WO2014166829A2 - Procédé permettant de déterminer l'orientation et la position de la machine de base portant le bouclier d'un tunnelier - Google Patents

Procédé permettant de déterminer l'orientation et la position de la machine de base portant le bouclier d'un tunnelier Download PDF

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Publication number
WO2014166829A2
WO2014166829A2 PCT/EP2014/056791 EP2014056791W WO2014166829A2 WO 2014166829 A2 WO2014166829 A2 WO 2014166829A2 EP 2014056791 W EP2014056791 W EP 2014056791W WO 2014166829 A2 WO2014166829 A2 WO 2014166829A2
Authority
WO
WIPO (PCT)
Prior art keywords
theodolite
machine
tunnel boring
boring machine
measured
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/EP2014/056791
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German (de)
English (en)
Inventor
Karsten Jansen
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Mhwirth GmbH
Original Assignee
Aker Wirth GmbH
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Aker Wirth GmbH filed Critical Aker Wirth GmbH
Publication of WO2014166829A2 publication Critical patent/WO2014166829A2/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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Classifications

    • E—FIXED CONSTRUCTIONS
    • E21—EARTH OR ROCK DRILLING; MINING
    • E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
    • E21D9/00—Tunnels or galleries, with or without linings; Methods or apparatus for making thereof; Layout of tunnels or galleries
    • E21D9/06—Making by using a driving shield, i.e. advanced by pushing means bearing against the already placed lining
    • E21D9/093—Control of the driving shield, e.g. of the hydraulic advancing cylinders

Definitions

  • the invention relates to a method for determining the orientation and position of the working head of a tunnel boring machine-bearing base machine of a tunnel boring machine. It is known to determine the orientation and position of a tunnel boring machine with the aid of a stationary located in the tunnel theodolite, the measuring points on the tunnel boring machine misses.
  • the disadvantage here is that, especially in curved tunnels, a frequent displacement of the theodolite is required in order to maintain visual contact between the theodolite and the measuring points.
  • the invention has for its object to provide a method for determining the orientation and position of the base machine and a method for automatically positioning a base machine and a tunnel boring machine, which are improved in terms of this disadvantage.
  • tunnel boring machine refers to any machine for propelling routes, tunnels or the like, in particular also a machine in which the rock is removed by means of the undercutting technique.
  • the basic machine preferably comprises a walking mechanism operated by means of linear motors, preferably hydraulic cylinders, and therefore has a walking device.
  • the cylinder extraction paths of the walking mechanism are preferably detected by the machine control.
  • the invention is not limited to basic machines with walking gear.
  • the tunnel boring machine preferably has followers.
  • the trailers are preferably movable relative to the base machine, they preferably have axle landing gears.
  • the working head is preferably mounted on the base machine in such a way that the orientation and position of the working head can be deduced from the orientation and position of the base machine.
  • a direct measuring connection between the stationary reference point arranged in the tunnel and the main measuring point is no longer necessary in the method according to the invention. This can make a frequent implementation of the reference point, which is otherwise necessary in particular in the case of curved tunnels, unnecessary, which has an advantageous effect, in particular, in the case of tight curve radii.
  • the stationary reference point is preferably arranged on the tunnel wall.
  • the at least one main measuring point is preferably arranged on the base machine. Particularly preferably, two main measuring points are provided, in particular for determining the orientation of the base machine.
  • the at least one intermediate measuring point is preferably arranged on a follower.
  • a plurality of intermediate measuring points are provided, and more preferably the position of an intermediate measuring point is measured relative to the position of another intermediate measuring point.
  • the requirement of implementing the reference point can be further reduced.
  • At least one theodolite is further preferably arranged on the tunnel boring machine. So at least one theodolite goes with the tunnel boring machine.
  • a theodolite is arranged at each intermediate measuring point.
  • the at least one theodolite is preferably equipped with a distance measuring device, so it can also be called a tachymeter. More preferably, the theodolite is carried out electronically, so it can be referred to as a total station and most preferably has an automatic target tracking.
  • the at least one theodolite preferably interacts with a reflector, particularly preferably a reflection prism.
  • a theodolite is arranged at the fixed reference point.
  • This stationary theodolite preferably interacts with a stationary reference reflector, particularly preferably a reference prism, in particular for orientation of its horizontal angle measuring system.
  • the desired tunnel course, the coordinates of the stationary theodolite and of the reference reflector are preferably determined in advance by methods known from the prior art in a global coordinate system.
  • a measurement of the tunnel boring machine is carried out by means known from the prior art in advance to determine the positions of the main measuring points and intermediate measuring points relative to the axis of the tunnel boring machine or the axis of the working head, it.
  • theodolites Preferably, on the tunnel boring machine several theodolites, preferably distributed over the length of the tunnel boring machine, namely a Haupttheodolit that is closest to the working head and the at least one main measuring point and at least one, preferably three insects, with their help the position of the main theodolite relative is determined to the stationary theodolite.
  • each theodolite is measured by another theodolite.
  • a reflector is preferably arranged on each theodolite. The reflector arranged on a theodolite thus interacts with another theodolite.
  • the reflectors preferably comprise retroreflectors, which always reflect the incident light back in the direction from which it came. An alignment of such reflectors exactly on the source of light is therefore fundamentally unnecessary. Nevertheless, in one embodiment, the reflectors, in particular the reflection prisms, at least largely aligned with the theodolite, with which they interact. It has been shown that reflection losses can thereby be reduced and the measurement accuracy can be increased.
  • the theodolite, on which the reflector is arranged at least largely aligns it with another theodolite.
  • the reflector is preferably arranged on a co-rotating region of the theodolite. As a result, the at least extensive alignment or tracking takes place. tion of the reflector readily by the automatic target detection of the theodolite on which the reflector is arranged.
  • the position of one theodolite measured by another theodolite is the position of one theodolite measured by another theodolite, but in each case two theodolites, preferably neighboring theodolites, measure each other.
  • the quality of the measurement result increases solely by the duplication of the measurement and any averaging.
  • the reflectors, as already described at least largely aligned with the other theodolite. In addition, this can be done by an orientation of the horizontal angle measuring system arranged on the tunnel boring machine theodolite.
  • an at least one main measuring point an automatically dimming two main measuring points are provided, benefits.
  • the main measuring points are preferably measured successively by the same theodolite.
  • Each prism fades preferentially during surveying of the other prism to exclude disturbing influence.
  • the prism preferably fades out by means of a motor-operated shutter, which can be arranged in a cylindrical manner around the prism.
  • these are preferably spaced apart in the longitudinal direction of the tunnel boring machine.
  • the inclination of the base machine is measured by means of an inclinometer.
  • the pitch and curl are measured.
  • the inclinometer also includes an actuator for the dimmable prisms.
  • the measurement of the two main measuring points is preferably matched with the values of the inclinometer and in this way the accuracy of the measured values is checked.
  • the position of the basic machine in a global coordinate system is preferably determined from these local coordinates, before further calculating back to the actual tunnel axis.
  • the pull-out values of these cylinders are preferably measured and from this further information about the position of the base machine and the follower is generated.
  • the position and orientation of the followers are preferably also determined from the measured values of the theodolites.
  • the position and orientation of the basic machine and the trailer are preferably displayed to the driver of the tunnel boring machine.
  • the object is also achieved by a method for automatically positioning the working head-bearing base machine of a tunnel boring machine with Nachêtrn, with a positioning system and with a machine control, wherein the position and orientation of the base machine is measured by means of at least one theodolite, in particular by means of the method one of claims 1 to 7, with the following process steps:
  • the positioning system receives the signal from the machine control: "the trailer has stopped in a new position”.
  • the theodolites carry out a complete measurement and position determination of a theodolite arranged at the tunnel boring machine in the case of a plurality of theodolites arranged on the tunnel boring machine, preferably the foremost one, particularly preferably the theodolite arranged on the foremost follower, in the global coordinate system.
  • the positioning system receives the signal from the machine control: "Start local measurement” to reposition the basic machine.
  • the positioning system calculates the next position and required orientation of the basic machine in dependence on the specified target coordinates of the tunnel and sends corresponding setting values to the machine control.
  • the tunnel boring machine thus preferably automatically follows a predetermined desired course of the tunnel.
  • a referencing to the cutting profile creating the tunnel profile preferably takes place.
  • the set values include the pullout values of these cylinders.
  • the pitch and roll tendency of the base machine is measured by the inclinometer.
  • measurement is carried out by means of RFID technology.
  • the object is also achieved by a tunnel boring machine, with a positioning system for carrying out the method according to one of claims 1 to 9.
  • the tunnel boring machine preferably has a base machine carrying the working head and trailer, and a machine control.
  • the tunnel boring machine is preferably a machine for driving distances, tunnels or the like, having a working head rotatably drivable by means of a rotary drive and movable in the advancing direction, with tool arms which can be swiveled radially relative to a reference axis forming the axis of rotation of the working head by means of tool arm drives
  • the working head control system includes means for continuously measuring the angular position of the rotating working head and means for continuously measuring the pivot angle of the tool arms and a control computer operatively connected to said means and the angular position of the tool rotating working head and the pivot angle of the tool arms so coordinated that each pivotal tool arm is radially positioned for each angular position of the working head, according to a predetermined Schneidbahnverlaufs to cut the predetermined cutting path.
  • the base machine preferably comprises a support structure on which the working head is mounted, which is supported downwardly and together with a relative to this support structure longitudinally displaceable sliding device, which is also supported downward, forms a walking mechanism.
  • the positioning system preferably comprises at least one arranged on the tunnel boring machine theodolite.
  • the positioning system comprises a stationary theodolite and a plurality of theodolites distributed over the length of the tunnel boring machine. Particularly preferably, those at the Tunnel boring machine arranged Theodolite a Kleintheodolit, which is closest to the working head and with the at least one main measuring point vermessbar and at least one, preferably three insects, with the aid of the position of the main theodolite relative to the stationary theodolite is detectable.
  • each theodolite has a reflector arranged on it.
  • the reflector is preferably arranged co-rotatable with the theodolite, such that the theodolite, if it aligns itself, preferably by means of automatic target search, with another theodolite, also aligns the reflector at least largely with this other theodolite.
  • Each theodolite is preferably arranged on a self-leveling tripod.
  • the positioning system preferably comprises an automatically dimming prism arranged on the base machine and forming a main measuring point, very particularly preferably two such main prisms forming such prisms, preferably spaced apart in the longitudinal direction of the tunnel boring machine.
  • the positioning system comprises an inclinometer arranged on the base machine, by means of which the inclination of the base machine, preferably the pitch and roll tendency, can be measured and more preferably also the prisms can be dimmed.
  • the positioning system comprises a computer arranged in a control booth of the tunnel boring machine.
  • the positioning system preferably comprises a separate power supply for each theodolite, by means of which each theodolite can preferably also be connected to a network interconnecting all components of the positioning system.
  • the network connecting the computer to the tunneling theodolite is preferably a wired local area network, more specifically a LAN.
  • the stationary theodolite is preferably connectable by means of a local radio network, namely a WLAN or Wi-Fi, to the theodolite or its power supply traveling with it next.
  • FIG. 1 shows a view from above of a first exemplary embodiment of a tunnel boring machine according to the invention
  • FIG. 2 is a side view of the tunnel boring machine of FIG. 1; FIG.
  • Fig. 3 is a perspective view of a detail of Fig. 2;
  • Fig. 4 is a perspective view of another detail of Fig. 2;
  • Fig. 5 is an illustration as in Fig. 1, but of another embodiment
  • Fig. 6 is a schematic representation of the operation of the method for
  • the tunnel boring machine 100, 200 comprises a working head 21, 121 arranged on a base machine 23, 123. is net.
  • This basic machine 23, 123 is followed by three followers 22, 22 ', 22 ", 122, 122 ' , 122 " .
  • the base machine 23, 123 has a walkway not recognizable in the figures, as well as a crawler track 26, 126.
  • the trailer have axle trolleys and run on tires 27.
  • the main measuring points 3, 3 ', 103 are arranged in a main measuring area 24, 124 on the base machine 23, 123, which has a known and invariable orientation to the working head 21, 121, ie an immediate Conclusion on the position and orientation of the working head 21, 121 allows.
  • the positioning system of the tunnel boring machine shown in FIGS. 1 to 4 is shown schematically in FIG. It comprises exactly one theodolite 9 arranged at a stationary reference point 2 and four further theodolites 5, 6, 7, 8 arranged at an intermediate measuring point 1, 1 ', 1 ", 1"' on the tunnel boring machine 100.
  • theodolites 5, 6 , 7, 8, 9 are total stations.
  • a theodolite 8 is arranged at the end of the last follower 22 ", another theodolite 7 is arranged at the end of the middle follower 22 ', another theodolite is arranged at the end of the first follower 22 and a foremost theodolite 5 is at the beginning of the first follower 22
  • the theodolites cooperate with reflectors 10, 11, 12, 13, 14, 15, 16, 17, which are designed as reflection prisms
  • the theodolite 9 arranged at the stationary reference point 2 acts with an approximately 60 m to 120 m
  • the reference prism 17 is oriented with the aid of the reference prism, the horizontal angle measuring system of the stationary theodolite 9.
  • the stationary theodolite 9 is arranged on the tunnel wall, also a movement of this fixed theodolite 9, as is not excluded with a freshly drilled tunnel, can be detected by measuring the reference prism 17.
  • De Stationary theodolite 9 is placed on the tunnel wall and behind the tunnel boring machine. Each traveling theodolite 5, 6, 7, 8 is arranged on a self-leveling stand 29.
  • the foremost theodolite 5 measures the main measuring points 3, 3 ' and can therefore be called the main theodolite.
  • the others traveling theodolites 6, 7, 8 serve to position the main theodolite relative to the stationary theodolite 9 and can therefore be termed intermediate theodolites.
  • the stationary theodolite 9 measures the prism 15, which is arranged on the intermediate theorem 8 located next to it on the last follower 22.
  • the stationary theodolite 9 therefore measures the position of the intermediate theodolite 8 nearest to it the next in the direction of travel of the tunnel boring machine 100 precedent Eisentheodolits 7, this misses the position of him driving intermediate Eisentheodolits 6 and this misses the position of him driving main Theodolits 5.
  • the main theodolite 5 measures successively the position of two main measuring points 3, 3 ' forming engine prisms 18, 19, which are arranged in the main measuring area 24. These can be dimmed motor so as not to interfere with the measurement of the other prism.
  • the theodolites not only measure the respective theodolite arranged in front of them, but also displace them behind each other at a later time arranged theodolite, as shown in Fig. 6 is indicated.
  • Theodolites 5, 6, 7, 8, 9 have automatic target acquisition. So they are able to automatically align themselves with the prism they are supposed to measure.
  • the measurement accuracy since two theodolites always measure each other, the measurement accuracy first increases, since then two measured values of two different theodolites are present, which can be averaged, for example.
  • the measurement accuracy can be increased by the fact that then arranged on each theodolite reflection prism, which preferably rotates with the theodolites, is aligned by at least largely by the automatic target detection of this theodolite on each closest other theodolite.
  • Fig. 5 shows a second embodiment of a tunnel boring machine 200.
  • the determination of the orientation and position of the working head 121 is not by optical measurement by means of theodolites, but RFID technology is used.
  • an RFID reader 125 is arranged at a fixed reference point 102 of the tunnel wall.
  • stationary intermediate measurement points 104 in the form of RFID tags (transponders), are located fixedly on the tunnel wall. Preferably, they are active transponders.
  • transponders are located at the tunnel boring machine.
  • further transponders are arranged at intermediate measuring points 101, 101 ', 101 ", 101"'.
  • further RFI D readers 125 ', 125 ", 125"', 125 "", 125 are arranged on the tunnel boring machine.

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  • Engineering & Computer Science (AREA)
  • Mining & Mineral Resources (AREA)
  • Environmental & Geological Engineering (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • General Life Sciences & Earth Sciences (AREA)
  • Geochemistry & Mineralogy (AREA)
  • Geology (AREA)
  • Excavating Of Shafts Or Tunnels (AREA)

Abstract

Procédé permettant de déterminer l'orientation et la position de la machine de base (23, 123) portant le bouclier (21, 121) d'un tunnelier (100, 200), la position d'au moins un point de mesure intermédiaire (1, 1', 1'', 1''', 101, 101', 101'', 101''') placé sur le tunnelier étant mesurée relativement à un point de référence (2, 102) fixe et la position d'au moins un point de mesure principal (3, 3', 103) étant mesurée relativement au point de mesure intermédiaire.
PCT/EP2014/056791 2013-04-11 2014-04-04 Procédé permettant de déterminer l'orientation et la position de la machine de base portant le bouclier d'un tunnelier Ceased WO2014166829A2 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102013103655.4 2013-04-11
DE102013103655.4A DE102013103655A1 (de) 2013-04-11 2013-04-11 Verfahren zur Bestimmung der Ausrichtung und Position der den Arbeitskopf tragenden Basismaschine einer Tunnelbohrmaschine

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WO2014166829A2 true WO2014166829A2 (fr) 2014-10-16

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Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108564628A (zh) * 2018-04-17 2018-09-21 北京理工大学 一种面向掘进机自动化的截割头视觉定位定向系统
JP2019090215A (ja) * 2017-11-14 2019-06-13 株式会社奥村組 シールド掘進機およびシールド掘進機の掘進方法

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN110985029A (zh) * 2019-12-14 2020-04-10 南京城市地下空间工程研究院有限公司 基于盾构机施工的导向管理系统

Family Cites Families (7)

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Publication number Priority date Publication date Assignee Title
CH496854A (de) * 1965-06-15 1970-09-30 Contraves Ag Einrichtung zur Ermittlung der Istlage einer Tunnelbohrmaschine in einem raumfesten Koordinatensystem
DE3120010A1 (de) * 1981-05-20 1982-12-09 Ed. Züblin AG, 7000 Stuttgart Verfahren zur positionsbestimmung eines vorgepressten hohlprofilstrangs und vorrichtung zur durchfuehrung des verfahrens
DE3404496A1 (de) * 1984-02-09 1985-08-14 Gewerkschaft Eisenhütte Westfalia, 4670 Lünen Verfahren und einrichtung zur ueberwachung und/oder steuerung einer vortriebsmaschine, insbesondere einer teilschnittmaschine
DE4041723A1 (de) * 1990-12-24 1992-06-25 Thiedig Ullrich Verfahren und vorrichtung zur bestimmung der position eines messpunktes relativ zu einem bezugspunkt
DE19504969A1 (de) * 1995-02-15 1996-08-22 Bodenseewerk Geraetetech Verfahren zur Steuerung einer Tunnelvortriebs-Maschine
DE19507346C2 (de) * 1995-03-02 2002-06-13 Dyckerhoff & Widmann Ag Verfahren zum Steuern einer Vortriebsmaschine bei der Herstellung eines unterirdischen Hohlraumprofils sowie Einrichtung zur Durchführung des Verfahrens
JP3347035B2 (ja) * 1997-10-29 2002-11-20 日立建機株式会社 光学式偏角測定装置及び地中掘進機の位置計測装置

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2019090215A (ja) * 2017-11-14 2019-06-13 株式会社奥村組 シールド掘進機およびシールド掘進機の掘進方法
CN108564628A (zh) * 2018-04-17 2018-09-21 北京理工大学 一种面向掘进机自动化的截割头视觉定位定向系统
CN108564628B (zh) * 2018-04-17 2023-05-26 北京理工大学 一种面向掘进机自动化的截割头视觉定位定向系统

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