Patent Application
20230175396
The present disclosure relates to a control method and a tunnel excavation device for a tunnel excavation device used when excavating a tunnel.
Tunnel excavation is performed by using an excavator provided with a cutter head that includes cutters on a machine front surface and grippers provided on the left and right side surfaces at the rear of the machine. This excavator excavates the tunnel by pressing the cutter head against the working face while rotating the cutter head while the left and right grippers are pressed against the left and right side walls (for example, see Japanese Patent Laid-open No. 2015-105512).
Japanese Patent Laid-open No. 2015-105512 discloses a method for controlling a tunnel excavation device comprising a front body section that includes cutters for performing tunnel excavation, and a rear body section that includes grippers for achieving a counterforce for excavation and that is coupled to the front body section via a plurality of thrust cylinders.
In this tunnel excavation device, an operator checks a display monitor and adjusts the strokes of the thrust cylinders so as not to deviate from a planned excavation line when the advancing direction of the tunnel excavation device has changed from the planned excavation line due to changes in the hardness of the bedrock material, etc., while excavating a curved tunnel.
However, because the position of only the front body section is adjusted in Japanese Patent Laid-open No. 2015-105512, it is difficult to cause the rear body section to move along the inner wall when there is a sharp curve in the tunnel.
An object of the present disclosure is to provide a control method for a tunnel excavation device and a tunnel excavation device that is capable of moving along a tunnel inner wall even when there is a sharp curve.
A control method for a tunnel excavation device according to a first disclosure is a method for controlling a tunnel excavation device comprising a front body section including a plurality of cutters, a rear body section disposed to the rear of the front body section, and a plurality of thrust cylinders disposed between the front body section and the rear body section, the method comprising a first forward travel step and a second forward travel step. In the first forward travel step, the plurality of thrust cylinders are controlled so that the front body section moves forward along a movement prediction line set on the basis of a first path line while grippers of the rear body section protrude outward and the rear body section is secured to the inner wall of the tunnel. In the second forward travel step, the plurality of thrust cylinders are controlled so that the rear body section moves forward along a movement prediction line set on the basis of a second path line while grippers of the front body section protrude outward and the front body section is secured to the inner wall of the tunnel.
A tunnel excavation device control method according to a second disclosure is a method for controlling a tunnel excavation device comprising a front body section including a plurality of cutters, a rear body section disposed to the rear of the front body section, and a plurality of thrust cylinders disposed between the front body section and the rear body section, the method comprising a first reverse travel step. In the first reverse travel step, the plurality of thrust cylinders are controlled so that the rear body section moves in reverse along a movement prediction line set on the basis of a third path line while grippers of the front body section protrude outward and the front body section is secured to the inner wall of the tunnel.
A tunnel excavation device according to a third disclosure comprises a front body section, a rear body section, a plurality of thrust cylinders, and a controller. The front body section includes a plurality of cutters and grippers that press against an inner wall of the tunnel. The rear body section includes grippers that press against the inner wall of the tunnel, and is disposed to the rear of the front body section. The plurality of thrust cylinders are disposed between the front body section and the rear body section. The controller controls the plurality of thrust cylinders so that the front body section moves forward along a movement prediction line set on the basis of a first path line while the grippers of the rear body section protrude outward and the rear body section is secured to the inner wall of the tunnel, and controls the plurality of thrust cylinders so that the rear body section moves forward along a movement prediction line set on the basis of a second path line while the grippers of the front body section protrude outward and the front body section is secured to the inner wall of the tunnel.
A tunnel excavation device according to a fourth disclosure comprises a front body section, a rear body section, a plurality of thrust cylinders, and a controller. The front body section includes a plurality of cutters and grippers that press against an inside wall of the tunnel. The rear body section includes grippers that press against the inner wall of the tunnel, and is disposed to the rear of the front body section. The plurality of thrust cylinders are disposed between the front body section and the rear body section. The controller controls the plurality of thrust cylinders so that the rear body section moves in reverse along a movement prediction line set on the basis of a third path line while the grippers of the front body section protrude outward and the front body section is secured to the inner wall of the tunnel.
According to the present disclosure, there is provided a control method for a tunnel excavation device and a tunnel excavation device that is capable of moving along a tunnel inner wall even when there is a sharp curve.
A tunnel excavation device and a control method for a tunnel excavation device in an embodiment according to the present disclosure will be explained with reference to the drawings.
The tunnel excavation device 10 (
The tunnel excavation device 10 excavates, for example, a first tunnel T1 (see
The tunnel excavation device 10 is a device that performs excavation work of the first tunnel T1 by advancing while excavating bedrock or the like, and comprises a front body section 11, a rear body section 12, a linking mechanism 13, a conveyor belt 14, a controller 15 (see
The front body section 11 includes the cutter head 11a and excavates the bedrock or the like. The rear body section 12 is disposed to the rear of the front body section 11. The linking mechanism 13 connects the rear body section 12 to the front body section 11. The front body section 11 is able to bend with respect to the rear body section 12 due to the linking mechanism 13. The conveyor belt 14 transports earth and sand excavated by the cutter head 11a to the rear.
The controller 15 controls the operations of the front body section 11, the rear body section 12, the linking mechanism 13, and the conveyor belt 14. The display input component 16 is, for example, a touch panel type monitor screen and receives operation inputs from an operator. The linking mechanism 13 is operated by inputs from the operator and the bending of the front body section 11 with respect to the rear body section 12 is changed. While not illustrated, a plurality of vehicles provided with a control device, a power supply device, and a hydraulic system, etc., for driving the cutter head 11a, the grippers 12a, the conveyor belt 14, and a plurality of thrust cylinders 13a to 13f of the linking mechanism 13, are joined to the rear of the rear body section 12, and an operator’s seat is provided in any of the vehicles. The display input component 16 is disposed, for example, in front of the operator’s seat.
The front body section 11 is disposed in the front section of the tunnel excavation device 10. The position and attitude of the front body section 11 with respect to the rear body section 12 are changed by the plurality of below-mentioned thrust cylinders 13a to 13f included in the linking mechanism 13. The front body section 11 includes the cutter head 11a and grippers 11b.
The cutter head 11a is disposed at the tip of the front body section 11. The cutter head 11a has a roughly circular shape as seen from the front, and rotates around a center shaft as a center of rotation thereby excavating the bedrock, etc., with a plurality of disk cutters 11c provided to the front surface on the tip end side. The cutter head 11a takes in the bedrock and stones finely ground by the disk cutters 11c through openings (not illustrated) formed on the front surface.
The grippers 11b are provided at least to both sides of the front body section 11 in the width direction. The grippers 11b protrude from the outer circumferential surface of the front body section 11 toward a side wall T1a of the tunnel T1 and are pressed against the side wall T1a as illustrated in
The rear body section 12 is disposed in the rear section of the tunnel excavation device 10 as illustrated in
The grippers 12a are installed on both sides of the rear body section 12 in the width direction. The rear body section 12 and the front body section 11 are coupled by the linking mechanism 13.
The grippers 12a protrude from the outer circumferential surface of the rear body section 12 radially toward the outside as illustrated in
The linking mechanism 13 is disposed in the middle in the front-back direction of the tunnel excavation device 10 as illustrated in
The six sets of thrust cylinders 13a to 13f are disposed side by side between the front body section 11 and the rear body section 12 as links and couple the front body section 11 and the rear body section 12. The six sets of thrust cylinders 13a to 13f are disposed in a lattice structure. The ends on the rod side of the six sets of thrust cylinders 13a to 13f are connected to portions of the front body section 11 facing the rear body section 12. The ends on the cylinder side of the thrust cylinders 13a to 13f are connected to portions of the rear body section 12 facing the front body section 11.
By extending the thrust cylinders 13a to 13f, the front body section 11 is made to travel forward with respect to the rear body section 12 or the rear body section 12 is made to travel in reverse with respect to the front body section 11, whereby the tunnel excavation device 10 is enabled to travel forward or travel in reverse step by step. In addition, by retracting the thrust cylinders 13a to 13f, the rear body section 12 is pulled toward the front body section 11 or the front body section 11 is pulled toward the rear body section 12, whereby the tunnel excavation device 10 is enabled to travel forward or travel in reverse step by step.
Each of the thrust cylinders 13a to 13f respectively have attached thereto below-mentioned stroke sensors 17a to 17f as illustrated in
The conveyor belt 14 is provided between the front body section 11 and the rear body section 12 and transports the bedrock or stones excavated by the cutter head 11a from the front body section 11 toward the rear body section 12.
A virtual folding point Px (see
The tunnel excavation device 10 is held so as not to move inside the first tunnel T1 due to the grippers 12a being pressed against the side wall T1a of the first tunnel T1 according to the above configuration. In this state, the thrust cylinders 13a to 13f of the linking mechanism 13 are extended and the cutter head 11a is pressed forward while the cutter head 11a at the tip end side is rotated to excavate the bedrock, etc., and travel forward.
At this time, the excavated bedrock and stones are transported to the rear by the conveyor belt 14, etc., in the tunnel excavation device 10. By doing so, the tunnel excavation device 10 is able to dig through the first tunnel T1 (see
In addition, by digging while the front body section 11 is slanted with respect to the rear body section 12, a curved tunnel T2 can be dug as illustrated in
According to the above configurations, the tunnel excavation device 10 tunnels (travels forward) or travels in reverse by performing the following operations.
During tunneling, the thrust cylinders 13a to 13f are extended while the grippers 12a of the rear body section 12 protrude outward and the rear body section 12 is secured to the tunnel inner wall, whereby the front body section 11 travels forward with respect to the rear body section 12. The cutter head 11a is rotated at this time and excavation is carried out.
During tunneling, the thrust cylinders 13a to 13f are retracted while the grippers 11b of the front body section 11 protrude outward and the front body section 11 is secured to the tunnel inner wall, whereby the rear body section 12 travels forward and approaches the front body section 11 (also referred to as a replacing operation).
By repeating the above operations, the tunnel excavation device 10 is able to travel forward.
During reverse travel, the thrust cylinders 13a to 13f are extended while the grippers 11b of the front body section 11 protrude outward and the front body section 11 is secured to the tunnel inner wall, whereby the rear body section 12 travels in reverse.
During reverse travel, the thrust cylinders 13a to 13f are retracted while the grippers 12a of the rear body section 12 protrude outward and the rear body section 12 is secured to the tunnel inner wall, whereby the front body section 11 travels in reverse and approaches the rear body section 12.
By repeating the above operations, the tunnel excavation device 10 is able to travel in reverse.
The controller 15 includes a processor and a storage device. The processor is, for example, a central processing unit (CPU). Alternatively, the processor may be a processor different from a CPU. The processor executes processing for controlling the tunnel excavation device 10 in accordance with a program. The storage device includes a non-volatile memory, such as a read-only memory (ROM), and a volatile memory, such as a random access memory (RAM). The storage device may include an auxiliary storage device, such as a hard disk or a solid state drive (SSD). The storage device is an example of a non-transitory computer-readable recording medium. The storage device stores programs and data for controlling the tunnel excavation device 10.
Instruction signals are input to the controller 15 from the display input component 16 by an operator. The operator is able to operate the display input component 16 and select tunneling or travel in reverse. The information of the operation selected by the operator is input to the controller 15.
The detection values of the stroke sensors 17a to 17f are input to the controller 15 and the controller 15 is able to acquire the stroke amounts of the thrust cylinders 13a to 13f.
The controller 15 includes a rear body attitude reading component 21, a front body attitude computing component 22, a folding point position computing component 23, a movement prediction line computing component 24, a position calculating component 25, a display control component 26, and a cylinder control component 27.
The rear body attitude reading component 21 derives a center position P1 and a center line C1 (orientation) from the current position and the attitude of the rear body section 12 (see
The front body attitude computing component 22 computes a center position P2 and attitude (center line C2) of the front body section 11 with respect to the rear body section 12 on the basis of the position information of the center position P1 and the center line C1 of the rear body section 12 derived by the rear body attitude reading component 21 and the stroke amounts of the thrust cylinders 13a to 13f. More specifically, the front body attitude computing component 22 is connected to the stroke sensors 17a to 17f respectively attached to the thrust cylinders 13a to 13f as illustrated in
The folding point position computing component 23 computes and derives the virtual folding point Px (see
The movement prediction line computing component 24 computes and derives a smooth three-dimensional curve that links the center position P1 of the rear body section 12 and the center position P2 of the front body section 11, on the basis of the information related to the center position P1 of the rear body section 12, the position information related to the virtual folding point Px, and the information related to the center position P2 of the front body section 11. This line is a movement prediction line D1 (see
The curve is a parametric curve in which the above-mentioned center position P1 of the rear body section 12, the center position P2 of the front body section 11, and the folding point Px server as three control points. The center line C1 of the rear body section 12 and the center line C2 of the front body section 11 are tangents to the curve. The parametric curve of the present embodiment is a secondary Bezier curve.
That is in the present embodiment, a precise three-dimensional arc track can be approximated with the center position P1 of the rear body section 12 serving as a first control point, the folding point Px serving as a second control point, and the center position P2 of the front body section 11 serving as a third control point. Accordingly, by using the second control point as the folding center, the track (target value) for a three-dimensional curvature radius R construction can be computed and derived with a one-dimensional parameter change.
The position calculating component 25 calculates a current positional deviation amount (Q1f, Q1r) and a target positional deviation amount (Q0f, Q0r).
The current positional deviation amount Q1f is a positional deviation amount from a first path line at the center position P2 of the front body section 11 derived by the rear body attitude reading component 21 and the front body attitude computing component 22 during tunneling, and also includes the direction of the positional deviation from the first path line. In addition, the current positional deviation amount Q1f is a positional deviation amount from a third path line at the center position P2 of the front body section 11 derived by the rear body attitude reading component 21 and the front body attitude computing component 22 during reverse travel, and also includes the direction of the positional deviation from the third path line.
The current positional deviation amount Q1r is a positional deviation amount from a second path line at the center position P1 of the rear body section 12 derived by the rear body attitude reading component 21 during tunneling, and also includes the direction of the positional deviation from the second path line. In addition, the current positional deviation amount Q1r is a positional deviation amount from the third path line at the center position P1 of the rear body section 12 derived by the rear body attitude reading component 21 during reverse travel, and also includes the direction of the positional deviation from the third path line.
The target positional deviation amount Q0f is a positional deviation amount from the first path line at a position where the front body section 11 is assumed to have traveled forward a predetermined distance along the movement prediction line D1 derived from the current attitude during tunneling. The target positional deviation amount Q0f is a positional deviation amount from the third path line at a position where the front body section 11 is assumed to have traveled in reverse a predetermined distance along the movement prediction line D1 derived from the current attitude during reverse travel.
The target positional deviation amount Q0r is a positional deviation amount from the second path line at a position where the rear body section 12 is assumed to have traveled forward a predetermined distance along the movement prediction line D1 derived from the current attitude during tunneling. The target positional deviation amount Q0r is a positional deviation amount from the third path line at a position where the rear body section 12 is assumed to have traveled in reverse a predetermined distance along the movement prediction line D1 derived from the current attitude during reverse travel.
The predetermined distance may have multiple settings and may be set to, for example, 50 cm or 1 m.
In the tunneling operation, the first path line is the excavating plan line of the tunnel. The excavating plan line (first path line) of the tunnel can be set, for example, as a line that connects positions that are on the vertical line of the center in the width direction of the planned tunnel and that are at the same height as the center position P2 of the front body section 11. In addition, because it is necessary that the rear body section 12 travels forward along the tunnel excavated by the front body section 11, the second path line is an actual result line of the front body section 11 that is actually excavated. The actual result line (second path line) can be set as a line on which the center position P2 of the front body section 11 has moved during the actual excavation.
Because there is a need to travel in reverse along the excavated tunnel when traveling in reverse, the third path line is the actual result line of the front body section 11 or the rear body section 12 that was actually excavated. The actual result line (third path line) can be set as a line on which the center position P2 of the front body section 11 or the center position P1 of the rear body section 12 has moved during the actual excavation.
When tunneling is selected by the operator, the position calculating component 25 calculates the current positional deviation amount Q1f that is the positional deviation amount from the first path line of the front body section 11 in the current state and the target positional deviation amount Q0f that is the positional deviation amount from the first path line when the front body section 11 has traveled forward the predetermined distance, and calculates the current positional deviation amount Q1r that is the positional deviation amount from the second path line of the front body section 11 in the current state and the target positional deviation amount Q0r that is the positional deviation amount from the second path line when the rear body section 12 has traveled forward the predetermined distance.
When reverse travel is selected by the operator, the position calculating component 25 calculates the current positional deviation amount Q1r that is the positional deviation amount from the third path line of the rear body section 12 in the current state and the target positional deviation amount Q0r that is the positional deviation amount from the third path line when the rear body section 12 has traveled in reverse the predetermined distance, and calculates the current positional deviation amount Q1f that is the positional deviation amount from the third path line of the front body section 11 in the current state and the target positional deviation amount Q0f that is the positional deviation amount from the third path line when the front body section 11 has traveled in reverse the predetermined distance.
The display control component 26 displays the positional deviation amounts calculated by the position calculating component 25 on the display input component 16.
When the tunneling operation is selected by the operator, the display control component 26 displays, on the display input component 16, the current positional deviation amount Q1f of the front body section 11 and the target positional deviation amount Q0f when the front body section 11 has traveled forward the predetermined distance calculated by the position calculating component 25, and displays, on the display input component 16, the current positional deviation amount Q1r of the rear body section 12 and the target positional deviation amount Q0r when the rear body section 12 has traveled forward the predetermined distance calculated by the position calculating component 25.
When the reverse travel operation is selected by the operator, the display control component 26 displays, on the display input component 16, the current positional deviation amount Q1f of the front body section 11 and the target positional deviation amount Q0f when the front body section 11 has traveled in reverse the predetermined distance calculated by the position calculating component 25, and displays, on the display input component 16, the current positional deviation amount Q1r of the rear body section 12 and the target positional deviation amount Q0r when the rear body section 12 has traveled in reverse the predetermined distance calculated by the position calculating component 25.
Although discussed below, based on the display of the deviation amounts of the positions on the excavating plan or the positions on the excavation actual result line on the display input component 16, the operator operates the display input component 16 so as to reduce the deviation amounts by operating the thrust cylinders 13a to 13f, and the movement prediction line D1 is computed again and the positional deviation amounts are also computed again and displayed.
The cylinder control component 27 controls the stroke amounts of the thrust cylinders 13a to 13f included in the linking mechanism 13 so that the front body section 11 or the rear body section 12 moves along the movement prediction line D1 derived according to the computing by the movement prediction line computing component 24.
When the operator selects an extension operation during tunneling, the cylinder control component 27 controls the thrust cylinders 13a to 13f and causes the front body section 11 to travel forward so that the center position P2 of the front body section 11 follows the movement prediction line D1.
When the operator selects the retraction operation during tunneling, the cylinder control component 27 controls the thrust cylinders 13a to 13f and causes the rear body section 12 to travel forward so that the center position P1 of the rear body section 12 follows the movement prediction line D1.
When the operator selects the extension operation during reverse travel, the cylinder control component 27 controls the thrust cylinders 13a to 13f and causes the rear body section 12 to travel in reverse so that the center position P1 of the rear body section 12 follows the movement prediction line D1.
When the operator selects the retraction operation during reverse travel, the cylinder control component 27 controls the thrust cylinders 13a to 13f and causes the front body section 11 to travel in reverse so that the center position P2 of the front body section 11 follows the movement prediction line D1.
The display input component 16 is, for example, a touch panel-type monitor display screen. In the present embodiment, the display input component 16 is used as an interface for setting the movement prediction line.
A tunneling/reverse travel setting component 30, an attitude changing component 31, and a deviation amount display component 32 are displayed on the display input component 16.
Setting of tunneling or reverse travel of the tunnel excavation device 10 is performed by the operator with the tunneling/reverse travel setting component 30. The deviation amount display component 32 displays the deviation amount from the excavating plan line or the actual result line at the current position, and the deviation amount between a position where the tunnel excavation device 10 has traveled forward the predetermined distance along the movement prediction line and a position where the tunnel excavation device 10 has traveled forward the predetermined distance along the excavating plan line or the actual result line. A direction input component 43 for the operator to perform direction correction on the basis of the display of the deviation amount display component 32, is displayed on the attitude changing component 31.
The tunneling/reverse travel setting component 30 is a switch for switching the movement direction (forward travel / reverse travel) of the tunnel excavation device 10 and enables setting of tunneling or reverse travel of the tunnel excavation device 10.
A tunneling button 41, a reverse travel button 42, and a cylinder operation component 44 for extending and retracting all of the thrust cylinders 13a to 13f are provided to the tunneling/reverse travel setting component 30.
The cylinder operation component 44 is an operation input component for setting the operation of the six thrust cylinders 13a to 13f included in the linking mechanism 13, and includes an extension button 44a, a stop button 44b, and a retraction button 44c.
The extension button 44a is operated when driving the thrust cylinders 13a to 13f in the extending direction.
The stop button 44b is operated when stopping the movement of the thrust cylinders 13a to 13f.
The retraction button 44c is operated when driving the thrust cylinders 13a to 13f in the retracting direction.
The tunneling button 41 is pressed when excavating the tunnel. While the grippers 12a of the rear body section 12 protrude outward and the rear body section 12 is secured to the shaft of the tunnel, the tunneling button 41 is pressed and then the extension button 44a of the cylinder operation component 44 is pressed, whereby the thrust cylinders 13a to 13f are extended and the front body section 11 travels forward so that the center position P2 of the front body section 11 follows the movement prediction line D1.
In addition, while the grippers 11b of the front body section 11 protrude outward and the front body section 11 is secured to the shaft of the tunnel, the tunneling button 41 is pressed and then the retraction button 44c of the cylinder operation component 44 is pressed, whereby the thrust cylinders 13a to 13f are retracted and the rear body section 12 travels forward so that the center position P1 of the rear body section 12 follows the movement prediction line D1.
The operation of the grippers 12a of the rear body section 12 and the grippers 11b of the front body section 11 are performed by the operator using an unillustrated operating component.
The reverse travel button 42 is pressed when traveling in reverse along the tunnel. While the grippers 11b of the front body section 11 protrude outward and the front body section 11 is secured to the shaft of the tunnel, the reverse travel button 42 is pressed and then the extension button 44a of the cylinder operation component 44 is pressed, whereby the thrust cylinders 13a to 13f are extended and the rear body section 12 travels in reverse so that the center position P1 of the rear body section 12 follows the movement prediction line D1.
While the grippers 12a of the rear body section 12 protrude outward and the rear body section 12 is secured to the shaft of the tunnel, the reverse travel button 42 is pressed and then the retraction button 44c of the cylinder operation component 44 is pressed, whereby the thrust cylinders 13a to 13f are retracted and the front body section 11 travels in reverse so that the center position P2 of the front body section 11 follows the movement prediction line D1.
The attitude changing component 31 includes a direction input component 43. The direction input component 43 is able to operate the thrust cylinders 13a to 13f move in the desired direction by operating the direction input component 43 in said direction.
The direction input component 43 is operated by the operator for correcting the attitude of the tunnel excavation device when a deviation in the forward travel or reverse travel toward a target position has occurred, and includes a plurality of direction buttons (upward button 43a, downward button 43b, rightward button 43c, and leftward button 43d).
The upward button 43a, the downward button 43b, the rightward button 43c, and the leftward button 43d are operated by the operator as buttons in the direction for reducing the deviation amount while the operator watches the deviation amount display component 32 and checks the occurrence of the deviation amount in any of the directions. As a result, the operator is able to control the tunnel excavation device 10 to tunnel in the direction of the excavating plan line or the actual result line by intuitively operating the buttons in the direction for eliminating the deviation amount while watching the deviation amount display component 32.
For example, when the extension button 44a has been pressed during a tunneling operation, when the leftward button 43d is operated, a predetermined thrust cylinder extends a small amount and the attitude is changed so that the front body section 11 bends, with respect to the rear body section 12, further leftward than the current state, and the front body section 11 travels forward. Additionally, when the retraction button 44c has been pressed during a tunneling operation, when the leftward button 43d is operated, a predetermined thrust cylinder retracts a small amount and the attitude is changed so that the rear body section 12 bends, with respect to the front body section 11, further leftward than the current state, and the rear body section 12 travels forward.
As indicated above, the operator is able to correct the movement prediction line D1 by correcting the attitude of the tunnel excavation device 10 by operating the direction input component 43 and the cylinder operation component 44 while watching the deviation amount display component 32.
The deviation amount display component 32 includes a front body deviation amount display component 45 and a rear body deviation amount display component 46. The front body deviation amount display component 45 displays the current positional deviation amount Q1f and the target positional deviation amount Q0f of the front body section 11 during tunneling and during reverse travel.
The rear body deviation amount display component 46 displays the current positional deviation amount Q1r and the target positional deviation amount Q0r of the rear body section 12 during tunneling and during reverse travel.
Herein follows an explanation of the display of the front body deviation amount display component 45 and the rear body deviation amount display component 46 when the tunneling operation is set by the operator.
The operator checks the display of the front body deviation amount display component 45 while the extension button 44a is pressed and the thrust cylinders 13a to 13f are extended during the tunneling operation brought about by pressing the tunneling button 41. While the grippers 12a of the rear body section 12 protrude outward and the rear body section 12 is secured to the shaft of the tunnel in the tunneling operation, when the extension button 44a is pressed, the thrust cylinders 13a to 13f extend whereby the front body section 11 travels forward and excavating is performed.
The current positional deviation amount Q1f in the tunneling operation is the deviation amount from the tunnel excavating plan line D10 at the center position P2 of the front body section 11 as illustrated in
The current positional deviation amount Q1f is the deviation amount in a direction perpendicular to the center line C2 (see
Moreover, the current positional deviation amount Q1f is not limited to a positional deviation amount based on the center position P2 of the front body section 11, and may be, for example, based on a middle position in the width direction at the tip end or rear end of the front body section 11.
The target positional deviation amount Q0f is the deviation amount from the tunnel excavating plan line D10 at the center position P2 of the front body section 11 when it is assumed that the tunnel excavation device 10 has traveled forward a predetermined distance M along the movement prediction line D1 from the current position of the front body section 11. The target positional deviation amount Q0f includes a deviation amount in the horizontal direction and a deviation amount in the vertical direction. While the target positional deviation amount Q0f in
Moreover, while the target positional deviation amount Q0f is set as a positional deviation amount based on the center position P2 of the front body section 11, the target positional deviation amount Q0f is not limited in this way and may be, for example, based on a middle position in the width direction at the tip end or rear end of the front body section 11.
A horizontal line X and a vertical line Y are depicted in the front body deviation amount display component 45 and the intersection of XY is set as the tunnel excavating plan line D10 (also called a target point). The operator’s seat is disposed further to the rear than the rear body section 12 as explained above, and the current positional deviation amount Q1f and the target positional deviation amount Q0f are displayed on the front body deviation amount display component 45 during tunneling when viewing the front body section 11 from the operator’s seat. The current positional deviation amount Q1f is depicted as the black triangle and the target positional deviation amount Q0f is depicted as the black circle in the front body deviation amount display component 45. The operator is able to check, with the front body deviation amount display component 45, the current positional deviation amounts in the horizontal direction and the vertical direction and the positional deviation amounts in the horizontal direction and the vertical direction when the tunneling extension operation has been performed and the front body section 11 has traveled forward in the current attitude.
Next, the operator operates the attitude changing component 31 and changes the attitude of the tunnel excavation device 10. Specifically, as illustrated in the upper diagram in
The deviation amount from the tunnel excavating plan line D10 at the position of the front body section 11 when it is assumed that the current front body section 11, the bending of which has been reduced, has traveled forward the predetermined distance M along the new movement prediction line D1, is calculated and serves as the new target positional deviation amount Q0f. In addition, the new current positional deviation amount Q1f is calculated because the position and attitude of the front body section 11 have changed.
The operator is able to check, on the basis of the display of the front body deviation amount display component 45 depicted in the lower diagram in
Consequently, even when the curve is sharp, the front body section 11 can be made to travel forward along the excavated and formed tunnel excavating plan line D10.
The operator checks the display of the rear body deviation amount display component 46 while the retraction button 44c is pressed and the thrust cylinders 13a to 13f are retracted during the tunneling operation brought about by pressing the tunneling button 41. When the retraction button 44c is pressed while the grippers 11b of the front body section 11 protrude outward and the front body section 11 is secured to the shaft of the tunnel in the tunneling operation, the thrust cylinders 13a to 13f are retracted and the rear body section 12 travels forward.
The actual result line D20 is a line that the front body section 11 has actually passed over and matches the center line of the excavated tunnel.
The current positional deviation amount Q1r in the tunneling operation is the deviation amount from the actual result line D20 at the center position P1 of the rear body section 12 as illustrated in
The current positional deviation amount Q1r is the deviation amount in a direction perpendicular to the center line C1 (see
Moreover, the current positional deviation amount Q1r is not limited to a positional deviation amount based on the center position P1 of the rear body section 12, and may be, for example, based on a middle position in the width direction at the tip end or rear end of the rear body section 12.
The target positional deviation amount Q0r in the tunneling operation is the deviation amount from the actual result line D20 at the center position P1 of the rear body section 12 when it is assumed that the rear body section 12 has traveled forward the predetermined distance M along the movement prediction line D1 from the current rear body section 12. The target positional deviation amount Q0r includes the deviation amount in the horizontal direction and the deviation amount in the vertical direction. While the target positional deviation amount Q0r in
Moreover, while the target positional deviation amount Q0r is described as the positional deviation amount based on the center position P1 of the rear body section 12, the target positional deviation amount Q0r is not limited in this way and may be, for example, based on a middle position in the width direction at the tip end or rear end of the rear body section 12.
A horizontal line X and a vertical line Y are depicted in the rear body deviation amount display component 46 and the XY intersection is set as the actual result line D20 (also called a target point). The operator’s seat is disposed further to the rear than the rear body section 12 as explained above, and the current positional deviation amount Q1r and the target positional deviation amount Q0r are displayed on the rear body deviation amount display component 46 during tunneling when viewing the rear body section 12 from the operator’s seat. The current positional deviation amount Q1r is depicted as the black triangle and the target positional deviation amount Q0r is depicted as the black circle in the rear body deviation amount display component 46. The operator is able to check, with the rear body deviation amount display component 46, the current positional deviation amounts in the horizontal direction and the vertical direction and the positional deviation amounts in the horizontal direction and the vertical direction when the tunneling retraction operation has been performed and the rear body section 12 has traveled forward with the current attitude.
Next, the operator operates the attitude changing component 31 and changes the attitude of the tunnel excavation device 10. Specifically, as illustrated in the upper diagram in
The deviation amount from the tunnel excavating plan line D10 at the position of the rear body section 12 when it is assumed that the current rear body section 12, the bending of which has been reduced, has traveled forward the predetermined distance M along the new movement prediction line D1, is calculated and serves as the new target positional deviation amount Q0r. In addition, the new current positional deviation amount Q1r is computed because the position and attitude of the rear body section 12 have changed.
The operator is able to check, on the basis of the display of the rear body deviation amount display component 46 depicted in the lower diagram in
Consequently, even when the curve is sharp, the rear body section 12 can be made to travel forward along the excavated and formed tunnel shaft.
While only the front body deviation amount display component 45 is depicted in
While pressing the rightward button 43c and correcting of the positional deviation in the horizontal direction is explained as an example in
Herein follows an explanation of the display of the front body deviation amount display component 45 and the rear body deviation amount display component 46 when the reverse travel operation is set by the operator.
The operator checks the display of the rear body deviation amount display component 46 while the extension button 44a is pressed and the thrust cylinders 13a to 13f are made to extend during the reverse travel operation brought about by pressing the reverse travel button 42. When the extension button 44a is pressed while the grippers 11b of the front body section 11 protrude outward and the front body section 11 is secured to the shaft of the tunnel in the reverse travel operation, the thrust cylinders 13a to 13f extend whereby the rear body section 12 travels in reverse.
The actual result line D30 is the line that the front body section 11 or the rear body section 12 has actually passed over and matches the center line of the excavated tunnel.
The current positional deviation amount Q1r in the reverse travel operation is the deviation amount from the actual result line D30 at the center position P1 of the rear body section 12 as illustrated in
Moreover, the current positional deviation amount Q1r is not limited to a positional deviation amount based on the center position P1 of the rear body section 12, and may be, for example, based on a middle position in the width direction at the tip end or rear end of the rear body section 12.
The target positional deviation amount Q0r in the reverse travel operation is the deviation amount from the actual result line D30 at the center position P1 of the rear body section 12 when it is assumed that the rear body section 12 has traveled in reverse the predetermined distance M along the movement prediction line D1 from the current rear body section 12. The target positional deviation amount Q0r includes the deviation amount in the horizontal direction and the deviation amount in the vertical direction. While the target positional deviation amount Q0r in
Moreover, the target positional deviation amount Q0r is obtained by deriving the positional deviation amount based on the center position P1 of the rear body section 12, but the target positional deviation amount Q0r is not limited in this way and may be, for example, based on a middle position in the width direction at the tip end or rear end of the rear body section 12.
A horizontal line X and a vertical line Y are depicted in the rear body deviation amount display component 46 and the XY intersection is set as the actual result line D30 (also called a target point). The operator’s seat is disposed further to the rear than the rear body section 12 as explained above, and the current positional deviation amount Q1r and the target positional deviation amount Q0r are displayed on the rear body deviation amount display component 46 during reverse travel when viewing the rear body section 12 from the operator’s seat. The current positional deviation amount Q1r is depicted as the black triangle and the target positional deviation amount Q0r is depicted as the black circle in the rear body deviation amount display component 46. The operator is able to check, with the rear body deviation amount display component 46, the current positional deviation amounts in the horizontal direction and the vertical direction and the positional deviation amounts in the horizontal direction and the vertical direction when the reverse travel extending operation has been performed and the rear body section 12 traveled in reverse with the current attitude.
Next, the operator operates the attitude changing component 31 and changes the attitude of the tunnel excavation device 10. Specifically, as illustrated in the upper diagram in
The deviation amount from the actual result line D30 at the position of the rear body section 12 when it is assumed that the current rear body section 12, the bending of which has been reduced, has traveled in reverse the predetermined distance M along the new movement prediction line D1, is computed and serves as the new target positional deviation amount Q0r. In addition, a new current positional deviation amount Q1r is computed because the position and attitude of the rear body section 12 have changed.
The operator is able to check, on the basis of the display of the rear body deviation amount display component 46 depicted in the lower diagram in
Consequently, even when the curve is sharp, the rear body section 12 can be made to travel in reverse along the excavated and formed tunnel shaft.
The operator checks the display of the front body deviation amount display component 45 while the retraction button 44c is pressed and the thrust cylinders 13a to 13f are made to retract during the reverse travel operation brought about by pressing the reverse travel button 42. When the retraction button 44c is pressed while the grippers 12a of the rear body section 12 protrude outward and the rear body section 12 is secured to the shaft of the tunnel in the reverse travel operation, the thrust cylinders 13a to 13f retract whereby the front body section 11 travels in reverse.
The actual result line D30 is the line that the front body section 11 or the rear body section 12 has actually passed over and matches the center line of the excavated tunnel.
The current positional deviation amount Q1f in the reverse travel operation is the deviation amount from the actual result line D30 at the center position P2 of the front body section 11 as illustrated in
Moreover, the current positional deviation amount Q1f is not limited to the positional deviation amount based on the center position P2 of the front body section 11, and may be, for example, based on a middle position in the width direction at the tip end or rear end of the front body section 11.
The target positional deviation amount QOf in the reverse travel operation is the deviation amount from the actual result line D30 at the center position P2 of the front body section 11 when it is assumed that the front body section 11 has traveled forward the predetermined distance M along the movement prediction line D1 from the current front body section 11. The target positional deviation amount QOf includes the deviation amount in the horizontal direction and the deviation amount in the vertical direction. While the target positional deviation amount QOf in
Moreover, while the target positional deviation amount QOf is obtained by deriving the positional deviation amount based on the center position P2 of the front body section 11, the target positional deviation amount QOf is not limited in this way and may be, for example, based on a middle position in the width direction at the tip end or rear end of the front body section 11.
A horizontal line X and a vertical line Y are depicted in the front body deviation amount display component 45 and the intersection of XY is set as a target point. The operator’s seat is disposed further to the rear than the rear body section 12 as explained above, and the current positional deviation amount Q1f and the target positional deviation amount QOf are displayed on the front body deviation amount display component 45 during reverse travel when viewing the front body section 11 from the operator’s seat. The current positional deviation amount Q1f is depicted as the black triangle and the target positional deviation amount QOf is depicted as the black circle in the front body deviation amount display component 45. The operator is able to check, with the front body deviation amount display component 45, the current positional deviation amounts in the horizontal direction and the vertical direction and the positional deviation amounts in the horizontal direction and the vertical direction when the reverse travel retraction operation has been performed and the front body section 11 traveled in reverse with the current attitude.
Next, the operator operates the attitude changing component 31 and changes the attitude of the tunnel excavation device 10. Specifically, as illustrated in the upper diagram in
The deviation amount from the actual result line D30 at the position of the front body section 11 when it is assumed that the current front body section 11, the bending of which has been reduced, has traveled forward the predetermined distance M along the new movement prediction line D1, is computed and serves as the new target positional deviation amount Q0f. In addition, the new current positional deviation amount Q1f is computed because the position and attitude of the front body section 11 have changed.
The operator is able to check, on the basis of the display of the front body deviation amount display component 45 depicted in the lower diagram in
Consequently, even when the curve is sharp, the front body section 11 can be made to travel in reverse along the excavated and formed tunnel shaft.
While only the front body deviation amount display component 45 is depicted in
While pressing the rightward button 43c and correcting of the positional deviation in the horizontal direction is explained as an example in
Herein follows an explanation of the operations of the tunnel excavation device 10 and also a method for controlling the tunnel excavation device 10 according to an embodiment of the present disclosure.
The tunneling operation is started at step S11 when the tunneling button 41 is pressed by the operator.
Next, in step S12, the rear body attitude reading component 21 derives the center position P1 and the center line C1 (orientation) of the rear body section 12 (see
In step S12, the front body attitude computing component 22 computes the center position P2 and attitude (center line C2) of the front body section 11 with respect to the rear body section 12 on the basis of the position information and the attitude of the center position P1 and the center line C1 of the rear body section 12 derived by the rear body attitude reading component 21 and the stroke amounts of the thrust cylinders 13a to 13f.
Next in step S13, the folding point position computing component 23 computes and derives the virtual folding point Px (see
Next in step S14, the movement prediction line computing component 24 computes and derives the smooth movement prediction line D1 that links the center position P1 of the rear body section 12 and the center position P2 of the front body section 11, on the basis of the information related to the center position P1 of the rear body section 12, the position information related to the virtual folding point Px, and the information related to the center position P2 of the front body section 11.
Next in step S15, the position calculating component 25 calculates the current positional deviation amount Q1f and the target positional deviation amount QOf of the front body section 11 with respect to the excavating plan line D10, and calculates the current positional deviation amount Q1r and the target positional deviation amount QOr of the rear body section 12 with respect to the actual result line D20. The display control component 26 then displays the current positional deviation amount Q1f and the target positional deviation amount QOf on the front body deviation amount display component 45 as illustrated in
Next in step S16, the controller 15 determines whether the extension button 44a has been pressed or the retraction button 44c has been pressed. When the extension button 44a has been pressed while the grippers 12a of the rear body section 12 protrude outward and the rear body section 12 is secured to the tunnel shaft, the control advances to step S17. In step S17, the thrust cylinders 13a to 13f are extended so that the center position P2 of the front body section 11 follows the most recent movement prediction line D1. The most recent movement prediction line D1 indicates the movement prediction line D1 calculated on the basis of the most recently changed attitude when the attitude has been repeatedly changed in the below-mentioned steps S19-S21. When the attitude has not changed even once in step S19, that is when the controls of steps S20 and S21 have not been performed, the original movement prediction line D1 serves as the most recent movement prediction line D1.
In step S16, when the retraction button 44c has been pressed while the grippers 11b of the front body section 11 protrude outward and the front body section 11 is secured to the tunnel shaft, the control advances to step S18. In step S18, the thrust cylinders 13a to 13f are retracted so that the center position P1 of the rear body section 12 follows the most recent movement prediction line D1.
Next in step S19, the controller 15 determines whether the direction input component 43 of the attitude changing component 31 has been operated by the operator. The operator checks the display of the front body deviation amount display component 45 and determines whether it is necessary to change the attitude of the tunnel excavation device 10, and operates the attitude changing component 31 when it is determined that the deviation amount is large and it is necessary to change the attitude.
When it is determined that there has been an operation by the operator in step S19, a direction command manual operation of the thrust cylinders 13a to 13f is inputted in step S20 and the predetermined thrust cylinders 13a to 13f are retracted a small amount in step S21.
Next, the control advances to step S22 and the controller 15 determines whether the control of the thrust cylinders 13a to 13f in step S17 or step S18 is finished.
When it is determined that the control of the thrust cylinders 13a to 13f is not finished in step S22, the control returns to step S12.
The thrust cylinders 13a to 13f are driven in order to change the attitude as determined in step S22, the new movement prediction line D1 is computed on the basis of the changed attitude in steps S12 to S14, and the movement prediction line D1 is updated.
In step S15, the new target positional deviation amounts QOf and QOr are calculated by the position calculating component 25 on the basis of the current positional deviation amounts Q1f and Q1r and the updated movement prediction line D1, and the display control component 26 displays the calculated target positional deviation amount QOf and current positional deviation amount Q1f as illustrated in
Consequently, the operator is able to check the approach to the target position (the tunnel excavating plan line D10 or the actual result line D20) due to the change of the attitude accompanying the driving of the thrust cylinders 13a to 13f. Moreover, when the operator cannot satisfy the positional deviation amount, the attitude change is performed in step S19 and a new movement prediction line D1 can be created.
When the controller 15 determines that the control of the thrust cylinders 13a to 13f is finished in step S22, the tunneling operation is finished in step S23.
In this way, steps S12 to S21 are repeated until the control of the thrust cylinders 13a to 13f is finished. That is, until the control of the thrust cylinders 13a to 13f is finished, the movement prediction line D1 is changed as needed, and the current positional deviation amount Q1f and the target positional deviation amount QOf on the front body deviation amount display component 45 and the current positional deviation amount Q1r and the target positional deviation amount QOr on the rear body deviation amount display component 46 are also changed as needed. The operator is able to manually intervene the control in steps S19 to S21 on the basis of the displays which are changed as needed.
The reverse travel operation is started at step S31 when the reverse travel button 42 is pressed by the operator.
The operations during reverse travel differ from steps S15 to S18 when compared to the operations during tunneling illustrated in
In step S35 that replaces step S15 in
Next in step S36 which follows step S35, the controller 15 determines whether the extension button 44a has been pressed or the retraction button 44c has been pressed. When the retraction button 44c has been pressed while the grippers 11b of the front body section 11 protrude outward and the front body section 11 is secured to the tunnel shaft, the control advances to step S37. In step S37, the thrust cylinders 13a to 13f are extended so that the center position P1 of the rear body section 12 follows the most recent movement prediction line D1.
In step S36, when the retraction button 44c has been pressed while the grippers 12a of the rear body section 12 protrude outward and the rear body section 12 is secured to the tunnel shaft, the control advances to step S38. In step S38, the thrust cylinders 13a to 13f are retracted so that the center position P2 of the front body section 11 follows the most recent movement prediction line D1.
When the cylinder control is finished in step S22, the reverse travel operation is finished in step S43.
When the controls of the thrust cylinders 13a to 13f in step S37 or step S38 is not finished, steps S12 to S14, step S35, and steps S19 to S21 are also repeated during the reverse travel. That is, until the control of the thrust cylinders 13a to 13f is finished, the movement prediction line D1 is changed as needed, and the target positional deviation amount Q0f and the current positional deviation amount Q1f on the front body deviation amount display component 45 and the target positional deviation amount QOr and the current positional deviation amount Q1r on the rear body deviation amount display component 46 are also changed as needed. The operator is able to manually intervene the control in steps S19 to S21 on the basis of the displays which are changed as needed.
A tunnel excavation device control method according to the present embodiment is a method for controlling a tunnel excavation device comprising a front body section 11 including a plurality of disk cutters 11c (example of cutters), a rear body section 12 disposed to the rear of the front body section 11, and a plurality of thrust cylinders 13a to 13f disposed between the front body section 11 and the rear body section 12, the method comprising step S21 (example of a first forward travel step) and step S22 (example of a second forward travel step). Step S21 involves controlling the plurality of thrust cylinders 13a to 13f so that the front body section 11 moves forward along the movement prediction line D1 set on the basis of the tunnel excavating plan line D10 (example of the first path line) while the grippers 12a of the rear body section 12 protrude outward and the rear body section 12 is secured to the inner wall of the tunnel. Step S22 involves controlling the plurality of thrust cylinders 13a to 13f so that the rear body section 12 moves forward along the movement prediction line D1 set on the basis of the actual result line D20 (example of the second path line) while the grippers 11b of the front body section 11 protrude outward and the front body section 11 is secured to the inner wall of the tunnel.
In this way, when the tunnel excavation device 10 travels forward, the rear body section 12 is made to move along the movement prediction line D1 that is set on the basis of the actual result line D20, whereby not only the front body section 11 but also the rear body section 12 is able to move along the inner wall of the tunnel even in a sharp curve.
A control method for the tunnel excavation device 10 according to the present embodiment is a method for controlling the tunnel excavation device 10 comprising a front body section 11 including a plurality of disk cutters 11c (example of cutters), a rear body section 12 disposed to the rear of the front body section 11, and a plurality of thrust cylinders 13a to 13f disposed between the front body section 11 and the rear body section 12, the method comprising step S41 (example of a first reverse travel step). Step S41 involves controlling the plurality of thrust cylinders 13a to 13f so that the rear body section 12 moves in reverse along the movement prediction line D1 set on the basis of the actual result line D30 (example of the third path line) while the grippers 11b of the front body section 11 protrude outward and the front body section 11 is secured to the inner wall of the tunnel.
In this way, when the tunnel excavation device 10 travels in reverse, the rear body section 12 is made to move along the movement prediction line D1 that is set on the basis of the actual result line D30, whereby not only the front body section 11 but also the rear body section 12 is able to move along the inner wall of the tunnel even in a sharp curve.
The control method for the tunnel excavation device 10 according to the present embodiment further comprises step S42 (example of a second reverse travel step). Step S42 involves controlling the plurality of thrust cylinders 13a to 13f so that the front body section 11 moves in reverse along the movement prediction line D1 set on the basis of the actual result line D30 (example of the third path line) while the grippers 12a of the rear body section 12 protrude outward and the rear body section 12 is secured to the inner wall of the tunnel.
In this way, when the tunnel excavation device 10 travels in reverse, the front body section 11 is made to move along the movement prediction line D1 that is set on the basis of the actual result line D30, whereby the rear body section 12 is also able to move along the inner wall of the tunnel even in a sharp curve.
In the control method for the tunnel excavation device 10 according to the present embodiment, the movement prediction line D1 in step S21 is set on the basis of the tunnel excavating plan line D10.
The movement prediction line D1 is set so as to follow the tunnel excavating plan line D10 whereby the front body section 11 is able to move along the tunnel excavating plan line D10.
In the control method for the tunnel excavation device 10 according to the present embodiment, the movement prediction line D1 in step S22 is set on the basis of the actual result line D20 along which the front body section 11 has moved.
Consequently, the rear body section 12 is able to move along the inner wall of the tunnel formed by the excavating by the front body section 11.
In the control method for the tunnel excavation device 10 according to the present embodiment, the movement prediction line D1 in steps S41 and S42 is set on the basis of the actual result line D30 of the tunnel excavation along which the front body section 11 or the rear body section 12 has moved.
Consequently, reverse travel along the inner wall of the tunnel formed by the forward travel is made possible.
In the control method for the tunnel excavation device 10 according to the present embodiment, the plurality of thrust cylinders 13a to 13f are controlled so that the center position P2 of the front body section 11 follows the movement prediction line D1 in step S21 (example of the first forward travel step).
Consequently, the front body section 11 is able to move forward along the movement prediction line D1.
In the control method for the tunnel excavation device 10 according to the present embodiment, the plurality of thrust cylinders 13a to 13f are controlled so that the center position P1 of the rear body section 12 follows the movement prediction line D1 in step S22 (example of the second forward travel step).
Consequently, the rear body section 12 is able to move forward along the movement prediction line D1.
In the control method for the tunnel excavation device 10 according to the present embodiment, the plurality of thrust cylinders 13a to 13f are controlled so that the center position P1 of the rear body section 12 follows the movement prediction line D1 in step S41 (example of the first reverse travel step).
Consequently, the rear body section 12 is able to move in reverse along the movement prediction line D1.
In the control method for the tunnel excavation device 10 according to the present embodiment, the plurality of thrust cylinders 13a to 13f are controlled so that the center position P2 of the front body section 11 follows the movement prediction line D1 in step S42 (example of the second reverse travel step).
Consequently, the front body section 11 is able to move in reverse along the movement prediction line D1.
In the control method for the tunnel excavation device 10 according to the present embodiment, the movement prediction line D1 is derived from the center position P2 of the front body section 11, the center position P1 of the rear body section 12, and the folding point Px that is the intersection of the center line C2 of the front body section 11 and the center line C1 of the rear body section 12.
Consequently, the movement prediction line D1 along which the front body section 11 is predicted to move or the movement prediction line D1 along which the rear body section 12 is predicted to move is calculated.
The control method for the tunnel excavation device 10 according to the present embodiment further comprises step S15 (example of a first forward travel display step). Step S15 involves displaying the target positional deviation amount QOf (example of a first positional deviation amount) from a target position (example of a position) on the tunnel excavating plan line D10 (example of the first path line) at the predetermined distance M from the front body section 11.
According to this display, the operator is able to check the deviation amount between the first path line and the movement prediction line D1, is able to change the movement prediction line D1 by, for example, manually operating the thrust cylinders 13a to 13f, and is able to set the movement prediction line D1 so as to approach the first path line. As a result, the front body section can be made to travel forward along a plan line when, for example, the first path line is the plan line for the tunnel excavation.
The control method for the tunnel excavation device 10 according to the present embodiment further comprises step S15 (example of a second forward travel display step). Step S15 involves displaying the target positional deviation amount QOr (example of a second positional deviation amount) from a target position (example of a position) on the actual result line D20 (example of the second path line) at the predetermined distance M from the rear body section 12.
According to this display, the operator is able to check the deviation amount between the actual result line D20 and the movement prediction line D1, is able to change the movement prediction line D1 by, for example, manually operating the thrust cylinders 13a to 13f, and is able to set the movement prediction line D1 so as to approach the actual result line D20. As a result, the rear body section 12 can be made to travel forward along the actual result line D20.
The control method for the tunnel excavation device 10 according to the present embodiment further comprises step S35 (example of a first reverse travel display step). Step S35 involves displaying the target positional deviation amount QOf (example of a third positional deviation amount) from a target position (example of a position) on the actual result line D30 (example of the third path line) at the predetermined distance M from the front body section 11.
According to this display, the operator is able to check the deviation amount between the actual result line D30 and the movement prediction line D1, is able to change the movement prediction line D1 by, for example, manually operating the thrust cylinders 13a to 13f, and is able to set the movement prediction line D1 so as to approach the actual result line D30. As a result, the front body section 11 can be made to travel in reverse along the actual result line D30.
The control method for the tunnel excavation device 10 according to the present embodiment further comprises step S35 (example of a second reverse travel display step). Step S35 involves displaying the target positional deviation amount QOf (example of a fourth positional deviation amount) from a target position (example of a position) on the actual result line D30 at the predetermined distance M from the rear body section 12.
According to this display, the operator is able to check the deviation amount between the actual result line D30 and the movement prediction line D1, is able to change the movement prediction line D1 by, for example, manually operating the thrust cylinders 13a to 13f, and is able to set the movement prediction line D1 so as to approach the actual result line D30. As a result, the rear body section 12 can be made to travel in reverse along the actual result line D30.
In the control method for the tunnel excavation device 10 according to the present embodiment, step S15 (example of the first forward travel display step) involves displaying the target positional deviation amount QOf (example of the first positional deviation amount) as well as the current positional deviation amount Q1f (example of the fifth positional deviation amount) from the tunnel excavating plan line D10 (example of the first path line) at the current position of the front body section 11.
Consequently, when the tunnel excavation device 10 has traveled forward in the current attitude, the operator can easily determine whether the positional deviation amount from the tunnel excavating plan line D10 of the front body section 11 is smaller than the current state.
In the control method for the tunnel excavation device 10 according to the present embodiment, step S15 (example of the first forward travel display step) involves displaying the target positional deviation amount QOr (example of the second positional deviation amount) as well as the current positional deviation amount Q1r (example of the sixth positional deviation amount) from the actual result line D20 (example of the second path line) at the current position of the rear body section 12.
Consequently, when the tunnel excavation device 10 has traveled forward in the current attitude, the operator can easily determine whether the positional deviation amount from the actual result line D20 of the rear body section 12 is smaller than the current state.
In the control method for the tunnel excavation device 10 according to the present embodiment, step S35 (example of the first reverse travel display step) involves displaying the target positional deviation amount QOr (example of the third positional deviation amount) as well as the current positional deviation amount Q1r (example of the seventh positional deviation amount) from the actual result line D30 (example of the third path line) at the current position of the rear body section 12.
Consequently, when the tunnel excavation device 10 has traveled in reverse in the current attitude, the operator can easily determine whether the positional deviation amount from the actual result line D30 of the rear body section 12 is smaller than the current state.
In the control method for the tunnel excavation device 10 according to the present embodiment, step S35 (example of the second reverse travel display step) involves displaying the target positional deviation amount QOf (example of the fourth positional deviation amount) as well as the current positional deviation amount Q1f (example of the eighth positional deviation amount) from the actual result line D30 (example of the third path line) at the current position of the front body section 11.
Consequently, when the tunnel excavation device 10 has traveled in reverse in the current attitude, the operator can easily determine whether the positional deviation amount from the actual result line D30 of the front body section 11 is smaller than the current state.
The tunnel excavation device 10 of the present embodiment includes the front body section 11, the rear body section 12, and the plurality of thrust cylinders 13a to 13f. The front body section 11 includes a plurality of disk cutters 11c (example of the cutters) and grippers 11b that press against an inner wall of the tunnel. The rear body section 12 includes the grippers 12a that press against the inner wall of the tunnel, and is disposed to the rear of the front body section 11. The plurality of thrust cylinders 13a to 13f are disposed between the front body section 11 and the rear body section 12. The controller 15 controls the plurality of thrust cylinders 13a to 13f so that the front body section 11 moves forward along the movement prediction line D1 set on the basis of the tunnel excavating plan line D10 (example of the first path line) while the grippers 12a of the rear body section 12 protrude outward and the rear body section 12 is secured to the inner wall of the tunnel, and controls the plurality of thrust cylinders 13a to 13f so that the rear body section 12 moves forward along the movement prediction line D1 set on the basis of the actual result line D20 (example of the second path line) while the grippers 11b of the front body section 11 protrude outward and the front body section 11 is secured to the inner wall of the tunnel.
In this way, when the tunnel excavation device 10 travels forward, the rear body section 12 is made to move along the movement prediction line D1 that is set on the basis of the actual result line D20, whereby not only the front body section 11 but also the rear body section 12 is able to move along the inner wall of the tunnel even in a sharp curve.
The tunnel excavation device 10 of the present embodiment includes the front body section 11, the rear body section 12, and the plurality of thrust cylinders 13a to 13f. The front body section 11 includes a plurality of disk cutters 11c (example of the cutters) and grippers 11b that press against an inner wall of the tunnel. The rear body section 12 includes the grippers 12a that press against the inner wall of the tunnel, and is disposed to the rear of the front body section 11. The plurality of thrust cylinders 13a to 13f are disposed between the front body section 11 and the rear body section 12. The controller 15 controls the plurality of thrust cylinders 13a to 13f so that the rear body section 12 moves in reverse along the movement prediction line D1 set on the basis of the actual result line D30 (example of a third path line) while the grippers 11b of the front body section 11 protrude outward and the front body section 11 is secured to the inner wall of the tunnel.
In this way, when the tunnel excavation device 10 travels in reverse, the rear body section 12 is made to move along the movement prediction line D1 that is set on the basis of the actual result line D30, whereby not only the front body section 11 but also the rear body section 12 is able to move along the inner wall of the tunnel even in a sharp curve.
In the tunnel excavation device 10 according to the present embodiment, the controller 15 controls the plurality of thrust cylinders 13a to 13f so that the front body section 11 moves in reverse along the movement prediction line D1 set on the basis of the actual result line D30 while the grippers 12a of the rear body section 12 protrude outward and the rear body section 12 is secured to the inner wall of the tunnel.
In this way, when the tunnel excavation device 10 travels in reverse, the front body section 11 is made to move along the movement prediction line D1 that is set on the basis of the actual result line D30, whereby the rear body section 12 is also able to move along the inner wall of the tunnel even in a sharp curve.
Although an embodiment of the present invention has been described herein, the present invention is not limited to the above embodiment and various modifications may be made within the scope of the invention.
While the current positional deviation amount Q1f and the target positional deviation amount QOf of the front body section 11 and the current positional deviation amount Q1r and the target positional deviation amount QOr of the rear body section 12 are displayed on separate display components (the front body deviation amount display component 45 and the rear body deviation amount display component 46) in the above embodiment, the positional deviation amounts may be displayed on one display component.
While the current positional deviation amount Q1f and the target positional deviation amount QOf of the front body section 11 and the current positional deviation amount Q1r and the target positional deviation amount QOr of the rear body section 12 are computed and displayed in one step S15 in the above embodiment, the computation and display of the current positional deviation amount Q1f and the target positional deviation amount QOf and the computing and display of the current positional deviation amount Q1r and the target positional deviation amount QOr may be performed in separate steps.
An example of the tunnel excavation device 10 comprising the linking mechanism 13 including six sets of the thrust cylinders 13a to 13f in the above embodiment. However, the present invention is not limited in this way.
The number of thrust cylinders that constitute the link mechanism may be any number greater than six such as eight or ten.
While a touch panel type monitor display screen was explained as an example of the display input component 16 in the above embodiment, the present invention is not limited in this way and, for example, the operation input may be performed using a keyboard or a mouse while viewing a general PC screen and the display component and the input component may be divided.
While a secondary Bezier curve that is a parametric curve is used as the generated curve in the above embodiment, the present invention is not limited in this way.
For example, a spline curve may be used as the parametric curve.
While the first path line is described as the tunnel excavating plan line D10 and the second path line is described as the actual result line D20 as examples in the above embodiment, the present invention is not limited in this way and the first path line and the second path line may be the same and, for example, the second path line may also be the tunnel excavating plan line D10.
An example in which various operating components (the tunneling/reverse travel setting component 30, the attitude changing component 31, and the deviation amount display component 32) are disposed on the display input component 16 is described in the above embodiment. However, present invention is not limited in this way.
For example, another form may be used as the display form displayed on the monitor display screen.
While the presence of a manual operation by the operator is determined in step S19 in the above embodiment, the direction correction operation in step S20 is reflected in the extension and retraction of the thrust cylinders in step S21, and the operator checks the positional deviation amount and performs the direction correction, these operations may be performed with an automatic control. For example, the controller may automatically check the positional deviation amount and automatically issue a direction correction command for reducing the positional deviation amount.
The control method for the tunnel excavation device and the tunnel excavation device of the present invention demonstrate the effect of being able to move along a tunnel inner wall even when there is a sharp curve and therefore are industrially applicable to excavating a mine and the like.
| Number | Date | Country | Kind |
|---|---|---|---|
| 2020-094432 | May 2020 | JP | national |
This application is a U.S. National stage application of International Application No. PCT/JP2021/016370, filed on Apr. 22, 2021. This U.S. National stage application claims priority under 35 U.S.C. §119(a) to Japanese Patent Application No. 2020-094432, filed in Japan on May 29, 2020, the entire contents of which are hereby incorporated herein by reference.
| Filing Document | Filing Date | Country | Kind |
|---|---|---|---|
| PCT/JP2021/016370 | 4/22/2021 | WO |
