System and method of controlling tunnel boring machine

Abstract

To grasp the expansion and contraction state of each shield jack while reducing costs and improving maintainability.SOLUTION: A control system 30 of a tunnel boring machine 1 is a control system 30 that performs processing related to the tunnel boring machine 1 that includes a cylindrical boring machine body 10, a cutter head 11 rotatably provided at a front end of the boring machine body 10, and multiple shield jacks 21 that are arranged at intervals along an inner circumferential surface of the boring machine body 10 and each have an extendable driving rod 21b, and includes at least one sensor (camera 31) that is disposed spaced apart from the shield jacks 21 and detects the driving rod 21b of each of the shield jacks 21 in a non-contact manner, and a control device 32 that performs a determination process to determine the extension / retraction state of each of the driving rods 21b of the shield jacks 21 based on the detection result by the sensor.SELECTED DRAWING: Figure 1

Description

Technical Field

[0001] The present invention relates to a control system and a control method for a tunnel boring machine.

Background Art

[0002] Generally, a tunnel boring machine excavates a tunnel by rotating a cutter head, and a plurality of cutter bits mounted on the front surface of the cutter head excavate the forward ground to form a face. The cutter head is attached to the front end of a cylindrical boring machine body, and the tunnel is excavated as the boring machine body is propelled forward. Inside the boring machine body, a plurality of shield jacks are arranged at intervals along the inner peripheral surface of the boring machine body. By pushing the rear segment with the shield jack and transmitting the thrust to the boring machine body, the boring machine body is propelled.

[0003] The excavation of a tunnel by a tunnel boring machine is carried out after grasping the expansion and contraction state of each shield jack (specifically, the expansion and contraction state of the drive rod). For example, Patent Document 1 discloses a technique for detecting the stroke amount of a shield jack using a stroke meter provided on the shield jack.

Prior Art Documents

Patent Documents

[0004]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0005] As in Patent Document 1, in order to grasp the expansion and contraction states of all shield jacks using a contact sensor such as a stroke meter provided in a shield jack (specifically, a sensor installed to directly measure the positional relationship between the main body on the fixed side and the drive rod on the moving side of the shield jack), for example, it is necessary to provide a contact sensor for each of all shield jacks. In this case, the number of sensors increases and the cost becomes high. On the other hand, when a contact sensor is provided only for some of the shield jacks, for the shield jacks without the contact sensor, the expansion and contraction state has to be grasped visually, which may make it difficult to grasp the expansion and contraction state. Also, a contact sensor of the type built into the shield jack has advantages in terms of incorporating the sensor into the shield jack to make it compact, but since it is built into the shield jack, the structure and manufacturing process of the shield jack become complicated, resulting in a high cost. Also, when removing the built-in sensor from the shield jack in case of sensor failure, etc., surrounding space is required and the work is laborious, so the maintainability is also low. On the other hand, a contact sensor provided in a state of being exposed on the surface of the shield jack is likely to fail due to the influence of the external environment such as frequent changes in the situation in the vicinity of the drive rod on the moving side, for example, in the installation process of segments.

[0006] Therefore, in view of such problems, an object of the present invention is to provide a control system and a control method for a tunnel boring machine that can grasp the expansion and contraction states of each shield jack while reducing costs and improving maintainability.

Means for Solving the Problems

[0007] To solve the above problems, the control system of the tunnel boring machine of the present invention is a control system that performs processing related to a tunnel boring machine including a cylindrical boring machine body, a cutter head rotatably provided at the front end of the boring machine body, and a plurality of shield jacks arranged at intervals along the inner peripheral surface of the boring machine body and each having a telescopic drive rod, and includes at least one sensor that is arranged separately from the plurality of shield jacks and non-contactly detects the drive rod of each of the plurality of shield jacks, and a control device that performs a specifying process of specifying the telescopic state of the drive rod of each of the plurality of shield jacks based on the detection result by the sensor.

[0008] The control device may perform the specifying process in an excavation process in which the ground is excavated by the cutter head.

[0009] In the specifying process, the control device may specify information regarding the stroke amount of the drive rod in the excavation process.

[0010] The control device may perform the specifying process in an installation process in which segments are installed behind the boring machine body.

[0011] In the specifying process, the control device may specify the contact state between the drive rod and the existing segment in the installation process.

[0012] In the specifying process, the control device may specify whether or not the contact state is a state in which a space necessary for installing the segment to be installed is formed around the existing segment.

[0013] The sensor may be a camera.

[0014] The sensor may be a distance measuring device that irradiates a probing wave and receives a reflected wave.

[0015] To solve the above problems, a control method for a tunnel boring machine according to the present invention is a control method for performing processing related to a tunnel boring machine including a cylindrical boring machine body, a cutter head rotatably provided at the front end of the boring machine body, and a plurality of shield jacks arranged at intervals along the inner peripheral surface of the boring machine body and each having a telescopic drive rod. The control device identifies the telescopic state of the drive rod of each of the plurality of shield jacks based on the detection results by at least one sensor that is arranged separately from the plurality of shield jacks and detects the drive rod of each of the plurality of shield jacks in a non-contact manner.

Advantages of the Invention

[0016] According to the present invention, it is possible to grasp the telescopic state of each shield jack while realizing cost reduction and improvement of maintainability.

Brief Description of the Drawings

[0017]

Figure 1

Figure 2

Figure 3

Figure 4

Figure 5

Figure 6

Figure 7

Figure 8

Best Mode for Carrying Out the Invention

[0018] Hereinafter, with reference to the accompanying drawings, preferred embodiments of the present invention will be described in detail. The dimensions, materials, and other specific numerical values shown in such embodiments are merely examples for facilitating the understanding of the invention, and do not limit the present invention unless otherwise specified. In the present specification and drawings, elements having substantially the same function and configuration are denoted by the same reference numerals to omit redundant description, and elements not directly related to the present invention are not shown.

[0019] First, with reference to FIGS. 1 to 3, the configuration of the tunnel boring machine 1 according to an embodiment of the present invention will be described. FIG. 1 is a schematic cross-sectional view showing the overall configuration of the tunnel boring machine 1. In FIG. 1, the arrow F indicates the forward direction (i.e., the traveling direction) of the tunnel boring machine 1, and the arrow B indicates the rear direction of the tunnel boring machine 1. That is, the arrow F in FIG. 1 faces the face side, and the arrow B faces the shaft mouth side.

[0020] The tunnel boring machine 1 is an earth pressure type (including earth pressure balance type) shield boring machine capable of excavating the ground. As shown in FIG. 1, the tunnel boring machine 1 includes a boring machine body 10. The boring machine body 10 has a cylindrical shape (for example, a cylindrical shape or a rectangular cylindrical shape). The axial direction of the boring machine body 10 coincides with the front-rear direction of the tunnel boring machine 1. Hereinafter, the axial direction of the boring machine body 10 will also be simply referred to as the axial direction, the radial direction of the boring machine body 10 will also be simply referred to as the radial direction, and the circumferential direction of the boring machine body 10 will also be simply referred to as the circumferential direction.

[0021] A cutter head 11 is provided at the front end of the boring machine body 10. The cutter head 11 is a substantially disk-shaped rotating body. The front end of a cutter center axis 12 is fitted into the center portion of the cutter head 11, and the cutter head 11 is pivotally supported so as to be rotatable about the cutter center axis 12.

[0022] The cutter head 11 has an outer peripheral ring 11a, an inner peripheral ring 11b, cutter spokes 11c, a fishtail cutter 11d, cutter bits 11e, etc. Among these, the outer peripheral ring 11a forms the outer peripheral portion of the cutter head 11, and the inner peripheral ring 11b is disposed radially inward of the outer peripheral ring 11a. Also, a plurality of cutter spokes 11c are radially arranged around the cutter central axis 12 on the front surface of the cutter head 11. A fishtail cutter 11d is mounted at the central portion of the front surface of the cutter head 11. Further, a number of cutter bits 11e are mounted on the front surface of the cutter spokes 11c. Note that the fishtail cutter 11d and the cutter bits 11e may or may not be detachable.

[0023] And, a plurality of openings are formed between the outer peripheral ring 11a, the inner peripheral ring 11b, and the cutter spokes 11c of the cutter head 11. The opening functions as an excavation soil intake port for taking in the excavation soil generated when the ground (face) is excavated by the cutter head 11 into the excavator body 10 (inside a chamber 17 described later).

[0024] A partition wall 13 is disposed behind the cutter head 11 in the excavator body 10. The partition wall 13 is a plate-shaped (e.g., disk-shaped) wall body disposed perpendicular to the axial direction (tunnel extension direction), and the outer peripheral edge of the partition wall 13 is attached to the inner peripheral surface of the excavator body 10. The cutter head 11 and the partition wall 13 are disposed at a predetermined interval in the axial direction (tunnel extension direction). Various facilities of the tunnel boring machine 1 are disposed on the rear side of the partition wall 13, and the partition wall 13 isolates the facilities from the excavation soil generated at the face. An outlet 13a, which is an opening for discharging the excavation soil, is formed at the lower portion of the partition wall 13.

[0025] At the center of the partition wall 13, the cutter central axis 12 is rotatably supported. Further, on the partition wall 13, an annular rotating ring 14 is rotatably supported about the cutter central axis 12. At the front of the rotating ring 14, a plurality of connecting beams 15 are provided at predetermined intervals in the circumferential direction. The plurality of connecting beams 15 connect the cutter head 11 and the rotating ring 14. The front end of the connecting beam 15 is connected to the connection portion between the inner circumferential ring 11b of the cutter head 11 and the cutter spoke 11c. On the other hand, a ring gear 14a is provided at the rear of the rotating ring 14. Note that the ring gear 14a may be an external gear type or an internal gear type. Further, a cutter rotation motor 16 is provided behind the partition wall 13. The drive gear 16a of this cutter rotation motor 16 meshes with the ring gear 14a of the rotating ring 14.

[0026] By driving the cutter rotation motor 16, the rotation of its drive gear 16a is transmitted from the ring gear 14a to the rotating ring 14 and the connecting beam 15. Thereby, the cutter head 11 can be rotated about the cutter central axis 12. As a result, the front surface of the rotating cutter head 11 can be pressed against the ground (face) using a shield jack 21 described later, and the ground can be excavated.

[0027] A chamber 17 is defined between the cutter head 11 and the partition wall 13. The chamber 17 is a space (for example, a substantially cylindrical space) defined by the rear surface of the cutter head 11, the front surface of the partition wall 13, and the inner circumferential surface of the excavator body 10. The excavated soil and sand generated as the cutter head 11 excavates the ground is taken into the chamber 17 through the above-described opening (excavated soil and sand intake port) formed through the cutter head 11. The chamber 17 functions as a space (room) for temporarily storing the excavated soil and sand. The excavated soil and sand taken into the chamber 17 is discharged from the chamber 17 into the screw conveyor 18 through a discharge port 13a at the lower part of the partition wall 13.

[0028] The screw conveyor 18 is provided on the rear side of the partition wall 13 within the excavator body 10. The screw conveyor 18 is arranged within the excavator body 10 to be inclined upward as it goes toward the rear side. The opening at the front end of the screw conveyor 18 is connected to the discharge port 13a of the partition wall 13. Thereby, the internal space of the screw conveyor 18 communicates with the chamber 17 through the discharge port 13a of the partition wall 13. Inside the screw conveyor 18, a screw blade 18a, which is a screw-shaped rotating body equipped with spiral blades, is provided. By rotationally driving the screw blade 18a, the excavated soil and sand stored in the chamber 17 can be taken into the screw conveyor 18, transported toward the rear of the excavator body 10, and discharged.

[0029] Also, an erector device 19 is provided on the rear side of the partition wall 13 of the excavator body 10. The erector device 19 can grip a segment 20, which is a covering member, and assemble the gripped segment 20 along the inner wall surface (tunnel wall) of the tunnel T. The segment 20 is an annular piece having a curved shape along the inner wall surface of the excavated tunnel T. By driving the erector device 19, a plurality of segments 20 can be assembled annularly along the circumferential direction. Thereby, the inner wall surface of the tunnel T is covered with the plurality of segments 20, preventing the collapse of the inner wall surface.

[0030] Here, referring to FIG. 2 in addition to FIG. 1, the erector device 19 will be described in more detail. FIG. 2 is a front view showing the erector device 19. Specifically, FIG. 2 is a view of the erector device 19 seen from the rear. As shown in FIGS. 1 and 2, the erector device 19 includes a ring frame 191, support rollers 192, a suspension beam 193, guide rods 194, a lifting jack 195, and a gripping portion 196.

[0031] The ring frame 191 is an annular member provided along the inner peripheral surface of the excavator body 10. The ring frame 191 extends in the circumferential direction of the excavator body 10. The central axis of the ring frame 191 is arranged coaxially with the central axis of the excavator body 10. The ring frame 191 is supported by a plurality of support rollers 192 so as to be rotatable about the central axis of the ring frame 191. The support rollers 192 are attached to the inner peripheral surface of the excavator body 10 in parallel with the central axis of the excavator body 10. As shown in FIG. 2, a plurality of support rollers 192 are arranged at intervals in the circumferential direction of the excavator body 10. The rotation direction D3 of the ring frame 191 shown in FIG. 2 coincides with the circumferential direction of the excavator body 10. The ring frame 191 is rotationally driven by an actuator such as a drive motor (not shown).

[0032] The suspension beam 193 is attached to the ring frame 191 via a guide rod 194. Specifically, a bracket 191a protruding rearward is provided at the rear part of the ring frame 191. A guide rod 194 is attached to the tip of the bracket 191a so as to be vertically movable in the radial direction. As shown in FIG. 2, guide rods 194 are provided at two radially spaced portions of the ring frame 191. The circumferential positions where the respective guide rods 194 are installed in the ring frame 191 are, for example, shifted by approximately 180°. The two guide rods 194 extend in a direction orthogonal to the separation direction of the two guide rods 194 and are extendable and contractible in that direction. The suspension beam 193 is spanned between the two guide rods 194.

[0033] Also, as shown in FIG. 1, lifting jacks 195 are attached along the extending direction of each guide rod 194 in the vicinity of each guide rod 194 of the bracket 191a. The tip of the lifting jack 195 abuts against the suspension beam 193. The suspension beam 193 moves in the extending and contracting direction of the lifting jack 195 as the lifting jack 195 extends and contracts. The moving direction D1 of the suspension beam 193 (that is, the extending and contracting direction of the lifting jack 195) coincides with the radial direction of the excavator body 10.

[0034] The suspension beam 193 extends circumferentially along the ring frame 191 between the two guide rods 194. A support frame 193a is provided on the central side in the extending direction of the suspension beam 193. The support frame 193a protrudes axially rearward of the excavator body 10 with respect to the other portions of the suspension beam 193. The support frame 193a extends on a plane substantially orthogonal to the moving direction D1 of the suspension beam 193. A gripping portion 196 is attached to the radially outer side of the support frame 193a. The gripping portion 196 is supported by the support frame 193a so as to be movable in the axial direction of the excavator body 10. The moving direction D2 of the gripping portion 196 shown in FIG. 1 coincides with the axial direction of the excavator body 10. The movement of the gripping portion 196 in the moving direction D2 is driven by an actuator such as a jack (not shown).

[0035] The gripping portion 196 is provided with a twist lock 196a. The twist lock 196a is provided on the radially outer side (lower side in FIG. 2) of the gripping portion 196. The gripping portion 196 can grip the segment 20 by engaging the twist lock 196a with the gripping hole H of the segment 20. For example, the twist lock 196a has a substantially T-shape. The gripping hole H is formed on the inner peripheral surface of the segment 20 and has a substantially T-shape.

[0036] Here, the posture of the twist lock 196a with respect to other parts of the gripping portion 196 can be changed. For example, the posture of the twist lock 196a can be changed in three directions: the roll direction (i.e., the direction of rotation about the axis in the axial direction (i.e., the front-rear direction) of the tunnel boring machine 1), the pitch direction (i.e., the direction of rotation about the axis in the circumferential direction of the tunnel boring machine 1 (the left-right direction in FIG. 2)), and the yaw direction (i.e., the direction of rotation about the axis in the radial direction of the tunnel boring machine 1 (the up-down direction in FIG. 2)). In this case, the change in the posture in the above three directions can be realized, for example, by using a spherical bearing and various actuators. Note that the mechanism for changing the posture of the twist lock 196a in each direction is not particularly limited and can be appropriately designed. Also, the posture of the twist lock 196a may be changeable in some of the above three directions.

[0037] Further, the twist lock 196a can be moved in the radial direction D1 by moving the gripping portion 196 itself in the radial direction (the direction of arrow D1 in FIG. 2). However, in the present embodiment, the twist lock 196a can also be moved in the radial direction D1 by expanding and contracting the twist lock 196a in the radial direction D1 with respect to other parts of the gripping portion 196. This is because, in gripping the segment 20, it is more advantageous in terms of making the movement of the device compact to move only the twist lock 196a rather than moving the entire gripping portion 196. The change in the posture and the expansion and contraction of the twist lock 196a are realized by an actuator such as a jack (not shown).

[0038] By appropriately changing the posture and position of the twist lock 196a, the twist lock 196a can be made to enter the gripping hole H of the segment 20 and engage with the gripping hole H. Thereby, the segment 20 can be gripped by the twist lock 196a and moved. In a state where the segment 20 is gripped by the twist lock 196a, by adjusting the posture and position of the twist lock 196a, the posture and position of the segment 20 gripped by the twist lock 196a can be adjusted.

[0039] With the segment 20 held by the gripping part 196 (specifically, the twist lock 196a) of the erector device 19, the segment 20 can be moved to a desired position by moving the gripping part 196. Specifically, by moving the suspension beam 193 in the moving direction D1, the gripping part 196 and the gripped segment 20 can be moved in the radial direction of the tunneling machine body 10. Further, by moving the gripping part 196 in the moving direction D2, the gripping part 196 and the gripped segment 20 can be moved in the axial direction of the tunneling machine body 10. Further, by rotating the ring frame 191 in the rotating direction D3, the gripping part 196 and the gripped segment 20 can be moved in the circumferential direction of the tunneling machine body 10. Note that the mechanism for moving the gripping part 196 in each direction is not particularly limited to the example described with reference to FIGS. 1 and 2 and can be appropriately designed.

[0040] Hereinafter, among the segments 20, the existing segment 20 that has already been lined on the inner wall surface of the tunnel T is particularly referred to as the segment 20a. Further, among the segments 20, the segment 20 that is before being lined on the inner wall surface of the tunnel T and is a target (i.e., an installation target) newly installed with respect to the existing segment 20a is particularly referred to as the segment 20b.

[0041] As shown in FIGS. 1 and 2, the existing segments 20a are assembled in an annular shape along the circumferential direction. The segment 20b to be installed is conveyed from the shaft side to the face side of the tunnel T and placed on the existing segment 20a located on the lower side and the face side among the plurality of existing segments 20a. A segment conveying device (not shown) is provided in the tunneling machine body 10, and the segment 20b to be installed is conveyed by the segment conveying device. The segment 20b to be installed conveyed in this way is gripped by the erector device 19 and attached to the existing segment 20a, whereby the segment 20 is assembled.

[0042] As shown in Fig. 1, a plurality of shield jacks 21 are provided in the excavator main body 10 at intervals in the circumferential direction. Each shield jack 21 is arranged at intervals along the inner peripheral surface of the excavator main body 10 and is provided so as to extend in the axial direction of the excavator main body 10. The shield jack 21 is, for example, a hydraulic jack, but may be other types of jacks, actuators, etc. as long as it can generate the thrust of the tunnel boring machine 1.

[0043] The shield jack 21 has a main body 21a and a drive rod 21b. The main body 21a is a cylindrical member and is fixed to the inner peripheral surface of the excavator main body 10. The drive rod 21b is arranged coaxially with the main body 21a and is inserted into the main body 21a. The drive rod 21b protrudes rearward from the rear end of the main body 21a. The drive rod 21b is slidable with respect to the main body 21a. The drive rod 21b can be extended and contracted by sliding with respect to the main body 21a.

[0044] The tip of the drive rod 21b faces the front end face of the existing segment 20a. By extending the drive rod 21b of the shield jack 21 rearward and pressing the existing segment 20a, a propulsion reaction force (that is, thrust) can be applied to the excavator main body 10. That is, the excavator main body 10 can move forward by the thrust generated when the drive rod 21b of the shield jack 21 presses the existing segment 20a.

[0045] A tail brush 22 is provided between the inner circumference of the rear end portion of the excavator main body 10 and the outer circumference of the existing segment 20a. The tail brush 22 is attached to the inner circumference of the rear end portion of the excavator main body 10 and is in sliding contact with the outer circumference of the existing segment 20a. The tail brush 22 is provided to prevent the intrusion of water, earth and sand, or backfill material, etc. into the excavator main body 10.

[0046] In order to excavate the tunnel T by the tunnel boring machine 1, as will be described later, it is necessary to grasp the expansion and contraction states of the respective shield jacks 21 (specifically, the expansion and contraction states of the drive rods 21b) in various situations. Therefore, as shown in FIG. 1, the tunnel boring machine 1 is provided with a control system 30 for grasping the expansion and contraction states of the respective shield jacks 21.

[0047] The control system 30 is a system for performing processes related to the tunnel boring machine 1 (particularly, processes for grasping the expansion and contraction states of the respective shield jacks 21). The control system 30 includes a plurality of cameras 31 and a control device 32. Note that the camera 31 is an example of a sensor that non-contact detects the drive rod 21b of each shield jack 21, as will be described later.

[0048] FIG. 3 is a diagram showing the arrangement of the cameras. Specifically, FIG. 3 is a view of the plurality of cameras 31 and the existing segments 20a for one ring as seen from the rear. In the example of FIG. 3, the number of cameras 31 is six.

[0049] The plurality of cameras 31 are arranged at equal intervals in the circumferential direction and are installed, for example, on the excavation machine body 10. Each camera 31 is located radially inside the shield jack 21 and faces radially outward. That is, the imaging range of each camera 31 extends radially outward from the tip (the radially outer end) of each camera 31. The driving rods 21b of the plurality of shield jacks 21 arranged in the vicinity of each camera 31 are included in the imaging range of each camera 31. Specifically, the plurality of shield jacks 21 imaged by one camera 31 are a group of shield jacks 21 arranged continuously in the circumferential direction. Note that in adjacent cameras 31, the shield jacks 21 to be imaged may partially overlap. In that case, if the grasping results of the expansion and contraction states do not match when the expansion and contraction states of the overlapping shield jacks 21 are grasped by each camera 31, it can be determined that there is a problem in either one of the cameras 31 (or the control process). Also, if for some reason there is a problem in one of the cameras 31 (or the control process), or if the expansion and contraction state cannot be grasped because an obstacle or the like is reflected in the imaging range, the expansion and contraction state can be grasped by the other overlapping camera 31 (or the control process).

[0050] As described above, the camera 31 is arranged at a distance from the shield jack 21 and images the driving rod 21b of the shield jack 21. Then, the driving rods 21b of all the shield jacks 21 are imaged by the plurality of cameras 31. For example, in the example of FIG. 3, the segment 20 for one ring is composed of 11 existing segments 20a. The segment 20 for one ring is an annular aggregate composed of the existing segments 20a assembled in a ring shape for one round along the circumferential direction of the plurality of segments 20. And, four driving rods 21b face one existing segment 20a. That is, a total of 44 shield jacks 21 are provided. If the driving rods 21b of eight or more shield jacks 21 are included in the imaging range of one camera 31, it becomes possible to image the driving rods 21b of all the shield jacks 21.

[0051] However, the number of cameras 31 installed, the installation positions thereof, and the imaging ranges are not limited to the example of FIG. 3. For example, a plurality of cameras 31 may be arranged at intervals in the circumferential direction, and the number of cameras 31 may be other than six. Also, the number of existing segments 20a constituting one ring segment 20 may be other than eleven. Further, the number of drive rods 21b facing one existing segment 20a may be other than four. Also, the orientation of the camera 31 is not limited to the radially outer side, and for example, the camera 31 may be installed near the rear part of the main body 21a of the shield jack 21 so as to face rearward.

[0052] The control device 32 includes a CPU (Central Processing Unit) which is an arithmetic processing device, a ROM (Read Only Memory) which is a storage element for storing programs, arithmetic parameters, etc. used by the CPU, and a RAM (Random Access Memory) which is a storage element for temporarily storing parameters that change as appropriate during the execution of the CPU, etc.

[0053] The control device 32 can communicate with each camera 31. For example, the control device 32 can control each camera 31 by outputting a control command to each camera 31. Also, the control device 32 can acquire the images captured by each camera 31.

[0054] The control device 32 performs a specifying process for specifying the expansion and contraction states of the drive rods 21b of each shield jack 21 based on the detection results of the drive rods 21b by the cameras 31. Specifically, the control device 32 acquires the image captured by the camera 31 as the detection result by the camera 31. Then, in the specifying process, the control device 32 performs image processing on the image to specify the expansion and contraction states of the respective drive rods 21b reflected in the image.

[0055] As described above, the drive rods 21b of a plurality of shield jacks 21 (specifically, a group of shield jacks 21 arranged continuously in the circumferential direction) are imaged by one camera 31. Therefore, the control device 32 can identify the expansion and contraction states of the drive rods 21b of the plurality of shield jacks 21 reflected in the image by performing image processing on the image captured by one camera 31. Then, the control device 32 can identify the expansion and contraction states of the drive rods 21b of all the shield jacks 21 by using the plurality of images captured by the plurality of cameras 31. Thereby, the number of sensors for detecting the drive rod 21b can be reduced, making it easier to reduce costs.

[0056] For example, a stereo camera may be used as the camera 31. In this case, the control device 32 can calculate the distance of each drive rod 21b from the camera 31 reflected in the image by performing image processing on the image captured by the camera 31. Specifically, in this case, by appropriately performing image processing on the two images captured by the camera 31 as a stereo camera, the state of the drive rod 21b to be imaged can be grasped three-dimensionally, so the above distance can be calculated, and as a result, the expansion and contraction state of the drive rod 21b can be identified.

[0057] Also, for example, a monocular camera may be used as the camera 31. In this case, since it is an image by a monocular camera, it is a planar state grasp, but the control device 32 calculates the distance of each drive rod 21b from the camera 31 reflected in the image captured by the camera 31 by using a learning model constructed by machine learning for the position, size, and focus of the object in the image frame, etc., and as a result, the expansion and contraction state of the drive rod 21b can be identified.

[0058] Note that a lens having a wide-angle view such as a fish-eye lens may be used as the lens of the camera 31. In this case, the imaging range by one camera 31 can be widened, so the total number of cameras 31 can be reduced.

[0059] Note that the portion of the drive rod 21b detected by the sensor (in the above example, the camera 31) may be the jack shoe or a portion other than the jack shoe. The jack shoe is a portion attached to the tip of the drive rod 21b and abutting against the existing segment 20a.

[0060] Hereinafter, with reference to FIGS. 4 to 8, an example of the situation in which the above specific process is performed will be described.

[0061] In the excavation of the tunnel T by the tunnel boring machine 1, for example, an excavation process of excavating the ground by the cutter head 11 and an installation process of installing the segment 20 behind the boring machine body 10 are alternately repeated. However, as will be described later, the excavation process and the installation process may be partially performed in parallel.

[0062] The above-described specific process (that is, the process of specifying the expansion and contraction state of the drive rod 21b of each shield jack 21) can be performed, for example, in the excavation process. That is, the control device 32 performs the specific process, for example, in the excavation process. In the excavation process, specifically, the tunnel boring machine 1 advances while the ground is being excavated by the rotation of the cutter head 11. In such an excavation process, it is particularly important to grasp the stroke amount of the drive rod 21b. Therefore, the control device 32 specifies information regarding the stroke amount of the drive rod 21b in the excavation process in the specific process in the excavation process. Note that the information regarding the stroke amount may be information directly indicating the stroke amount or information substantially convertible to the stroke amount.

[0063] FIG. 4 is a diagram showing the expansion and contraction state of the drive rod 21b at the start of the excavation process. In FIG. 4 and FIGS. 5 to 8 described later, a part of the image captured by one camera 31 is shown.

[0064] First, as a preparatory stage of the excavation process, the motor 16 for cutter rotation is driven, and the cutter head 11 is in a rotating state. Then, with the cutter head 11 rotating, the drive rod 21b of the shield jack 21 extends rearward. As a result, as shown in FIG. 4, the tip of the drive rod 21b abuts against the front end face of the existing segment 20a, and the shield jack 21 is in a state of pressing against the existing segment 20a.

[0065] From the state shown in FIG. 4, as the drive rod 21b of the shield jack 21 extends, a propulsion reaction force (i.e., thrust) is applied to the excavator body 10, and the excavator body 10 moves forward. As a result, the front surface of the rotating cutter head 11 is pressed against the ground in front of the cutter head 11, and the ground is excavated. In this way, from the state shown in FIG. 4, as the drive rod 21b of the shield jack 21 extends, the excavation process starts.

[0066] Here, the control device 32 can specify the stroke amount of the drive rod 21b in the excavation process and determine whether the excavation process has started based on the specified result of the stroke amount. For example, the control device 32 specifies the stroke amount of the drive rod 21b in the excavation process based on the image captured by the camera 31. Then, when the stroke amount of the drive rod 21b starts to increase from the state where it is the stroke amount ST1 shown in FIG. 4, it can be determined that the excavation process has started. Note that the control device 32 can also determine that the installation process has ended when it determines that the excavation process has started in this way.

[0067] FIG. 5 is a diagram showing the expansion and contraction state of the drive rod 21b during the excavation process. FIG. 6 is a diagram showing the expansion and contraction state of the drive rod 21b at the end of the excavation process.

[0068] In one excavation process, the drive rod 21b of the shield jack 21 extends by a length approximately equal to the width of one segment 20. As a result, in one excavation process, the excavator body 10 advances by a length approximately equal to the width of one segment 20. In one excavation process, when the excavator body 10 has advanced by a length approximately equal to the width of one segment 20, the extension of the drive rod 21b of the shield jack 21 stops. Then, the motor 16 for cutter rotation stops, and the rotation of the cutter head 11 also stops. Thereby, the excavation of the ground by the cutter head 11 is completed, and the excavation process is completed.

[0069] At the end of the excavation process, the stroke amount of the drive rod 21b becomes the stroke amount ST3 shown in FIG. 6. And as shown in FIG. 5, the stroke amount ST2 of the drive rod 21b during the excavation process is longer than the stroke amount ST1 shown in FIG. 4 and shorter than the stroke amount ST3 shown in FIG. 6.

[0070] Here, the control device 32 can specify the stroke amount of the drive rod 21b in the excavation process and determine whether the excavation process is in progress or completed based on the specified result of the stroke amount. For example, when the stroke amount of the drive rod 21b is longer than the stroke amount ST1 shown in FIG. 4 and shorter than the stroke amount ST3 shown in FIG. 6, the control device 32 can determine that the excavation process is in progress. Also, for example, when the stroke amount of the drive rod 21b is the stroke amount ST3 shown in FIG. 6, the control device 32 can determine that the excavation process is completed. Note that the control device 32 can also determine that the installation process has started when it determines that the excavation process is completed in this way.

[0071] As described above, in the specific process during the excavation process, the control device 32 identifies information regarding the stroke amount of the drive rod 21b in the excavation process. Thereby, in the excavation process in which the tunnel boring machine 1 advances while the ground is being excavated by the rotation of the cutter head 11, the progress of the excavation process (specifically, whether the excavation process has started, is in progress, or has ended) can be grasped. For example, when the determination result by the control device 32 (specifically, the determination result as to whether the excavation process has started, is in progress, or has ended) is notified to the operator, the operator can also grasp the progress of the excavation process, and thus various operations can be advanced after grasping the progress of the excavation process.

[0072] In particular, in the present embodiment, as described above, the expansion and contraction states of the drive rods 21b of the plurality of shield jacks 21 can be identified using one camera 31 which is an example of a non-contact sensor. In contrast to the conventional contact sensor which is installed so as to directly measure the positional relationship between the main body 21a of the shield jack 21 and the drive rod 21b, the non-contact sensor used in the present embodiment captures the situation as data such as an image from a location at a distance from the shield jack 21, and by analyzing and calculating this, it is possible to grasp the positional relationship between the main body 21a of the shield jack 21 and the drive rod 21b including the relationship with the surroundings. Therefore, in the excavation process, it is possible to grasp the progress of the excavation process while reducing the number of sensors for detecting the drive rod 21b. This has advantages such as cost reduction in the overall configuration of the sensors as compared with the case of providing one contact sensor for detecting the drive rod 21b for each shield jack 21, for example.

[0073] Also, according to the camera 31 of the present embodiment as compared with a simple conventional stroke sensor, it is possible to grasp in an image whether the drive rod 21b of the shield jack 21 is in contact with the segment 20 or there is a gap. For example, in the excavation process, if, despite an excavation command being issued, one shield jack 21 is not in contact with the segment 20 and there is a gap, it can be determined that that shield jack 21 has failed.

[0074] The above-mentioned specific process (i.e., the process of specifying the expansion and contraction state of the drive rod 21b of each shield jack 21) can be performed, for example, in the installation process. That is, the control device 32 performs the specific process in the installation process, for example. In the installation process, specifically, while the excavation by the cutter head 11 and the forward movement of the tunnel boring machine 1 are stopped, segments 20 for one ring are installed behind the tunnel boring machine 1. In such an installation process, it is particularly important to grasp the contact state between the drive rod 21b and the existing segment 20a. Therefore, the control device 32 specifies the contact state between the drive rod 21b and the existing segment 20a in the installation process in the specific process in the installation process.

[0075] FIG. 7 is a diagram showing the expansion and contraction state of the drive rod 21b at the time of installing the segment 20b to be installed in the installation process.

[0076] As shown in FIG. 7, in a state where the excavation process is completed, by contracting the drive rod 21b of the shield jack 21 at the portion where the segment 20b to be installed is installed, a space SP for assembling the segment 20b to be installed to the existing segment 20a is created. The segment 20b to be installed is inserted into the created space SP, and the segment 20b is installed on the front side of the existing segment 20a.

[0077] Here, the control device 32 specifies, based on the image captured by the camera 31, whether or not the contact state between the drive rod 21b and the existing segment 20a is a state in which the space SP necessary for installing the segment 20b to be installed is formed around the existing segment 20a. For example, in the example of FIG. 7, when it is determined that the space SP necessary for installing the segment 20b to be installed is formed by contracting the drive rods 21b of the four shield jacks 21 arranged continuously in the circumferential direction by a length longer than the width of one segment 20, it can be determined that the segment 20b to be installed can be installed.

[0078] In addition, there is sometimes a shield jack 21 that does not intentionally extend the drive rod 21b. For example, in the excavation process, instead of applying the excavation thrust by contacting the existing segment 20a, the installation space for the first segment 20b to be installed in the next installation process is secured in advance, and considering shortening the overall construction time, there is sometimes a shield jack 21 that does not extend the drive rod 21b of this part. Based on the image captured by the camera 31, the control device 32 can determine that the segment 20b to be installed can be installed when it determines that a space SP is formed between the drive rods 21b of the four shield jacks 21 arranged continuously in the circumferential direction and the existing segment 20a even for the shield jack 21 that does not intentionally extend.

[0079] Figure 8 is a diagram showing the expansion and contraction state of the drive rod 21b after the installation of the segment 20b to be installed in the installation process.

[0080] After the installation of one segment 20b to be installed is completed, the drive rod 21b of the shield jack 21 that was retracted to form the space SP required for installing the segment 20b extends. For example, in the example of Figure 8, the drive rods 21b of the four shield jacks 21 that were retracted to form the space SP extend. Then, the tips of the drive rods 21b of these four shield jacks 21 contact the front end face of the segment 20b after installation, and these four shield jacks 21 are in a state of pressing the segment 20b.

[0081] Here, based on the image captured by the camera 31, the control device 32 can determine whether the drive rod 21b has been extended with respect to the segment 20b after installation as shown in FIG. 8 and the shield jack 21 has come into a state of pressing the segment 20b. Since the segment 20b after installation corresponds to the existing segment 20a, the state where the segment 20b after installation is pressed by the shield jack 21 as shown in FIG. 8 can also correspond to an aspect of the contact state between the drive rod 21b and the existing segment 20a. Note that the control device 32 may also determine whether the shield jack 21 has come into a state of pressing the segment 20b based on the specific result of the stroke amount of the drive rod 21b in addition to grasping such a contact state. Further, the control device 32 may grasp such a contact state taking into account the pressure value of the hydraulic pressure of the shield jack 21 and the like.

[0082] After the installation of one segment 20b to be installed is completed, the installation of a new segment 20b to be installed is performed next to the segment 20b. This is repeated in order, and the segments 20 for one ring are installed. The installation of the segment 20b to be installed is performed using the erector device 19 as described above.

[0083] As described above, in the installation process, in addition to grasping the change in the stroke amount of the drive rod 21b around the segment installation part, as a specific process, the control device 32 specifies the contact state between the drive rod 21b and the existing segment 20a in the installation process. Thereby, in the installation process in which excavation by the cutter head 11 and the forward movement of the tunnel boring machine 1 are stopped and one ring of segments 20 are installed behind the tunnel boring machine 1, the progress of the installation process (specifically, whether the installation process has started, ended, or the space SP necessary for installing the segment 20b to be installed is formed) can be grasped. For example, by notifying the operator of the judgment result by the control device 32 (specifically, the judgment result as to whether the installation process has started, ended, or the space SP necessary for installing the segment 20b to be installed is formed), the operator can also grasp the progress of the installation process, so that various operations can be advanced after grasping the progress of the installation process.

[0084] In particular, in the present embodiment, as described above, the expansion and contraction states of the drive rods 21b of the plurality of shield jacks 21 can be specified using one camera 31 which is an example of a non-contact sensor. Therefore, in the installation process, it is possible to grasp the progress of the installation process while reducing the number of sensors for detecting the drive rod 21b. This has advantages such as cost reduction in the overall configuration of the sensors as compared with the case where, for example, one contact sensor for detecting the drive rod 21b is provided for each shield jack 21.

[0085] Note that, in the above, an example in which the excavation process and the installation process are alternately repeated has been described. However, the excavation process and the installation process may be partially performed simultaneously in parallel. For example, the installation process may start before the excavation process is completed. In this case, although the margin in terms of forming the space SP necessary for installing the segment 20b to be installed becomes small, when such a space SP can be secured, the installation process is started, and by performing the excavation process and the installation process partially in parallel, it is possible to shorten the total construction time of the excavation process and the installation process combined.

[0086] As described above, the control system 30 of the tunnel boring machine 1 according to the present embodiment is disposed separately from a plurality of shield jacks 21, and at least one sensor (in the above example, the camera 31) that non - contact detects drive rods 21b of each of the plurality of shield jacks 21, and a control device 32 that performs a specifying process of specifying the expansion and contraction states of the drive rods 21b of each of the plurality of shield jacks 21 based on the detection results by the sensor. Thereby, for example, as in the above example, since the expansion and contraction states of the drive rods 21b of the plurality of shield jacks 21 can be specified using one non - contact sensor, the number of sensors can be reduced and the cost can be reduced. Also, compared with sensors or the like built into the shield jack 21, since the structure and manufacturing process of the shield jack 21 can be simplified by not building them in, the overall cost can be reduced. Also, compared with sensors or the like built into the shield jack 21, the maintainability of the sensor can be improved. Also, compared with sensors or the like provided on the shield jack 21 in an exposed state, by arranging them separately, failures due to the influence of the external environment can be suppressed. As described above, according to the present embodiment, while reducing costs and improving maintainability, the expansion and contraction states of each shield jack 21 can be grasped.

[0087] Particularly, in the control system 30 of the tunnel boring machine 1 according to the present embodiment, the control device 32 performs the specifying process in the excavation process in which the ground is excavated by the cutter head 11. Thereby, the operator can proceed with various operations after grasping the progress status of the excavation process (for example, whether the excavation process has started, is in progress, or has ended) by using the results of the specifying process in the excavation process.

[0088] Particularly, in the control system 30 of the tunnel boring machine 1 according to the present embodiment, the control device 32 specifies information regarding the stroke amount of the drive rod 21b in the excavation process in the specifying process in the excavation process. Thereby, the progress status of the excavation process (for example, whether the excavation process has started, is in progress, or has ended) can be appropriately grasped by the specifying process in the excavation process.

[0089] In particular, in the control system 30 of the tunnel boring machine 1 according to the present embodiment, the control device 32 performs a specific process in the installation process in which the segment 20 is installed behind the boring machine body 10. Thereby, the operator can proceed with various operations after grasping the progress of the installation process (for example, whether the installation process has started or ended, and whether the space SP required for installing the segment 20b to be installed is formed) by using the result of the specific process in the installation process.

[0090] In particular, in the control system 30 of the tunnel boring machine 1 according to the present embodiment, the control device specifies the contact state between the drive rod 21b and the existing segment 20a in the installation process in the specific process in the installation process. Thereby, the progress of the installation process (for example, whether the installation process has started or ended, and whether the space SP required for installing the segment 20b to be installed is formed) can be appropriately grasped by the specific process in the installation process.

[0091] In particular, in the control system 30 of the tunnel boring machine 1 according to the present embodiment, the control device 32 specifies whether or not the above contact state is a state in which the space SP required for installing the segment 20b to be installed is formed around the existing segment 20a in the specific process in the installation process. Thereby, the operator can proceed with various operations after appropriately grasping, in particular, whether or not the space SP required for installing the segment 20b to be installed is formed by the specific process in the installation process.

[0092] In particular, in the control system 30 of the tunnel boring machine 1 according to the present embodiment, the sensor is the camera 31. Thereby, it is appropriately realized to detect the drive rod 21b in a non-contact manner from a position separated from the plurality of shield jacks 21. Therefore, for example, since the expansion and contraction states of the drive rods 21b of the plurality of shield jacks 21 can be specified using one camera 31, it is appropriately realized to reduce the number of sensors and reduce the cost. Further, by using the camera 31 as the sensor, the structure and manufacturing process of the shield jack 21 can be simplified by not incorporating it, so that the cost of the sensor as a whole is appropriately reduced compared to the case where a sensor or the like incorporated in the shield jack 21 is used. Further, by using the camera 31 as the sensor, it is appropriately realized to improve the maintainability compared to the case where a sensor or the like provided in the shield jack 21 in an exposed state is used. Further, by using the camera 31 as the sensor, it is appropriately realized to suppress failures due to the influence of the external environment by arranging them separately compared to the case where a sensor or the like provided in the shield jack 21 in an exposed state is used.

[0093] In the above description, an example in which a plurality of cameras 31 are used as sensors for detecting the drive rod 21b of each shield jack 21 in a non-contact manner has been described. However, such a sensor is not limited to the camera 31. For example, the above sensor may be a distance measuring device that irradiates an exploration wave and receives a reflected wave. Examples of the distance measuring device include LIDAR, radar (for example, millimeter wave radar), ultrasonic sensor, and the like. Also in this case, similar to the case where the camera 31 is used as the sensor, it is appropriately realized to reduce the cost, improve the maintainability, and suppress failures due to the influence of the external environment. Note that, as a criterion for selecting the camera 31 or the distance measuring device as the sensor, it may be determined in consideration of the distance, directivity, environmental adaptability, etc. to the object.

[0094] In addition, as a non-contact sensor, in contrast to grasping the situation two-dimensionally or three-dimensionally with a camera 31, LIDAR, etc., not only can the obtained image data be used to grasp and process the state of the shield jack 21, but also by presenting the image data itself to the operator, it is possible to improve the workability in the excavation process and the installation process.

[0095] In addition, in the above, an example in which one sensor (in the above example, the camera 31) is provided for one group of shield jacks 21 arranged continuously in the circumferential direction has been described. However, the number of shield jacks 21 to be detected by one sensor is not limited to the above example. For example, only one sensor may be provided for all the shield jacks 21. Also, for example, one sensor may be provided for each shield jack 21, and the number of sensors may match the number of shield jacks 21.

[0096] In addition, in the above, an example has been given in which the hydraulic pressure of the shield jack 21 is taken into account to grasp the expansion and contraction state of the drive rod 21b (specifically, the state in which the drive rod 21b is extended with respect to the segment 20b after installation and the shield jack 21 presses the segment 20b) after the installation of the segment 20b to be installed. However, in grasping the expansion and contraction state of the drive rod 21b in other scenarios, it is similarly effective that pressure values of the hydraulic pressure of the shield jack 21 and the like are taken into account.

[0097] As described above, the preferred embodiments of the present invention have been described with reference to the accompanying drawings. However, it goes without saying that the present invention is not limited to the above-described embodiments, and it is needless to say that various modified examples or corrected examples within the scope described in the claims also belong to the technical scope of the present invention.

[0098] For example, in the above, the earth pressure type (including the earth pressure balance type) tunnel boring machine 1 has been described. However, the tunnel boring machine according to the present invention may be a slurry type.

[0099] Also, for example, in the above description, each component of the tunnel boring machine 1 has been described with reference to the drawings. However, since the dimensions and positional relationships of each component in the drawings are merely illustrative, the dimensions and positional relationships of each component of the tunnel boring machine 1 are not limited to the examples shown in the drawings. Further, components may be appropriately added, deleted, or modified with respect to the tunnel boring machine 1 illustrated in the drawings.

Explanation of Reference Numerals

[0100] 1 Tunnel boring machine 10 Boring machine main body 11 Cutter head 12 Cutter center axis 13 Partition wall 14 Rotating ring 15 Connecting beam 16 Motor for cutter rotation 17 Chamber 18 Screw conveyor 19 Erector device 20 Segment 20a Existing segment 20b Segment to be installed 21 Shield jack 21a Body 21b Drive rod 22 Tail brush 30 Control system 31 Camera (sensor) 32 Control device H Gripping hole SP Space ST1 Stroke amount ST2 Stroke amount ST3 Stroke amount T Tunnel

Claims

1. A cylindrical tunneling machine body, A cutter head rotatably provided at the front end of the tunneling machine body, A plurality of shield jacks arranged at intervals along the inner peripheral surface of the tunneling machine body and each having a telescopic drive rod, A control system for performing processing related to a tunnel boring machine comprising: At least one sensor arranged separately from the plurality of shield jacks and detecting each of the drive rods of the plurality of shield jacks in a non-contact manner; A control device that performs a specifying process of specifying the expansion and contraction state of each of the drive rods of the plurality of shield jacks based on the detection result by the sensor; Comprising: A control system for a tunnel boring machine.

2. The control device performs the specifying process in an excavation process in which excavation of the ground is performed by the cutter head. The control system for a tunnel boring machine according to Claim 1.

3. In the specifying process, the control device specifies information regarding the stroke amount of the drive rod in the excavation process. The control system for a tunnel boring machine according to Claim 2.

4. The control device performs the specifying process in an installation process in which segments are installed behind the tunneling machine body. The control system for a tunnel boring machine according to Claim 1.

5. In the specifying process, the control device specifies the contact state between the drive rod and the existing segment in the installation process. The control system for a tunnel boring machine according to Claim 4.

6. In the specifying process, the control device specifies whether or not the contact state is a state in which a space necessary for installing the segment to be installed is formed around the existing segment. The control system for a tunnel boring machine according to Claim 5.

7. The sensor is a camera. The control system for a tunnel boring machine according to any one of Claims 1 to 6.

8. The sensor is a distance measuring device that irradiates a probing wave and receives a reflected wave. The control system for a tunnel boring machine according to any one of Claims 1 to 6.

9. A cylindrical tunneling machine body, A cutter head rotatably provided at the front end of the tunneling machine body, A plurality of shield jacks arranged at intervals along the inner peripheral surface of the tunneling machine body and each having a telescopic drive rod, A control method for performing processing related to a tunnel boring machine comprising: The control device is arranged at a distance from the plurality of shield jacks, and based on the detection results by at least one sensor that non - contact detects the drive rods of each of the plurality of shield jacks, determines the expansion and contraction states of the drive rods of each of the plurality of shield jacks. A control method for a tunnel boring machine.

Images