JPH041394A - Changing method for jack pattern for shield excavating-advancing-machine - Google Patents

Abstract

PURPOSE:To contrive proper changing discrimination by setting difference in the requirement degrees of changing jack patterns according to the elongation of the jack of a shield excavating-advancing machine, and by adding said requirement to change said patterns, when an adding value comes to a specified value. CONSTITUTION:In a shield excavating-advancing-machine 10, a laser generator 12, an optical wave range finder 14, and a laser target 16 are arranged, and when the shield excavating-advancing-machine 10 is excavating-advanced by a specified distance, then a deviation from estimated lines in the horizontal and vertical direction is measured. After that, in the shield excavating- advancing-machine 10, a plurality of shield jacks 21 are arranged, and the elongation of the jacks 21 is measured by a stroke meter, and the input of the measured value to an automatic controller 26 on ground via a controller 18 is provided. Then, with the automatic controller 26, the excavating-advancing direction of the shield excavating-advancing-machine 10 is inferred, and control signal is transmitted to a shield controller 22. As a result, the changing of jack patterns can be properly discriminated.

Description

DETAILED DESCRIPTION OF THE INVENTION (Field of Industrial Application) The present invention relates to a method for controlling excavation of a shield excavator, and particularly to a method for changing a jacking pattern for causing a shield excavator to excavate.

(Prior Art) As is well known, the shield construction method is a method of constructing a tunnel in the ground, and this type of construction method uses a shield excavator that excavates the ground.

The shield excavator used in this type of construction method excavates by extending a plurality of shield jacks while fishing on a boat.

However, when excavating with such a shield jack, the direction of excavation may deviate from the planned line due to factors such as differences in the properties of the surrounding ground or imbalance in the pressure of the shield jack.

As a method for controlling the excavation direction of the shield excavator when such a deviation from the planned line occurs, for example, Japanese Patent Application Laid-Open No. 1-94195 discloses a method that automatically measures the current position of the shield excavator, A method has been proposed in which the deflection angle between this measured value and the planned line is calculated, and the jacking pattern of the shield tunneling machine is selected in accordance with this deflection angle to control the direction of excavation.

In the control method disclosed in this publication, when the shield excavator excavates with the selected jacking pattern,
It is also disclosed that the selected jacking pattern is changed when the shield tunneling machine is not digging in the planned direction, but in particular, the method of changing the jacking pattern has the technical problems described below. was there.

(Problem to be Solved by the Invention) In other words, in the method for changing the jacking pattern shown in the above publication, when the shield tunneling machine moves forward a predetermined distance due to the extension of the jacking, the angle in the excavation direction of the shield tunneling machine changes. and the deviation from the planned line, and when this is not close to the set angle and deviation, the selected jerking pattern is changed.

However, when the shield excavator is deviated from the planned line, it can only make sharp turns when attempting to match the planned line after digging a predetermined distance, so in reality, the selected Even if the jack is extended in the jack pattern, there is almost no change in the angle at the beginning of the jack when it begins to extend, and after the jack has extended to a certain extent, the direction of excavation of the shield tunneling machine gradually changes. Changes vary depending on the properties of the surrounding ground and the magnitude of the deflection angle.

On the other hand, with the method disclosed in the above-mentioned publication, in which a change in the jacking pattern is determined when the shield tunneling machine moves forward a predetermined distance, it is difficult to set the location at which to judge a change in the jacking pattern, and it is difficult to accurately It was difficult to make a proper judgment.

This invention was made in view of these conventional problems, and its purpose is to make it possible to accurately judge the change of the jacking pattern when a shield tunneling machine is excavating with jacking. The purpose of the present invention is to provide a method for changing the jacking pattern of a shield tunneling machine.

(Means for Solving the Problems) In order to achieve the above object, the present invention calculates the deviation between the current position and the planned line when the shield excavator has dug a predetermined distance, and calculates the deviation between the current position and the planned line. In the method in which the direction of excavation of the shield excavator is controlled by selecting a jack pattern for making the shield excavator excavate according to the size of the jack, the jack pattern for propelling the shield excavator is The method is characterized in that a difference is set in the degree of request for pattern change, and the degree of request is sequentially added, and when the added value of the degree of request reaches a predetermined value, the jacking pattern is changed. .

(Operations and Effects of the Invention) According to the method for changing the jacking pattern of a shield tunneling machine configured as described above, the degree of change in the selected jacking pattern can be changed depending on the extension of the jacking that propels the shield tunneling machine. The jacking pattern is changed when the added demand reaches a predetermined value. It can also be adapted to changes in the ground properties.

(Embodiments) Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings.

1 to 7 show an embodiment of a method for changing the jacking pattern of a shield tunneling machine according to the present invention.

In the modification method shown in FIG. 1, the devices shown in FIG.
Lightwave distance meter 14. A laser target 16 is provided, and when the shield excavation s&10 excavates a predetermined distance, the deviations from the planned line in the horizontal and vertical directions δh, δ
V is measured, and the light wave distance meter 14 is provided with a control device 18 that controls the transmission direction and the like.

In addition, a plurality of shield jacks 21 are installed in the shield excavator 10 to make the shield excavator 10 dig forward by taking a reaction force from the segments 20 installed behind the shield excavator 10,
This extension of the jack 21 is measured by a stroke meter (not shown), and the measured value is input via the control device 18 to an automatic control device to be described later.

The driving of each shield jack 21 is controlled by a shield control device 22, and a multiplex transmission device slave station 24 is connected to this control device 22.

On the other hand, on the ground side, an automatic control device 26 for the shield excavator 10 is installed, and in this automatic control device 26, based on the deviations δh and δV inputted from the control device 18 via the automatic surveying device 28, Calculate the azimuth θkm and each pitch Vkm of the shield excavation alIO, or
Horizontal and vertical force point position for each ring g x+ g
”/ and the horizontal and vertical control angles βh and βV at that time, and the deviation δh between this stored data and the current position.
, δ■, the direction of excavation of the shield tunneling machine 10 is inferred, and based on this, the multiplex transmission device master station 30 and slave station 24
A control signal is sent to the shield control device 22 via.

The processing procedure executed by the automatic control device 26 at this time is
As shown in the figure.

When the processing procedure starts, first, in step S1, the horizontal and vertical deviations δh and δ■ at the current position from the planned line are input, and the azimuth angle θkm and pitch angle IFkm at the current position of the shield tunneling machine 10 are calculated. Calculated.

In the following step S2, the deviations δh and δV are compared with preset tolerance values to determine the tolerance of the deviation, and if either of these is greater than the tolerance, an alarm is issued in step S3. The next step is executed in either case.

In step S4, the target point P is set at the position of the n captain's light that is deviated by δh to the opposite side of the current position across the planned line due to the left-right deviation δh, as shown in FIG. 3(A). Ru.

Note that n in this case has a value of 2 or more.

Then, in step s5, an angle αh is determined by connecting the center of the shield tunneling machine 10 and the target point P, and a control angle βh of the shield tunneling machine 10 is determined based on this angle αh.

The control angle βh is 2δh when the shield tunneling machine 10 is controlled by n captain light.
Divide this by the length of the ring to find out how much deviation should be made one ring ahead (δh
-δhl is known, and now, as shown in Figure 3 (B), the deviation angle with respect to the planned line at the current position is θkm, the excavation length of 1 ring is IR, and the deviation angle at 1 ring is If θh, then βh-θkm+θh, and θh-jan-1
(δh−δh”) #R, so the control angle βh for one ring can be found from the above equation.

Once the control angle βh is set, in the next step s6, the horizontal force point gx is inferred based on the excavation direction determination data set in advance.

The propulsion direction determining data used here is based on data obtained based on a plurality of measured values up to the current position, as an example of which is shown in FIG.

In the same figure, the horizontal axis is the control angle β, and the vertical axis is the force point g at that time. In FIG. 4, the case where excavation direction determination data is obtained based on five times of data There is.

In addition, in the same figure, as you go from left to right in the top row, the data is closer to the current position, and newer data is more reliable than older data, which has a greater influence on determining the direction of propulsion at the current position. So from right to left 3, 3, 2, 1
．． A weight of 1 is set.

In creating the propulsion direction determination data, first, for example, if the control angle is 2β when the shield excavator 10 excavates with a force point of 2g as shown in data (■), then this is the correlation data (in Fig. 4). (indicated by a boxed area).

Next, a predetermined ambiguous area is set around each of the obtained correlation data (in Fig. 4, four ambiguous areas are set around each correlation data surrounded by a corner, taking into account the weight! /3.2 /3.3 /3) is converted into ambiguous region setting data.

Then, the ambiguous area setting data in which the ambiguous area has been set in this way is sequentially overlapped with the data obtained before,
Finally, the excavation direction determination data at the right end of the lower row in FIG. 4 is obtained, and in step s6, the horizontal force point gx is determined based on the control angle βh set in step s5.

The weighting method for the above-mentioned ambiguous region setting data is as follows.
The present invention is not limited to the above-described example, and for example, in the case of excavating a sharp curve, it is also possible to give greater weight to data from the previous sharp curve construction.

On the other hand, in steps 87 to s9 shown in FIG. 2, the vertical force position gy is determined based on the vertical deviation δV, but in this case, it is performed in the same manner as the horizontal force position gX described above. , the explanation thereof will be omitted.

When the horizontal and vertical force point positions gx, gy are determined in steps 84 to s9 as described above, the resultant force point position Kg (X, Y) is determined in step 10, and the subsequent step 1
1, the one corresponding to the composite force point position g is selected from among the jerking patterns set in advance.

FIG. 5 shows the jack pattern selection procedure performed at this time.

In the selection procedure, first, the vector direction of the force point is determined from the force point position g, then the jerking pattern selection axis J2j closest to this vector direction is determined, and then the force zone i surrounding the force point position g is determined. Based on this, a jacking pattern is selected. When selecting a jacking pattern, for example, a pattern is prepared in which the point of effort is located at a position offset from the center on the Y axis (corresponding to the point of effort zone), and by rotating point g in Fig. 5 (C),
When this is located on the Y axis, the pattern that is closest to this is selected.

In this case, select the one that has many uses for jacks,
Those with equal usage positions are selected with priority.

When the jacking pattern is selected as described above, the signal is input to the shield control device 22 via the multiplex transmission master station 3o and the slave station 24, and the jacking is performed according to the selected jacking pattern. is driven, and the shield excavator 1o excavates one ring in the excavation direction with horizontal and vertical control angles βh and βV, and the point of effort positions gx and gy at this time
The control angles βh and βV are stored in the automatic control device 26 as correlation data, and are used as data for determining the direction of excavation when excavating the next ring.

Then, in the next step s12, the horizontal and vertical deviations δh at that time are determined according to the extension stroke of the jack 21.
n, δvn are read.

In step 513, the degree of request for changing the jack pattern with respect to the extension stroke of the jack 21 and the deviations δhn and δvn is calculated.

FIG. 6 shows an example of setting conditions for the degree of demand for the extension stroke used in the calculation at this time.

In the figure, the maximum jacking stroke is set as 100, and this is divided equally into 10, and the required degree is set at each dividing point.The maximum value of the required degree is 1, and the initial jacking stroke is Then the demand level is 0 and then increases,
When the jack stroke index is from 4 to 9, the required degree is 1, and when the index is from 9 to 10, the required degree is decreased from 1 to 0.

The reason for setting such a requirement is that the effect of the jacking pattern selected in step sll has not yet appeared at the beginning of the jacking 21's extension, and that by the time the jacking 21 finishes extending, the next This is done because the jerking pattern is selected, but of course the degree of demand can be set arbitrarily.

On the other hand, the degree of demand for the deviations δhn and δvn is the seventh
The settings are as shown in the figure.

In the figure, the vertical axis is the degree of demand and the horizontal axis is the deviation, and the degree of demand is 0.2 with a deviation of 1o. 20 or more is set to 1, but of course this requirement level can also be set arbitrarily.

When the degree of demand for the stroke and deviation is determined in step s13, the degree of demand is calculated in step s14, and it is determined whether the degree of demand calculated in step s15 is within a set value.

Then, in step s16, it is determined whether the processes from steps s12 to s15 have been performed over the entire length of the jacking stroke, and if the result is YES, the process returns to the start, and if no, the process returns to step 12. become.

To explain the above series of steps more specifically, the first
Assuming that the measured values of the deviations A and B as shown in the table are obtained, the calculation of the degree of demand performed in step $14 for the deviations A and H is as shown in the second table.

As is clear from Table 2, in calculating the required degree, the two required degrees required for the jacking stroke are multiplied to obtain the required degree of correction, and then this required degree of correction is added. By doing this, the additional value of the degree of demand can be obtained,
When this reaches the set value (set to 3 or more in the same table), the jerk pattern selected in step s17 is changed and the request level is cleared.

Now, if the jacking pattern of the shield tunneling machine 10 is changed in the manner described above, the degree of change in the selected jacking pattern can be changed depending on the extension of the jack 21 that propels the shield tunneling machine 10. setting, and the extension of the jack 21 and the deviations δhn and δvn at that point.
A difference is set in the degree of request for changing the jerking pattern according to the size of
Since the jacking pattern is changed when the added demand reaches a predetermined value, this also applies if the properties of the surrounding ground change while the shield excavator 10 is being propelled by the jacking 21. Can be adapted to.

In addition, in the above embodiment, a method of selecting a jacking pattern using so-called fuzzy control was exemplified, but the implementation of the present invention is not limited to this, and jacking may be performed using other methods. You may choose a pattern.

[Brief explanation of drawings]

Fig. 1 is an overall layout diagram of the implementation state of the method for controlling excavation of a shield excavator according to the present invention, Fig. 2 is a flowchart showing the procedure for determining the excavation direction of the shield excavator performed by the automatic control device, and Fig. 3 is An explanatory diagram of the control angle of the shield tunneling machine determined by the method of the present invention, FIG. 4 is an explanatory diagram of the method for creating excavation direction determination data used in the method of the present invention, and FIG. 5 is an explanation of the jacking pattern selection procedure. FIG. 6 is an explanatory diagram of the setting state of the required degree for the jack stroke, and FIG. 7 is an explanatory diagram of the setting state of the required degree for the deviation. 10...Shield excavator 21...Judge δh...Horizontal deviation δ■...Vertical deviation βh...Horizontal control angle βV... ...Vertical control angle

Claims (1)

[Claims] After the shield excavator has dug a predetermined distance, calculate the deviation between the current position and the planned line, select a jacking pattern for the shield excavator to excavate according to the magnitude of this deviation, and In a method in which the direction of excavation of the shield tunneling machine is controlled, a difference is set in the degree of request for changing the jack pattern according to the extension of the jack that propels the shield tunneling machine, and the degree of requirement is sequentially added to A method for changing a jack pattern for a shield excavator, characterized in that the jack pattern is changed when the added value of the demand level reaches a predetermined value.