JPH10317880A - Excavation control method and excavation control device for tunnel excavator - Google Patents

Abstract

(57) [Summary] [Problem] When constructing a tunnel using a tunnel excavator, tunnel excavation control of a tunnel excavator that can save labor, achieve high-speed excavation, reduce support, and lead to complete automation of tunnel excavation. A method and an excavation control device are provided. SOLUTION: Excavation data of a tunnel excavator 1 or a geological situation obtained from a ground strength measuring device 16 is a personal computer 1.
The cutter head drive motor controller 1 is controlled by the personal computer 14 to maintain the cutter head rotation speed and the thrust jack flow rate according to the geological condition.
0 and controls the thrust jack flow controller 16.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an excavation control method and an excavation control device for a tunnel excavator for controlling an excavation state according to a geological condition.

[0002]

2. Description of the Related Art Conventionally, a tunnel excavator (TBM) excavates the ground by rotating a cutter head having a plurality of disk cutters attached to its tip while rotating it by a motor. The ground excavated in this way does not have uniform properties, and the geological condition constantly changes as the excavation proceeds, so the geological condition is determined based on the experience of skilled workers, and excavation work according to the geological condition Has been done.

On the other hand, in Japanese Patent Application Laid-Open No. 4-92095, the rotation speed of the cutter head and the propulsion speed of the cutter head are controlled according to the geological condition, and the total propulsion force of the cutter head is maintained at a predetermined value. An excavation control device is disclosed.

[0004]

However, if the digging work is performed by the operator's judgment as described above, the optimum digging cannot always be performed, and it takes time to make the judgment or the erroneous judgment may result. There is a problem that the face and the pit wall are disturbed. In addition, there is also a problem that a large support needs to be constructed as such a measure, and conversely, there is a problem that the construction speed is not progressed as planned by digging in a state of excess. Further, there is a problem that a skilled worker is required or training of the worker is required.

The excavation control device disclosed in Japanese Patent Application Laid-Open No. 4-92095 is mainly used for a shield excavator for excavating soft ground, and the excavation control device is used for a TBM. When the work is performed, the cutter head rotation speed and the excavation speed are increased in the weak layer portion and the ground is disturbed, and the cutter head rotation speed and the excavation speed are reduced in the hard rock portion, and the excavation is excessive. There is. Further, in the excavation control device, it is necessary to control two variables of the cutter head rotation speed and the excavation speed, so that there is a problem that the control is difficult.

SUMMARY OF THE INVENTION The present invention has been made to solve such a problem, and when constructing a tunnel by using a tunnel excavator, it is possible to save labor, reduce the speed of excavation, and reduce support. It is an object of the present invention to provide a tunnel excavator excavation control method and a tunnel excavation control device that lead to complete automation of tunnel excavation.

[0007]

Means for Solving the Problems and Functions / Effects The excavation control method for a tunnel excavator according to the first aspect of the present invention includes: A digging control method for controlling digging according to the geological condition of a mountain.First, a geological condition is determined, and after setting a cutter head rotation speed according to this geological condition,
It is characterized in that the propulsion jack flow rate is controlled.

According to the excavation control method of the first invention, after the geological condition of the ground is detected from, for example, data during excavation work, the rotational speed of the cutter head is set to a rotational speed according to the geological condition. Next, the flow rate of the propulsion jack is increased, and when the flow rate of the propulsion jack reaches the flow rate corresponding to the geological condition, the flow rate of the propulsion jack is maintained, and the excavation work is performed with the flow rate maintained.

As described above, since the cutter head rotation speed is set to the cutter head rotation value which is set in advance according to the geological condition, only the propulsion jack is actually controlled. As a result, the optimum excavation state can be automatically selected automatically according to the geological condition, which saves manpower and reduces high-speed excavation when the geology is hard rock and reduces support when the geology is soft rock. It becomes possible. As described above, since it is possible to excavate in a state corresponding to the geological condition, there is an effect that the working efficiency is good and the tunnel construction period can be shortened.

Further, as described above, the geological condition is determined using the data during the excavation work, so that the geological condition can be more accurately determined as compared to a skilled worker, and has already been put to practical use. It can be connected to complete automation of tunnel construction in conjunction with the automatic direction control system.

In the first invention, it is preferable that the rotation speed of the cutter head is set so that the rotation speed is reduced in accordance with the geological condition of hard rock to soft rock. in this way,
When the geological condition is soft rock, the tunnel head wall can be excavated without being disturbed by reducing the rotation speed of the cutter head, so that it is not necessary to construct a large support as in the related art. On the other hand, when the geological condition is hard rock, since the tunnel wall is less likely to be disturbed, high-speed excavation can be performed by increasing the rotation speed of the cutter head.

In the first invention, when the geological condition is hard rock, it is preferable that the propulsion jack flow rate is controlled so as to maintain the flow rate at the time of the maximum thrust pressure. When the geological condition is hard rock, the propulsion jack flow rate is increased until the thrust pressure reaches the maximum flow rate, and the propulsion jack flow rate is maintained when the thrust pressure reaches the maximum flow rate. High speed excavation is performed automatically. Thus, if the tunnel pit wall is hard rock,
Since there is no risk of being disturbed even if high-speed excavation is performed, the construction period can be shortened.

In the first invention, when the geological condition is medium hard rock, the moment when the flow rate of the propulsion jack becomes one of the flow rate at the time of the maximum thrust pressure and the flow rate at the maximum of the cutter head drive current. It is preferable to control so that When the geological condition is medium hard rock, the tunnel wall is less likely to be disturbed,
When performing high-speed excavation similar to hard rock, the tunnel wall is disturbed,
Further, since there is a possibility that an excessive load is applied to the cutter head drive motor, the propulsion jack flow rate is held when the thrust pressure reaches one of the flow rate when the thrust pressure is the maximum and the flow rate when the cutter head drive current is the maximum. Excavation is performed while being controlled as described above. In this way, the excavation can be performed without disturbing the tunnel pit wall and without an excess state.

In the first invention, when the geological condition is soft rock, the propulsion jack flow rate is the maximum thrust pressure flow rate, the maximum cutter head drive current flow rate, or the propulsion jack propulsion speed is per revolution of the cutter head. It is preferable that the flow rate is controlled so as to be maintained when any of the flow rates at the time when the propulsion speed is equal to the product of the allowable maximum depth of cut and the rotation number of the cutter head is reached. If the geological condition is soft rock, the tunnel wall may be disturbed or an excessive load may be applied to the cutter head drive motor. Therefore, the propulsion jack flow rate at the maximum thrust pressure, the cutter head drive current Maximum flow rate or Vh = Pen (Vh: propulsion jack propulsion speed, Pe:
Excavation is performed under the control that the flow rate is maintained when any of the flow rates at the time of the maximum allowable cutting depth per rotation of the cutter head (n: the number of rotations of the cutter head) is reached. By doing so, it is possible to suppress the cutter head from protruding too much into the ground, and it is possible to excavate with a simple support without disturbing the tunnel pit wall.

According to a second aspect of the present invention, there is provided a tunnel excavation control device for excavating a ground with a tunnel excavator.
A digging control device for controlling digging according to the geological condition of the ground, comprising: (a) cutter head rotation torque detecting means;
Geological condition determining means including cutter head rotational speed detecting means, propulsion jack stroke amount detecting means, propulsive speed detecting means and propulsive force detecting means, or ground strength measuring means; and (b) determining the rotational speed of the cutter head by the geological condition. And (c) a propulsion jack flow rate control means for controlling the propulsion jack flow rate in accordance with the geological condition.

In the second invention, the geological condition of the excavated ground obtained by the geological condition judging means is inputted to the cutter head rotational speed setting means and the propulsion jack flow control means. The cutter head rotation speed setting means sets the rotation speed of the cutter head to a preset rotation value according to the geological condition. On the other hand, the propulsion jack flow control means controls the propulsion jack flow to be increased and maintained until the flow reaches a flow corresponding to the geological condition. Thus, the excavation work is performed while maintaining the flow rate.

The rotation speed of the cutter head is set such that the rotation speed decreases as the geological condition changes from hard rock to soft rock. Thus, when the geological condition is soft rock, the tunnel head wall can be excavated without disturbing by lowering the cutter head rotation speed, and when the geological condition is hard rock, the cutter Even if the rotational speed of the head is increased, the tunnel wall is not disturbed, so that high-speed excavation can be performed.

When the geological situation is hard rock, the propulsion jack flow rate is controlled by the propulsion jack flow rate control means to maintain the flow rate of the propulsion jack at the maximum thrust pressure. If it is hard rock,
The propulsion jack flow rate is controlled so as to be maintained at the time when the flow rate at the maximum thrust pressure or the flow rate at the maximum cutter head drive current is reached, and when the geological condition is soft rock, the propulsion Either the flow rate when the jack flow rate is at the maximum thrust pressure, the flow rate when the cutter head drive current is the maximum, or the flow rate when the propulsion jack propulsion speed is equal to the product of the maximum allowable cutting depth per rotation of the cutter head and the number of rotations of the cutter head. It is controlled so as to be held at the time when the flow rate is reached.

The geological condition is calculated based on respective detection values obtained from cutter head rotation torque detection means, cutter head rotation number detection means, propulsion jack stroke amount detection means, propulsion speed detection means and propulsion force detection means. Alternatively, it is detected by a ground strength measuring means provided with a penetrating rod provided on the outer periphery of the tunnel excavator so as to be able to protrude and retreat, and is judged by a geological condition judging means. In addition, since the ground strength measuring means is suitable for detecting soft geology, an accurate geological situation can be determined by selecting any appropriate value calculated based on the detected value. . Also, the most appropriate geological condition can be determined based on both the detected values.

As described above, since the cutter head rotation speed is set to a cutter head rotation value which is set in advance according to the geological condition, only the propulsion jack is actually controlled. As a result, the optimum excavation state can be automatically selected automatically according to the geological condition, which saves manpower and reduces high-speed excavation when the geology is hard rock and reduces support when the geology is soft rock. It becomes possible. As described above, since it is possible to excavate in a state corresponding to the geological condition, there is an effect that the working efficiency is good and the tunnel construction period can be shortened. Furthermore, it is possible to more accurately judge the geological condition as compared with a skilled worker, and it is possible to link to fully automatic tunnel construction together with an automatic directional control system that has already been put into practical use.

[0021]

DESCRIPTION OF THE PREFERRED EMBODIMENTS Next, specific embodiments of a digging control method and a digging control device according to the present invention will be described with reference to the drawings.

FIG. 1 schematically shows a system configuration diagram of an excavation control device according to an embodiment of the present invention.

In a tunnel excavator (TBM) 1 provided with the excavation control device of this embodiment, a cutter head 3 supported on a front side by a cutter head support 2 is rotated by a cutter head drive motor 4 and a ground 5 The excavation is performed by a thrust jack 7 provided between the main gripper 6 and the excavator body, which takes a reaction force.

This tunnel machine 1 is connected to a cutter head tachometer 8 for measuring the rotation speed (C / H rotation speed) of the cutter head 3 and the cutter head drive motor 4 to measure the drive current. An ammeter 9 and a cutter head drive motor controller (cutter head rotation speed setting means) 10 capable of setting a cutter head rotation speed to three stages of a rated rotation speed or more, a rated rotation speed, and a rated rotation speed or less, and the thrust jack 7 A hydraulic pressure gauge 11 for measuring the hydraulic pressure, a stroke gauge 12 for measuring the stroke, and a thrust jack flow controller (propulsion jack flow control means) 13 for adjusting the flow rate are provided. The rotational torque (C / H torque) of the cutter head 3 is obtained from the output of the ammeter 9, and the propulsive force and thrust pressure of the thrust jack 7 are obtained from the output of the hydraulic pressure gauge 11. The output of 12 gives the propulsion speed.

The propulsion force, the propulsion speed, the rotation speed, and the rotation torque thus obtained are input to the personal computer 14 as excavation data. The specifications of the disk cutter used in the tunnel excavator 1, the number of disk cutters, the pitch, and the like are previously input to the personal computer 14 as input data. By analyzing the excavation data and the input data, the depth of cut per one rotation of the cutter head and the uniaxial compressive strength (geological condition) are uniquely determined, thereby obtaining the uniaxial compressive strength (geological condition).

The tunnel excavator 1 is provided with two penetrating rods 15 so as to protrude and retreat so as to face the side support portion immediately after the cutter head 3.
A ground strength measuring device 16 is connected to the penetration rod 15, and the ground strength measuring device 16 is connected to the penetration rod 15.
Has a penetration amount measuring mechanism for measuring the penetration amount when penetrating into the ground due to the projecting operation, and a penetration force measuring mechanism for measuring the penetration force. Further, the ground strength measuring device 16
Is provided with intrusion geological data storage means which stores in advance intrusion geological data as a standard, and uniaxial compression is performed based on the measured values by the intrusion amount measurement mechanism and the intrusion input measurement mechanism and the intrusion geological data. It has a function to calculate the strength (geological condition). In addition, this penetration rod 15
This is suitable for the case where the ground is made of soft rock, and the penetration operation is performed when the propulsion of the tunnel excavator 1 is stopped.

In this manner, the geological condition obtained by analyzing the excavation data (measured values of the propulsive force, the propulsion speed, the rotational speed, and the rotational torque) and the geological condition calculated from the measured values of the penetrating rod 15 are shown. Is selected as the geological condition of the ground. This selection mechanism can be provided in the personal computer 14 or the ground strength measuring device 16. In addition, the appropriate geological condition can be obtained by using appropriate parameters from the geological condition obtained from the excavation data and the geological condition obtained from the measured value of the penetrating rod 15.

When the geological condition is obtained in this way, the personal computer 14 controls the thrust jack flow controller 13 and the cutter head drive motor controller 10 to set the thrust jack flow rate and the cutter head rotation speed in accordance with the geological condition, respectively. It can be controlled to perform appropriate automatic excavation.

In the excavation control method using the tunnel excavator 1 provided with the excavation control device of the present embodiment, as shown in the flowchart of FIG. 2, first, a signal for starting excavation is input to the personal computer 14 (S1). Then, the initial values of the thrust jack flow rate and the cutter head rotation number are input to the thrust jack flow rate controller 13 and the cutter head drive motor controller 10, respectively, and excavation starts (S2).

Excavation is thus started by the tunnel excavator 1, and as described above, the geological condition is detected based on the excavation data and the measured value of the penetrating rod 15 (S3), and the hard rock (S4), the medium hard rock (S5), It is classified into three types: soft rock (S6).

When excavating the ground determined to be the hard rock, the output of the personal computer 14 controls the thrust jack flow controller 13 to increase the flow rate of the thrust jack 7, and the cutter head drive motor controller 10 By controlling, the cutter head rotation speed is set to a constant value equal to or higher than the rated rotation speed (S7). Thus, the flow rate of the thrust jack is increased until the thrust pressure reaches the maximum value (S8). When the thrust pressure reaches the maximum value, the thrust jack flow rate controller 13 is controlled to maintain the flow rate of the thrust jack 7 (S9). .

When excavating the ground determined to be the medium hard rock, the output of the personal computer 14 controls the thrust jack flow controller 13 to increase the flow rate of the thrust jack 7, and the cutter head drive motor controller 10 To set the cutter head rotation speed to the rated rotation speed (S10). In this manner, the thrust jack flow rate is increased until the thrust pressure reaches the maximum value or the current value of the cutter head drive motor reaches the maximum value (S11), and either the thrust pressure or the current value reaches the maximum value. At the time shown, the flow of the thrust jack 7 is maintained by controlling the thrust jack flow controller 13 (S12).

When excavating the ground determined to be soft rock, the output of the personal computer 14 controls the thrust jack flow controller 13 to increase the flow rate of the thrust jack 7 and controls the cutter head drive motor controller 10. Then, the cutter head rotation speed is set to a constant value equal to or lower than the rated rotation speed (S13). Thus, the thrust pressure becomes the maximum value, the current value of the cutter head drive motor becomes the maximum value, or Vh = Pen (Vh: thrust jack extension speed, Pe: maximum allowable cutting depth of disk cutter, n: cutter) (The number of rotations of the head), the flow rate of the thrust jack is increased (S14). Thus,
When any one of these conditions is satisfied, the thrust jack flow controller 13 is controlled to maintain the thrust jack flow (S15).

As described above, the excavation is performed while maintaining the thrust jack flow rate corresponding to the geological conditions (hard rock, medium hard rock, soft rock) to be excavated. Since the geological condition changes as the excavation proceeds, if the excavation is not terminated, the geological condition is determined again, and the excavation is performed by repeating the above-described operation (S16). On the other hand, when terminating the excavation, the thrust jack flow rate holding and the cutter head rotation are stopped (S17).

In this embodiment, the geological condition can be automatically grasped by using data obtained during the excavation by the tunnel excavator 1. When the geological condition to be excavated is hard rock, the ground is removed. Since there is no fear of disturbing, it is possible to increase the rotation speed of the cutter head, increase the flow rate of the thrust jack, increase the excavation speed to the limit of pressing the disk cutter against the face, and perform high-speed excavation. On the other hand, when the geological condition to be excavated is soft rock, excavation is performed so as not to disturb the ground by controlling the rotation speed of the cutter head and the thrust jack propulsion speed, so that it is not necessary to construct a large support. Also, in the case of medium hard rock, the cutter head rotation speed and the thrust jack propulsion speed are controlled, and the excavation work can be performed without disturbing the ground and without being in an excessive state.

Therefore, according to the excavation control method and the excavation control device, an appropriate excavation state can be easily and automatically selected, so that labor saving can be achieved, and high-speed excavation and support reduction can be achieved. This has the effect of shortening the tunnel construction period.
In addition to the automatic direction control system of a tunnel excavator that has already been put into practical use, it leads to complete automation of tunnel excavation.

Further, in this embodiment, the rotation speed of the cutter head is set to one of three stages of a rated rotation speed, a rated rotation speed, and a rated rotation speed or less in accordance with the geological condition. Only the flow rate needs to be controlled, and excavation control can be easily performed.

In the present embodiment, the geological condition is detected by the excavation data or the ground strength measuring device. However, the geological condition may be determined by an operator. The operator may also select the excavation data or the ground strength measuring device 14.

[Brief description of the drawings]

FIG. 1 is a schematic diagram of a system configuration diagram of a digging control device according to an embodiment of the present invention.

FIG. 2 is a flowchart illustrating a method of controlling excavation of a tunnel excavator according to the present embodiment.

[Explanation of symbols]

 Reference Signs List 1 tunnel excavator 2 cutter head support 3 cutter head 4 cutter head drive motor 5 ground 6 main gripper 7 thrust jack 8 cutter head rotation meter 9 cutter head drive motor ammeter 10 cutter head drive motor controller 11 hydraulic pressure gauge 12 stroke meter 13 Thrust jack flow controller 14 PC 15 Penetration rod 16 Ground strength measuring device

Claims (6)

[Claims] An excavation control method for controlling excavation in accordance with the geological condition of a ground when performing excavation work on the ground with a tunnel excavator. An excavation control method for a tunnel excavator, comprising: controlling a propulsion jack flow rate after setting a cutter head rotation number according to the setting. 2. The excavation control of a tunnel excavator according to claim 1, wherein the rotation speed of the cutter head is set so that the rotation speed decreases as the geological condition moves from hard rock to soft rock. Method. 3. When the geological condition is hard rock, the propulsion jack flow rate is controlled so as to maintain the flow rate at the time of the maximum thrust pressure.
A method for controlling excavation of a tunnel excavator according to any one of claims 1 to 3. 4. When the geological condition is medium hard rock,
3. The propulsion jack flow rate is controlled so as to be maintained when the flow rate of the propulsion jack reaches one of a flow rate at a maximum thrust pressure and a flow rate at a maximum cutter head drive current. 4. Excavation control method of tunnel excavator. 5. When the geological condition is soft rock, the propulsion jack flow rate is at the maximum thrust pressure, the flow rate at the maximum cutter head drive current or the propulsion jack propulsion speed is the maximum allowable per rotation of the cutter head. 3. The control device according to claim 1, wherein the flow rate is controlled to be maintained when any of the flow rates when the propulsion speed is equal to the propulsion speed obtained by multiplying the cutting amount and the rotation number of the cutter head. Excavation control method of tunnel excavator. 6. A digging control device for controlling digging according to the geological condition of the ground when the digging operation of the ground is performed by a tunnel excavator, comprising: (a) cutter head rotation torque detecting means; A geological condition determining device including a head rotational speed detecting device, a propulsion jack stroke amount detecting device, a propulsion speed detecting device and a propulsive force detecting device, or a ground strength measuring device; Cutter head rotation number setting means to be set according to the
(C) An excavation control device for a tunnel excavator, comprising: a propulsion jack flow rate control means for controlling a propulsion jack flow rate according to a geological condition.