Control system and control method for liner cutting device of tunnel inner wall surface

Abstract

To provide a control system for a liner cutting device of a tunnel inner wall surface, the system facilitating installation and automatically controlling cutting and capable of being used even on a complicatedly planed cross section.SOLUTION: A control system to control a liner cutting device 1 of a tunnel inner wall surface comprising a rotary cutting machine 3, a distance sensor 92, and a gantry 2 to travel on rails 13 in a tunnel 10 is provided with: prisms 121, 122 installed in the gantry 2; a total station 110 measuring distance and angles to the prisms; and calculation control units 131, 132, so as to cut, around a section surface center coordinate as a center, with the liner cutting device 1, cutting areas partitioned using depth per a specific angle in a circumferential direction of the tunnel 10 by a cut amount according to position / posture information of the gantry 2 acquired through measured data and an existing section surface shape, and the cut amount.SELECTED DRAWING: Figure 8

Description

[Technical field]

[0001] The present invention relates to a control system and a control method for controlling a lining cutting device that cuts an existing lining on the inner wall surface of an existing tunnel installed on a road or the like. [Background technology]

[0002] Traditionally, the inner walls of tunnels installed on roads and other structures have been covered with concrete to protect the surface, but as the concrete deteriorates over time, it can crack and peel, reducing its strength and raising the risk of water leaks and peeling.

[0003] In order to prevent these problems from occurring, repair work is being carried out in which the existing lining on the old tunnel inner wall is cut away to a certain depth and a new lining is laid on the inner tunnel wall.

[0004] A lining cutting device for the inner wall surface of a tunnel for this purpose has been presented, for example, in JP 2002-081298 A (Patent Document 1), and a repair method is known in which a shelter (protective work) 3a is provided inside an existing tunnel 2a, partitioning a working space 4a on the wall side from a passage space 5a on the inside, and a cutting machine 8a that travels lateral along a cutter guide rail 7a that can move in the direction of travel of the tunnel 2a continuously performs cutting work on the inner wall surface 6a of the tunnel 2a, such as a lining cutting device 1a shown in Figures 22(a) and 22(b).

[0005] Also, as disclosed in JP 2017-179853 A (Patent Document 2), a lining cutting device 1b shown in FIG. 23 is known, which provides a shelter (protective work) 3b inside an existing tunnel 2b to partition a working space 4b on the wall side from a passage space 5b on the inside, has a cylinder 9b for moving a cutting machine 8b that moves laterally along a rotating frame 7b that can move in the traveling direction of the tunnel 2b in the circumferential direction of the tunnel (in the direction approaching the inner wall surface), and can cut by pressing one or both of the cutting drums 10b provided on both the left and right sides against the inner wall surface 6b by extending and retracting the cylinder 9b. According to this lining cutting device 1b, the cutting amount can be adjusted by extending and retracting the cylinder 9b, and it is possible to cut up to the vicinity of the bottom left and right ends of the inner wall surface 6b of the tunnel 2b with only one cutting machine.

[0006] However, in both of the lining cutting devices 1a, 1b, an arch-shaped cutter guide rail 7a and a rotating frame 7b move on two rails R, R laid in the direction of travel of the tunnel, and cutting machines 8a, 8b move horizontally along the rails R, R to cut the lining of the tunnel's inner wall surface. However, it is difficult or extremely time-consuming to perfectly align the center lines of the two rails R, R with the center lines of the tunnels 2a, 2b, and the distance between the center line of the tunnel and the inner wall surface is not always constant, so it cannot be said that the distance between the inner wall surfaces 6a, 6b and the cutting machines 8a, 8b is always constant.

[0007] Therefore, it is extremely difficult to cut the inner wall surface uniformly not only with the lining cutting device 1a, which can only set a fixed cutting depth, but also with the lining cutting device 1b, which can adjust the cutting depth by extending and retracting the cylinder 9b.For example, in the schematic diagram shown in Figure 24, the dotted line indicates the position of the inner wall surface before cutting, while the solid line indicates the position of the inner wall surface after cutting, and there are cases where problems arise such as the amount of cutting being different on the left and right.

[0008] Furthermore, when the shape of the planned cross section to be cut is a complex shape that is not similar to the arch-shaped cutter guide rail 7a or the rotating frame 7b, it is necessary to manually set it each time, making cutting very time-consuming and labor-intensive. [Prior art documents] [Patent documents]

[0009] [Patent Document 1] JP 2002-081298 A [Patent Document 2] JP 2017-179853 A Summary of the Invention [Problem to be solved by the invention]

[0010] Therefore, the objective of the present invention is to provide a control system for an inner wall lining cutting device that runs on rails laid inside a tunnel, which can automatically control the cutting to an appropriate amount without the need to precisely align the center line of the tunnel with the center line of the rail, and which can easily handle even complex planned cross sections. [Means for solving the problem]

[0011] The present invention, which has been made to solve the above problems, provides a control system for a lining cutting device for a tunnel inner wall surface, the control system comprising: a rotary cutting machine for cutting the inner wall surface of a tunnel; a distance sensor for detecting the distance between the rotary cutting machine and the inner wall surface; and a gantry for moving the rotary cutting machine within the tunnel in the traveling direction and circumferential direction of the tunnel, the control system being for controlling a lining cutting device for a tunnel inner wall surface that runs on rails laid within the tunnel in the traveling direction, a prism installed at a plurality of positions on the gantry, a total station installed at a predetermined interval from the gantry and measuring a distance and an angle between the prism and the total station, and a calculation control unit that processes data measured by the total station and the distance sensor and performs calculations for control purposes; The present invention is characterized in that, based on the position and attitude information of the gantry obtained from the data measured by the total station, the shape of the existing cross section obtained from the data measured by the distance sensor, and the shape and cutting amount of the set planned cross section, the calculation control unit calculates a cutting range in which the depth is divided by the cutting amount at regular angles around the circumferential direction of the tunnel centered on the cross section center coordinates, and inputs the calculated cutting range to the lining cutting device, and the lining cutting device is controlled to cut the cutting range of the inner wall surface.

[0012] According to the present invention, by using a total station and distance sensor to obtain the cross-section center coordinates and the shape of the existing cross-section, and by setting the shape of the planned cross-section and the depth of the cut, it is possible to eliminate the need to precisely align the center line of the tunnel and the center line of the rail, and it is possible to control the cutting so that the desired planned cross-section is automatically cut even if there is a misalignment.In addition, by dividing the cutting range into sections at fixed angles and to a depth according to the cut-in depth, even complex planned cross-sections can be handled without any problems.

[0013] The prisms are installed in two locations on the gantry, and the gantry is equipped with a three-axis inclinometer. When determining the position and attitude information of the gantry from the relative position of each prism with respect to a predetermined cutting device origin and one of the pitching angle, yawing angle, and rolling angle obtained from the three-axis inclinometer, it becomes possible to determine the coordinates of the cutting device origin with a minimum number of prisms installed. For example, this improves measurement accuracy by reducing the number of objects to be measured, and avoids risks such as measurement errors due to the dusty environment inside the tunnel.

[0014] The prisms are installed in three locations on the gantry, and when determining the position and attitude information of the gantry from the relative position of each prism with respect to a predetermined cutting device origin, it is possible to determine the coordinates of the current cutting device origin using only the prisms without the need for a three-axis inclinometer, thereby reducing the number of parts.

[0015] In the present invention, the gantry includes an arch-shaped horizontal frame disposed along the inner wall surface in a direction substantially perpendicular to the traveling direction of the tunnel, and a cutting frame disposed so as to be capable of moving horizontally along the outside of the horizontal frame by the driving force of an electric motor, and is disposed so as to be movable and stoppable on the rails; The rotary cutting machine has a cylindrical cutting drum with cutting claws on its outer peripheral surface and a cylinder, and is attached to the cutting frame and moves along the traverse frame. When the distance to the cutting frame can be extended or contracted by the cylinder, the cutting depth can be easily adjusted by extending or contracting the cylinder.

[0016] In the present invention, when a cutting frame position detection sensor is attached to the drive shaft of an electric motor for moving the cutting frame laterally and detects its rotation speed, and a cutting drum position detection sensor is attached to the cylinder and detects its amount of expansion and contraction, the position of the cutting frame and the position of the cutting drum can be detected, making it easier to control the cutting device and improving cutting accuracy.

[0017] In the present invention, the traverse frame has position detection limit switches installed at regular intervals and bottom detection limit switches installed at both lower ends, and when the rotary cutting machine moving along the traverse frame detects its position by activating the position detection limit switch or the bottom detection limit switch, positional deviation can be prevented by resetting the reference point through activation of the position detection limit switch, and further, it is possible to detect that the traverse of the rotary cutting machine has reached its upper limit of movement through activation of the bottom detection limit switch.

[0018] The present invention also provides a method for controlling a lining cutting device for a tunnel inner wall surface, the method comprising: a rotary cutting machine for cutting the inner wall surface of a tunnel; and a gantry for moving the rotary cutting machine in the tunnel in the traveling direction and circumferential direction of the tunnel; the method controlling the lining cutting device for a tunnel inner wall surface that runs on a rail laid in the traveling direction within the tunnel, an initial position setting step of moving the rotary cutting machine to one end in a circumferential direction of the gantry; an initial measurement step of correcting the position of the rotary cutter based on the timing at which limit switches installed at regular intervals on the gantry are activated by the movement of the rotary cutter and the number of rotations of a drive shaft of an electric motor that moves the rotary cutter while moving the rotary cutter from the one end to the other end in the circumferential direction of the gantry, and measuring the distance between the rotary cutter and the inner wall surface by a distance sensor at regular angle intervals while moving the rotary cutter from the other end to the one end in the circumferential direction of the gantry; a cutting range setting step of obtaining the shape of the existing cross section by the initial measurement, setting a planned cross section and a cutting amount, and dividing the depth of the circumferential direction of the tunnel at regular angles by the cutting amount to calculate a cutting range; The cutting method is characterized by including a cutting operation step in which cutting of either the left or right side or both the left and right sides of the cutting range by the said cutting depth is defined as one cycle, and this cycle is repeated the required number of times to complete cutting of the cutting range. Effect of the Invention

[0019] As described above, the present invention does not require the work of precisely aligning the center line of the tunnel and the center line of the rail, and can be controlled to automatically cut the desired planned cross section even if there is a misalignment. Furthermore, by dividing the cutting range into sections at fixed angles and to depths according to the cutting amount, even complex planned cross sections can be handled without any problems. [Brief description of the drawings]

[0020] [Figure 1] 1 is a front view showing a tunnel inner wall lining cutting device that is the control target of the control system for the tunnel inner wall lining cutting device of the present invention. [Diagram 2] FIG. 2 is a side view of the lining cutting device shown in FIG. [Diagram 3] FIG. 2 is a plan view of the lining cutting device shown in FIG. 1 . [Figure 4]FIG. 2 is a side view showing a main part of the lining cutting device shown in FIG. [Diagram 5] FIG. 4 is an enlarged plan view of a portion of FIG. 3. [Figure 6] FIG. 2 is a partially enlarged view showing the cutting process of the tunnel inner wall surface by the rotary cutter in the lining cutting device shown in FIG. 1. [Figure 7] FIG. 4 is an explanatory diagram showing a coordinate system in the control system of the present invention. [Figure 8] FIG. 2 is a schematic perspective view showing the arrangement of devices in the control system shown in FIG. [Figure 9] 2A, 2B, and 2C are side, plan, and front views showing the arrangement of the control system shown in FIG. 1. [Figure 10] FIG. 4 is a chart showing a control method in the control system of the present invention. [Figure 11] 4 is a schematic diagram of an initial position setting process in the control method. [Figure 12] 4 is a schematic diagram of an initial measurement process in the control method. [Figure 13] FIG. 4 is an explanatory diagram showing a cutting range in the control method. [Figure 14] 11 is an explanatory diagram of a case where the cutting amounts on the left and right sides are different in the control method. FIG. [Figure 15] FIG. [Figure 16] A diagram showing the planned cross section and cutting range of section A in the embodiment. [Figure 17] A diagram showing the planned cross section and cutting range of section B in the embodiment. [Figure 18] A diagram showing the planned cross section and cutting range of section C in the embodiment. [Figure 19] A diagram showing the planned cross section and cutting range of section D in the embodiment. [Figure 20] A diagram showing the planned cross section and cutting range of section E in the embodiment. [Figure 21] A diagram showing the planned cross section and cutting range of section F in the embodiment. [Figure 22] FIG. 1A is a front view and FIG. [Figure 23] FIG. [Figure 24] FIG. 13 is a schematic diagram showing a state in which the cutting amounts on the left and right sides of the center line of a tunnel are different in a conventional example. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0021] DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Preferred embodiments of the present invention will now be described in detail with reference to the accompanying drawings.

[0022] The control system of the present invention is composed of a total station, a prism, and an arithmetic and control unit, and controls a lining cutting device 1 for the inner wall of a tunnel having a distance sensor 92 that measures the distance to the inner wall of the tunnel.

[0023] The total station used in this embodiment is an instrument capable of simultaneously observing the distance and angle to a prism that is the measurement target, and is configured to be able to output the measured data.

[0024] The prism is attached to the gantry 2 of the lining cutting device 1.

[0025] The calculation control unit is composed of a TS side terminal and a cutting device side terminal, and the TS side terminal and the cutting device side terminal are capable of wireless communication with each other using a TCP / IP communication protocol with a wireless master connected to the TS side terminal and a wireless slave connected to the cutting device side terminal. Data obtained from the total station is processed by the TS side terminal, transmitted to the cutting device side terminal, and input to a control device (PLC) mounted on the cutting device 1, thereby controlling the lining cutting device 1. Conversely, data output from the control device (PLC) can also be transmitted from the cutting device side terminal to the TS side terminal.

[0026] The communication devices (wireless master and slave) may be connected by wire, or may be capable of communicating with the Internet or connecting to each other via the Internet.

[0027] Furthermore, the TS side terminal and the total station can be connected by wired or wireless connection, and multiple total stations may be provided.

[0028] 1 to 6 are diagrams showing a tunnel inner wall lining cutting device 1 that is the control target of the control system 100 of the present invention, and the lining cutting device 1 is composed of a gantry 2 and a rotary cutter 3, and a work space 4 for cutting work is provided between the outside of the gantry 2 and the inner wall surface 11 of the tunnel 10, and a vehicle passage space 5 that allows vehicles to pass is provided inside the gantry 2. Then, while the gantry 2 runs on rails laid in the tunnel 10 in the traveling direction, the rotary cutter 3 is moved laterally in the circumferential direction of the gantry 2 to cut the existing lining on the tunnel inner wall surface.

[0029] The gantry 2 comprises a pair of traveling frames 20,20 that can move and stop on a pair of traveling rails 13,13 laid on the road surface 12 of the tunnel 10 by driving wheels 22 and passive wheels 23 driven by an electric motor 21, a pair of arch-shaped lateral frames 30,30 erected from the traveling frames 20,20 and arranged in a direction approximately perpendicular to the traveling direction of the tunnel 10, and a cutting frame 40 arranged so as to be able to move lateral along the outside of the lateral frames 30,30, and is arranged so as to be able to move and stop in the traveling direction of the tunnel 10.

[0030] The traveling frames 20, 20 on which the traverse frames 30, 30 are erected are equipped with various power devices and control devices used in the lining cutting device 1, such as a transformer 24, a hydraulic unit 25, a power panel, a control panel 26, an inverter 27, and an input / output device 28, and the lining cutting device 1 operates with an external power supply. Furthermore, by further mounting a generator, the lining cutting device 1 may be made to operate by itself without securing a driving source such as an external power source.

[0031] The traveling frames 20,20 can move forward or backward intermittently on the traveling rails 13,13 by driving the drive wheels 22 with the electric motors 21 which are the traveling drive devices, and in addition, the positions of the traveling frames 20,20 can be fixed for safety when stopping or during work with the outriggers 29 provided on the traveling frames 20,20. The traveling speed in the tunnel 10 can be adjusted by driving the electric motor 21 which is the traveling drive device while changing the rotation speed of the electric motor 21 by adjusting the output frequency through inverter control by the inverter 27.

[0032] In this embodiment, the lateral frames 30, 30 are a pair of lateral frames 30, 30 that are arch-shaped when viewed from the front and are erected across the pair of running frames 20, 20 at a predetermined distance along the inner wall surface 11 of the tunnel 10, facing in a direction approximately perpendicular to the direction of travel of the tunnel 10.

[0033] The cutting frame 40 is mounted on the outside of the traverse frames 30, 30, and is equipped with a total of four electric motors 41, two on each side, which serve as traverse drive devices that provide the driving force for traverse movement over the traverse frames 30, 30.

[0034] In more detail, the guide members 31 provided along the inner side of each lateral frame 30 and protruding from the underside of each lateral frame 30 are fitted into guide grooves 43 formed in the guide members 42, 42 provided at both ends of the cutting frame 40 via oil-less bushings 44, and the racks 32 formed along the upper surface of each lateral frame 30 are meshed with pinion gears 45 attached to the drive shafts of each electric motor 41, and the cutting frame 40 is installed so that it can move laterally across both lower ends (left and right ends) of the lateral frames 30, 30 by the driving force of the electric motor 41.

[0035] The gantry is also equipped with a three-axis inclinometer for detecting its attitude, making it possible to obtain data on the gantry's pitching angle, yawing angle, and rolling angle.

[0036] The rotary cutter 3 has two cylindrical cutting drums 50, 50 with numerous cutting claws 52 on the outer peripheral surface 51, and is provided parallel to the cutting frame 40 with both ends of each cutting drum 50 supported, with the rotation axis 53 of each cutting drum 50 facing the traveling direction of the tunnel 10. The rotation direction of each cutting drum 50 can be changed according to the orientation of the cutting claws 52, for example.

[0037] Each cutting drum 50 is driven by a hydraulic motor 54 connected to a rotating shaft 53, and the distance between the drum and the cutting frame 40 can be adjusted by an extension device 60.

[0038] In this embodiment, the extension device 60 comprises a pair of holding frames 61 fixed to the cutting frame 40 and having bearing portions 62 on the left and right, a pair of left and right drum upper and lower frames 63 each pivoted to the bearing portions 62 of the holding frames 61, a beam member 64 installed between the left and right upper and lower drum frames 63, 63, and a cylinder 65 having one end fixed to the cutting frame 40 and the other end fixed to the beam member 64 and extending and retracting to oscillate the upper and lower drum frames 63, and the cylinder 65 can be, for example, a hydraulic or electric power cylinder.

[0039] In this way, both ends of each cutting drum 50 are supported by a pair of upper and lower drum frames 63 on the left and right sides, and by extending and retracting the cylinder 65, the upper and lower drum frames 63 swing around the bearing portion 62 of the holding frame 61 as an axis, thereby extending and contracting the distance between each cutting drum 50 and the cutting frame 40, and each cutting drum 50 can be pressed against the inner wall surface 11 of the tunnel 10 to perform cutting.

[0040] At this time, since the rotary cutting machine 3 has cylindrical cutting drums 50, 50 arranged in the left-right direction, it is possible for each cutting drum to share the cutting work on the left and right sides of the tunnel inner wall surface.

[0041] In this embodiment, a Cableveyor (registered trademark) (not shown) is provided to connect the control panel 26 and the inverter 27 to the rotary cutting machine 3.

[0042] The cutting depth detection sensor 92, which is a distance sensor, is attached to the cutting frame 40 and detects the distance to the inner wall surface 11 of the tunnel 10. The cutting depth detection sensor 92 employs an optical type such as infrared or laser light that is less affected by dust during cutting, but any other type of distance sensor such as a radio wave type or ultrasonic type can also be used.

[0043] In addition, a cutting frame position detection sensor 91 and a cutting drum position detection sensor 93 are provided as measurement sensors.

[0044] The cutting frame position detection sensor 91 is attached to the drive shaft of the electric motor 41, which is a lateral drive device for moving the cutting frame 40 laterally, and detects its rotation speed. For example, a rotary encoder that converts the amount of rotation into a numerical value can be used.

[0045] By using the values ​​obtained by this cutting frame position detection sensor 91, it is possible to detect the position of the cutting frame 40 moving laterally over the lateral frames 30, 30, and it is possible to confirm whether the desired cutting location is being cut and whether cutting is being performed at the desired lateral speed.

[0046] In addition, in combination with the cutting frame position detection sensor 91, limit switches 94 for position detection are installed on the traverse frame 30 at regular intervals, and positional deviation can be prevented by resetting the reference point through the operation of the limit switches 94 for position detection.

[0047] Furthermore, limit switches 95 for detecting the lowest position are also provided at both lower ends of the traverse frame 30, and activation of the limit switches 95 for detecting the lowest position makes it possible to detect that the traverse of the cutting frame 40 has reached its upper limit of movement, and also stops the drive of the electric motor 41 to stop the traverse of the cutting frame 40. Reference numeral 96 denotes a striker for activating the limit switch.

[0048] The cutting drum position detection sensor 93 is attached to the cylinder 65 and detects the amount of expansion and contraction thereof. For example, a stroke sensor that converts the amount of expansion and contraction into a numerical value can be used.

[0049] By using the values ​​obtained by the cutting depth detection sensor 92 and the cutting drum position detection sensor 93, it is possible to detect the distance of the inner wall surface 11 from the cutting frame 40 and the amount of expansion and contraction of the cylinder 65, making it possible to confirm whether cutting is being performed to the desired cutting depth, and also to change the amount of expansion and contraction of the cylinder 65 if necessary.

[0050] The control device (PLC) receives signals from the sensors 91, 92, 93, the limit switches 94, 95 and the three-axis inclinometer, and outputs signals to the electric motors 21, 41 and the hydraulic unit 25. It is also possible to exchange data with a terminal on the cutting device side.

[0051] The basic operation of the cutting device 1 in this embodiment will be described. The cutting device 1 rotates and drives the cutting frame 40 on which the rotary cutting machine 3 is installed from one lower end (e.g., the left end) of the traverse frames 30, 30 to press the cutting drum 50 against the inner wall surface 11 of the tunnel 10, while moving the cutting frame 40 traversely along the traverse frames 30, 30 by meshing the rack 32 and the pinion gear 45 with the driving force of each electric motor 41, and moves it to the other lower end (e.g., the right end) of the traverse frames 30, 30 to form a cutting band of a predetermined depth and a predetermined width along the inner circumference of the tunnel 10, which is one cycle of operation. This cycle is repeated until the desired cutting depth is obtained, and when the desired cutting depth is obtained, the gantry 2 is advanced on the traveling rails 13, 13 and moved by the length of the cutting drum 50, and this cutting work is repeated in sequence to cut the old lining portion formed on the inner wall surface 11 of the tunnel 10. Then, a new lining portion is provided on the cut inner wall surface by a conventionally known method, for example, which involves setting formwork, pouring concrete, and curing the concrete in that order (not shown).

[0052] In the following explanation, we will first define the absolute coordinate system, the cutting tool coordinate system, and the tunnel coordinate system with reference to Fig. 7. In Fig. 7, CL means the center line, which is the center line of the tunnel. Also, SL means the spring line, which is the line where the upper half arch of the tunnel starts, and generally refers to the widest height inside the tunnel.

[0053] The absolute coordinate system Σ indicates the absolute coordinates of north, south, east and west, with the north-south direction being ΣX, the east-west direction being ΣY, and the vertical direction being ΣZ.

[0054] Cutting device coordinate system Σ S indicates the coordinates of the cutting device, and the front-back direction (travel direction) is Σ S X, left and right direction is Σ S Y, height direction is Σ S Z, and the virtual origin coordinate of the cutting device is Σ S Let's set it to 0.

[0055] Cutting device origin coordinates Σ S0 is calculated from the coordinate value of the cutting device in the absolute coordinate system Σ and the direction of Σs. The direction of the cutting device in the absolute coordinate system is determined by the following three elements: Yawing of the cutting device: Σ with respect to the X-axis of Σ S The angle between the x-axis and Rolling of the cutting device: Σ with respect to the xy plane of Σ S The angle between the Y axis and Pitching of the cutting tool: Σ with respect to the xy plane of Σ S The angle between the x-axis and

[0056] Tunnel coordinate system Σ T indicates the coordinates of the cross section of an arbitrary point of the tunnel to be cut, and the line tangent direction that coincides with the center line of the tunnel advance direction is Σ T X, circumferential direction is Σ T Y, height direction is Σ T Let's call it Z.

[0057] Hereinafter, the pre-shipment process for a cutting device including a control system of the present invention will be described with reference to FIGS.

[0058] After the assembly of the cutting device 1 is completed, a preliminary survey is required in order to register the cutting device origin coordinates and the prism coordinates for posture measurement in the system before shipping.

[0059] Fig. 8 is a schematic perspective view showing the arrangement of the devices in the control system shown in Fig. 1, Fig. 9(a) is a side view showing the state during pre-shipment work, Fig. 9(b) is a plan view showing the state during pre-shipment work, and Fig. 9(c) is a front view showing the state during pre-shipment work. As shown in these figures, temporary prisms 121 (shown with downward-pointing triangular symbols) for origin measurement are installed at three locations on the gantry on the same plane as the surface facing the total station 110, and prisms 122 (shown with downward-pointing white triangular symbols) for attitude measurement are installed at two locations on the gantry on the same plane perpendicular to the surface facing the total station.

[0060] The temporary prisms 121 for measuring the origin are installed at three locations in total: one on the left side, one on the right side, and one at the center of the gantry.

[0061] Each location where the temporary prism 121 for measuring the origin is installed corresponds to a point on the circumference of the cutting drum as it moves circumferentially. When three temporary prisms for measuring the origin are installed, the x coordinates of the three points will be perpendicular to the Y axis and have the same x coordinate value in the cutting device coordinate system.

[0062] The prisms 122 for measuring attitude may be installed in two places on the gantry on the same plane facing the total station, or the number of places may be three. The prisms 122 for measuring attitude may be installed in two places on the gantry on the same plane facing the total station (a downward-facing white triangle symbol shown in the figure and a downward-facing black triangle symbol shown in the figure). In this way, by attaching the prism to the gantry rather than directly attaching the prism to the rotary cutting machine to directly measure the position, it is possible to avoid a situation in which accurate measurement cannot be performed due to dust or vibrations generated during cutting.

[0063] The installation of the temporary prism 121 for measuring the origin and the installation of the prism 122 for measuring the attitude can be described as being installed within the cutting device coordinate system that can be collimated from the total station 110, and they do not necessarily have to be installed on the same plane as the surface directly facing the total station 110 or on the same plane perpendicular to the surface directly facing the total station 110.

[0064] The total station 110 is installed with its position and orientation determined by the resection method.

[0065] After the prisms 121 and 122 and the total station are prepared, the cutting device is first measured to determine whether it is level.

[0066] Next, the temporary prism 121 for measuring the origin and the prism 122 for measuring the attitude are measured, and the cutting device coordinate system Σ S Find the coordinates of .

[0067] Subsequently, the coordinates of the cutting device origin are determined as the intersection point between the line connecting the temporary prisms for origin measurement installed on the left side of the gantry and the temporary prisms for origin measurement installed on the right side of the gantry, and the line drawn vertically from the temporary prism for origin measurement installed at the center of the gantry.

[0068] Once the coordinates of the temporary prism for origin measurement, the coordinates of the prism for attitude measurement, and the cutting device origin coordinates are obtained, they are registered in the system (the storage unit of the TS-side terminal).

[0069] After the registration is completed, the temporary prism for origin measurement is removed to end the preliminary measurement.

[0070] Note that in FIGS. 8 and 9, reference numeral 131 is the TS-side terminal of the arithmetic control unit, and reference numeral 132 is the cutting device-side terminal of the arithmetic control unit.

[0071] In the present invention, when obtaining the position and attitude information of the gantry, the data to be used changes depending on the number of locations where prisms are installed on the gantry. That is, it changes as follows in the case of two prism installations and three prism installations.

[0072] When two prisms are installed on the gantry, the position and attitude information of the gantry can be obtained from the relative position of each prism with respect to the predetermined cutting device origin and any one of the pitching angle, yawing angle, and rolling angle obtained from the three-axis inclinometer.

[0073] When three prisms are installed on the gantry, the position and attitude information of the gantry can be obtained from the relative position of each prism with respect to the predetermined cutting device origin.

[0074] Hereinafter, the control method by the control system of the present invention will be described with reference to FIG. 10.

[0075] <S100: Attitude Measurement Process> On-site, first, a posture measurement process is performed. After setting the total station in position and orientation by resection method (S101), aim at the prism for posture measurement, and obtain the cutting device coordinate system Σ S (S102).

[0076] Also, obtain the rolling angle from the three-axis inclinometer via the control device (PLC), and determine the cross-section center coordinates from the relative differences between the cutting device origin coordinates obtained in the preliminary survey, the rolling angle, and the coordinates of each prism for posture measurement (S103).

[0077] In addition, when the prism is provided at three positions on the same plane as the plane of the gantry facing the total station or at three positions on the same plane perpendicular to the plane of the gantry facing the total station, it is possible to determine the cross-section center coordinates only from the relative differences between the cutting device origin coordinates obtained in the preliminary survey and the coordinates of each prism for posture measurement, and the three-axis inclinometer is not required.

[0078] The posture measurement process is performed each time the cutting device is moved to the cutting target area and the outriggers are set up. That is, after the cutting of the set area is completed, the traveling frame needs to be advanced by the drum width and set in the next area, so it is necessary to perform posture measurement again.

[0079] <S200: Initial Position Setting Process> Next, an initial position setting process is performed. The initial position setting means that the initial position is when the rotary cutting machine is at the leftmost bottom P1 of the gantry, and its movement to that position and the cutting drum are in the fully retracted state (see Figure 11).

[0080] When the initial position setting button on the operation panel of the overlay cutting device is pressed (S201), the cylinder of the rotary cutting machine shrinks, and the left and right cutting drums are in the fully retracted state (S202). Next, the cutting frame starts to traverse to the leftmost bottom P1 (S203), and when it reaches the leftmost bottom P1 of the gantry and the limit switch is activated, the initial position setting is completed (S204).

[0081] <S300: Initial measurement process> Next, the initial measurement process is performed. The initial measurement is to measure the distance from the inner wall surface of the tunnel with a distance sensor at regular angles. In this embodiment, the measurement is performed at 5° intervals. The traversing position angle is detected by the number of rotations of a cutting frame position detection sensor mounted on the drive shaft of the electric motor, and is calculated while being corrected by the activation of a position detection limit switch installed on the traversing frame at regular intervals (see Fig. 12). When the rotary cutting machine reaches the rightmost bottom P2 of the gantry, it automatically returns to the initial position (P1).

[0082] When the initial measurement button on the operation panel of the overlay cutting device is pressed (S301), the cutting frame starts to traverse to the rightmost bottom P2 (S302), and during this process, the distance from the inner wall surface (existing cross-section) of the tunnel is measured at 5° intervals (S303). After that, when the cutting frame reaches the rightmost bottom and the limit switch is activated, the measurement of all locations is completed, and the cutting frame starts to traverse to the leftmost bottom P1 (S304). When the cutting frame traverses to the leftmost bottom, the initial measurement is completed (S305).

[0083] <S400: Cutting range setting process> Next, the cutting range setting process is performed. The cutting range indicates the cutting locations of the existing cross-section, and the cutting range is obtained from the existing cross-section and the planned cross-section.

[0084] Press the depth of cut setting button on the operation panel of the lining cutting device (S401) to set the depth of cut for one cycle. In this embodiment, 10 mm, 20 mm, 30 mm, and any other arbitrary numerical values can be set. After setting the depth of cut (S402), press the cutting range setting button on the operation panel of the lining cutting device (S403) to calculate a cutting range that divides the circumferential direction of the tunnel at regular angles and to a depth corresponding to the depth of cut with the cross-sectional center coordinates as the center from the cutting distance data every 5° input from the arithmetic control unit and the initial measurement data, and display the cutting device cross-section (minimum cuttable line), existing cross-section, planned cross-section, and cutting range on the operation panel (S404) (see Fig. 13).

[0085] Since the depth of cut for the target planned cross-section varies each time depending on the position and orientation of the installed cutting device, compare the position and orientation information of the cutting device in the absolute coordinate system obtained from the position and orientation measurement with the information of the planned cross-section from the prior linear information of the tunnel, and calculate the distance from the bottom of the cutting drum to the target planned cross-section every 5°.

[0086] Also, when the total station and arithmetic control unit cannot measure accurately due to the environment at that time or some other reason, the setting can be made by inputting the planned cross-section on the operation panel (S404). The planned cross-section can be calculated, for example, by inputting the outer peripheral radius, center arc radius, center arc angle, side wall arc radius, and SL height.

[0087] As shown in Fig. 14, even when the cutting amounts on the left and right (L1, L2) are different, the cutting range can be automatically set according to the existing cross-section and the planned cross-section without any problems.

[0088] <S500: Cutting operation process> When the cutting range setting process is completed, press the cutting operation start button on the operation panel of the lining cutting device, and the cutting operation is automatically performed (S501).

[0089] The rotary cutting machine moves laterally to the right from the initial position according to the cutting range to the left cutting start position (S502), then lifts the left cutting drum to the position of the existing cross section measured in the initial measurement process by extending the cylinder (S503), starts rotating the left cutting drum in the forward direction (S504), further extends the cylinder by the set cutting depth to lift the left cutting drum and press it against the inner wall surface of the tunnel to cut (S505), and moves laterally to the right along the cutting range to the left cutting end position (S506).

[0090] When the left cutting end position is reached (S507), the rotation of the left cutting drum is stopped (S508), the cylinder is contracted to fully contract the left cutting drum (S509), and the rotary cutting machine is then moved laterally to the lower right end (S510).

[0091] The rotary cutting machine moves laterally to the left from the lower right end according to the cutting range to the right cutting start position (S511), then lifts the right cutting drum to the position of the existing cross section measured in the initial measurement process by extending the cylinder (S512), starts rotating the right cutting drum in the forward direction (S513), further extends the cylinder by the set cutting amount to lift the right cutting drum and press it against the inner wall surface of the tunnel to cut (S514), and moves laterally to the left along the cutting range to the right cutting end position (S515).

[0092] When the right cutting end position is reached (S516), the rotation of the right cutting drum is stopped (S517), and the cylinder is contracted to fully contract the right cutting drum (S518).Then, the rotary cutting machine is moved laterally to the lower left end (initial position) (S519).

[0093] The above counts as one cycle, and the necessary number of cycles are repeated until the entire cutting range is cut. When the entire cutting range is cut, the tool returns to the initial position and the cutting operation process ends. EXAMPLES

[0094] The following describes the test results of the control system for the tunnel inner wall lining cutting device according to the present invention as an example.

[0095] Figure 15 is a side view showing the test contents. As shown in this figure, a mock tunnel was set up on the travel path of the lining cutting device, and the mock tunnel was divided into six sections, A to F, and a test was conducted to cut the inner surface of each section to a predetermined planned cross section. Note that the following Figures 16 to 21 are enlarged to a larger scale than the actual scale in order to clearly show the cutting range, and the thickness of the mock tunnel is about 1000 mm, while the cutting amount at the deepest position of each section is about 120 mm to 210 mm. In addition, the "entire circumference" in the following explanation refers to the entire inner circumference of the tunnel in a specified section, or in addition, the area including the ground below PH (planned elevation).

[0096] Figure 16 is a schematic diagram showing the existing section, planned section, and cutting range of Section A. The cutting test of this section was aimed at confirming the control accuracy of the operation system (upper and lower halves separately) and the relationship between the cutting depth and the cutting shell dimensions.

[0097] The test procedures for Section A were as follows: 1 to 3. 1. Upper half 0~120mm (manual): Cut 10mm x 2 times, 20mm x 2 times, 30mm x 2 times, a total of 6 times. 2. Upper half 120~180mm (automatic): Cutting depth 10mm x 2 times, 20mm x 2 times, total 4 times 3. Lower half 0~180mm (automatic): Automatically cuts until the cutting depth reaches 180mm.

[0098] Figure 17 is a schematic diagram showing the existing section, planned section, and cutting range of section B. The cutting test for this section was aimed at confirming the repeatability of automatic cutting and partial cutting range control.

[0099] The test procedure for Section B was as follows: 1 to 2. The cutting points for 2 were the bulges at the upper left and upper right in FIG. 1. Circumference 0~120mm (automatic): Cutting depth 20mm x 6 times, total 6 times cutting 2. Circumference 120~200mm (automatic): Cutting depth 20mm x 4 times, total 4 times cutting

[0100] Figure 18 is a schematic diagram showing the existing section, planned section, and cutting range of section C. The cutting test for this section was aimed at confirming the cutting condition up to the cutting range PH-600, which is below PH (planned height), and the maximum cutting depth.

[0101] The test procedures for Section C were as follows: 1-2. 1. Circumference 0~100mm (automatic): Cutting depth 20mm x 5 times 2. Circumference 100~200mm (automatic): Cutting depth 50mm x 2 times

[0102] Figure 19 is a schematic diagram showing the existing section, planned section, and cutting range of section D. The cutting test of this section was aimed at confirming the cutting control accuracy by improving the operation system (program).

[0103] The test procedure for Section D was as follows. 1. Circumference 0-200mm (automatic): Cutting depth 20mm x 10 times

[0104] Figure 20 is a schematic diagram showing the existing section, planned section, and cutting range of Section E. The purpose of the cutting test in this section was to confirm the cutting condition under the condition of remaining anchors, the cutting speed during reverse rotation of the cutting drum, the shell dimensions, and to measure the surrounding environment during cutting work.

[0105] In this section E, 12 anchors (24 in total) were buried in advance on the left and right sides of the simulated tunnel in a row of four vertically and three horizontally, and cutting was carried out from above them. In addition, while in the other sections the direction of rotation of the cutting drum is the forward direction in which the cutting claws cut the inner wall surface of the tunnel from above (left side rotates left, right side rotates right), in the cutting test in this section E the cutting direction was reversed, and the cutting claws rotated in the direction in which they cut the inner wall surface of the tunnel from below (left side rotates right, right side rotates left).

[0106] The test procedure for Section E was as follows. 1. Circumference 0-200mm (automatic): Cutting depth 20mm x 10 times

[0107] Figure 21 is a schematic diagram showing the existing section, planned section, and cutting range of section F. The cutting test for this section was aimed at confirming the reproducibility of automatic cutting of the future design shape model and the cutting range control for gradual changes.

[0108] The test procedure for Section F was as follows. 1. Circumference 0-200mm (automatic): Cutting depth 20mm x 10 times

[0109] Through the above cutting tests, we were able to carry out basic verifications of the cutting cycle, such as verifying the time required to move and set the cutting machine, verifying the finished width per cut, verifying the validity of the depth per cut, verifying the cutting finish: rotating drum width (1,000 mm) and finished cutting width (assumed to be 950 to 970 mm), whether there were any abnormalities or frame deflections during cutting, the wear and tear state of the cutting pick, and verifying maintenance times.

[0110] To verify efficient construction methods, we were able to verify the cutting depth and cutting speed per cut, cutting shell dimensions, and the condition of the finished cutting surface (10mm, 20mm, 30mm, 40mm, 50mm), the diameter and direction of the cutting rotating drum, and cutting speed, cutting shell dimensions, and the condition of the finished cutting surface by changing the cutting pick arrangement, as well as switching the automatic control of the cutting machine, and verify reproducibility and effectiveness.

[0111] Furthermore, in the above cutting tests, it was verified that cutting was possible without any problems even for planned cross sections other than a simple arch shape, particularly the planned cross sections shown in Section B (Figure 17) and Section F (Figure 21). [Explanation of symbols]

[0112] 1 Lining cutting device, 2 Gantry, 3 Rotary cutting machine, 4 Working space, 5 Passage space, 6 Shelter (protective work), 10 Tunnel, 11 Inner wall surface, 12 Road surface, 13 Traveling rail, 14 Gutter, 20 Traveling frame, 21 Electric motor, 22 Driving wheel, 23 Passive wheel, 24 Transformer, 25 Hydraulic unit, 26 Control panel, 27 Inverter, 28 Input / output device, 29 Outrigger, 30 Traverse frame, 31 Guide member, 32 Rack, 40 Cutting frame, 41 Electric motor, 42 Guide member, 43 Guide groove, 44 Oilless bush, 45 Pinion gear, 46 Spacer, 47 Bearing, 48 Scraper, 50 Cutting drum, 51 Outer periphery, 52 Cutting claw, 53 Rotating shaft, 54 Hydraulic motor, 60 Telescopic device, 61 Holding frame, 62 bearing part, 63 upper and lower drum frames, 64 beam member, 65 cylinder, 70 dust prevention mechanism, 71 panel, 72 frame body, 73 balloon, 80 cutting debris fall prevention plate, 91 cutting frame position detection sensor, 92 cutting depth detection sensor, 93 cutting drum position detection sensor, 94 limit switch, 95 limit switch, 96 striker, 110 total station, 121 temporary prism, 122 attitude measurement prism, 131 TS type terminal of calculation control unit, 132 cutting device side terminal of calculation control unit, R rail, 1a, 1b lining cutting device, 2a, 2b tunnel, 3a, 3b shelter (protective work), 4a, 4b working space, 5a, 5b passage space, 6a, 6b inner wall surface, 7a cutter guide rail, 7b rotating frame, 8a, 8b Cutting machine, 9b cylinder, 10b cutting drum

Claims

1. A control system for controlling a lining cutting device for a tunnel inner wall surface that runs on rails laid in the tunnel in the traveling direction, the control system comprising: a rotary cutting machine that cuts the inner wall surface of a tunnel; a distance sensor that detects the distance between the rotary cutting machine and the inner wall surface; and a gantry that moves the rotary cutting machine in the tunnel in the traveling direction and the circumferential direction of the tunnel, the control system comprising: Prisms installed at multiple locations on the gantry; a total station that is installed at a predetermined interval from the gantry and measures a distance and an angle between the prism and the total station; a calculation control unit that processes data measured by the total station and the distance sensor and performs calculations for control; According to the position and attitude information of the gantry obtained from the data measured by the total station, the shape of the existing cross section obtained from the data measured by the distance sensor, and the shape and cutting amount of the set planned cross section, the calculation control unit calculates a cutting range in which the depth is divided by the cutting amount at regular angles around the cross section center coordinate in the circumferential direction of the tunnel, and inputs the calculated cutting range to the lining cutting device, and controls the lining cutting device to cut the cutting range of the inner wall surface. A control system for a tunnel inner wall lining cutting device.

2. The prism is provided at two locations on the gantry, the gantry is equipped with a three-axis inclinometer; determining position and attitude information of the gantry from a relative position of each of the prisms with respect to a predetermined cutting device origin and any one of a pitching angle, a yawing angle, and a rolling angle obtained from the three-axis inclinometer; 2. A control system for a tunnel inner wall lining cutting device according to claim 1.

3. The prism is provided at three locations on the gantry, determining position and orientation information of the gantry from the relative positions of the prisms with respect to a predetermined cutting device origin; 2. A control system for a tunnel inner wall lining cutting device according to claim 1.

4. The gantry includes an arch-shaped traverse frame disposed along the inner wall surface in a direction substantially perpendicular to the traveling direction of the tunnel, and a cutting frame disposed so as to be capable of traversing along the outside of the traverse frame by the driving force of an electric motor, and is disposed so as to be movable and stoppable on the rails; The rotary cutting machine has a cylindrical cutting drum with cutting claws on its outer circumferential surface and a cylinder, and is attached to the cutting frame to move along the transverse frame, and the distance to the cutting frame can be extended or contracted by the cylinder.

2. A control system for a tunnel inner wall lining cutting device according to claim 1.

5. a cutting frame position detection sensor attached to a drive shaft of an electric motor for traversing the cutting frame and detecting the number of rotations thereof, and a cutting drum position detection sensor attached to the cylinder and detecting the amount of expansion and contraction thereof.

5. A control system for a tunnel inner wall lining cutting device according to claim 4.

6. The traverse frame has position detection limit switches installed at regular intervals and bottom detection limit switches installed at both lower ends, and the rotary cutter moving along the traverse frame detects the position of the rotary cutter by activating the position detection limit switches or the bottom detection limit switches.

5. A control system for a tunnel inner wall lining cutting device according to claim 4.

7. A control method for controlling a lining cutting device for a tunnel inner wall surface, the device having a rotary cutting machine for cutting the inner wall surface of a tunnel and a gantry for moving the rotary cutting machine in the tunnel in the traveling direction and the circumferential direction of the tunnel, the device running on a rail laid in the traveling direction of the tunnel, an initial position setting step of moving the rotary cutting machine to one end in a circumferential direction of the gantry; an initial measurement step of correcting the position of the rotary cutter based on the timing at which limit switches installed at regular intervals on the gantry are activated by the movement of the rotary cutter and the number of rotations of a drive shaft of an electric motor that moves the rotary cutter while moving the rotary cutter from the one end to the other end in the circumferential direction of the gantry, and measuring the distance between the rotary cutter and the inner wall surface by a distance sensor at regular angle intervals while moving the rotary cutter from the other end to the one end in the circumferential direction of the gantry; a cutting range setting step of obtaining the shape of the existing cross section by the initial measurement, setting a planned cross section and a cutting amount, and dividing the depth of the circumferential direction of the tunnel at regular angles by the cutting amount to calculate a cutting range; a cutting operation step in which cutting is performed on one or both of the left and right sides of the cutting range by the set cutting depth amount, and this cycle is repeated a required number of times to complete cutting of the cutting range; A method for controlling a lining cutting device for a tunnel inner wall, comprising:

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