JPH10169364A - Posture control method of box shield machine - Google Patents

Abstract

PROBLEM TO BE SOLVED: To control a posture with high reliability during the propulsion of a box shield machine without additionally providing a special mechanism for changing the posture. SOLUTION: A posture is controlled during the propulsion of the box shield machine 10 with an approximately rectangular sectional shield machine body 14 and left-right drum cutters 50, 51 driven by independent drive mechanisms 22 in the posture control method of the box shield machine. In the posture control method, the posture of the box shield machine 10 is detected by a posture detecting means installed to the shield machine body 14, and the posture of the box shield machine 10 is controlled by utilizing ground reaction by independently controlling the revolution of the left-right drum cutters 50, 51 on the basis of a posture displacement between the detected attitude and a predetermined posture.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an attitude control method for a box shield machine, and more particularly to an attitude control technique by controlling a cutter thereof.

[0002]

Related Art and Problems to be Solved Since shield excavation is performed underground and retreat of the shield excavator is not possible, it is very difficult to correct the excavation position once excavated. Therefore, in shield excavation, it is particularly important to accurately advance the shield machine along the planning line.

[0003] However, the ground underground where excavation is performed often has uneven geology or changes in geology, and the excavation conditions are various and rarely the same. . Therefore, in order to excavate along the planning line, even if excavation is started at a predetermined position and in a predetermined posture, it is often necessary to make adjustments thereafter.

[0004] For this reason, the direction control during the excavation of the shield excavator has conventionally generally relied on manual control by a skilled operator. However, such control relying on humans has many uncertainties, and sometimes has a problem in its reliability.

[0005] In particular, in a rectangular shield machine, accurate attitude control is very important because the deviation of the attitude of the shield machine easily affects the shape of the shield tunnel to be excavated.

Therefore, in recent years, technology has been developed for performing highly reliable shield excavation regardless of geological conditions by automatically controlling the position and attitude of the shield excavator. However, such control often requires a special mechanism to change the position and attitude of the shield machine.

SUMMARY OF THE INVENTION The present invention has been made in view of the above problems, and has as its object to enable highly reliable automatic control of the attitude of a box shield machine during excavation. An object of the present invention is to provide a box shield machine attitude control method that does not require a special mechanism to change the position.

[0008]

In order to achieve the above object, a method for controlling the attitude of a box shield machine according to the first aspect of the present invention comprises a shield machine body having a substantially rectangular cross section and a tunnel to be excavated. Rotate around a substantially orthogonal axis,
A posture control method during excavation of a box shield machine, comprising: a left and right drum cutter driven by independent driving mechanisms; and a posture detection unit provided on the shield machine main body, wherein the posture detection unit performs the A posture detecting step of detecting the posture of the box shield machine, a posture deviation calculating step of calculating a posture deviation between the posture detected in the posture detecting step and a planned posture, and the posture deviation calculating step. Based on the posture shift,
A posture control step of controlling the posture of the box shield machine using a ground reaction force by independently controlling the rotation of the left and right drum cutters.

According to the first aspect of the present invention, the left and right drum cutters having independent drive mechanisms are independently controlled based on the difference between the detected attitude of the box shield machine and the expected attitude. By doing so, highly reliable control of the attitude of the box shield machine during excavation can be performed using the ground reaction force against the rotation.

Further, since the left and right drum cutters having independent driving mechanisms usually provided in the box shield machine are independently controlled to control the attitude of the box shield machine, a special mechanism for changing the attitude is used. The attitude control of the box shield machine can be performed without adding a mechanism.

According to a second aspect of the present invention, there is provided a box shield machine attitude control method according to the first aspect, wherein in the attitude control step, the left and right drum cutters are provided. By controlling the rotation in different rotation directions, rolling control using the ground reaction force is performed.

According to the second aspect of the invention, by controlling the left and right drum cutters of the box shield machine in different rotation directions, the rolling control of the box shield machine utilizing the ground reaction force is changed in the rolling posture. Can be performed without specially adding a mechanism for performing the above.

According to a third aspect of the present invention, in the attitude control method for a box shield machine according to the first aspect of the present invention, in the attitude control step, the left and right drum cutters The rolling control using the ground reaction force is performed by controlling the rotation to a different number of rotations.

According to the third aspect of the invention, by controlling the rotation of the left and right drum cutters of the box shield machine to different rotation speeds, the rolling control utilizing the ground reaction force can be performed, so that the rolling posture is changed. Therefore, it is not necessary to add a special mechanism.

According to a fourth aspect of the present invention, in the attitude control method for a box shield machine according to the first aspect of the present invention, in the attitude control step, the left and right drum cutters By controlling the rotation in the same rotation direction, pitching control using the ground reaction force is performed.

According to the fourth aspect of the invention, by controlling the left and right drum cutters of the box shield machine in the same rotation direction, pitching control of the box shield machine utilizing the ground reaction force can be performed. There is no need to add a special mechanism to change the pitching posture.

According to a fifth aspect of the present invention, in the attitude control method for a box shield machine according to any one of the first to fourth aspects of the present invention, the box shield machine comprises: The left and right drum cutters are formed by connecting a plurality of the left and right drum cutters in a width direction or a height direction, and the left and right drum cutters are located on the left side from the center position of the entire plurality of drum cutters of the connection box shield machine. Is the left drum cutter group, and the right drum cutter group is located on the right side from the center position.
The drum cutters constituting each of the left and right drum cutter groups are controlled integrally for each group.

According to the fifth aspect of the present invention, each of the drum cutter groups of the connected box shield machine in which a plurality of box shield machines are connected in the width direction or the height direction, in which the entirety of the plurality of drum cutters are divided into left and right, The attitude of the connected box shield machine can be controlled by independently driving and controlling as a group of independent drum cutters independent of each other.

According to a sixth aspect of the present invention, in the attitude control method of the box shield machine according to the first aspect of the present invention, in the attitude control step, the left and right drum cutters A plurality of control patterns of the rotation direction and the rotation speed are prepared in advance, and one of the control patterns is appropriately selected and controlled.

According to the sixth aspect of the invention, the left and right drum cutters of the shield machine are controlled using a plurality of control patterns prepared for the rotation direction and the rotation speed of the drum cutter of the box shield machine. Thereby, since the attitude of the shield machine is controlled, the amount of calculation for controlling them can be reduced, and the control of the rotation direction and the rotation speed of the drum cutter can be simplified.

[0021]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Preferred embodiments of the present invention will be described below more specifically with reference to the drawings.

This embodiment relates to an attitude control method during excavation of a box shield machine shown in a sectional view in FIG. 1 and a front view in FIG. The present embodiment also relates to an attitude control method by controlling a cutter of a connected box shield machine in which the box shield machines are connected vertically or horizontally.

Hereinafter, the present embodiment is described as a box shield machine,
The description will be made separately for each item of the attitude control of the box shield machine and the attitude control of the connected box shield machine.

<Box Shield Machine> As shown in a front view in FIG. 2, the box shield machine 10 has a rectangular shape substantially the same as a rectangular segment 60 (see FIG. 1) constituting a lining of a tunnel having a rectangular cross section. And is installed on the tip side of the segment 60. As shown in a sectional view in FIG. 1, the shield machine main body 14 and a cutter 46 disposed in front of the shield machine main body 14 are provided. Is done.

The box shield machine 10 uses the constructed segment 60 as a reaction force receiver, and
The front ground is excavated by the cutter 46 under the pressing force of the shield jack 18 provided at 4 to form a tunnel.

The cutter 46 according to the present embodiment has two cutter units 47 provided in two upper and lower stages. Each of the cutter units 47 includes the left and right drum cutters 5.
0 and 51, and two ring cutters 54 arranged vertically above and below between the left and right drum cutters 50 and 51.

The left and right drum cutters 50 and 51 are driven by two motors 22 arranged in the shield machine main body 14, as shown in a plan view in FIG.
A substantially horizontal axis (not shown), each of which is independently driven, and substantially orthogonal to the axis of the tunnel to be excavated
Rotate around. The ring cutter 54 is also driven by the motor 22 via the gear 26.

This box shield machine 10 performs excavation using a muddy water shield construction method.
A sludge pipe 28 and a sludge pipe 30 extending rearward from 4 are provided. Further, a partition wall 38 is provided between the shield machine body 14 and the cutter 46, and a hood is protruded from the tip of the shield machine body 14 to form a shield chamber 42, and the inside of the shield chamber 42 is filled with muddy water. I try to press. The muddy water and the earth and sand in the shield chamber 42 are stirred by the agitator 43, the state of the fluid therein is maintained, and the earth and sand can be carried out to the ground by the exhaust pipe 30.

A motor 33 is provided at the rear of the shield machine body 14.
The erecta 32 driven by the motor is arranged. The erector 32 is used to assemble the segment pieces 62 having a rectangular cross section by joining the segment pieces 62, and the lining of the excavated tunnel is formed by sequentially connecting the segments 60.

As shown in the block diagram of FIG. 4, a gyro 34, a water level gauge 35, a rolling gauge 36, and the like as attitude detecting means are attached to the shield machine body 14, and these are connected to a computer system 66. Have been.

The shield machine body 14 of this embodiment is
The front body part 15 and the rear body part 16 are divided, and a slight bending is possible by the control of the center folding jack 19. Thereby, the curved construction of the shield tunnel can be performed.

<Attitude Control of Box Shield Machine> FIG. 4 is a block diagram showing an outline of a control system of the box shield machine 10, and FIG. 5 is a flowchart showing an outline of attitude control of the box shield machine 10. . Attitude control during excavation of the box shield machine 10 of the present embodiment is performed as follows.

When the excavation of the box shield machine 10 is started (FIG. 5, S1), the box is detected by a gyro 34, a water level gauge 35, a rolling gauge 36, etc., which are attitude detecting means attached to the shield machine body 14. The attitude of the shield machine 10 is detected (FIG. 5, S2). The detection information is sent to a computer system 66 that is wired or wirelessly connected to the attitude detection means via an interface (not shown). The computer system 66 is provided on the shield machine body 14 or outside, and an operation panel 68 is connected.

The detected posture is compared with the planned posture of the box shield machine 10 by the computer system 66, and the posture deviation of the detected posture from the planned posture is calculated (S3 in FIG. 5). ), It is determined whether or not it is within a predetermined appropriate range (FIG. 5).
-S4).

When this posture shift is within an appropriate range,
The computer system 66 controls the rotation of the left and right drum cutters 50 and 51 under the predetermined conditions.

If this posture deviation is not within the proper range,
The computer system 66 controls the rotation of the left and right drum cutters 50 and 51 so as to eliminate the attitude shift (S5 in FIG. 5).

A series of attitude control as described above is repeatedly performed until the excavation ends (S6 in FIG. 5).

Hereinafter, a specific method of controlling the rotation of the left and right drum cutters 50 and 51 for controlling the attitude of the box shield machine 10 will be described for the case of rolling control and pitching control. In the following, since the upper and lower cutter units 47 are controlled in conjunction with each other, the left drum cutter 50 is connected to the upper and lower cutter units 4.
7, 47 means the left drum cutters 50, 50, and the right drum cutter 51 means the right drum cutters 51, 51 of the upper and lower cutter units 47, 47.

FIGS. 6A and 6B show an example in which the attitude of the box shield machine 10 during excavation is controlled by rolling. FIGS. 6A and 6B are schematic front views of the box shield machine 10 as viewed from the front end side where the cutter is provided. As shown in these figures, by controlling the rotation of the left and right drum cutters 50 and 51 in different rotation directions, it is possible to perform the rolling control using the ground reaction force.

That is, as shown in FIG. 6A, by rotating the left drum cutter 50 upward and the right drum cutter 51 downward at substantially the same speed as viewed from the front, the box Shield machine 10
Receives the downward ground reaction force via the left drum cutter 50 and applies the upward ground reaction force substantially equal to the right ground drum unless the hardness of the ground contacting the left and right drum cutters 50 and 51 is largely different. Received via cutter 51. As a result, the box shield machine 10 rolls counterclockwise when viewed from the front side (cutter side), as indicated by arrows outside the box shield machine 10 depicted in FIG. Therefore, when the box shield machine is rolling clockwise, the rolling correction can be performed by performing such control.

In the case shown in FIG. 6B, the reverse of the above is performed.
By rotating the left drum cutter 50 downward when viewed from the front and rotating the right drum cutter 51 upward at approximately the same speed, the box shield machine is configured to rotate the upper ground through the left drum cutter 50. As long as the hardness of the ground where the left and right drum cutters 50 and 51 come into contact with each other is not significantly different, a downward ground reaction force of substantially the same magnitude is received through the right drum cutter 51 as the reaction. As a result, the box shield machine 10 rolls clockwise as viewed from the front, as indicated by arrows outside the box shield machine 10 depicted in FIG. 6B.
Therefore, when the box shield machine is rolling counterclockwise, the rolling correction can be performed by performing such control.

FIGS. 7A and 7B show an example of rolling control using the ground reaction force of the attitude of the box shield machine 10. FIG. FIGS. 7A and 7B are schematic front views of the box shield machine 10 as viewed from the cutter side, that is, the tip side. These figures schematically show how the rotation of the left and right drum cutters 50 and 51 is controlled to different speeds.

That is, in FIG. 7A, both the left and right drum cutters 50 and 51 of the box shield machine 10 are rotated upward when viewed from the front side (cutter side) of the box shield machine 10. A case where the rotation of the left drum cutter 50 is faster than the rotation of the right drum cutter 51 is shown. Therefore, unless the ground where the right drum cutter 51 contacts is much harder than the ground where the left drum cutter contacts, the ground reaction force that the box shield machine 10 receives via the left drum cutter 50 is It is larger than the ground reaction force received via the right drum cutter 51. As a result, the box shield machine 10 is relatively counterclockwise rotated around its long axis, and rolls in that direction. Therefore, when the box shield machine is rolling clockwise, the rolling correction can be performed by performing such control.

FIG. 7B shows a case where the rotation direction of the drum cutters 50 and 51 is the same as that described above, but the rotation direction is reversed in the left and right directions to reverse the rolling direction. Is shown. That is, the case where both the left and right drum cutters 50 and 51 of the box shield machine 10 are rotated upward when viewed from the front side (the cutter side), and the right drum cutter 51 is rotated faster than the left drum cutter 50. Is shown. Therefore, unless the ground where the left drum cutter 50 contacts is much harder than the ground where the right drum cutter contacts, the ground reaction force that the box shield machine 10 receives via the right drum cutter 51 is the left reaction force. Is larger than the ground reaction force received via the drum cutter 50. As a result, the box shield machine 10 includes:
A clockwise rotational force acts relatively around the long axis, and rolling is performed in that direction. Therefore, when the box shield machine is rolling counterclockwise, the rolling correction can be performed by performing such control.

When pitching control is performed on the box shield machine 10 during excavation using the ground reaction force, FIGS. 8A and 8B are schematic side views showing the vicinity of the cutter 46 of the box shield machine 10. Perform as in

For example, FIG. 8A shows the box shield machine 10 in an upward direction when viewed from the front side (cutter side).
The example which rotates all the drum cutters 50 and 51 is shown. In this case, the box shield machine 10 receives a downward reaction force from the ground via all the drum cutters 50 and 51. Therefore, the box shield machine 10 is pitched so that the front side (the side of the cutter 46) is pulled down. That is, the drum cutter 50,
By controlling 51 in this way, pitching control can be performed such that the front of the box shield machine 10 is lowered. Therefore, when the box shield machine is pitching upward, pitching correction can be performed by performing such control.

FIG. 8B shows a case where pitching control in the opposite direction is performed. In this case, the box shield machine 10 is directed downward when viewed from the front side,
The example which rotates all the drum cutters 50 and 51 is shown. In this case, the box shield machine 10 receives an upward reaction force from the ground via all the drum cutters 50 and 51. Therefore, the box shield machine is pitched so that the front side (cutter side) is raised. That is, by controlling the drum cutters 50 and 51 in this manner, the box shield machine 10 is controlled.
Pitching control can be performed so that the front of the vehicle rises. Therefore, when the box shield machine is pitching downward, pitching can be corrected by performing such control.

In the above-described example in which the rolling control is shown with reference to FIGS. 6A and 6B, since the left and right drum cutters 50 and 51 have opposite rotation directions and the same speed, the box shield is not used. The machine 10 was shown to roll by receiving ground reaction forces of equal magnitude with opposite directions in the left and right directions. That is, in this case, the left and right drum cutters 50,
Since the ground reaction force received by 51 is equal in magnitude and opposite in direction, the box shield machine 10 only rolls,
There is no pitching. However, when the speeds are different even when the rotation directions of the left and right drum cutters 50 and 51 are opposite, the ground reaction forces received by the left and right drum cutters 50 and 51 are opposite but different in magnitude. The machine 10 will not only roll but also pitch. The direction of the pitching is opposite to the rotation direction of the faster rotating side of the left and right drum cutters 50 and 51. Therefore, such a control pattern of the drum cutters 50 and 51 can be used when it is desired to control rolling and pitching simultaneously.

In the above-described example in which the rolling control is described with reference to FIGS. 7A and 7B, since the rotation directions of the left and right drum cutters 50 and 51 are the same but the speeds are different, rolling occurs. 7A and 7B, since all the drum cutters 50 and 51 are rotating in the same direction, a pitching component is also generated. That is, the control patterns of the drum cutters 50 and 51 shown in FIGS. 7A and 7B can also be used when it is desired to simultaneously control both rolling and pitching.

The box shield machine 1 of this embodiment described above.
According to the control method of No. 0, the left and right drum cutters 50, 51 having independent drive mechanisms are based on the difference between the detected attitude of the box shield machine 10 and the expected attitude.
Of the box shield machine 10 can be controlled with high reliability.

The left and right drum cutters 5 provided with independent drive mechanisms usually provided in the box shield machine 10 are provided.
By independently controlling 0 and 51, the attitude control of the box shield machine 10 is performed, so that the attitude control of the box shield machine 10 can be performed without adding a special mechanism for changing the attitude. .

The left and right drum cutters 50, 51
The above-described control patterns of the rotation direction and the rotation speed of the computer may be stored in a computer system in advance. The posture control of the box shield machine 10 can also be performed by sequentially selecting and executing the most appropriate one of such control patterns. According to such a method, the calculation amount of the computer system 66 can be reduced, and the control of the rotation direction and the rotation speed of the drum cutters 50 and 51 can be simplified.

<Position Control of Connected Box Shield Machine> The box shield machine 10 of the present embodiment can be used by being connected in the width direction or the height direction. FIGS. 9A and 9B are front views schematically showing such an example, and FIG. 9A shows three box shield machines 1 in the width direction.
FIG. 9B shows an example of a connected box shield machine 70 in which the cutter 46 and the front body 15 of the three box shield machines 10 are connected in the height direction. The example of the connection box shield machine 71 is shown. In these drawings, each arrow corresponds to each of the drum cutters 50 and 51, and indicates the rotation direction when each of the drum cutters 50 and 51 is viewed from the front side (cutter side) of the connection box shield machine 70. Also in the case of such a connection box shield machine 70, 71, the left and right drum cutter groups 74, 75 are used as the drum cutters 50, 51 as the left and right drum cutter groups 74, 75.
Independently controlling the position control 5 and the position control such as rolling and pitching as in the above embodiment.

For example, FIG. 9A shows a connected box shield machine 70 in which the cutters 46 of the three box shield machines 10 and the front body 15 are connected in the width direction, and the cutter 46 of the box shield machine 10 at the left end. All drum cutters 5
0, 51 and the cutter 46 of the central box shield machine 10
The left drum cutter 50 constitutes a left drum cutter group 74, and the respective drum cutters 50 and 51 are rotated upward when viewed from the front of the connection box shield machine 70,
The drum cutters 50 and 51 of the rightmost box shield machine 10 and the right drum cutter 51 of the center box shield machine 10 as a right drum cutter group 75, and each of the drum cutters 50 and 51 are connected to a connected box shield machine 70.
Is rotated upward when viewed from the front. As a result, the connection box shield machine 70 performs counterclockwise rolling when viewed from the front side. Therefore,
By performing such control when the connection box shield machine 70 is rolling clockwise, the rolling correction of the connection box shield machine 70 can be performed.

Similarly, if each drum cutter group is rotated in the opposite direction to the case of FIG. 9A, the connected box shield machine performs clockwise rolling when viewed from the front side. This control can be used for rolling correction when the connected box shield machine 70 is rolling counterclockwise.

As described above, each of the drum cutter groups 74 and 75
Independently controlling the rotation of the box shield machine 10, it is possible to perform the rolling control of the connected box shield machine 70 in which the box shield machines 10 are horizontally connected.

Further, similarly to the above-described embodiment, the rolling control of the connection box shield machine 70 is performed by rotating the respective drum cutter groups 74 and 75 in the same direction at different speeds. Pitching control can also be performed by rotating 75 in the same direction.

FIG. 9B shows a connected box shield machine 71 in which three cutters 46 and three front body parts 15 of the box shield machine 10 are connected in the height direction thereof. The left drum cutter 50 constitutes a left drum cutter group 74, and the right drum cutter group 51 of the cutter 46 of each box shield machine 10 constitutes a right drum cutter group 75. Also in this case, similarly to the above, by independently controlling the left and right drum cutter groups 74 and 75, the attitude control of the rolling and pitching of the connection box shield machine 71 can be performed.

As described above, also in the connection box shield machines 70 and 71, the left and right drum cutter groups 74 and 7 are used.
By controlling the rotation of the left and right independently of each other, the attitude of the connection box shield machines 70 and 71 can be controlled. In this embodiment, the example of the connected box shield machines 70 and 71 in which three cutters 46 and the front body 15 of the box shield machine 10 are connected in the width direction or the height direction is shown. Even if the arrangement of the drum cutters is different, if the left and right drum cutter groups 74 and 75 can be configured and the respective drum cutter groups 74 and 75 can be controlled independently, it is needless to say that the attitude control can be similarly performed. No.

The embodiments of the present invention have been described above. However, the present invention is not limited to the above-described embodiments, and various kinds of embodiments can be made within the scope of the present invention or the equivalent scope of the claims. Modifications are possible.

For example, in each of the embodiments described above, the box shield machine has two upper and lower cutter units. However, if the left and right drum cutters can be controlled independently, the box shield machine is provided with one cutter unit. May be provided, or three or more cutter units stacked one above the other.

In each of the above embodiments, the box shield machine has a ring cutter between the left and right drum cutters. However, the box shield machine is not necessarily provided with the right and left drum cutters. It is not necessary to have

Further, in each of the above-mentioned embodiments, the example in which the left and right drum cutters rotate around a substantially horizontal axis substantially orthogonal to the axis of the tunnel to be excavated has been described. However, the rotation axis of the drum cutter does not necessarily have to be substantially horizontal, and may be, for example, a substantially vertical axis.

In each of the above-described embodiments of the connected box shield machine, the connected box shield machine in which the cutter and the front body of the box shield machine are connected in three directions in the height direction or the width direction is shown. A connected box shield machine in which the cutter and the front body are connected two in the height direction or the width direction may be used, or a connected box shield machine having four or more connections may be used.

[0065]

[Brief description of the drawings]

FIG. 1 is a longitudinal sectional view showing a box shield machine of an embodiment.

FIG. 2 is a front view of the box shield machine of the embodiment.

FIG. 3 is a plan view showing a drive mechanism of the box shield machine of the embodiment.

FIG. 4 is a block diagram illustrating a control system of the box shield machine of the embodiment.

FIG. 5 is a flowchart of attitude control of the box shield machine of the embodiment.

FIGS. 6A and 6B are schematic front views showing the rotation direction of a drum cutter of a box shield machine in rolling control.

FIGS. 7A and 7B are schematic front views showing a rotation direction and a rotation speed of a drum cutter of a box shield machine in rolling control.

FIGS. 8A and 8B are schematic side views showing the rotation direction of a drum cutter of a box shield machine in pitching control.

FIGS. 9A and 9B are schematic front views showing the rotation direction of the drum cutter of the box shield machine in the rolling control of the connected box shield machine.

[Explanation of symbols]

10 Box shield machine 14 Shield machine main body 50, 51 Drum cutter 22, 26 Motor, gear (drive mechanism) 34, 35, 36 Gyro, water level meter, rolling meter (posture detecting means) 70, 71 Connected box shield machine 74, 75 Drum cutter group

 ──────────────────────────────────────────────────続 き Continued on the front page (72) Inventor Jun Takahashi 1-7-1 Kyobashi, Chuo-ku, Tokyo Toda Construction Corporation (72) Inventor Toshihiro Okumura 1-7-1 Kyobashi, Chuo-ku, Tokyo Toda (72) Inventor Mitsuru Shinohara 1-7-1, Kyobashi, Chuo-ku, Tokyo Toda-ken Incorporated (72) Inventor Riichi Okayama 1-7-1, Kyobashi, Chuo-ku, Tokyo Toda (72) Inventor Akira Usami 1-7-1 Kyobashi, Chuo-ku, Tokyo Toda Takeshi Incorporated (72) Inventor Takeshi Yagura 1-7-1 Kyobashi, Chuo-ku, Tokyo Toda Takeshi In company

Claims (6)

[Claims] 1. A shield machine body having a substantially rectangular cross section, left and right drum cutters rotating around an axis substantially orthogonal to a tunnel to be excavated, and driven by independent drive mechanisms. A posture control method during excavation of the box shield machine, comprising: a posture detection step of detecting the posture of the box shield machine by the posture detection means; A posture deviation calculating step of calculating a posture deviation between the determined posture and a planned posture, and independently controlling the rotation of the left and right drum cutters based on the posture deviation calculated in the posture deviation calculating step. And a posture control step of controlling the posture of the box shield machine using a ground reaction force. Attitude control method of Rudo machine. 2. The box according to claim 1, wherein in the attitude control step, rolling control using a ground reaction force is performed by controlling rotation of the left and right drum cutters in different rotation directions. Attitude control method for shield machine. 3. The box according to claim 1, wherein, in the attitude control step, the rotation of the left and right drum cutters is controlled to different rotation speeds to perform a rolling control using a ground reaction force. Attitude control method for shield machine. 4. The box according to claim 1, wherein in the attitude control step, pitching control using a ground reaction force is performed by controlling rotation of the left and right drum cutters in the same rotation direction. Attitude control method for shield machine. 5. The box shield machine according to claim 1, wherein the box shield machine comprises a connection box shield machine in which a plurality of the left and right drum cutters are connected in a width direction or a height direction. The cutter is a left drum cutter group that is located on the left side from the center position of the plurality of drum cutters of the connected box shield machine, and a right drum cutter group is located on the right side from the center position. A posture control method for a box shield machine, comprising: a drum cutter group; and a drum cutter constituting each group of the left and right drum cutter groups being integrally controlled for each group. 6. The control method according to claim 1, wherein in the attitude control step, a plurality of control patterns of the rotation direction and the rotation speed of the left and right drum cutters are prepared in advance, and one of the control patterns is appropriately selected and controlled. A box shield machine attitude control method.