JP2520754B2 - Position detection device for shield machine - Google Patents
Position detection device for shield machineInfo
- Publication number
- JP2520754B2 JP2520754B2 JP2057998A JP5799890A JP2520754B2 JP 2520754 B2 JP2520754 B2 JP 2520754B2 JP 2057998 A JP2057998 A JP 2057998A JP 5799890 A JP5799890 A JP 5799890A JP 2520754 B2 JP2520754 B2 JP 2520754B2
- Authority
- JP
- Japan
- Prior art keywords
- shield
- axis
- machine
- tunnel
- deviation
- 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.)
- Expired - Lifetime
Links
Landscapes
- Excavating Of Shafts Or Tunnels (AREA)
- Geophysics And Detection Of Objects (AREA)
Description
【発明の詳細な説明】 （産業上の利用分野） この発明は地中で接合するシールド掘進機の相対位置
を検出するシールド掘進機の位置検出装置に関する。TECHNICAL FIELD The present invention relates to a position detection device for a shield machine, which detects the relative position of a shield machine that is joined in the ground.
（従来の技術） 従来シールド掘進機でトンネルを掘削する場合，発進
立坑より到達立坑へ向けてシールド掘進機を推進させな
がら掘削するが，海底にトンネルを掘削するような場
合，立坑を多く設置することができないことから,1基の
シールド掘進機の掘削距離を短くする目的でトンネルの
両方向からトンネルを掘削し，トンネルの途中で各シー
ルド掘進機を接合してトンネルを貫通させるシールド工
法がよく用いられる。(Prior art) When excavating a tunnel with a conventional shield machine, the shield machine is excavated from the starting shaft toward the reaching shaft, but when the tunnel is drilled on the seabed, many shafts are installed. Therefore, the shield construction method is often used in which the tunnel excavator is excavated from both directions in order to shorten the excavation distance of one shield machine and the shield machine is joined in the middle of the tunnel to penetrate the tunnel. To be
上記のようなシールド工法では，各シールド掘進機が
計画線に沿って正確にトンネルを掘削しないとシールド
掘進機がトンネルの途中で対峙したとき，各シールド掘
進機を接合することが困難となる。In the shield construction method as described above, unless each shield machine excavates the tunnel accurately along the planned line, it becomes difficult to join the shield machine when the shield machine faces each other in the middle of the tunnel.
このため従来ではシールド掘進機が掘削したトンネル
内からトランシットなどの測定器を使用して目視により
シールド掘進機の位置を測定したり，レーザ光をシール
ド掘進機に設けたターゲットに照射してシールド掘進機
の位置を測定していた。For this reason, conventionally, the position of the shield machine is visually measured using a measuring instrument such as a transit from inside the tunnel excavated by the shield machine, or the target provided on the shield machine is irradiated with laser light to advance the shield machine. I was measuring the position of the machine.
（発明が解決しようとする課題） しかしトランシット等による測定では掘削されたトン
ネルが屈曲しているような場合，測定点を多く持つ必要
があるため，リアルタイムで計測することができず，実
用的でないなどの不具合がある。(Problems to be solved by the invention) However, in the case where the excavated tunnel is bent by the measurement by the transit etc., it is necessary to have many measurement points, so that it cannot be measured in real time, which is not practical. There is a problem such as.
またレーザ光などを使用した測定でも，トンネルが屈
曲している場合，シールド掘進機と計画線のずれを複数
個所で測定し、得られた値をもとにシールド掘進機の位
置を算出するなどの処理が必要なため，測定に手数がか
かると共に，この間トンネルの掘削ができず，掘削能率
が低下する不具合があった。In addition, even when using a laser beam or the like, if the tunnel is bent, the deviation between the shield machine and the planned line is measured at multiple locations, and the position of the shield machine is calculated based on the obtained values. Since this process is required, it takes time and labor for the measurement, and during this time, the tunnel could not be excavated and the excavation efficiency declined.
しかも何れの方法も計画線に対しての位置は測定でき
ても，対峙する２基のシールド掘進機の相対位置は検出
できない不具合があった。In addition, even though both methods can measure the position with respect to the planned line, there is a problem that the relative position of the two facing shield machines cannot be detected.
また特開昭61-254793号公報のように一方のシールド
機（又は立坑）からボーリング孔を明け、この孔に磁気
センサを取付けた棒を入れ対峙する他方のシールド機の
カッタ面と対面させ、カッタヘッドを回すことで磁気セ
ンサの相互位置を検出するようにしたものも公知である
が、カッタの摩耗や変形によって受信の検出結果が変わ
り不正確であると共に、検出距離により波形が異なり解
析に時間を要し、誤差が生じ、平面的な位置検出しかで
きないというような不具合がある。Also, as in JP-A-61-254793, one of the shield machines (or vertical shafts) is drilled with a boring hole, and a rod with a magnetic sensor is put in this hole to face the cutter surface of the other shield machine. It is also known to detect the mutual position of the magnetic sensors by rotating the cutter head, but the detection result of reception changes due to wear and deformation of the cutter, and the waveform is different depending on the detection distance, and it is different for analysis. There is a problem that it takes time, an error occurs, and only planar position detection is possible.
この発明は上記不具合を改善するためになされたもの
で，地中で対峙するシールド掘進機の相対位置が検出で
きるようにしたシールド掘進機の位置検出装置を提供す
ることを目的とするものである。The present invention has been made to solve the above-mentioned problems, and an object of the present invention is to provide a position detection device for a shield machine which can detect the relative position of the shield machine facing each other in the ground. .
（課題を解決するための手段及び作用） この発明は上記の目的を達成するためになされたもの
で、トンネルの両方向より掘削して、トンネルの途中で
対峙した２基のシールド掘進機の相対位置を計測する計
測装置であって、一方の掘進機にはカッタヘッドの前に
推進していくパイロット管が設けられており、前記パイ
ロット管または他方のシールド掘進機の前面に、各々非
接触の信号受信器と信号発生器が設けられているものに
おいて （１）トンネル基線とシールド掘進機との機軸が一致し
ている場合は、上記２基のシールド掘進機の互いの「Ｘ
軸方向のずれεx,Y軸の方向のずれεｙ」「角度θx,θ
ｙ」を上記２基のシールド掘進機の間で異なる２点の測
定値から次の式を使って算出する演算手段を備えたもの
である 記 なお a:パイロットヘッドの先端から受信センサまでの
距離 b:機軸とパイロット管の軸線との距離 Δlx:第１検出点と第２検出点の距離 X1:第１検出点のＸ座標（検出値） X2:第２検出点のＸ座標（検出値） またＹ軸方向のずれεｙと角度θｙは上記式のうちｘ
をｙに変えて同様に算出する。(Means and Actions for Solving the Problems) The present invention has been made to achieve the above object, and the relative positions of the two shield excavators facing each other in the middle of the tunnel are excavated from both directions of the tunnel. Is a measuring device for measuring, one of the machine is provided with a pilot pipe to propel in front of the cutter head, the pilot pipe or the front of the other shield machine, non-contact signal In the case where the receiver and the signal generator are provided, (1) When the tunnel base line and the shield excavator have the same axis, “X
Axial displacement εx, Y-axis displacement εy ”“ Angle θx, θ
It is provided with a calculating means for calculating "y" from the measured values of two points which are different between the above two shield machines using the following formula. Note that a: distance from the tip of the pilot head to the receiving sensor b: distance between the machine axis and the axis of the pilot pipe Δlx: distance between the first detection point and the second detection point X1: X coordinate of the first detection point (detection value) X2: X coordinate of the second detection point (detection value) Further, the deviation εy in the Y-axis direction and the angle θy are x in the above equation.
Is changed to y and the same calculation is performed.
また（２）トンネル基線とシールド掘進機の機軸がず
れている場合は、後着シールドカッタヘッド前面におけ
る第１基線と第２機軸の「Ｘ軸方向のずれεx,Y軸方向
のずれεｙ」と「角度θy,θｙ」を上記２基のシールド
掘進機の間で異なる２点の測定値から次の式を使って算
出する演算手段を備えたものである。(2) If the tunnel base line and the machine axis of the shield machine are misaligned, the first base line and the second machine axis on the front surface of the trailing shield cutter head will be “deviation εx in the X axis direction, εy in the Y axis direction”. It is provided with a calculating means for calculating the “angle θy, θy” from the measured values at two different points between the above two shield machines using the following formula.
記 「a:パイロットヘッドの先端から受信センサまでの距離 b:第１基線とパイロット管打設軸との距離 Δlx:第１検出点と第２検出点の距離 X1:第１検出点のＸ座標（検出値） X2:第２検出点のＸ座標（検出点） l:パイロット管打設距離 θ1:第１基線と第１機軸との傾き角 θ2:第２基線と第２機軸との傾き角 θ3:第１基線と第２基線との傾き角 θ4:第１機軸と第２機軸との傾き角 d1:先着シールドカッタヘッド前面における第１基線と
第１機軸のずれ d2:後着シールドカッタヘッド前面における第２基線と
第２機軸のずれ d3:後着シールドカッタヘッド前面における第１基線と
第２基線のずれ d4:第１機軸と第２機軸のずれ θx:第１基線と第２機軸との傾き角 εx:後着シールドカッタヘッド前面における第１基線と
第２機軸のずれ位置検出のために最終的に求めたい数値
を、θ3,d3,θ4,d4とする。Note "a: Distance from the tip of the pilot head to the receiving sensor b: Distance between the first base line and the pilot pipe driving axis Δlx: Distance between the first detection point and the second detection point X1: X coordinate of the first detection point (Detection value) X2: X coordinate of the second detection point (Detection point) l: Pilot pipe driving distance θ1: Inclination angle between the first base line and the first machine axis θ2: Inclination angle between the second base line and the second machine axis θ3: Inclination angle between the first and second baselines θ4: Inclination angle between the first and second axes d1: Deviation between the first baseline and the first axis in front of the first-arrival shield cutter head d2: Second-arrival shield cutter head Deviation between the 2nd baseline and the 2nd axle on the front surface d3: Deviation between the 1st baseline and the 2nd baseline on the front surface of the trailing shield cutter head d4: Deviation between the 1st axle and the 2nd axle θx: The 1st baseline and the 2nd axle Tilt angle εx: Finally determined in order to detect the offset position between the first base line and the second machine axis on the front surface of the trailing shield cutter head. Logarithmic values, θ3, d3, θ4, and d4.
ａは既知、b,θ1,θ2,d1,d2は各シールド側からの測量
で求める。a is known, and b, θ1, θ2, d1 and d2 are obtained by surveying from each shield side.
またl,Δlxは打設パイロット管の測定より求める。 Also, l and Δlx are obtained from the measurement of the driving pilot pipe.
ΔＸ＝X2−X1とすると θ３は θ３＝θｘ−θ２ θ４は θ４＝θｘ−θ１ d3は d3＝εｘ−d2 d4は なお後着シールドカッタヘッドにおける第１機軸と第
２機軸とのＹ軸方向のずれεｙ、角度θｙは上記式のう
ち、x,yに変えて同様に算出する。If ΔX = X2-X1 θ3 is θ3 = θx−θ2 θ4 is θ4 = θx−θ1 d3 is d3 = εx−d2 d4 is The deviation εy and the angle θy in the Y-axis direction between the first machine axis and the second machine axis in the post-attached shield cutter head are calculated in the same manner by changing them to x and y in the above formula.
さらにこの発明は一方のシールド掘進機に互いに直交
する軸に設けられた送信コイルに交流電源を印加する送
信装置をカッタヘッド前面に取付けると共に、他方のシ
ールド掘進機から前方に推進させたパイロット管に互い
に直交する軸に設けられた受信コイルからなる受信セン
サを設け、該受信センサで前記送信装置から発せられた
磁界を検出することにより、両シールド掘進機の相対位
置を検出することを特徴とするシールド掘進機の位置検
出装置を備えたものである。Further, the present invention has a shield machine equipped with a transmitter for applying an AC power to a transmitter coil provided on a shaft orthogonal to each other on the front surface of the cutter head, and a pilot pipe propelled forward from the other shield machine. A receiving sensor including receiving coils provided on axes orthogonal to each other is provided, and the relative position of both shield machines is detected by detecting the magnetic field emitted from the transmitting device by the receiving sensor. It is provided with a position detecting device for a shield machine.
この発明は上述のようにして成り、地中で接合するト
ンネルの途中で対峙した２基のシールド掘進機の相対位
置を計測する計測装置で一方のシールド掘進機にはカッ
タヘッドの前に他方のシールド掘進機へ向けて、内部の
２点に非接触の信号受信器を設置したパイロット管を推
進させる。The present invention is constructed as described above, and is a measuring device for measuring the relative position of two shield excavators facing each other in the middle of a tunnel joined in the ground. A pilot pipe with non-contact signal receivers installed at two internal points is propelled toward the shield machine.
また他方のシールド掘進機のカッタヘッド前面に信号
発生器を設け、カッタヘッドの前面より前方へ磁界を発
生するとパイロット管内の２点の第１検出点、第２検出
点にある非接触の信号受信器が受信することにより、信
号発生器を設けたシールド掘進機のカッタヘッド前面に
おける第１検出点及び第２検出点のＸ座標、Ｙ座標をそ
れぞれ測定する。Further, a signal generator is provided in front of the cutter head of the other shield machine, and when a magnetic field is generated in front of the front of the cutter head, non-contact signal reception at two points, the first detection point and the second detection point, in the pilot pipe is received. The detector receives the X-coordinate and the Y-coordinate of the first detection point and the second detection point on the front surface of the cutter head of the shield machine equipped with the signal generator, respectively.
２点の測定値から計算式によって算出する演算手段に
よりカッタヘッド前面における機軸のずれと角度を演算
する。The deviation and the angle of the machine axis on the front surface of the cutter head are calculated by a calculation means which calculates from the measured values of two points by a calculation formula.
この時トンネル基線とシールド掘進機の機軸が一致し
ている場合は、Ｘ軸方向のずれεx,Y軸方向のずれεｙ
と角度θx,θｙを演算し、トンル基線とシールド掘進機
の機軸がずれている場合は、後着シールドカッタヘッド
前面における第１基線と第２機軸のずれをεx,εｙと角
度θx,θｙを演算する。At this time, when the tunnel base line and the machine axis of the shield machine match, the deviation εx in the X-axis direction and the deviation εy in the Y-axis direction.
And the angles θx and θy are calculated, and when the Dongle base line and the machine axis of the shield machine are misaligned, the deviation between the first base line and the second machine axis on the front surface of the trailing shield cutter head is calculated by Calculate
以上のとおり対峙するシールド掘進機間で２点を測定
し、演算することにより平面的な位置検出のほかに角度
も検出して両シールド掘進機の相対位置が演算するので
高精度の位置検出が可能であり、対峙した両シールド掘
進機を高精度で接合することができる。As described above, by measuring and calculating two points between the facing shield machines, in addition to the planar position detection, the angle is also detected to calculate the relative position of both shield machines, so highly accurate position detection is possible. It is possible, and both shield excavators facing each other can be joined with high accuracy.
また受信発進のそれぞれの磁気センサによって両シー
ルド掘進機のずれ、角度を演算するものにおいては、き
わめて簡単な構成によって容易かつリアルタイムで両シ
ールド掘進機の相対位置が演算できる。Further, in the case where the deviation and angle of both shield excavators are calculated by the respective magnetic sensors for receiving and starting, the relative position of both shield excavators can be calculated easily and in real time with an extremely simple configuration.
（実施例） この発明の一実施例を図面を参照して詳述する。Embodiment An embodiment of the present invention will be described in detail with reference to the drawings.
図において1,1′はトンネルの両方向より掘進して，
トンネルの途中で互に対峙した２基のシールド掘進機を
示すもので，先端に前方の切羽を掘削するカッタヘッド
２が設けられている。In the figure, 1,1 'is excavated from both directions of the tunnel,
It shows two shield excavators facing each other in the middle of the tunnel, and a cutter head 2 for excavating a front face is provided at the tip.
また先着したシールド掘進機１側にはカッタヘッド２
の後方に位置して推進装置３が設置されており，この推
進装置３により先端にパイロットヘッド４が装着された
ステンレス管などの非磁性体よりなるパイロット管５が
後着したシールド掘進機１′へ向けて推進されるように
なっていると共に，後着側のシールド掘進機１′のカッ
タヘッド２前面には送信装置６が設けられている。In addition, a cutter head 2 is provided on the side of the shield machine 1 that arrives first.
A propulsion device 3 is installed at the rear of the shield machine 1 ', and a pilot pipe 5 made of a non-magnetic material such as a stainless steel pipe having a pilot head 4 attached to the tip thereof is attached later by the propulsion device 3. The shield machine 1'on the trailing side is provided with a transmitter 6 in front of the cutter head 2 of the shield machine 1 '.
上記送信装置６は第４図に示すように長方形に折曲げ
た送信コイル6a,6bを横軸（Ｘ軸）と縦軸（Ｙ軸）に沿
って複数個重ね合せたもので，交流電源を印加すること
により，第５図に示すようにカッタヘッド２の前面より
前方へ磁界を発生するようになっている。As shown in FIG. 4, the transmitter 6 is formed by stacking a plurality of transmitter coils 6a, 6b bent in a rectangle along the horizontal axis (X axis) and the vertical axis (Y axis). By applying the magnetic field, a magnetic field is generated in front of the front surface of the cutter head 2 as shown in FIG.
一方パイロット管５の先端に装着されたパイロットヘ
ッド４内には，第３図に示すように２個のコイル8a,8b
の軸線が互に直交するように組合された受信センサ８が
位相を変えて２個所に設置され，これら受信センサ８に
よりＸ軸方向に設けられた送信コイル6a及びＹ軸方向に
設けられた送信コイル6bより発せられる磁界を受信する
ようになっている。On the other hand, in the pilot head 4 attached to the tip of the pilot pipe 5, two coils 8a, 8b are provided as shown in FIG.
The receiving sensors 8 combined so that their axes are orthogonal to each other are installed at two positions with different phases, and the transmitting coils 6a provided in the X-axis direction and the transmission provided in the Y-axis direction by these receiving sensors 8 It is adapted to receive the magnetic field emitted from the coil 6b.
次にトンネルの途中で対峙するシールド掘進機1,1′
の相対位置を検出する方法を説明すると，先着シールド
掘進機１と後着シールド掘進機１′が接合点に達して互
に第１図に示すように対峙したら，先着シールド掘進機
１側より後着シールド掘進機１′の送信装置６へ向け
て，先着シールド掘進機１の機軸（またはトンネル基
線）と平行するようパイロット管５を推進させ，カッタ
ヘッド２の前面にパイロットヘッド４を当接させる。Next, a shield machine 1,1 'facing the middle of the tunnel
The method for detecting the relative position of the first shield excavator 1 and the second shield excavator 1 ', when they reach the junction and face each other as shown in FIG. The pilot pipe 5 is propelled toward the transmitter 6 of the landing shield machine 1 ′ so as to be parallel to the machine axis (or the tunnel base line) of the first landing machine 1 and the pilot head 4 is brought into contact with the front surface of the cutter head 2. .
この状態で送信装置６の送信コイル6a,6bをＸ軸及び
Ｙ軸と一致するようにカッタヘッド２を停止させた状態
で送信コイル6a,6bに交流電源を印加して，送信コイル6
a,6bより磁界を発生させ，この磁界をパイロットヘッド
４内に設けられた受信センサ８により第６図に示す検出
点1,検出点２の２個所で検出する。In this state, AC power is applied to the transmission coils 6a and 6b of the transmission device 6 while the cutter head 2 is stopped so that the transmission coils 6a and 6b of the transmission device 6 coincide with the X-axis and the Y-axis.
A magnetic field is generated from a and 6b, and this magnetic field is detected by the reception sensor 8 provided in the pilot head 4 at two points, that is, the detection point 1 and the detection point 2 shown in FIG.
いまトンネル基線とシールド掘進機の機軸が一致して
いるものと仮定して互のシールド掘進機1,1′のＸ軸方
向のずれと角度を検出する場合，後着シールド掘進機
１′のカッタヘッド２前面における機軸のずれεｘ及び
角度θｘは， なお a:パイロットヘッド４の先端から受信センサ８ま
での距離 b:機軸とパイロット管５の軸線との距離 Δlx:検出点1,2の距離 X1:検出点１のＸ座標（検出値） X2:検出点２のＸ座標（検出値） 以下同様にしてＹ軸方向のずれも検出して３次元的に
両シールド掘進機1,1′の機軸のずれを検出することに
より，両シールド掘進機1,1′の相対位置関係を算出す
ることができる。Assuming that the tunnel base line and the shield machine's machine axes are now the same, when detecting the displacement and angle in the X-axis direction of the shield machine 1, 1'of each other, the cutter of the latter shield machine 1'is detected. The displacement εx and the angle θx of the machine axis on the front surface of the head 2 are Note that a: the distance from the tip of the pilot head 4 to the receiving sensor 8 b: the distance between the machine axis and the axis of the pilot pipe 5 Δlx: the distance between the detection points 1 and 2 X1: the X coordinate of the detection point 1 (detection value) X2: X coordinate of detection point 2 (detection value) Similarly, by detecting the deviation in the Y-axis direction and detecting the deviation of the machine axes of both shield excavators 1 and 1'three-dimensionally, both shield excavator 1 The relative positional relationship of 1'can be calculated.
以上はシールド掘進機１′の機軸とトンネル基線が一
致している場合の位置検出であるが，第７図に示すよう
にシールド掘進機1,1′の機軸I,IIと基線I,IIがずれて
いる場合は，次のようにして位置を検出する。The above is the position detection when the axis of the shield machine 1 ′ and the tunnel base line are coincident. As shown in FIG. 7, the machine axes I and II of the shield machine 1 and 1 and the base lines I and II are If there is a deviation, the position is detected as follows.
a:パイロットヘッド先端から受信センサまでの距離 b:基線Ｉとパイロット管打設軸との距離 Δlx:検出点1,2の距離 X1:検出点１のＸ座標（検出値） X2:検出点２のＸ座標（検出値） l:パイロット管打設距離 θ1:基線Ｉと機軸Ｉとの傾き角 θ2:基線IIと機軸IIとの傾き角 θ3:基線Ｉと基線IIとの傾き角 θ4:機軸Ｉと機軸IIとの傾き角 d1:先着シールドカッタヘッド前面における基線Ｉと機
軸Ｉのずれ d2:後着シールドカッタヘッド前面における基線IIと機
軸IIのずれ d3:後着シールドカッタヘッド前面における基線Ｉと基
線IIのずれ d4:機軸I,IIのずれ θx:基線Ｉと機軸IIとの傾き角 εx:後着シールドカッタヘッド前面における基線Ｉと機
軸IIのずれ 位置検出のために最終的に求めたい数値を，θ3,d3,
θ4,d4とする。a: Distance from tip of pilot head to receiving sensor b: Distance between baseline I and pilot pipe setting axis Δlx: Distance between detection points 1 and 2 X1: X coordinate of detection point 1 (detection value) X2: Detection point 2 X coordinate (detection value) l: Pilot pipe driving distance θ1: Inclination angle between base line I and machine axis I θ2: Inclination angle between base line II and machine axis II θ3: Inclination angle between base line I and base line II θ4: Machine axis Inclination angle between I and machine axis II d1: Deviation between baseline I and machine axis I in front of first-arrival shield cutter head d2: Difference between baseline II and machine axis II in front of second-arrival shield cutter head d3: Baseline I in front of second-arrival shield cutter head And the deviation of the baseline II d4: The deviation of the axes I and II θx: The tilt angle between the baseline I and the axis II εx: The deviation of the baseline I and the axis II on the front face of the trailing shield cutter head The numerical value is θ3, d3,
Let θ4 and d4.
ａは既知,b,θ1,θ2,d1,d2は各シールド側からの測量
で求める。a is known, and b, θ1, θ2, d1 and d2 are obtained by surveying from each shield side.
また,l,Δlxは打設パイロット管の測定より求める。 Also, l and Δlx are obtained from the measurement of the driving pilot pipe.
第７図において ΔＸ＝X2−X1とすると θ３は θ３＝θｘ−θ２ θ４は θ４＝θｘ−θ１ d3は d3＝εｘ−d2 d4は （発明の効果） この発明は以上詳述したように，トンネルの両方向よ
り掘削を開始してトンネルの途中で２基のシールド掘進
機が地中で対峙したら，一方のシールド掘進機より他方
のシールド掘進機へ向けてパイロット管を推進させて，
他方のシールド掘進機に設けた送信装置より発せられる
磁界を，パイロット管内に設けた受信センサにより受信
することにより，両シールド掘進機の相対位置を検出す
るようにしたもので，平面的な位置検出はもちろん、相
対的な対峙したシールド機のずれ（角度のずれ）も検出
することができ、両シールド掘進機の相対位置に応じて
修正掘削を行うことにより、両シールド掘進機が地中で
精度よく接合できるものである。In FIG. 7, assuming ΔX = X2-X1 θ3 is θ3 = θx−θ2 θ4 is θ4 = θx−θ1 d3 is d3 = εx−d2 d4 is (Effects of the Invention) As described in detail above, according to the present invention, when excavation is started from both directions of a tunnel and two shield excavators face each other in the middle of the tunnel, one shield excavator is shielded from the other shield excavator. Propel the pilot pipe toward the excavator,
The relative position of both shield machines is detected by receiving the magnetic field generated by the transmitter installed in the other shield machine by the receiving sensor installed in the pilot pipe, and detects the position on a plane. Of course, it is also possible to detect the relative deviation (angle deviation) of the shield machines, and by performing the corrective excavation according to the relative position of both shield machines, both shield machines are accurate in the ground. It can be joined well.
このようにこの発明では簡単な構成によって曲線掘進
でも容易かつリアルタイムで両シールド機の相対位置が
算出でき、高精度の位置検出が可能である。As described above, according to the present invention, the relative positions of the two shield machines can be calculated easily and in real time even by curve excavation with a simple configuration, and highly accurate position detection is possible.
図面はこの発明の一実施例を示し，第１図は対峙したシ
ールド掘進機の断面図，第２図は一方のシールド掘進機
の正面図，第３図はパイロットヘッド内の受信センサの
斜視図，第４図は送信コイルの拡大図，第５図，第６図
及び第７図は作用説明図である。 1,1′……シールド掘進機 ５……パイロット管、６……送信装置 ８……受信センサThe drawings show an embodiment of the present invention. Fig. 1 is a sectional view of a shield machine facing each other, Fig. 2 is a front view of one shield machine, and Fig. 3 is a perspective view of a receiving sensor in a pilot head. , FIG. 4 is an enlarged view of the transmission coil, and FIGS. 5, 6, and 7 are operation explanatory views. 1,1 '... Shield machine 5 ... Pilot pipe, 6 ... Transmission device 8 ... Reception sensor
Claims (3)
の途中で対峙した２基のシールド掘進機の相対位置を計
測する計測装置であって、一方の掘進機にはカッタヘッ
ドの前に推進していくパイロット管が設けられており、
前記パイロット管または他方のシールド掘進機の前面
に、各々非接触の信号受信器と信号発生器が設けられて
いるものにおいてトンネル基線とシールド掘進機の機軸
が一致している場合、上記２基のシールド掘進機の互い
の「Ｘ軸方向のずれεx,Y軸方向のずれεｙ」と「角度
θx,θｙ」を上記２基のシールド掘進機の間で異なる２
点の測定値から次の式を使って算出する演算手段を備え
たシールド掘進機の位置検出装置。 記 なお a:パイロットヘッドの先端から受信センサまでの
距離 b:機軸とパイロット管の軸線との距離 Δlx:第１検出点と第２検出点の距離 X1:第１検出点のＸ座標（検出値） X2:第２検出点のＸ座標（検出値） なおＹ軸方向のずれεｙと角度θｙは上記式ｘをｙに変
えて同様に算出する。1. A measuring device for excavating from both directions of a tunnel to measure the relative position of two shield excavators facing each other in the middle of the tunnel. One of the excavators is propelled in front of a cutter head. There is a pilot pipe going on,
In the case where a non-contact signal receiver and a signal generator are provided on the front surface of the pilot pipe or the other shield machine, respectively, when the tunnel base line and the machine axis of the shield machine coincide, The “deviation εx in the X-axis direction, the deviation εy in the Y-axis direction” and the “angles θx, θy” of the shield machines are different between the two shield machines.
A position detecting device for a shield machine having a calculation means for calculating the measured value of a point using the following formula. Record Note that a: distance from the tip of the pilot head to the receiving sensor b: distance between the machine axis and the axis of the pilot pipe Δlx: distance between the first detection point and the second detection point X1: X coordinate of the first detection point (detection value) X2: X coordinate of the second detection point (detection value) The deviation εy and the angle θy in the Y-axis direction are calculated in the same manner by changing the above expression x to y.
の途中で対峙した２基のシールド掘進機の相対位置を計
測する計測装置であって、一方の掘進機にはカッタヘッ
ドの前に推進していくパイロット管が設けられており、
前記パイロット管または他方のシールド掘進機の前面
に、各々非接触信号受信器と信号発生器が設けられてい
るものにおいてトンネル基線とシールド掘進機の機軸が
ずれている場合、後着シールドカッタヘッド前面におけ
る第１基線と第２機軸の「Ｘ軸方向のずれεｘ、Ｙ軸方
向のずれεｙ」と「角度θｘ、θｙ」を上記２基のシー
ルド掘進機の間で異なる２点の測定値から次の式を使っ
て算出する演算手段を備えたシールド掘進機の位置検出
装置。 記 「a:パイロットヘッド先端から受信センサまでの距離 b:第１基線とパイロット管打設軸との距離 Δlx:第１検出点と第２検出点の距離 X1:第１検出点のＸ座標 X2:第２検出点のＸ座標 l:パイロット管打設距離 θ1:第１基線と第１機軸との傾き角 θ2:第２基線と第２機軸との傾き角 θ3:第１基線と第２機軸との傾き角 θ4:第１機軸と第２機軸との傾き角 d1:先着シールドカッタヘッド前面における第１基線と
第１機軸のずれ d2:後着シールドカッタヘッド前面における第２基線と
第２機軸のずれ d3:後着シールドカッタヘッド前面における第１基線と
第２基線のずれ d4:第１機軸と第２機軸のずれ θx:第１基線と第２機軸との傾き角 εx:後着シールドカッタヘッド前面における第１基線と
第２機軸のＸ軸方向のずれ位置検出のための最終的に求
めたい数値をθ3,d3,θ4,d4とする。 ａは既知,b,θ1,θ2,d1,d2は各シールド側からの測量で
求める。またl,Δlxは打設パイロット管の測定より求め
る。 ΔＸ＝X2−X1とすると θ３は θ３＝θｘ−θ２ θ４は θ４＝θｘ−θ１ d3は d3＝εｘ−d2 d4は なお、後着シールドカッタヘッド前面における第１機軸
と第２機軸とのＹ軸方向のずれεｙ、角度θｙは上記式
のうちｘをｙに変えて同様に算出する。2. A measuring device for excavating from both directions of a tunnel and measuring the relative position of two shield excavators facing each other in the middle of the tunnel, wherein one excavator is propelled in front of the cutter head. There is a pilot pipe going on,
In the case where a non-contact signal receiver and a signal generator are provided on the front surface of the pilot pipe or the other shield machine, respectively, when the tunnel base line and the machine axis of the shield machine are misaligned, the rear shield cutter head front surface The first base line and the second machine axis of the “shift in the X-axis direction εx, the shift in the Y-axis direction εy” and the “angles θx, θy” in the two shield excavators are measured from the following two measured values. A position detecting device for a shield machine, which is provided with a calculating unit that calculates using the formula. Note "a: Distance from the tip of the pilot head to the receiving sensor b: Distance between the first base line and the pilot pipe driving axis Δlx: Distance between the first detection point and the second detection point X1: X coordinate of the first detection point X2 : X coordinate of the second detection point l: Pilot pipe driving distance θ1: Tilt angle between the first base line and the first machine axis θ2: Tilt angle between the second base line and the second machine axis θ3: First base line and the second machine axis Angle of inclination θ4: Angle of inclination between the first and second axes d1: Deviation between the first baseline and the first axis in front of the first-arrival shield cutter head d2: Second baseline and the second axis in front of the second-arrival shield cutter head Deviation of d3: Rear Shield Cutter Head Front and Second Baseline Deviation on Head Front d4: Deviation of 1st and 2nd Axis θx: Tilt angle between 1st Baseline and 2nd Axis εx: Rear Shield Cutter The final desired numerical value for detecting the displacement position of the first base line and the second axis in the X-axis direction on the front surface of the head 3, d3, θ4, d4 a is known, b, θ1, θ2, d1, d2 are measured by each shield side, and l, Δlx are measured by the measured pilot pipe ΔX = X2 -X1 θ3 is θ3 = θx−θ2 θ4 is θ4 = θx−θ1 d3 is d3 = εx−d2 d4 is The deviation εy and the angle θy in the Y-axis direction between the first axis and the second axis on the front surface of the trailing shield cutter head are calculated in the same manner by changing x in the above equation to y.
途中で対峙した２基のシールド掘進機の相対位置を計測
する計測装置であって、一方の掘進機にはカッタヘッド
の前に推進していくパイロット管が設けられており、前
記パイロット管または他方のシールド掘進機の前面に各
々非接触の信号受信器と信号発生器が設けられているも
のにおいて、一方のシールド掘進機に互いに直交する軸
に設けられた送信コイルに交流電流を印加する送信装置
をカッタヘッド前面に取り付けると共に、他方のシール
ド掘進機から前方に推進させたパイロット管に互いに直
交する軸に設けられた受信コイルからなる受信センサを
設け、該受信センサで前記送信装置から発せられた磁界
を検出することにより、両シールド掘進機の相対位置を
検出することを特徴とするシールド掘進機の位置検出装
置。3. A measuring device for excavating from both directions of a tunnel and measuring the relative position of two shield excavators facing each other in the middle of the tunnel, wherein one excavator is propelled in front of the cutter head. A pilot pipe is provided, and a non-contact signal receiver and a signal generator are provided on the front face of the pilot pipe or the other shield machine, respectively. A transmitter which applies an alternating current to the transmitter coil provided on the front side of the cutter head, and a receiver sensor composed of receiver coils provided on axes orthogonal to each other in a pilot pipe propelled forward from the other shield machine Is provided, and the relative position of both shield excavators is detected by detecting the magnetic field emitted from the transmitter with the reception sensor. Position detecting device of the shield machine according to.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2057998A JP2520754B2 (en) | 1990-03-12 | 1990-03-12 | Position detection device for shield machine |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2057998A JP2520754B2 (en) | 1990-03-12 | 1990-03-12 | Position detection device for shield machine |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPH03260280A JPH03260280A (en) | 1991-11-20 |
| JP2520754B2 true JP2520754B2 (en) | 1996-07-31 |
Family
ID=13071673
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP2057998A Expired - Lifetime JP2520754B2 (en) | 1990-03-12 | 1990-03-12 | Position detection device for shield machine |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JP2520754B2 (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115370375B (en) * | 2022-09-01 | 2024-04-26 | 中国水利水电第四工程局有限公司 | Method for calculating cutter head deviation of push bench |
Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS61254793A (en) * | 1985-05-02 | 1986-11-12 | 株式会社大林組 | Method of detecting position of excavation hole |
| JPH0694781B2 (en) * | 1989-11-17 | 1994-11-24 | 鹿島建設株式会社 | Shield joint position measuring method and device |
-
1990
- 1990-03-12 JP JP2057998A patent/JP2520754B2/en not_active Expired - Lifetime
Also Published As
| Publication number | Publication date |
|---|---|
| JPH03260280A (en) | 1991-11-20 |
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