Tunnel boring machine and method for excavating a tunnel using a tunnel boring machine

Abstract

To provide a tunnel boring machine and a method for boring a tunnel using the tunnel boring machine that are distinguished by relatively simple and reliable operation. In a tunnel boring machine (103), an arrangement is provided for controlling a driving press means (109) acting on a cutting wheel (106) via direct input of coordinate values ​​of a target total pressure center of gravity (151) in a coordinate system (154, 157) associated with the tunnel boring machine (103), thereby providing a relatively simple control of the tunnel boring machine (103) for the machine operator.

Description

Technical Field

[0001] The present invention relates to a tunnel boring machine having a configuration of a superordinate concept of claim 1.

[0002] Furthermore, the present invention relates to a method for driving a tunnel using a tunnel boring machine.

Background Art

[0003] This type of device and this type of method are known from the following Patent Document 1 (DE 10 2018 102 330 A1). A known tunnel boring machine has a cutting wheel and a predetermined number of driving press means that enable the cutting wheel to move in the driving direction. Furthermore, a driving press means control unit for controlling the driving of the driving press means is provided. At this time, means for visualizing the total pressure center of gravity obtained from the pressure action of the driving press means is provided for the driving press means control unit. When driving a tunnel using this tunnel boring machine, the position of the total pressure center of gravity is visually displayed when attaching segments (tapping), particularly during continued driving, accompanied by corresponding load changes in the driving press means.

[0004] From the following Patent Document 2 (CN 111 810 171 A), the following Patent Document 3 (CN 111 810 172 A), and the following Patent Document 4 (JP 2013-007226 A), a tunnel boring machine and a method for driving a tunnel are known. In these, the pressure action applied by the driving press means is performed based on grouping in the driving press means. At this time, Patent Document 3 provides visualization of the applied combined force (total combined force).

Prior Art Documents

Patent Documents

[0005]

Patent Document 1

Patent Document 2

[0006] Typically, in practice, the setting of the drilling force to be applied by individual drilling presses or groups of drilling presses in a tunnel boring machine is done via potentiometers acting on drive control modules connected to the drilling presses.

[0007] The fundamental problem of this invention is to present a tunnel boring machine of the type described at the beginning of this text and a method for excavating a tunnel using a tunnel boring machine of the type described at the beginning of this text, which are outstanding in terms of relatively simple and reliable operation. [Means for solving the problem]

[0008] The aforementioned problem is solved by a tunnel boring machine of the type described at the beginning, having the configuration of the feature part of claim 1 in accordance with the present invention. That is, from the first perspective of the present invention, A tunnel boring machine comprising a cutting wheel, a predetermined number of tunneling press means, a tunneling press means control unit, and a visualization means, Using the aforementioned drilling press means, the cutting wheel is movable in the drilling direction, and using the drilling press means control unit, the drilling press means or the group of drilling press means can be driven and controlled, and the visualization means is configured to visualize the current total pressure center obtained from the pressure action of the drilling press means or the group of drilling press means. An input means is provided, and the input means is configured to pre-set the target total drilling force. The visualization means is configured to display the target total pressure centroid and the current total pressure centroid. An operating unit is provided connected to the tunneling press control unit, and the operating unit has means for acting on the current total pressure center by changing coordinate values ​​within the coordinate system associated with the tunnel boring machine in order to bring the current total pressure center at least closer to the target total pressure center, and The drilling press means control unit is configured to convert the change in coordinate values ​​into a change in pressure value in the drive control of the drilling press means or the group of drilling press means and adjust accordingly. A tunnel boring machine featuring the following characteristics is provided. For more details, see Perspective 1 below. A tunnel boring machine comprising a cutting wheel, a predetermined number of tunneling press means, a tunneling press means control unit, and a visualization means, Using the aforementioned drilling press means, the cutting wheel is movable in the drilling direction, and using the drilling press means control unit, the drilling press means or the group of drilling press means can be driven and controlled, and the visualization means is configured to visualize the current total pressure center obtained from the pressure action of the drilling press means or the group of drilling press means. An input means is provided, and the input means is configured to pre-set the target total drilling force. The visualization means is configured to display the target total pressure centroid and the current total pressure centroid. An operating unit is provided which is connected to the tunneling press control unit, and the operating unit has means for adjusting the current total pressure centroid, which is used to bring the current total pressure centroid closer to the target total pressure centroid by changing the coordinate value of the target total pressure centroid within the coordinate system associated with the tunnel boring machine. 、 The drilling press control unit is configured to convert the change in the coordinate value of the target total pressure centroid into a change in the pressure value in the drive control of the drilling press or the group of drilling presses and adjust accordingly. And, The operating unit is provided with a screen having a contact-sensitive area as the visualization means, and within the contact-sensitive area, the visualized target total pressure center of gravity can move from a pre-change position to a post-change position due to contact by a contact object and the movement of the contact object, and the deviation of the coordinate values ​​of the post-change position relative to the pre-change position constitutes an input value for the drilling press control unit for adjusting the pressing force applied by the drilling press means or the group of drilling press means. It is characterized by the following.

[0009] The aforementioned problem is addressed in a method for excavating a tunnel using a tunnel boring machine, according to the present invention, claim 8 This is solved by a method having the following characteristics. That is, from a second perspective of the present invention, A method for excavating a tunnel using a tunnel boring machine, The following steps must be included, namely, - Steps of providing the tunnel boring machine described in the first viewpoint above, - A step of determining a predetermined target trajectory, - A step of determining the initial drilling force of the drilling press means or group of drilling press means, - A step of repeatedly setting the drilling force during drilling by changing the target total pressure center of gravity in the coordinate values ​​of the coordinate system related to the tunnel boring machine, Including, A method characterized by the above is provided. For more details, see the second perspective mentioned above. A method for excavating a tunnel using a tunnel boring machine, The following steps must be included, namely, - Steps of providing the tunnel boring machine described in the first viewpoint above, - A step of determining a predetermined target trajectory, - A step of determining the initial drilling force of the drilling press means or group of drilling press means, - A step of repeatedly setting the drilling force during drilling by changing the coordinate value of the target total pressure centroid in the coordinate system related to the tunnel boring machine, Including, It is characterized by the following. [Modes for carrying out the invention]

[0010] The following embodiments are possible in the present invention. (Form 1) A tunnel boring machine comprising a cutting wheel, a predetermined number of tunneling press means, a tunneling press means control unit, and a visualization means, Using the aforementioned drilling press means, the cutting wheel is movable in the drilling direction, and using the drilling press means control unit, the drilling press means or the group of drilling press means can be driven and controlled, and the visualization means is configured to visualize the current total pressure center obtained from the pressure action of the drilling press means or the group of drilling press means. An input means is provided, and the input means is configured to pre-set the target total drilling force. The visualization means is configured to display the target total pressure centroid and the current total pressure centroid. An operating unit is provided connected to the tunneling press control unit, and the operating unit has means for acting on the current total pressure center by changing coordinate values ​​within the coordinate system associated with the tunnel boring machine in order to bring the current total pressure center at least closer to the target total pressure center, and The drilling press means control unit is configured to convert the change in the coordinate value into a change in the pressure value in the drive control of the drilling press means or the group of drilling press means, and adjust accordingly. (Form 2) The means for acting on the target total pressure center of gravity preferably has an operating element for directly inputting the coordinate values ​​and / or increasing or decreasing the coordinate values. (Form 3) In order to increase or decrease the coordinate value of the target total pressure centroid, it is preferable that the predetermined screen has a contact-sensitive area having a contact-sensitive touch field. (Form 4) In order to increase or decrease the coordinate value of the target total pressure centroid, it is preferable that an area having a pressure-sensitive touch field is provided. (Form 5) In order to increase or decrease the coordinate value of the target total pressure centroid, it is preferable that an element that acts electromechanically by rotation or sliding is provided. (Form 6) Preferably, a screen is provided having a contact-sensitive area, within which the visualized target total pressure center of gravity can move from a start position to an end position by contact with a finger or object and the movement of the finger or object, and the deviation of the coordinate values ​​of the end position relative to the start position constitutes an input value for the drilling press control unit to adapt the pressing force applied by the drilling press means or group of drilling press means. (Form 7) Preferably, the coordinate system is a two-axis orthogonal coordinate system having zero points on the longitudinal central axis of the shield element of the tunnel boring machine on which the excavation press means or the group of excavation press means is arranged. (Form 8) Preferably, the visualization means is configured to display a range of values ​​that are permissible for the target total pressure centroid, and the drilling press control unit is configured to process only the values ​​for the target total pressure centroid that are located within that permissible range. (Form 9) Preferably, the input means includes a drilling speed adjustment circuit, which is configured to maintain the target drilling speed and preset the target total drilling force via a target drilling speed that can be provided as a first input and a current drilling speed that can be provided as a second input. (Form 10) A method for excavating a tunnel using a tunnel boring machine, The following steps must be included, namely, - A step of providing a tunnel boring machine according to any one of the forms 1 to 9, - A step of determining a predetermined target trajectory, - A step of determining the initial drilling force of the drilling press means or group of drilling press means, - A step of repeatedly setting the drilling force during drilling by changing the target total pressure center of gravity in the coordinate values ​​of the coordinate system related to the tunnel boring machine, Including. Furthermore, it should be noted that the reference numerals in the drawings attached to the claims of this application are solely for the purpose of facilitating the understanding of the present invention and are not intended to limit the invention to the illustrated forms.

[0011] In the tunnel boring machine, and in the method according to the present invention, under a preset target total drilling force, the position determined by the coordinate values ​​of a display unit for a desired target total pressure centroid, visualized within a coordinate system associated with the tunnel boring machine, acts on the actual position of the actual total pressure centroid, and in this case, preferably via a contact-sensitive screen, thereby the tunnel boring machine is controlled relatively easily through this one central operating parameter.

[0012] Further configurations suitable for the purposes of the present invention are subject to the dependent claims.

[0013] Further configurations and advantages that are suitable for the purposes of the present invention will become apparent from the following descriptions of embodiments relating to each figure in the drawings, as well as from the supplementary descriptions. [Brief explanation of the drawing]

[0014] [Figure 1] This diagram shows a schematic representation of one embodiment of a tunnel boring machine equipped with a cutting wheel and an operating unit. [Figure 2] Figure 1 is a side view of an embodiment of the tunnel boring machine, which has an exemplary force transition line for straight-line movement, where the force is distributed and applied horizontally (X direction) by the boring press means and is constant across the entire diameter of the cutting wheel. [Figure 3] Figure 1 is a side view of an embodiment of the tunnel boring machine, which has an exemplary force transition line relating to curve progression, applied in a distributed manner in the horizontal direction (X direction) by the boring press means and changing constantly over the entire diameter of the cutting wheel. [Figure 4] Figure 1 is a side view of an embodiment of the tunnel boring machine, which has an exemplary force transition line relating to curve progression, which is applied in a distributed manner in the horizontal direction (X direction) by the boring press means and changes continuously over a portion of the diameter of the cutting wheel. [Figure 5]Figure 1 is a side view of an embodiment of the tunnel boring machine, which has an exemplary force transition line relating to horizontal movement to compensate for the reaction force that is distributed and applied in the vertical direction (Y direction) by the tunneling press means and changes constantly over the entire diameter of the cutting wheel, thereby compensating for the reaction force that changes in the vertical direction. [Figure 6] Figure 1 is a side view of an embodiment of the tunnel boring machine, which has an exemplary force transition line relating to downward submersion, applied by the boring press means in the vertical direction (Y direction) and constant across the entire diameter of the cutting wheel. [Figure 7] This diagram shows a flowchart illustrating one example of the processing procedure in the operation of a tunnel boring machine for excavating a tunnel, using an embodiment of the tunnel boring machine according to the present invention, as described based on Figures 1 to 3. [Examples]

[0015] Figure 1 shows a schematic diagram of one embodiment of the tunnel boring machine 103 according to the present invention, which is equipped with a cutting wheel 106 positioned at the front in the excavation direction. The tunnel boring machine 103 also has a predetermined number of excavation pressing means 109 on the back side of the cutting wheel 106 in the excavation direction, and using these excavation pressing means 109, the cutting wheel 106 is movable in the excavation direction, and in particular, can be pressed with excavation force against the tunnel face (excavation surface) 112 located in front of the cutting wheel 106 in the excavation direction during excavation operation.

[0016] The excavation press means 109 are connected uniformly to the excavation press means control unit 115, either individually or in groups, and the excavation press means 109 can be driven and controlled using the excavation press means control unit 115 to achieve a pressurizing action (thrusting action).

[0017] Furthermore, the drilling press means control unit 115 is connected to the operation unit 118, and via the operation unit 118, the control values ​​necessary to drive and control the drilling press means 109 can be provided to the drilling press means control unit 115 after converting (transforming) the coordinate values, which will be explained in detail in the following paragraphs, into control values ​​corresponding to the pressure values.

[0018] The operating unit 118 has, on the one hand, a contact-sensitive screen (display screen) equipped with a first input area 121, and via the first input area 121, in the input field 130 as an input means, the machine operator directly inputs as a preset value the target total digging force F to be applied overall to the cutting wheel 106 by the digging press means 109 or a group of digging press means 109. ges A value can be entered for this purpose.

[0019] Target total digging force F ges In a modified form for direct input, the first input region 121 is provided with, for example, a contact-sensitive region, or an electromechanical element that acts electromechanically by rotation or sliding, such as a potentiometer or slide adjuster.

[0020] In another embodiment not shown, the target total drilling force F ges A tunneling speed adjustment circuit is provided as an input means for presetting the following: the tunneling speed adjustment circuit can be provided with a desired target tunneling speed by the machine operator in the first input, and the current tunneling speed of the tunnel boring machine 103 in the second input. The output of the tunneling speed adjustment circuit is set as a target total tunneling force F for further processing to maintain the desired target tunneling speed, which will be described in detail in the following paragraphs. ges To provide.

[0021] Furthermore, the operating unit 118 is provided with a second input area 133, which is configured to have a predetermined number, and in this case four, touch fields 136, 139, 142, and 145 as operating elements, which in this embodiment are arranged in pairs horizontally or vertically to lower or raise the coordinate value of a desired target total pressure centroid (also called the "Center of Thrust," or "CoT") obtained from the pressure action of all the tunnel boring machine 109, in a coordinate system related to the tunnel boring machine 103, and in this case particularly in a coordinate system related to the longitudinal central axis of the shield element 146 of the tunnel boring machine 103, which is substantially cylindrical in shape and to which the tunneling press means 109 are disposed and fixedly mounted.

[0022] In one embodiment, the touch fields 136, 139, 142, and 145 are configured to be touch-sensitive as components of each region of a touch-sensitive screen (display).

[0023] In another embodiment, the touch fields 136, 139, 142, and 145 are configured to be pressure-sensitive as electromechanical push buttons.

[0024] In yet another embodiment, the means for acting on the target total pressure center of gravity includes an element that acts electromechanically by rotation or sliding, such as a potentiometer or a slide adjuster.

[0025] Furthermore, in this embodiment, the screen of the operating unit 118 has a two-dimensional touch-sensitive region 148 as a visualization means, on which a symbolic visualization of the target total pressure centroid 151 to be taken in the coordinate system associated with the tunnel boring machine 103 is displayed, fixed by an X-axis 154 for the horizontal direction and a Y-axis 157 for the vertical direction, which intersect at a right angle at the zero point 163 as the origin of the coordinate system.

[0026] The visualization shown as a black circle in Figure 1 relates to the target total pressure centroid 151, and the coordinate values ​​of the target total pressure centroid 151 in the coordinate system formed by the X axis 154 and the Y axis 157 are, for example, the target total drilling force F to be applied, which can be entered via the input field 130. ges Along with the values ​​for the drilling press means 109, input values ​​are configured for the drilling press means control unit 115 for driving and controlling the drilling press means 109.

[0027] In a further configuration suitable for the purpose, the current total pressure center of gravity 166 is also displayed on the contact-sensitive region 148 as another visualization shown as a white circle, which represents the current actual position of the current total pressure center of gravity 166, fed back from the drilling press means 109 to the operating unit 118 by the drilling press means control unit 115. In the depiction in Figure 1, the current total pressure center of gravity 166 is still significantly deviating from the target total pressure center of gravity 151, for example, based on adjustment processes that are not yet completed and will be described in detail in a later paragraph, during which the current total pressure center of gravity 166 will move further in the direction of the adjustment direction arrow 167 extending from the current total pressure center of gravity 166 toward the target total pressure center of gravity 151 in the depiction in Figure 1.

[0028] To change the current position of the total pressure center of gravity 166, in addition to the touch fields 136, 139, 142, and 145, the target total pressure center of gravity 151 is moved in two dimensions within the touch-sensitive area 148, for example, with the finger of the operating operator or using an interactive pen, subject to corresponding changes in control values ​​provided to the tunneling press means control unit 115, with assigned pressure value changes, provided that the operating conditions of the tunnel boring machine 103 to take a new current total pressure center of gravity 166 located within the purely illustrative permissible value area 169 shown by the dashed line in the drawing according to Figure 1 are basically permitted.

[0029] Figure 2 shows an example of the tunnel boring machine 103 of FIG. 1 as a side view. In this example, the driving press means 109 is distributed and applied along the X-axis line 154 in the horizontal direction, and has an exemplary force transition line (force progression line) 200 that is constant over the entire diameter of the cutting wheel 106 for straight-ahead advancement. In the view according to FIG. 2, the Z-axis line 203, which is within the coordinate system related to the tunnel boring machine 103 and whose negative value range is shown in FIG. 2, indicates the direction of the longitudinal central axis of the shield element 146. For the shield element 146, in this example and in other cases as well, the coordinate system is used as a reference for a purpose that is suitable for the same.

[0030] Furthermore, FIG. 2 also shows the resultant force vector arrow 206 for the target total driving force F that can be input via the input field 130 and should be applied by the entire driving press means 109. ges And the value for the average force F is shown by the dashed line 209. m

[0031] In the example shown in FIG. 2, for straight-ahead advancement in the horizontal direction, which means tunneling along a straight line in the horizontal direction without curves, each driving press means 109 or each group of driving press means 109 corresponds to the average force F m and applies the same partial driving force F shown by the partial force vector arrow 212. As a result, the force transition line 200 located on the dashed line 209 is constant over the diameter of the cutting wheel 106, and the target total driving force F i is exactly located on the Z-axis line 203 and passes through the zero point 163 of the X-axis line 154. Thereby, the offset of the target total driving force F from the Z-axis line 203 in the X direction (on the X-axis line), and thus the X separation position CoT as the coordinate value of the target total pressure center of gravity 151 from the Z-axis line 203 in the X direction ges is the same as zero. ges x

[0032] Figure 3 shows an embodiment of the tunnel boring machine 103 of Figure 1 as a side view corresponding to Figure 2, which has an exemplary force transition line 300 with respect to curve progression that is applied horizontally along the X-axis 154 by the boring press means 109 and changes constantly over the entire diameter of the cutting wheel 106.

[0033] Figure 3 shows the target total drilling force F, which can be input via the input field 130, to be applied by the entire drilling press mechanism 109. ges The resultant force vector arrow 306 and the dashed first line 309 indicate the average force F to be added. m The value for and the dashed second line 312 indicate the minimum force F that should be applied. min The value for and the dashed third line 315 indicate the maximum force F to be applied. max The values ​​for this are illustrated.

[0034] Furthermore, in Figure 3, the partial force vector arrow 318 indicates the partial excavation force F to be applied by, for example, one excavation press 109 or one group of excavation press 109, in this case one excavation press 109 located relatively close to the edge laterally in the horizontal direction. i The diagram shows that the average force F to be applied by the entire excavation press means 109 is indicated by the average force vector arrow 321. m This is illustrated. Using the differential force vector arrow 324, the partial excavation force F i and average force F m The difference force ΔF is the difference in the X direction. x,i This is illustrated. Finally, using the double (bidirectional) arrow 327, the target total drilling force F from the Z axis 203 in the X direction is shown. ges The offset, and therefore, as a coordinate value, is the X-axis position CoT of the target total pressure centroid 151 from the Z-axis 203 in the X direction. x This is illustrated, and the X-spaced position CoT x These are incorporated for the visualization of the respective total pressure centroids 151 and 166 within the coordinate system depicted in region 148 (Figure 1).

[0035] To achieve curved motion, the minimum force Fmin and maximum force F max The force transition line 300 in the X direction between them has a force that changes continuously over the entire diameter of the cutting wheel 106, and the difference force ΔF x,i The value of the minimum force F is determined by the excavation press means 109 or the group of excavation press means 109. min Starting from there, and reaching the Z-axis line 203, it is initially negative, and then becomes positive, reaching a maximum force F. max It is composed of a gradual increase until it reaches a certain point.

[0036] Figure 4 shows an embodiment of the tunnel boring machine 103 of Figure 1 as a side view corresponding to Figures 2 and 3, which has an exemplary force transition line 400 with respect to curve progression that is applied horizontally along the X-axis 154 by the boring press means 109 and changes continuously over a portion of the diameter of the cutting wheel 106, in which case, in order to avoid repetition of explanation, the same reference numerals used in Figures 3 and 4 indicate elements that correspond to each other.

[0037] Figure 4 shows the partial excavation force F applied by the excavation press means 109 or a group of excavation press means 109. i However, across each predetermined edge region, the minimum force F is the same and is the same. min Or maximum force F max This corresponds to a partial drilling force F across the central region between these edge regions. i This changes continuously, and similarly, the position of the total pressure centroid CoT is X-spaced from the Z-axis 203 in the X direction (on the X-axis). x It can be seen that this results in a curved progression in the horizontal direction.

[0038] Figure 5 shows an embodiment of the tunnel boring machine 103 of Figure 1 as a side view rotated 90 degrees from the side views shown in Figures 2 to 4. This embodiment has an exemplary force transition line 500 relating to horizontal movement, which is applied vertically by the boring press means 109, distributed along the Y-axis 157, and changes constantly (uniformly) across the entire diameter of the cutting wheel 106, to compensate for correspondingly changing vertically in the opposite direction, such as earth pressure, water pressure, and friction.

[0039] Figure 5 shows the target total drilling force F that can be input via the input field 130, which should be applied by the entire drilling press mechanism 109. ges The resultant force vector arrow 506 and the dashed first line 509 indicate the mean force F m The value for and the second dashed line 512 indicate the minimum force F applied. min The value for and the dashed third line 515 indicate the maximum force F to be applied. max The values ​​for this are illustrated.

[0040] Furthermore, in Figure 5, the partial force vector arrow 518 indicates, for example, the partial excavation force F applied by one excavation press 109 or one group of excavation press 109, in this case one excavation press 109 located relatively close to the bottom of the tunnel in the vertical direction. i The diagram shows the average force F applied by the entire excavation press means 109, indicated by the average force vector arrow 521. m This is illustrated. Using the differential force vector arrow 524, the partial excavation force F i and average force F m The difference force ΔF is the difference in the Y direction. y,i This is illustrated. Finally, using the double arrow 527, the target total drilling force F from the Z axis 203 in the Y direction is shown. ges The offset, and therefore, as a coordinate value, is the Y-axis position of the target total pressure centroid 151 from the Z-axis 203 in the Y direction CoT y The diagram shows the Y-spaced position CoT y This is incorporated for the visualization of the respective total pressure centroids 151 and 166 within the coordinate system depicted in region 148 (Figure 1).

[0041] In the force transition line 500 shown in Figure 5, the reaction force at the tunnel face 112, which normally increases uniformly with depth, is compensated by the tunneling press means 109 in order to perform horizontal progress in the sense of tunnel excavation in the horizontal direction without vertical deviation (deviation).

[0042] Figure 6 shows an embodiment of the tunnel boring machine 103 of Figure 1 as a side view corresponding to Figure 5, which has an exemplary force transition line 600 for performing downward submersible progress during tunnel boring, which is applied vertically along the Y-axis 157 by the boring press means 109 and is constant over the entire diameter of the cutting wheel 106, in which case, to avoid repetition in the explanation, the same reference numerals used in Figures 5 and 6 indicate elements that correspond to each other.

[0043] From Figure 6, the average force F m Corresponding partial drilling force F i It has the position CoT of the total pressure centroid 151 from the Z axis 203 in the Y direction. y In this force transition line 600, which is constant along the Y-axis 157 in the vertical direction and accompanied by the disappearance of the force, the target total drilling force F ges It can be seen that the Z-axis 203 is located on the Z-axis and intersects the Y-axis 157 at the zero point 163 of the coordinate system. As a result, the reaction force at the tunnel face 112 is overcompensated in the upper region near the ceiling and undercompensated in the region at the bottom of the tunnel. Consequently, the trajectory of the tunnel excavation tilts downward, and the tunnel boring machine 103 moves downward rather than horizontally.

[0044] Figure 7 is a flowchart illustrating the basic processing steps in a method for excavating a tunnel using the tunnel boring machine 103 according to the present invention.

[0045] First, in evaluation step 703, the current position of the tunnel boring machine 103 is evaluated, taking into account other operating parameters of the tunnel boring machine 103.

[0046] In the setup step 706, following the evaluation step 703, the target total pressure center 151 (also known as the "Center of Thrust," or "CoT") is first selected, or, if necessary during excavation, modified. This selection or modification is performed by setting the coordinates of the target total pressure center 151 in the coordinate system, either by touch fields 136, 139, 142, 145, or by moving its visualization portion within a contact-sensitive region 148.

[0047] In this case, corresponding to the embodiment described with reference to Figure 1, the target total drilling force F ges This is directly preset via the input field 130 as an input means.

[0048] In another embodiment (not shown) in which a tunneling speed adjustment circuit is used as an input means, the tunneling speed adjustment circuit sets a target total tunneling force F to maintain the desired tunneling speed. ges Pre-set this.

[0049] In the first calculation step 709, which follows the setting step 706 and is performed using the excavation press means control unit 115, the aforementioned value CoT is calculated. x CoT y F ges Using the specified force, the force F to be applied for horizontal or vertical control of the tunnel boring machine 103 is to be used. i The calculation of the force components is based on those variable components ΔF x,i and ΔF y,i It will be conducted in relation to this.

[0050] In the second calculation step 712, following the first calculation step 709, the drilling press means control unit 115 is similarly used to determine the desired force components ΔF to be applied by each i-th drilling press means 109 or each i-th group of drilling press means 109. x,i ΔF y,i Force F to generate i The calculation is as follows: the target total drilling force F to be added. ges It will be carried out with consideration to this.

[0051] In the conversion step 715, which follows the second calculation step 712, the force F i In order to actually apply it, the force F to be applied by the drilling press means 109 i The pressures are then converted into hydraulic pressures that should be used to energize each of the excavation presses 109.

[0052] In the adjustment step 718 following the conversion step 715, the hydraulic pressure that actually biases the drilling press means 109 is adjusted in order to bring the current total pressure center of gravity 166 closer to the target total pressure center of gravity 151 and ultimately make the two substantially coincide.

[0053] In the operation step 721, which follows the adjustment step 718, the tunnel boring machine 103 operates for a predetermined, freely selectable time unit corresponding to the last used operation data, until the next evaluation step 703 is performed. [Explanation of symbols]

[0054] 103 Tunnel boring machine 106 Cutting Wheel 109 Excavation Pressing Means 112. Excavation face 115 Excavation Pressing Mechanism Control Unit 118 Operating Unit 121 First input area 130 Input Fields 133 Second input area 136 Touchfield 139 Touchfield 142 Touchfield 145 Touchfield 146 Shield Elements 148 Contact-sensitive areas 151 Target Total Pressure Center of Gravity 154 X axis (horizontal direction) 157 Y axis (vertical direction) 163 Zero point (coordinate system origin) 166 Current Total Pressure Center of Gravity 167 Adjustment direction arrow 169 Allowable value range 200 Force transition line 203 Z axis 206 Resultant force vector arrow 209 Dashed line (Average force F) m (Value for) 212 Partial force vector arrow (Partial drilling force F) i ) 300 Force transition line 306 Resultant force vector arrow 309 The first dashed line (average force F) m (Value for) 312 The second dashed line (minimum force F) min (Value for) 315 The third dashed line (minimum force F) max (Value for) 318 Partial force vector arrow (Partial drilling force F) i ) 321 Average force vector arrow (Average force F m ) 324 Difference force vector arrow (Difference force ΔF) x,i ) 327 Double arrow (X-spaced position CoT) x ) 400 Force transition line 500 Force transition line 506 Resultant force vector arrow 509 The first dashed line (average force F) m (Value for) 512 The second dashed line (minimum force F) min (Value for) 515 The third dashed line (minimum force F) max (Value for) 518 Partial force vector arrow (Partial drilling force F) i ) 521 Average force vector arrow (Average force F m ) 524 Difference force vector arrow (Difference force ΔF) y,i ) 527 Double arrow (Y-spaced position CoT) y ) 600 Force transition line 703 Evaluation Steps 706 Setup Steps 709 First calculation step 712 Second calculation step 715 conversion steps 718 Adjustment Step 721 Operation Steps F ges Target total digging power

Claims

1. A tunnel boring machine comprising a cutting wheel (106), a predetermined number of tunneling press means (109), a tunneling press means control unit (115), and a visualization means (148), Using the aforementioned drilling press means (109), the cutting wheel (106) is movable in the drilling direction, and using the drilling press means control unit (115), the drilling press means (109) or a group of drilling press means (109) is drive-controllable, and the visualization means (148) is configured to visualize the current total pressure center of gravity (166) obtained from the pressure action of the drilling press means (109) or a group of drilling press means (109). An input means (130) is provided, and the input means (130) is used to input the target total drilling force (F ｇｅｓ ) is configured to pre-set, The visualization means (148) is configured to display the target total pressure centroid (151) and the current total pressure centroid (166). An operating unit (118) is provided which is connected to the tunneling press means control unit (115), and the operating unit (118) controls the coordinate values ​​(CoT) of the target total pressure centroid (151) within the coordinate system (154, 157) associated with the tunnel boring machine (103). ｘ CoT ｙ The system has means (133, 136, 139, 142, 145, 148) for adjusting the current total pressure center of gravity (166), which is used to bring the current total pressure center of gravity (166) closer to the target total pressure center of gravity (151) by changing the current total pressure center of gravity (166). The drilling press means control unit (115) controls the coordinate value (CoT) of the target total pressure centroid (151). ｘ CoT ｙ The system is configured to convert the change in the drilling press means (109) or the group of drilling press means (109) into a change in the pressure value in the drive control and adjust it, The operating unit (118) is provided with a screen having a contact-sensitive area (148) as the visualization means, and within the contact-sensitive area (148), the visualized target total pressure centroid (151) can move from a pre-change position to a post-change position due to contact by a contact object and the movement of the contact object, and the deviation of the coordinate values ​​(CoT x, CoT y) of the post-change position relative to the pre-change position constitutes the input value of the excavation press means control unit (115) for adjusting the pressing force applied by the excavation press means (109) or the group of excavation press means (109). A tunnel boring machine characterized by the following features.

2. Means for selecting or changing the target total pressure center of gravity (151) include directly inputting the coordinate values (CoT ｘ , CoT ｙ ) of the target total pressure center of gravity (151) and / or having operation elements (136, 139, 142, 145) for increasing or decreasing the coordinate values (CoT ｘ , CoT ｙ ) of the target total pressure center of gravity (151). A tunnel boring machine according to claim 1, characterized by the above.

3. The coordinate values ​​(CoT) of the target total pressure centroid (151) ｘ CoT ｙ In order to increase or decrease the value of the screen, the screen has a touch-sensitive area (133) having a touch-sensitive touch field (136, 139, 142, 145), A tunnel boring machine according to claim 2, characterized by the above.

4. The coordinate values ​​(CoT) of the target total pressure centroid (151) ｘ CoT ｙ In order to increase or decrease the pressure, a region (133) having a pressure-sensitive touch field (136, 139, 142, 145) is provided. A tunnel boring machine according to claim 2, characterized by the above.

5. The coordinate values ​​(CoT) of the target total pressure centroid (151) ｘ CoT ｙ In order to raise or lower the value, an element that acts electromechanically by rotation or sliding is provided. A tunnel boring machine according to claim 2, characterized by the above.

6. The coordinate system is a two-axis orthogonal coordinate system (154, 157) having a zero point (163) on the longitudinal central axis of the shield element (146) of the tunnel boring machine (103) on which the excavation press means (109) or the group of excavation press means (109) is arranged. A tunnel boring machine according to claim 1, characterized by the above.

7. The visualization means (148) is configured to display an allowable range (169) for the target total pressure centroid (151), and the drilling press means control unit (115) is configured to process only the values ​​for the target total pressure centroid (151) that are located within the allowable range (169). A tunnel boring machine according to claim 1, characterized by the above.

8. A method for excavating a tunnel using a tunnel boring machine (103), The following steps must be included, namely, - A step of providing a tunnel boring machine (103) according to any one of claims 1 to 7, - Steps to determine a predetermined target trajectory, - A step of determining the initial drilling force of the drilling press means (109) or group of drilling press means (109), - Coordinate values ​​(CoT) of the target total pressure centroid (151) in the coordinate system (154, 157) associated with the tunnel boring machine (103) ｘ CoT ｙ The step of repeatedly setting the drilling force during drilling by changing the target total pressure center of gravity (151) in ) Including, A method characterized by the following.

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