 is penetrated through the opening 2a, and the slit 2a of the cutter disk 3 at the front is projected to the ground. Then, by using a boring machine (not shown) installed in the first excavator 1, the boring pipe 20 is gradually projected forward while horizontally boring, and when a predetermined length (for example, 30 m) is reached, boring is performed. The work is stopped ((a) in the figure).

A measuring pipe 25, which will be described later, is first provided in the boring pipe 20.
It is inserted from inside the excavator 1 and extended until the tip of the measuring pipe 25 comes to a position slightly retracted from the tip of the boring pipe 20. In this state, it waits until the other shield machine 10 (on the right side of the drawing, hereinafter referred to as the second) facing the first machine 1 approaches (approx. 2B).

The second excavator 10 gradually advances to the left side of the figure, and the second excavator
When the cutter disk 13 of 10 reaches near the tip of the boring pipe 20, the excavation of the second excavator 10 is stopped ((c) of the same figure). The approach of the second boring machine 10 to the tip of the boring pipe 20 is usually detected based on data measured by a gyro or other measuring device (not shown) mounted on the second boring machine 10. Further, in this state, the sediment in the boring pipe 20 existing around the ultrasonic sensor 30 on the tip end surface of the measuring pipe 25 is pressurized water discharged from a pipe (not shown) arranged in the pipe 20. After removing while purging, it is confirmed by rotating the cutter disk 13 that the ultrasonic sensor 30 functions sufficiently.
When the ultrasonic sensor 30 functions normally, the ultrasonic reception signal surely changes between the slit 13a of the cutter disk 13 and the other portion (the cutter face plate) (FIGS. 5 and 6). reference).

The cutter disk 13 is intermittently rotated while detecting the received signal by the ultrasonic sensor 30, and the position of the slit 13a is detected. When the slit 13a is located at the tip of the boring pipe 20 as shown by the alternate long and short dash line in FIG. 5, the reception signal of the ultrasonic sensor 30 is in the state shown in FIG. Can be detected. In this way, the position of the slit 13a is detected, the rotation of the cutter disk 13 is stopped, and the cutter disk 13 is fixed ((d) in the figure).

Again, pressurized water is jetted from the tip of the boring pipe 20 or the pipe installed in the bulkhead 2 in advance, and the bulkhead 12
The earth and sand adhering to the wall surface of a rectangular recess 15 described later, which is provided in, is removed. Then, the measuring tube 25 is extended and its tip is inserted into the recess 15. In this state, the measuring tube
25 is rotated, and the other ultrasonic sensor 35 provided on the outer peripheral surface of the tip of the measuring tube 25 is used to measure the distance between the four rectangular wall surfaces in the recess 15 and the tip of the measuring tube 25 as shown in FIG. taking measurement. Also,
Irradiation light from a point light source (light emitter) 40 such as an LED or a laser oscillator arranged at the tip of the measuring tube 25 is collimated to the collimation telescope 50a.
The position of the tip of the measuring tube 25 is detected by an optical measuring device 50 in which a CCD camera 50b is connected to. 50c is a CCD camera
50b display or viewfinder. Also,
A detection method using such an optical measuring device 50 is known. In this way, the relative position of the first machine 1 and the second machine 10 is determined from the displacement of the position of the tip of the measuring pipe 25 with respect to the reference point at the center of the rectangular coordinates of the recess 15 and the measurement result of the position of the measuring pipe 25. Can be detected ((e) in the figure).

Next, an embodiment of the detection device of the present invention for carrying out the above-described detection method will be described with reference to the drawings.

2 is a side sectional view showing a front end portion of the second excavator 10, FIG. 3 is a sectional view taken along the line III-III of FIG. 2, and FIG. 4 is an enlarged sectional view of the tip portion of the measuring pipe. is there.

As shown in FIG. 2, in the lower part of the bulkhead 12 of the second excavator 10, a recess 15 recessed inward (rearward) of the excavator 10 is formed. The recess 15 has a rectangular shape when viewed from the front as shown in FIG. In addition, in FIG. 3, the measuring tube
It is shown that the tip of 25 is at a position distant from the upper wall in the recess 15 by d1, the left side wall by d2, the lower wall by d3, and the right side by d4. As described above, the detection of the tip position of the measuring pipe 25 is performed using the ultrasonic sensor 35 mounted on the outer peripheral surface of the measuring pipe 25.

As shown in FIG. 4, ultrasonic sensors 30 and 35 equipped with ultrasonic wave transmitters / receivers are attached to the tip of the measuring tube 25, respectively. That is, the ultrasonic sensor 30 for detecting the position of the slit 13a of the cutter disk 13 is the measuring tube 2
It is embedded in the tip surface (head) of 5. This sensor 30
In addition to the ultrasonic sensor, a magnetic sensor or the like can be used as long as it can detect the slit 13a.
On the other hand, an ultrasonic sensor for detecting the position of the tip of the measuring pipe 25 with respect to the second machine 10 (reference position of the center of the recess 15)
The reference numeral 35 is embedded in the outer peripheral surface of the measuring pipe 25. This sensor
35 is a so-called length measuring sensor that can measure distance,
It is not particularly limited to the ultrasonic sensor.

Further, the vibrators 30a and 35a of the sensors 30 and 35 are covered with elastic bodies 30b and 35b such as polyurethane rubber which amplify the vibration and also serve as a waterproof mechanism.

Furthermore, a point light source 40 such as an LED or a laser oscillator is mounted on the central axis of the measuring tube 25. This point light source 40
However, as described above, the first line on the extension line of the central axis of the measuring pipe 25
It is measured by an optical measuring device 50 (Fig. 1 (e)) provided in the excavator 1, and the position of the tip of the measuring pipe 25 is detected by using the measuring device 50 in the first excavator 1 as a survey reference point. It

Since the ultrasonic sensor 30 and 35 are used in the detection device of the embodiment having the above-mentioned configuration and the size can be easily reduced, the two sensors 30 and 35 are provided at the tip of the measuring pipe 25 having an outer diameter of about 140 mm. Easy to incorporate. In addition, the measuring pipe 25 does not need to penetrate the bulkhead 12 of the second machine 10;
Since the position of the tip of the measuring pipe 25 with respect to the second machine 10 can be detected simply by inserting the tip into the recess 15 formed in the bulkhead 12 and rotating it appropriately, no water-stop treatment is required. Detection work is easy.

By the way, after detecting the relative positions of the first machine 1 and the second machine 10 as described above, the measuring pipe 25 inserted into the boring pipe 20 is pulled out, and the boring pipe 20 is also pulled out. Then, the opening 2a of the bulkhead 2 for inserting the boring pipe 20 is closed by a lid (not shown) or the like, and the first excavator 1 is stopped at the original position. On the other hand, the second excavator 10 starts the excavation work again by rotating the cutter disk 13, and based on the result of detecting the relative position with the first excavator 1, corrects the traveling direction if necessary. While continuing, the excavation work is continued and the first excavator 1 is docked. Thus, a series of tunnel excavation work is completed.

[Effects of the Invention] As is apparent from the above description, the relative position detecting method and the detecting device for a shield machine according to the present invention have the following effects.

(1) Since it is not necessary to penetrate the measurement pipe into the bulkhead of the other (second) shield machine, unlike the conventional detection method or detection device, the measurement pipe receiving part with the water stop treatment or the water stop function Is unnecessary, the detection work is simplified and the work time is shortened, and the structure of the apparatus itself (in particular, the second excavator side) is also simplified. Further, since the position of the tip of the measuring pipe with respect to the second machine and the position of the tip of the measuring tube with respect to the first machine are respectively detected to detect the relative position of the first and second machine, the detection accuracy is improved. It is suitable for docking tunnels under the seabed where it is difficult to measure the position of the excavator from the ground.

(2) According to the apparatus of claim 2 or 3, the detection of the slit position of the cutter disc and the detection of the position of the tip of the measuring pipe with respect to the second excavator (reference position in the recess) are performed by one measuring pipe. This makes the detection work easier.

(3) According to the apparatus of claim 3, since the ultrasonic sensor can be easily miniaturized, even if the outer diameter of the measuring pipe is reduced to some extent,
Two ultrasonic sensors can be easily incorporated in the tip.

[Brief description of drawings]

1 (a) to (e) are schematic diagrams showing the procedure of the relative position detecting method for a shield machine according to the present invention. FIG. 2 is a side sectional view showing the front end portion of the second excavator, and FIG.
A view taken along the line III-III in the figure and FIG. 4 are enlarged sectional views of the tip portion of the measuring tube. FIG. 5 is an enlarged front view of a part of the cutter disk. FIG. 6 shows the reception signal of the ultrasonic sensor. FIG. 6A shows the reception signal at the cutter face plate position, and FIG. 6B shows the reception signal at the slit position. 1, 10 ... Shield excavator, 2,12 ... Bulkhead,
3,13 …… Cutter disk, 3a, 13a …… Slit, 1
5 …… Recess, 20 …… Boring pipe, 25 …… Measuring pipe, 3
0, 35 ... Ultrasonic sensor, 40 ... Point light source (light emitter), 50
…… Optical measuring instrument.

 ─────────────────────────────────────────────────── ─── Continuation of the front page (72) Renovation by the inventor Kiyohide 3-1, 1-1 Higashikawasaki-cho, Chuo-ku, Kobe-shi, Hyogo Kawasaki Heavy Industries Ltd. Kobe factory (72) Sumihiro Ueda Kawasaki-cho, Akashi-shi, Hyogo 1-1 Kawasaki Heavy Industries Ltd., Akashi Plant (72) Inventor Kazutoshi Soga 3-1-1 Higashikawasaki-cho, Chuo-ku, Kobe City, Hyogo Prefecture Kawasaki Heavy Industries Ltd., Kobe Plant (56) Reference JP-A-63- 304894 (JP, A) JP-A-2-145910 (JP, A)

Claims (3)

[Claims] Claim: What is claimed is: 1. A boring pipe is projected from a first shield excavator to a second shield excavator that is opposed to the first shield excavator at a constant distance, and a boring pipe is protruded by a constant length while boring in the ground. The tip of the measuring pipe inserted from the machine into the boring pipe is inserted into the recess provided in the bulkhead through the slit of the cutter disk of the second shield machine, and the measuring pipe is rotated appropriately. By measuring the displacement of the tip of the measuring pipe with respect to the reference position in the recess by the length measuring sensor at the tip of the lever, and measuring the tip position of the measuring pipe by a measuring device, both shield machine A relative position detecting method for a shield machine, characterized by detecting the relative position of the shield machine. 2. A boring pipe which penetrates through a bulkhead and a slit of a cutter disk of the first shield machine and is arranged so as to be capable of boring toward a second shield machine facing each other with a certain distance. A measuring pipe rotatably inserted into the boring pipe, a length measuring sensor and a slit position detecting sensor arranged at a tip end of the measuring pipe, and a point light source arranged at a tip end inside the measuring pipe. A measuring device for measuring the tip position of the measuring pipe, which comprises an optical measuring device arranged on the base end side of the measuring pipe in the shield machine, and a bulkhead of the second shield machine. A relative position detecting device for a shield machine, comprising: a rectangular recess. 3. The relative position detecting device for a shield machine according to claim 2, wherein the length measuring sensor and the slit position detecting sensor are ultrasonic sensors.