Vibration identification control system and vibration identification control method for tunneling machine

Abstract

To provide a vibration identification control system and a vibration identification control method for a tunneling machine, which can take measures at locations effective for suppressing vibrations that may occur when the tunneling machine excavates in a shield tunneling method or the like.SOLUTION: In a vibration identification control system 100 for a tunneling machine, at least an accelerometer 61 included in measuring instruments 60 is mounted inside the tunneling machine 40, and all of the measuring instruments are time-synchronized. An identification control device 50 executes a cross-spectral calculation between reference measurement data acquired from a reference accelerometer among the multiple accelerometers 61 and each measurement data of each accelerometer other than the reference accelerometer, identifies the accelerometer 61 that records the earliest vibration based on the cross-spectral calculation, and identifies the vicinity of that accelerometer 61 as a source of impact vibration.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] The present invention relates to a vibration specific control system and a vibration specific control method for a tunneling machine. [Background technology]

[0002] In the shield tunneling and jacking methods, the ground is cut while the tunneling machine is digging, and a segment tunnel or jacking tunnel is constructed behind the machine. By the way, vibrations often occur during tunneling by a tunneling machine. In particular, vibrations that occur during shield tunneling in urban areas can have an impact on the surrounding environment, and measures against such vibrations are urgently needed. One of the causes of such vibrations is the break in friction between the tunneling machine and the surrounding ground (so-called friction break), which can be called impact vibration. The impact vibration that can occur when friction breaks is emitted as sound from the object to which it propagates, and can be heard as, for example, "boom, boom." In addition, in sandy ground, the meshing of sand particles loosens and expands in volume, causing the tunneling machine to be clamped, and when jamming occurs, the impact vibration caused by friction breaks becomes noticeable.

[0003] As countermeasures against the occurrence of vibrations, including the above-mentioned shock vibrations, stopping excavation at night, slowing down the excavation speed, repositioning the driving jack, and injecting lubricants have been implemented, but none of these have been effective because the cause of the vibrations has not been clearly identified. In some cases, vibrations can be reduced by overcutting the area around the tunneling machine and injecting lubricants into the overcut area, but it is not desirable to inject a large amount of lubricant around the tunneling machine without identifying the source of the shock vibrations, for example. This is because the lubricant reduces the strength of the backfill material injected into the tail void of the tunneling machine. For these reasons, a system and method for identifying vibrations in a tunneling machine that can identify with high accuracy the source of shock vibrations that may occur when the tunneling machine excavates in a shield tunneling method and can take measures at or near the source of the shock vibrations is desired. To achieve this, it is important to understand how the tunneling machine vibrates and behaves when shock vibrations occur, and this requires measurements using multiple vibration accelerometers. It is also important to measure and understand the behavior of the propulsion jack at very short time intervals at the same time as the vibrations. However, in the past, although measuring instruments such as vibration accelerometers were installed on tunneling machines to measure vibrations after impact vibrations or other vibrations occurred, the measurement locations were limited, and it was not possible to clearly identify the source of the vibrations or the cause of the vibrations.

[0004] Here, Patent Document 1 proposes an excavator that injects a lubricant around the entire circumference of the skin plate between the skin plate and the inner wall surface of the borehole.Specifically, in a shield machine that has a cylindrical skin plate and a cutter device rotatably mounted on the tip of the skin plate and excavates the natural ground with the cutter device, an opening is provided on the outer periphery of the cutter device at a portion facing outward and rearward from the skin plate, and a lubricant is injected rearward through the opening between the skin plate and the inner wall surface of the borehole. [Prior art documents] [Patent documents]

[0005] [Patent Document 1] JP 2017-89167 A Summary of the Invention [Problem to be solved by the invention]

[0006] According to the boring machine (trenching machine) described in Patent Document 1, the frictional force generated between the skin plate and the inner wall surface of the borehole can be sufficiently reduced by injecting a lubricant rearward between the skin plate and the inner wall surface of the borehole through an opening in a portion of the outer periphery of the cutter device facing rearward outward from the skin plate. However, as already mentioned, this does not disclose a means for identifying with high accuracy the source of impact vibrations that may occur when the tunneling machine excavates.

[0007] The present invention aims to provide a vibration identification control system and a vibration identification control method for a tunneling machine that can accurately identify the source of impact vibrations that may occur when the tunneling machine excavates in shield construction methods, etc., and that can take measures at or near the source of the impact vibrations. [Means for solving the problem]

[0008] In order to achieve the above object, one aspect of the vibration specific control system for a tunneling machine according to the present invention comprises: A vibration specific control system for a tunneling machine that identifies and controls the vibration of a tunneling machine applied in a shield tunneling method or a jacking tunneling method, At least an accelerometer included in the measuring instruments is installed inside the tunneling machine, and all of the measuring instruments are time-synchronized; The method further includes a specific control device that identifies an accelerometer that records the earliest vibration that is the source of the impact vibration based on the measurement data obtained from the multiple accelerometers, The specific control device is characterized in that it uses measurement data obtained from a reference accelerometer, which is a reference accelerometer among the multiple accelerometers, as reference measurement data, performs a cross-spectral calculation between the reference measurement data and each measurement data obtained from each accelerometer other than the reference accelerometer, identifies the accelerometer that records the earliest vibration based on the cross-spectral calculation, and identifies the vicinity of the accelerometer as the source of the impact vibration.

[0009] According to this aspect, the specific control device performs a cross-spectral calculation between the reference measurement data obtained from the reference accelerometer among the multiple accelerometers and each measurement data obtained from each accelerometer other than the reference accelerometer to identify the accelerometer that records the earliest vibration, and identifies the vicinity of the accelerometer as the source of the impact vibration, thereby making it possible to identify the source of the impact vibration that may occur when the tunneling machine excavates with high accuracy, and to take effective measures against the source of the impact vibration and its vicinity. Here, an example of the location where the accelerometer is attached in the tunneling machine is the vicinity of the propulsion jack. Also, for example, it is preferable to attach multiple accelerometers inside the tunneling machine along the circumferential direction on any vertical cross section of the tunneling machine, since this makes it easier to grasp the vibration and behavior of the tunneling machine.

[0010] Cross-spectral calculation is a calculation to find the relationship between two signals, for example, by performing a Fourier transform on the time history waveforms of the accelerations acquired from the two accelerometers to be calculated, and identifying the frequency components, amplitude, and time direction information of the accelerations of each accelerometer. By performing a cross-spectral calculation on each waveform after the Fourier transform, the time difference can be identified from the phase difference between the waveforms of the two accelerometers. In this way, since the cross-spectral calculation is a calculation that identifies the relationship between two time axis signals, in a tunneling machine that is equipped with three or more accelerometers, a reference accelerometer is set from among the multiple accelerometers, and cross-spectral calculation is performed on the reference measurement data of this reference accelerometer and the measurement data of each of the other accelerometers, thereby identifying the phase difference of each accelerometer relative to the reference accelerometer, which leads to the identification of the accelerometer that will record the earliest vibration.

[0011] In addition, in this embodiment, at least a plurality of accelerometers included in the measuring instruments are mounted, for example, on the propulsion jack or in its vicinity, and all of the measuring instruments are time-synchronized, thereby making it possible to obtain highly accurate cross-spectral calculation results and identify the source of the impact vibration with high accuracy.

[0012] In addition to being mounted on the tunneling machine, the specific control device may also be installed in, for example, a management facility on the ground, and measurement data from various measuring instruments inside the tunneling machine may be transmitted to the specific control device. "Impact vibration" is vibration that occurs when friction breaks or the like occurs, as described above, and this impact vibration may propagate to the surrounding ground and affect the surrounding environment, such as the ground, via the ground. Also, the vibration may be radiated as sound from the object to which it propagates, causing an impact, so the main purpose is to suppress or inhibit this impact vibration.

[0013] In another aspect of the vibration specific control system for a tunneling machine according to the present invention, The specific control device is storing a threshold value for the shock vibration; The cross-spectral calculation is performed on measurement data within a predetermined time before and after the occurrence of the impact vibration.

[0014] According to this aspect, by setting a threshold value for the impact vibration and performing a cross-spectral calculation on the measurement data within a specified time period before and after the occurrence of the impact vibration, it is possible to prevent the cross-spectral calculation from being performed on the entire time period of the measurement data, and to efficiently and quickly identify the accelerometer that records the earliest vibration.

[0015] In another aspect of the vibration specific control system for a tunneling machine according to the present invention, The tunneling machine is provided with a cylindrical skin plate, and an injector for injecting a lubricant from the inside to the outside of the skin plate is provided at a position of the skin plate corresponding to an installation position of the accelerometer, The specific control device is characterized by executing control to inject lubricant into an injector located at a position corresponding to the identified source of impact vibration and / or a separate injector located in an opposing position to the injector passing through the center of the skin plate when viewed from the front.

[0016] According to the present aspect, by executing control to inject lubricant using an injector located at a position corresponding to the source of the impact vibration and / or a separate injector located in an opposing position to this injector and passing through the center of the skin plate when viewed from the front, it is possible to reduce vibration by injecting lubricant only into the area corresponding to the source of the vibration or into an area located opposite the said area. In this way, measures can be taken in locations that are effective in suppressing the impact vibrations that may occur when the tunneling machine excavates, so that, for example, it is possible to suppress or prevent a decrease in the strength of the backfill material injected into the tail void of the tunneling machine.

[0017] For example, a tunneling machine that is circular when viewed from the front is equipped with multiple propulsion jacks arranged circumferentially inside its skin plate, but according to the inventors, at actual shield construction sites, the propulsion jack that generates large impact vibrations tends to be different from the propulsion jack that generates impact vibrations (small impact vibrations) first, and more specifically, it has been determined that these propulsion jacks are in an opposing position relationship that passes through the center of the skin plate when viewed from the front. Note that this "opposite position relationship" not only means being strictly opposed (180 degrees opposed), but also includes a range of about ±60 degrees to the left and right of the 180 degrees opposed position. In other words, the propulsion jack that is opposed to the propulsion jack that first generates the small impact vibration is identified as the propulsion jack that generates the large impact vibration. Therefore, by injecting lubricant from an injector corresponding to at least one of the first propulsion jack located near the source of the impact vibration and the second propulsion jack located opposite it, the area in which the lubricant is injected can be narrowed down to an area that is effective in suppressing the impact vibration, making it possible to suppress vibration without injecting large amounts of lubricant around the entire circumference of the tunneling machine.

[0018] Here, the "first propulsion jack located near the source of the impact vibration" refers to, for example, a propulsion jack located near the location that first generates a small impact vibration, and since this vibration (trigger vibration) is the cause of large impact vibration, it can also be said to be a jack located near the source of the trigger vibration. On the other hand, the propulsion jack located opposite the first propulsion jack is the second propulsion jack located near the location that generates the main vibration, which is a large impact vibration.

[0019] In another aspect of the vibration specific control system for a tunneling machine according to the present invention, The shock vibration includes a trigger vibration that occurs first and has a relatively small amplitude, and a main vibration that occurs thereafter and has a relatively large amplitude, The specific control device is characterized in that, when the trigger vibration is identified as the earliest vibration, it executes control to cause the injector located in the vicinity of the location causing the trigger vibration to inject lubricant.

[0020] According to this embodiment, by injecting the lubricant from an injector corresponding to a propulsion jack close to the area that causes the relatively small-amplitude trigger vibration that occurs first, the area where the lubricant is injected can be narrowed down to an area that is effective in suppressing vibration.

[0021] In addition, one aspect of the vibration specific control method for a tunneling machine according to the present invention is to A method for identifying and controlling vibrations of a tunneling machine applied in a shield tunneling method or a jacking tunneling method, comprising: At least an accelerometer included in the measuring instruments is installed inside the tunneling machine, and all of the measuring instruments are time-synchronized; A step of identifying an accelerometer that records the earliest vibration in the vicinity of a source of the impact vibration based on measurement data acquired from the plurality of accelerometers, The step of identifying the accelerometer that records the earliest vibration comprises: The method is characterized in that measurement data obtained from a reference accelerometer, which is a reference accelerometer among the multiple accelerometers, is used as reference measurement data, and a cross-spectral calculation is performed between the reference measurement data and each measurement data obtained from each accelerometer other than the reference accelerometer, and the accelerometer that records the earliest vibration is identified based on the cross-spectral calculation, and the vicinity of the accelerometer is identified as the source of the impact vibration.

[0022] According to this aspect, a cross-spectral calculation is performed between reference measurement data obtained from a reference accelerometer among multiple accelerometers and each measurement data obtained from each accelerometer other than the reference accelerometer to identify the accelerometer that will record the earliest vibration, and by identifying the area near that accelerometer as the source of the impact vibration, it is possible to identify with high accuracy the source of the impact vibration that may occur when the tunneling machine excavates, and measures can be taken against the source of the impact vibration or its vicinity.

[0023] In another aspect of the vibration specific control method for a tunneling machine according to the present invention, The tunneling machine is provided with a cylindrical skin plate, and an injector for injecting a lubricant from the inside to the outside of the skin plate is provided at a position of the skin plate corresponding to an installation position of the accelerometer, The method further includes a step of executing control to inject a lubricant into an injector located at a position corresponding to the source of the impact vibration and / or a separate injector located in an opposing position passing through the center of the skin plate in a front view from the injector.

[0024] According to the present aspect, by executing control to inject lubricant using an injector located at a position corresponding to the source of the impact vibration and / or a separate injector located in an opposing position to this injector and passing through the center of the skin plate when viewed from the front, it is possible to reduce vibration by injecting lubricant only into the area corresponding to the source of the vibration or into an area located opposite the said area. Therefore, for example, it is possible to suppress or prevent a decrease in strength of the backfill material injected into the tail void of a tunneling machine. Effect of the Invention

[0025] According to the vibration specific control system and vibration specific control method for a tunneling machine of the present invention, the source of impact vibrations that may occur when a tunneling machine excavates in shield construction methods, etc. can be identified with high accuracy, and measures can be taken at the source of the impact vibration or in its vicinity. [Brief description of the drawings]

[0026] [Figure 1] 1 is a vertical cross-sectional view of an example of a vibration specific control system according to an embodiment. [Diagram 2] FIG. 2 is a view taken in the direction of the arrow II in FIG. 1 and is a front view of the tunneling machine. [Diagram 3] This is a diagram showing the installation locations of each measuring instrument inside the tunneling machine, viewed from the rear in the tunneling direction. [Figure 4] FIG. 2 is an enlarged view of part IV in FIG. [Diagram 5] FIG. 2 is a diagram illustrating an example of a hardware configuration of a specific control device. [Figure 6] FIG. 2 is a diagram illustrating an example of a functional configuration of a specific control device. [Figure 7] FIG. 13 is a diagram showing an example of a display screen of a specific control device, showing an example of measurement data of each measuring instrument. [Figure 8] FIG. 11 is a diagram showing an example of a vibration identification flow in a specific control device. [Figure 9] FIG. 4 is a diagram showing a time-series signal of acceleration, which is measurement data acquired by each accelerometer. [Figure 10] 10 is an enlarged view of a portion X in FIG. 9, showing a state in which a time-series signal of acceleration exceeds a threshold value. FIG. [Figure 11] FIG. 11 is an enlarged view of a portion XI in FIG. 10, showing original data within a time period during which an impact vibration occurs. [Figure 12] FIG. 13 is a diagram showing an example of a time difference between each accelerometer determined by a cross-spectral calculation. [Figure 13] FIG. 4 is a diagram showing an example of a countermeasure flow in a vibration control method, which is stored in a storage unit of the control device. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0027] Hereinafter, a vibration specific control system and a vibration specific control method according to an embodiment will be described with reference to the accompanying drawings. In this specification and the drawings, substantially identical components are designated by the same reference numerals, and duplicated descriptions may be omitted.

[0028] [Vibration specific control system and vibration specific control method according to the embodiment] An example of a vibration specific control system and a vibration specific control method according to an embodiment will be described with reference to FIGS. Here, Fig. 1 is a vertical cross-sectional view of an example of a vibration specific control system according to an embodiment, Fig. 2 is a view taken in the direction of an arrow II in Fig. 1 and is a front view of the tunneling machine, Fig. 3 is a view showing the installation positions of the measuring instruments inside the tunneling machine from the rear in the tunneling direction, and Fig. 4 is an enlarged view of part IV in Fig. 1.

[0029] The vibration identification control system 100 is a system that identifies the source of vibration generated when the tunneling machine 40 excavates and further controls the vibration.It includes the tunneling machine 40, a number of measuring instruments 60 installed inside the tunneling machine 40, and a specific control device 50 that acquires measurement data from each measuring instrument 60 and controls the drive of the pusher jack 28 and controls the injection of lubricant from the first injector 30 (an example of an injector).

[0030] The tunneling machine 40 has a cylindrical skin plate 20 (steel shell) and a cutter head 10 that is rotatably provided in front of the skin plate 20 in the tunneling direction.

[0031] The cutter head 10 is provided with a number of excavation bits 12 on its front surface, and a number of peripheral excavation bits 14 on the outer periphery of the front surface. Furthermore, copy cutters 16 are provided at multiple locations on the outer periphery surface 11 of the cutter head 10 so as to be able to freely move in and out from the outer periphery surface 11 in the X2 direction.

[0032] The outer periphery drilling bits 14 protrude a predetermined length toward the natural ground G beyond the outer periphery 11 of the cutter head 10 and the outer periphery 21 of the skin plate 20. When the hydraulic drive motor 19 rotates the cutter head 10 in the X1 direction, the multiple outer periphery drilling bits 14 rotate to form an overcut area CA outside the outer periphery 11 of the cutter head 10 and the outer periphery 21 of the skin plate 20.

[0033] The copy cutter 16 is also used when excavating the ground G in the direction in which the tunneling machine 40 is to be moved during directional control of the tunneling machine 40, and forming an overcut portion (not shown) larger than the overcut area CA.

[0034] A tail brush 26 is provided circumferentially behind the skin plate 20 in the excavation direction to block tail voids between the skin plate 20 and a segment ring consisting of multiple segments S installed in the ground G, thereby preventing water leakage.

[0035] Furthermore, inside the skin plate 20, a plurality of propulsion jacks 28 (shield jacks) are provided in the circumferential direction, and each propulsion jack 28 slides rearward in the X3 direction, taking a reaction force from the segment S (segment ring) installed at the rear, causing the tunneling machine 40 to excavate forward in the excavation direction. Each propulsion jack 28 is equipped with a pressure reducing valve 35, which can realize automatic control of the stroke of the propulsion jack 28.

[0036] As shown in Figures 1, 3 and 4, various measuring instruments 60 are installed at multiple locations inside the tunneling machine 40. Figure 3 shows the installation positions of each measuring instrument 60 when the tunneling machine 40 is viewed from the rear in the excavation direction, and the positional relationship of each measuring instrument 60 in the depth direction of the tunneling machine 40 is shown in Figures 1 and 4.

[0037] As shown in Figures 1 and 3, on the main body of the tunneling machine 40, multiple accelerometers 61 are installed at the 1 o'clock, 3 o'clock, 5 o'clock, 7 o'clock, 9 o'clock, and 11 o'clock positions, which are likened to a clock face when viewed from behind in the excavation direction, and a hydraulic pressure gauge 62 and a stroke gauge 63 are further installed at the positions of the propulsion jacks 28 located at each position.

[0038] Here, as shown in FIG. 3, the 1 o'clock position and the 7 o'clock position, the 3 o'clock position and the 9 o'clock position, and the 5 o'clock position and the 11 o'clock position are in a relationship of opposing positions passing through the center O of the skin plate 20 in a front view.

[0039] For example, when the propulsion jacks 28 at the 1 o'clock position and the 7 o'clock position are taken up, the propulsion jacks 28 strictly at the 1 o'clock position and the 7 o'clock position are a group of propulsion jacks in an opposing positional relationship, but in addition to that, the propulsion jack groups 28A consisting of the multiple propulsion jacks 28 at the 1 o'clock position and the 7 o'clock position are also in an opposing positional relationship, and one propulsion jack 28 and the other propulsion jack group 28A may also be in an opposing positional relationship. This is also true for other positions.

[0040] As shown in FIGS. 1 and 4, inclinometers 64 are further installed at multiple positions inside the tunneling machine 40.

[0041] In the tunneling machine 40, a plurality of measuring instruments 60 are installed not only in the vicinity of the propulsion jack 28 but also in other locations.

[0042] Such an installation of multiple measuring instruments 60 makes it possible to identify the magnitude (acceleration) of vibration occurring at which position of the tunneling machine 40. All measuring instruments 60 acquire measurement data at a sampling frequency of 100 Hz or higher (e.g., 200 Hz to 500 Hz), and acquire data by time-synchronizing all channels.

[0043] The accelerometer 61 is installed in the tunnel axial direction (X direction), the axis perpendicular direction (Y direction) horizontal to the tunnel axial direction, and the vertical direction (Z direction) near the driving jack 28. Note that the accelerometer may be installed only in the tunnel axial direction (X direction).

[0044] The measurement data obtained by each measuring instrument 60 is transmitted to the specific control device 50 by wire or wirelessly, so the main body of the specific control device 50 does not necessarily have to be installed inside the tunneling machine 40. The specific control device 50 identifies the source of at least vibrations, such as impact vibrations, in the tunneling machine 40 based on each acquired measurement data.

[0045] The specific control device 50 further specifies measures to suppress or eliminate the vibration based on the specified source (position) of the vibration and the quantitative value of the generated vibration. Here, the functional configuration of the specific control device 50 will be described in detail below.

[0046] In this way, the measuring instruments 60 installed at various locations are instruments that acquire measurement data for vibration identification by the specific control device 50. Incidentally, the propulsion jack 28 is equipped with its own stroke meter, oil pressure gauge, etc. in advance, but the tunneling machine 40 has multiple measuring instruments 60 installed at various locations specifically for vibration identification by the specific control device 50.

[0047] As shown in FIG. 4, which is an enlarged view of part IV in FIG. 1, the skin plate 20 is provided with a plurality of openings 24 spaced apart in the circumferential direction, and a first injector 30 is positioned at a position corresponding to each opening 24. The lubricant is injected in the Y2 direction from inside the skin plate 20 of the tunneling machine 40 through the first injector 30 and the opening 24 into the overcut area CA. The first injector 30 is equipped with a check valve (not shown) to prevent its blockage. The injection of the lubricant through the openings 24 of the skin plate 20 is a fixed injection form in which the lubricant is injected through the openings 24 connected to the first injectors 30 at a plurality of fixed positions on the non-rotating skin plate 20.

[0048] On the other hand, as shown in Figure 1, the cutter head 10 is provided with a second injector 31 that extends from its interior through the outer peripheral surface 11 to the ground G side (outside) and protrudes outward beyond the outer peripheral surface 21 of the skin plate 20.

[0049] The second injector 31 is an injector that rotates in response to the rotation of the cutter head 10 and injects the lubricant from the second injector 31 diagonally backward in the Y1 direction into the overcut area CA, and this is a rotating injection form as opposed to the fixed injection form provided by the multiple non-rotating first injectors 30.

[0050] That is, unlike the first injector 30, even if one second injector 31 is installed in one location on the outer circumferential surface 11 of the cutter head 10, the second injector 31 can continuously inject the lubricant into different areas of the overcut area CA while changing its location as needed by the rotation of the cutter head 10. Therefore, one second injector 31 is sufficient, but taking into consideration the clogging of the second injector 31, it is preferable to provide multiple second injectors 31 (spare second injectors).

[0051] The tunneling machine 40 makes it possible to inject lubricant into the overcut area CA efficiently and as quickly as possible using two types of injection methods: a fixed injection method in which the lubricant is injected from the outer surface 21 of the skin plate 20 via multiple first injectors 30, and a rotary injection method in which the lubricant is injected from a second injector 31 that rotates in accordance with the rotation of the cutter head 10.

[0052] Next, the identification of a vibration source and the control of various devices by the specific control device 50, and the vibration identification control method according to the embodiment will be described in detail with reference to Fig. 5 to Fig. 13. Here, Fig. 5 is a diagram showing an example of the hardware configuration of the specific control device, and Fig. 6 is a diagram showing an example of the functional configuration of the specific control device.

[0053] As shown in Fig. 5, the specific control device 50 is configured by an information processing device (computer) such as a personal computer (PC). The computer configuring the specific control device 50 includes a CPU (Central Processing Unit) 51, a main storage device 52, an auxiliary storage device 53, a communication IF 54, and an input / output IF (interface) 55, which are connected to each other by a connection bus 56. The main storage device 52 and the auxiliary storage device 53 are computer-readable recording media. The above components may be provided separately, or some of the components may not be provided.

[0054] The CPU 51 is also called an MPU (Microprocessor) or a processor, and may be a single processor or a multiprocessor. The CPU 51 is a central processing unit that performs overall control of a specific control device 50 consisting of a computer. The CPU 51, for example, develops a program stored in the auxiliary storage device 53 in an executable manner in a working area of ​​the main storage device 52, and controls peripheral devices through the execution of the program, thereby providing a function that meets a predetermined purpose.

[0055] The main storage device 52 stores computer programs executed by the CPU 51, data processed by the CPU 51, etc. The main storage device 52 includes, for example, a flash memory, a RAM (Random Access Memory), and a ROM (Read Only Memory). The auxiliary storage device 53 stores various programs and various data in a readable and writable recording medium, and is also called an external storage device. The auxiliary storage device 53 stores, for example, an OS (Operating System), various programs, various tables, etc. The OS includes, for example, a communication interface program that transfers data to and from external devices, etc. connected via the communication IF 54. The external devices, etc. include, for example, various measuring instruments 60, position sensors such as gyros (not shown) provided inside the tunneling machine 40, as well as a personal computer (not shown) for construction management in a management building connected to a network.

[0056] The auxiliary storage device 53 is used, for example, as a storage area that assists the main storage device 52, and stores computer programs executed by the CPU 51, data processed by the CPU 51, etc. The auxiliary storage device 53 is a silicon disk including a non-volatile semiconductor memory (flash memory, EPROM (Erasable Programmable ROM)), a hard disk drive (HDD: Hard Disk Drive) device, a solid state drive device, etc. Examples of the auxiliary storage device 53 include a drive device for a removable recording medium such as a CD drive device, a DVD drive device, and a BD drive device, and examples of the removable recording medium include a CD, a DVD, a BD, a USB (Universal Serial Bus) memory, and an SD (Secure Digital) memory card, etc.

[0057] The input / output IF 55 is an interface for inputting and outputting data between devices connected to the specific control device 50. For example, input devices such as a keyboard, a touch panel, a mouse, or other pointing device, and a microphone are connected to the input / output IF 55. The specific control device 50 receives, via the input / output IF 55, operation instructions from an operator who operates the input device.

[0058] In addition, the input / output IF 55 is connected to a display device such as a liquid crystal display (LCD) panel or an organic electroluminescence (EL) panel, a printer, a speaker, and other output devices. Measurement data screens and countermeasure flow screens, etc., as shown in the following Figs. 7 and 13, are displayed.

[0059] The communication IF 54 is an interface with the network to which the specific control device 50 is connected. The communication IF 54 receives measurement data from various measuring instruments 60 via various networks, such as a public network such as the Internet, a wireless network such as a mobile phone network, a dedicated network such as a Virtual Private Network (VPN), a Local Area Network (LAN), etc., and transmits this measurement data, as well as data on the vibration generation position in the tunneling machine 40 and the quantitative value of the generated vibration, and specified countermeasures, which are specified by the specific control device 50 based on the measurement data, to a personal computer in a management building, etc. Note that each measuring instrument 60 and the specific control device 50 may be connected by wire so as to be able to transmit and receive data.

[0060] 6, the identification control device 50 provides various functions, such as at least an acquisition unit 102, a vibration source identification unit 104, a countermeasure identification unit 106, a propulsion jack control unit 108, an injector control unit 110, a display unit 112, and a storage unit 114, by executing a program by a CPU 51. Here, at least a part of the above processing functions may be provided by a DSP (Digital Signal Processor), a GPU (Graphics Processing Unit), or the like, and similarly, at least a part of the above processing functions may be a dedicated LSI (large scale integration) such as an FPGA (Field-Programmable Gate Array), a numerical calculation processor, an image processing processor, or other digital circuits, or the like.

[0061] The acquisition unit 102 receives measurement data measured by the various measuring instruments 60, such as acceleration at each position (acceleration in the X, Y, and Z directions), the hydraulic pressure and stroke amount of the propulsion jack 28, and the inclination amount of the tunneling machine 40, and the like, and the data is stored (stored) in the memory unit 114 as needed, and each measurement data is displayed on the display screen of the display unit 112, as shown in Fig. 7. As mentioned above, all the measuring instruments 60 are time-synchronized.

[0062] The vibration source identification unit 104 identifies the location of the vibration source in the tunneling machine 40 and the quantitative value of the generated vibration (vibration frequency, vibration acceleration, etc.) based on measurement data from various measuring instruments 60, in particular measurement data from the accelerometer 61.

[0063] For example, four or more oil pressure gauges 62 for measuring changes in the jack thrust of the propulsion jacks 28 are installed in the circumferential direction near the outer periphery of the skin plate 20, and a stroke gauge 63 is also installed near the oil pressure gauges 62, and by measuring the behavior of the propulsion jacks 28 in detail, it is possible to identify which part of the tunnel machine 40 is causing vibration and what is causing it, i.e., the location where the vibration is occurring and the cause of the occurrence. For example, in the case of friction wear, a phenomenon is observed in which the jack stroke extends and the oil pressure drops at the same time as the vibration occurs.

[0064] In order to identify the source of the shock vibration caused by the wear, the vibration source identifying unit 104 performs a cross-spectral calculation. The details of this cross-spectral calculation will be described later.

[0065] The inventors have determined that when a first propulsion jack 28 is identified as being located near a source of vibrations such as impact vibrations at an actual shield construction site, vibrations such as impact vibrations can be effectively reduced by reducing the vibrations caused by the source near the first propulsion jack 28, as well as reducing the vibrations near the second propulsion jack 28, which is located opposite the first propulsion jack 28 and passes through the center of the skin plate in a front view. Here, "being in an opposite position" not only means being strictly opposite (180 degrees opposite), but also includes a range of about ±60 degrees to the left and right of the 180 degrees opposite position.

[0066] Therefore, by identifying the first propulsion jack 28 present near the source of the vibration and executing control to inject, for example, a lubricant into the first injector 30 (one example of an injector) located in a position corresponding to the first propulsion jack 28 and / or a separate first injector 30 located in a position corresponding to the second propulsion jack 28 which is opposite the first propulsion jack 28, impact vibration can be effectively reduced.

[0067] Furthermore, the first propulsion jack 28 present near the source of vibration such as impact vibration may be one propulsion jack 28 among a plurality of propulsion jacks, or may consist of a plurality of propulsion jacks 28, and may also include a first propulsion jack group 28A consisting of a plurality of adjacent propulsion jacks 28 arranged at intervals in the circumferential direction, for example.

[0068] In this regard, the second propulsion jack 28 in an opposing position to the first propulsion jack 28 also includes not only one second propulsion jack 28 in an opposing position to one first propulsion jack 28, but also a second propulsion jack group 28A consisting of a plurality of mutually adjacent propulsion jacks 28 in an opposing position to the first propulsion jack group 28A.

[0069] Furthermore, the inventors have determined that, of the multiple propulsion jacks 28 mounted circumferentially on the tunneling machine 40, which is circular when viewed from the front, the propulsion jacks 28 located near the source of the impact vibration tend to be different from the propulsion jacks which first generate vibrations (micro-vibrations); more specifically, these propulsion jacks 28 are in opposing positions passing through the center O of the skin plate 20 when viewed from the front.

[0070] Here, the first propulsion jack 28 located near the source of the impact vibration is, for example, the propulsion jack 28 located near the location that first generates a small impact vibration, and is a trigger vibration that causes a large impact vibration, so it is located near the source of the trigger vibration. On the other hand, the second propulsion jack 28 located opposite the first propulsion jack 28 is located near the source that generates the main vibration, which is a large impact vibration.

[0071] Therefore, by injecting lubricant from the first injector 30 corresponding to at least one of the first propulsion jack 28 located near the source of the impact vibration and the second propulsion jack 28 located opposite it, the area in which the lubricant is injected can be narrowed down to an area that is effective in suppressing vibration, making it possible to suppress vibration without injecting large amounts of lubricant around the entire circumference of the tunneling machine 40.

[0072] In the case where impact vibration occurs when the tunneling machine 40 excavates, one countermeasure is to reduce the vibration by overcutting the area around the tunneling machine 40 and injecting a lubricant into the overcut area CA. When injecting this lubricant, for example, there is a problem that the strength of the backfill material injected into the tail void of the tunneling machine 40 is reduced by injecting a large amount of lubricant around the tunneling machine 40 without identifying the source of the impact vibration.

[0073] To solve this problem, it is desirable to identify locations that are effective in suppressing the impact vibrations that may occur when the tunneling machine 40 excavates, and to inject the lubricant into the identified locations, instead of injecting a large amount of lubricant all around the tunneling machine 40. Therefore, it is desirable to inject the lubricant into locations that are considered effective in suppressing the impact vibrations, such as the first propulsion jack 28 that is located near the source of the impact vibrations, and / or the second propulsion jack 28 that is opposed to the first propulsion jack 28.

[0074] In this way, in addition to executing control to inject lubricant at positions corresponding to the first propulsion jack 28 and the second propulsion jack 28, it is also possible to reduce vibrations such as impact vibrations by reducing the stroke difference between the first propulsion jack 28 and the second propulsion jack 28.

[0075] Next, a method for identifying the source of impact vibration in the vibration source identifying section 104 will be described with reference to FIGS. Here, Fig. 8 is a diagram showing an example of a vibration identification flow in a specific control device. Also, Fig. 9 is a diagram showing a time series signal of acceleration, which is measurement data acquired by each accelerometer, Fig. 10 is an enlarged view of part X in Fig. 9, showing a state in which the time series signal of acceleration exceeds a threshold, and Fig. 11 is an enlarged view of part XI in Fig. 10, showing original data within the time when impact vibration occurs. Furthermore, Fig. 12 is a diagram showing the time difference of each accelerometer specified by cross-spectral calculation, and Fig. 13 is a diagram showing an example of a countermeasure flow in a vibration control method, stored in a memory unit of a control device.

[0076] The acquisition unit 102 of the specific control device 50 acquires measurement data (acceleration level data) from a plurality of accelerometers in each direction and stores it in the memory unit 114. More specifically, as shown in Fig. 9, the memory unit 114 is configured to store time-series signals of acceleration at each of the positions of 1 o'clock, 3 o'clock, 5 o'clock, 7 o'clock, 9 o'clock, and 11 o'clock, which are likened to a clock face when viewed from behind in the excavation direction, on the main body of the tunneling machine 40 (step S10).

[0077] A threshold value related to impact vibration is stored in the memory unit 114. The vibration source identification unit 104 monitors whether each time-series signal stored in the memory unit 114 repeatedly exceeds the threshold value (step S12). Here, this monitoring may be performed on the time-series signals of all accelerometers or on the time-series signal of a specific accelerometer.

[0078] The reason for setting the threshold value for the impact vibration in this manner is to prevent cross-spectral calculations from being performed on the entire time period of the time series signals stored in memory unit 114, while performing cross-spectral calculations on the measurement data within a specified time period before and after the occurrence of the impact vibration, thereby making it possible to efficiently and quickly identify the accelerometer that records the earliest vibration.

[0079] The vibration source identification unit 104 periodically determines whether or not there is an impact vibration (step S14). For example, in Fig. 10 showing the X portion of the time-series signals shown in Fig. 9, it is shown that each time-series signal repeatedly exceeds a set threshold value (e.g., 90 dB).

[0080] In this way, when it is determined that there is an impact vibration because each time series signal repeatedly exceeds the set threshold, the original data within the time when the impact vibration occurred is imported. For example, the original data in part XI of FIG. 10 is imported as shown in FIG. 11 (step S16). Here, the original data shown in FIG. 11 includes the target frequency range of 0 to 80 Hz, and has a sampling frequency as low as possible (200 Hz) in order to reduce the calculation load as much as possible. Therefore, the waveform is rough, and it is extremely difficult for a human being to visually determine the phase difference between each piece of data, but the cross-spectral calculation makes it possible to automatically and accurately identify the phase difference between each piece of data.

[0081] The vibration source identification unit 104 sets any of the original data from the six captured positions as reference data (reference measurement data), and performs cross-spectral calculations between this reference data and the other five original data from time to time (step S18).

[0082] For example, the raw data of the accelerometer at the 1 o'clock position is used as the reference data, and cross-spectral calculations are performed as needed between this reference data and the raw data of the accelerometers at other positions.

[0083] The cross spectrum Cxy is a frequency function between two signals, and is calculated from the Fourier transforms X(f) and Y(f) of the reference data and another piece of original data by the following formula (A), where "f" is the frequency.

[0084]

number

[0085] Since the cross spectrum is a function of complex numbers, the phase difference between the two is an angle on a complex plane, and the vibration source identifying unit 104 calculates the phase difference between the two by the following formula (B) (step S20).

[0086]

number

[0087] Since equation (B) is the phase difference between the reference data and another piece of original data, the following equation (C) is applied to convert this into the time difference between the two.

[0088]

number

[0089] The vibration source identifying section 104 executes the above-mentioned cross-spectral calculation between the reference data and the other five original data.

[0090] From the results of measuring the impact vibration of an excavator by the inventors, it has been found that the time difference in vibration occurrence between the driving jacks is less than 0.02 seconds. When determining the relative time difference obtained from the phase of the cross spectrum, it is necessary to detect the phase within a range not exceeding ±1 / 2 rotation (π radians), so it is necessary to detect the relative time difference from the phase at frequencies less than 1 / 2 / 0.02 seconds = 25 Hz.

[0091] By performing cross-spectral calculations, phases for each frequency are calculated for half the number of data points used in the calculations. Among these, it is necessary to use the phases at low frequencies (phases at frequencies below 25 Hz when detecting within a range of less than 0.02 seconds as described above).

[0092] Of the time differences based on the phase difference of the cross spectrum obtained from the vibration acceleration data (sampling frequency 200 Hz, number of data points 32) at the six propulsion jack positions shown in Figure 11, the results for 6.25 Hz are plotted in Figure 12. For reference, the results for other frequencies, 12.5 Hz and 18.75 Hz, are also plotted in Figure 12.

[0093] From FIG. 12, in this example, the accelerometer at the 3 o'clock position can be identified as the accelerometer that will record the earliest vibration (step S22).

[0094] The propulsion jack in the vicinity of the accelerometer corresponding to this earliest position can be identified as the first propulsion jack that is near the source of the impact vibration. Note that the cross spectrum calculation may be performed several times, and when the calculation result indicating the earliest position is obtained several times, it may be identified as the earliest position.

[0095] In Figure 12, in addition to the results for 6.25 Hz, the results for 12.5 Hz and 18.75 Hz are also plotted, and it can be seen that the time difference is almost the same regardless of the frequency (this concludes the process of identifying the accelerometer that records the earliest vibration).

[0096] The vibration source identification unit 104 identifies the accelerometer that is first to record vibration and identifies the propulsion jack in the vicinity of the accelerometer as the jack that is located near the source of the impact vibration. Then, the countermeasure identification unit 106 identifies countermeasures for the identified vibration event in accordance with a countermeasure flow in which countermeasures are pre-set for each event as shown on the display screen 112 (display unit) shown in Figure 13, which is stored in the memory unit 114.

[0097] In FIG. 13, when trigger vibration and main vibration are occurring, each propulsion jack 28 is controlled mainly by the following three methods.

[0098] The first control method is a method of controlling vibration by having the injector control unit 110 execute control to inject a lubricant from the first injector 30 corresponding to the first propulsion jack 28 located near the location causing the trigger vibration.

[0099] On the other hand, the second control method is a method of controlling vibration by injecting a lubricant from a first injector 30 corresponding to a second propulsion jack 28 located near the location causing the vibration.

[0100] Furthermore, the third control method is a method of controlling vibration by injecting lubricant from both the first injector 30 corresponding to the first propulsion jack 28 located near the location causing the trigger vibration, and the first injector 30 corresponding to the second propulsion jack 28 located near the location causing the main vibration.

[0101] In this way, after identifying the accelerometer that records the vibration first and identifying the propulsion jack near the accelerometer as the source of the impact vibration, the impact vibration can be reduced by injecting the lubricant only in the area corresponding to the propulsion jack near the source of the impact vibration. Therefore, for example, when injecting a large amount of lubricant all around the tunneling machine 40, there is no problem of the strength of the backfill material decreasing.

[0102] In addition, the present invention is not limited to the configuration shown here, and may be implemented in other embodiments in which other components are combined with the configurations and the like of the above-mentioned embodiment. In this regard, the present invention may be modified within the scope of the gist of the present invention, and may be appropriately determined according to the application form. [Explanation of symbols]

[0103] 10: Cutter head 11:Outer surface 12: Drilling bit 14: Periphery drilling bit 16: Copy cutter 18: Mixing blade 19: Hydraulic drive motor 20: Skin plate (steel shell) 21: Outer surface 24:Aperture 26: Tail brush 28: Propulsion jack (No. 1 propulsion jack, No. 2 propulsion jack) 28A: Propulsion jack group (first propulsion jack (group), second propulsion jack (group)) 30: 1st injector (injector) 31:Second syringe 35: Pressure reducing valve 40: Excavation machine 50: Specific control device 60: Measuring Instruments 61: Accelerometer (measuring instrument) 62: Oil pressure gauge (measuring instrument) 63: Stroke meter (measuring instrument) 64: Inclinometer (measuring instrument) 70: Gap 100: Vibration specific control system (vibration specific control system for tunneling machines) 102: Acquisition Department 104: Vibration source identification unit 106: Countermeasures Identification Department 108: Propulsion jack control unit 110: Injector control unit 112: Display section 114: Storage section G: Ground (natural ground) CA: Overcut area S: Segment

Claims

1. A vibration specific control system for a tunneling machine that identifies and controls the vibration of a tunneling machine applied in a shield tunneling method or a jacking tunneling method, At least an accelerometer included in the measuring instruments is installed inside the tunneling machine, and all of the measuring instruments are time-synchronized; The method further includes a specific control device that identifies an accelerometer that records the earliest vibration that is the source of the impact vibration based on the measurement data obtained from the multiple accelerometers, The specific control device uses measurement data obtained from a reference accelerometer, which is a reference accelerometer among the multiple accelerometers, as reference measurement data, performs a cross-spectral calculation between the reference measurement data and each measurement data obtained from each accelerometer other than the reference accelerometer, identifies the accelerometer that records the earliest vibration based on the cross-spectral calculation, and identifies the vicinity of the accelerometer as the source of the impact vibration.This is a vibration specific control system for a tunneling machine, characterized in that

2. The specific control device is storing a threshold value for the shock vibration; 2. The vibration identification control system for an excavator according to claim 1, wherein the cross-spectral calculation is performed on measurement data within a predetermined time before and after the occurrence of the impact vibration.

3. The tunneling machine is provided with a cylindrical skin plate, and an injector for injecting a lubricant from the inside to the outside of the skin plate is provided at a position of the skin plate corresponding to an installation position of the accelerometer, The vibration specific control system for a tunneling machine as described in claim 1 or 2, characterized in that the specific control device executes control to inject a lubricant into an injector located at a position corresponding to the source of the identified impact vibration and / or a separate injector located in an opposing position to the injector passing through the center of the skin plate when viewed from the front.

4. The shock vibration includes a trigger vibration that occurs first and has a relatively small amplitude, and a main vibration that occurs thereafter and has a relatively large amplitude, The vibration identification control system for a tunneling machine as described in claim 3, characterized in that when the trigger vibration is identified as the earliest vibration, the identification control device executes control to inject a lubricant to the injector located in the vicinity of the point causing the trigger vibration.

5. A method for identifying and controlling vibrations of a tunneling machine applied in a shield tunneling method or a jacking tunneling method, comprising: At least an accelerometer included in the measuring instruments is installed inside the tunneling machine, and all of the measuring instruments are time-synchronized; A step of identifying an accelerometer that records the earliest vibration in the vicinity of a source of the impact vibration based on measurement data acquired from the plurality of accelerometers, The step of identifying the accelerometer that records the earliest vibration comprises: A vibration identification control method for a tunneling machine, characterized in that measurement data obtained from a reference accelerometer which is a reference accelerometer among the multiple accelerometers is used as reference measurement data, a cross-spectral calculation is performed between the reference measurement data and each measurement data obtained from each accelerometer other than the reference accelerometer, the accelerometer which records the earliest vibration is identified based on the cross-spectral calculation, and the vicinity of the accelerometer is identified as the source of the impact vibration.

6. The tunneling machine is provided with a cylindrical skin plate, and an injector for injecting a lubricant from the inside to the outside of the skin plate is provided at a position of the skin plate corresponding to an installation position of the accelerometer, The vibration specific control method for a tunneling machine as described in claim 5, further comprising a step of executing control to inject a lubricant to an injector located at a position corresponding to the source of the impact vibration and / or a separate injector located in an opposing position to the injector passing through the center of the skin plate in a front view.

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