JPS6145092A - Direction detector of shield drilling machine - Google Patents

Abstract

(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.

Description

DETAILED DESCRIPTION OF THE INVENTION Field of the Invention The present invention relates to a direction detection device for detecting the direction of excavation of a shield tunneling machine.

Conventional technology During tunnel excavation work, detecting the position and attitude of the shield tunneling machine and correcting the direction based on this information are essential and important tasks that cannot be tolerated. Among these, the management of the excavation alignment and its survey are the most important tasks. This is important item 1').

Conventionally, in the case of straight-line excavation, the general method for surveying the excavation alignment has been to install a transit in the shaft, determine a fixed point on or immediately after the shield excavator, and use the transit as a reference point.

In addition, in the case of curved construction or when it is impossible to measure with a single standard over a long distance, a method has been used in which surveying and fixed points are set up along the way and calculations are performed geometrically.

On the other hand, in contrast to the above method, there is a method of always knowing the position of the shield excavator by providing a laser beam oscillator in the shaft and irradiating a laser beam to a laser beam target provided on the shield excavator. Note that there are two types of laser beam targets: one in which the laser irradiation position on a simple scale plate is read visually, and the other in which it is converted into an electrical signal.

Problems to be Solved by the Invention The former method using transit in the conventional example above requires a considerable amount of time and a large number of people for each survey. There was a problem that the direction control of the vehicle tended to be delayed.

On the other hand, the latter method using a laser beam has a problem in that it can only be used in straight sections because the position of the shield excavator moves continuously in the case of one-curve excavation.

Means and Effects for Solving the Problems The present invention was conceived in view of the above, and includes a laser beam oscillator and a laser beam receiver rotatable in the X and Y directions at the entrance of a tunnel such as a shaft. The rotation angle can be detected at all times, and in the middle of the tunnel,
A repeater is installed, and on the entrance side of the tunnel, the laser beam oscillator that irradiates the laser beam receiver described in 1 above and the laser beam from the laser beam oscillator at the entrance are received. A laser beam receiver is provided at the back of the tunnel, and a laser beam oscillator that emits a laser beam in the direction of the shield tunneling machine is provided so that each can rotate in the X and Y directions and the rotation angle can be detected. Furthermore, the shield tunneling machine is configured to be able to detect the X, Y directions and rolling angle, and is equipped with a laser beam receiver that receives the laser beam from the repeater, and a pitching rolling needle. Embodiment 0 An embodiment of the present invention in which the direction of excavation of a shield tunneling machine is detected will be described based on the drawings.

In the figure, 1 is the first laser beam oscillator installed in the shaft 2, 3 is the first laser beam receiver, and 4 is the 3-axis gyroscope. It is mounted rotatably in the X direction (yawing direction) and Y direction (pitching direction).

1fC The rotation angles in the X and Y directions are constantly detected by a sensor such as a rotary encoder.

Reference numeral 5 denotes a repeater installed in the Huum pipe 6 located in the middle of the tunnel;

A second laser beam oscillator 7 that irradiates toward the shaft 2 and a second laser beam receiver 8 that receives the laser beam from the first laser beam oscillator 1 provided in the shaft 2 are installed on a frame. . Further, the repeater 5 is provided with a third laser beam oscillator 10 attached to a pedestal for irradiating the shield tunneling machine 9. Each strip of the repeater 5 is controlled by a servo motor and a sensor.

It can be rotated in the Y direction, and its rotation angle can be detected.

Further, a third laser beam receiver 11 capable of detecting the X and Y directions and the rolling angle, and a pitching rolling needle 12 are attached to the shield tunneling machine 9.

All of the above devices are connected to a central computer.

Now, in Fig. 1, if we consider long-distance straight excavation heading to the left (due west), the beam angle α of the first laser beam oscillator 1 of the shaft 2 with respect to the upward direction (due north) is 90
If the positional deviation of the repeater 5 in the X direction with respect to the planned line PL is ``Im, and the deviation angle is θ, then 0. is X snow a, x = jan−' − L.

xB-inside +=tan-’□ L.

is required. L, ,L, is the distance between each laser beam receiver.

In reality, the survey is carried out in the X and Y directions.

To simplify the explanation, only the X direction (yawing direction) will be described.

From the position of the repeater 5, from the above '1+θ', calculate the shift angle for irradiating the shield machine 9 on the plan line PL, which is far away, and use the servo motor to irradiate the shield machine 9. 3. Rotate the laser beam oscillator 10.

The above deviation angle r is determined by r=θ, -02. Further, the deviation angle θ of the third laser beam receiver 11 is θ2−ψ−〇.

This slip angle θ, the planned line P of the shield excavator 9.
A displacement position x4 in the lateral direction (X direction) with respect to L is calculated and determined by a computer.

The above-mentioned effect applies to the case of straight excavation, but the case of curved excavation shown in FIG. 2 differs from the case of straight excavation described above in the following points.

(1) The beam angle α of the first laser beam oscillator 1 of the shaft 2 is continuous so that the angle of the first laser beam oscillator 1 of the shaft 2 is on the planned line PL, and the beam is irradiated toward the center position of the repeater 5 corresponding to It is changing.

(2) The angle between the second laser beam oscillator 7 that irradiates toward the shaft 2 of the repeater 5 and the center of the Huum tube 6 is:
It changes continuously so that the angle β corresponds to the curve in the planned line PL.

(3) The second laser beam oscillator 7 irradiates toward the shaft 2 of the repeater 5 and the oscillator 10 toward the shield excavator 9
The angle r formed by Ll, L, and "I" on the planned line PL
The angle will change continuously so that it becomes the angle corresponding to the measured value of +”4.

Furthermore, if it is not possible to standardize the repeater from the shaft 2 with only one repeater, it is theoretically possible to use a plurality of repeaters.

In the case of the propulsion method, the radius of curvature of one curve is large, and the propulsion distance is considered to be limited to about 400 m due to the work efficiency of carrying out slips and using intermediate push jacks, so in practice, the repeater is placed at one place, at most. Two locations are sufficient.

The surveying system described above is not only effective in shortening the surveying time and improving excavation accuracy in long-distance single-curve propulsion construction work, but also in the case of small-diameter remote stations where surveying work inside the mine is difficult. This enables curved construction. Automatic direction control is also possible by feeding back these survey data (electrical signals) to the steering jack controller.

Effects of the Invention According to the present invention, in a propulsion method in which the mounting position of the repeater 5 moves with shield excavation, the position of the shield excavator is automatically and continuously detected at all times regardless of whether it is a straight line or a curve. be able to.

[Brief explanation of the drawing]

The drawings schematically illustrate embodiments of the invention. FIG. 1 is an explanatory diagram of the action in the case of straight excavation, and FIG. 2 is an explanatory diagram of the action in the case of curved excavation. 1.7.10 is a laser beam oscillator, 3,111 is a laser beam receiver, 5 is a repeater, 9U' shield excavator%
12 is pitching rolling total 0

Claims (1)

[Claims] A first laser beam oscillator 1 and a first laser beam receiver 3 are provided at the entrance of the tunnel so as to be rotatable in the X and Y directions, and the angle of rotation thereof can be constantly detected by an encoder or the like, facing into the tunnel. In addition, a repeater 5 is provided in the middle of the tunnel, and on the tunnel entrance side of the repeater 5, a second laser beam oscillator 7 that irradiates toward the first laser beam receiver 3 provided at the tunnel entrance, and a tunnel A second laser beam receiver 8 receives the laser beam from the first laser beam oscillator 1 at the entrance, and a third laser beam oscillator 10 irradiates the laser beam toward the shield excavator 9 at the back of the tunnel. The shield excavator 9 is provided so as to be rotatable in the X and Y directions and to be able to detect the rotation angle, and further to enable the shield excavator 9 to detect the X and Y directions and the rolling angle, and to emit the laser beam from the third laser beam oscillator 10. A direction detection device for a shield excavator, characterized in that a third laser beam receiver 11 for receiving light and a pitching roll meter 12 are attached.