Control system and control method for tunnel boring machines

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 excavator.

BACKGROUND ART

[0002] In general, a tunnel excavator 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 natural ground ahead to form a working face. The cutter head is attached to the front end of a cylindrical excavator main body, and the tunnel is excavated as the excavator main body is propelled forward. Inside the excavator main body, a plurality of shield jacks are arranged at intervals along the inner peripheral surface of the excavator main body. The shield jacks push the rear segments, and thrust is transmitted to the excavator main body, whereby the excavator main body is propelled.

[0003] Tunnel excavation by a tunnel excavator is performed after grasping the extension and retraction state of each shield jack (specifically, the extension and retraction 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 gauge 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 described in Patent Document 1, in order to understand the extension and retraction state of all shield jacks using contact-type sensors such as stroke meters installed on the shield jacks (specifically, sensors installed to directly measure the positional relationship between the fixed body and the movable drive rod of the shield jack), it is necessary to install a contact-type sensor on each shield jack. In this case, the number of sensors increases, and the cost becomes high. On the other hand, if contact-type sensors are installed on only some of the shield jacks, the extension and retraction state of the shield jacks without contact-type sensors must be determined visually, which can make it difficult to understand the extension and retraction state. Furthermore, while contact-type sensors built into the shield jack have the advantage of being compact due to the integration of the sensor into the shield jack, the structure and manufacturing process of the shield jack become more complex, resulting in higher costs. In addition, removing the built-in sensor from the shield jack in the event of a sensor failure requires surrounding space and is labor-intensive, resulting in poor maintainability. On the other hand, contact sensors that are installed exposed on the surface of a shield jack are prone to failure due to external environmental influences, such as frequent changes in conditions near the drive rod that moves, during the segment installation process.

[0006] Therefore, in view of these problems, the present invention aims to provide a control system and control method for a tunnel boring machine that can grasp the expansion and contraction state of each shield jack while reducing costs and improving maintainability. [Means for solving the problem]

[0007] To solve the above problems, the present invention provides a control system for a tunnel boring machine comprising a cylindrical boring machine body, a cutter head rotatably mounted at the front end of the boring machine body, and a plurality of shield jacks arranged at intervals along the inner circumferential surface of the boring machine body, each having an extendable and retractable drive rod, and the control system comprises a plurality of sensors arranged at a distance from the shield jacks and detecting the drive rods of the shield jacks non-contact, and arranged at intervals from each other in the circumferential direction of the boring machine body, and a control device that performs a specific processing to identify the extendable and retractable state of each of the drive rods of the plurality of shield jacks based on the detection results from the plurality of sensors. The sensor has a detection range that extends from the sensor, and detects the drive rod within the detection range. One sensor It is within the detection range. Multiple drive rods are detected, and all drive rods are detected by multiple sensors.

[0008] The control device may perform specific processing during the excavation process in which the cutter head excavates the ground.

[0009] The control device may, in a specific process, identify information regarding the stroke amount of the drive rod in the drilling process.

[0010] The control device may perform specific processing during the installation process in which segments are installed behind the main body of the excavator.

[0011] The control device may, in a specific process, identify the contact state between the drive rod and the existing segment during the installation process.

[0012] The control device may, in a specific process, determine whether the contact state is such that the space necessary for installing the segment to be installed is formed around the existing segment.

[0013] The sensor may also be a camera.

[0014] The sensor may also be a ranging device that emits a probe wave and receives the reflected wave.

[0015] To solve the above problems, the present invention provides a control method for a tunnel boring machine comprising 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 circumferential surface of the boring machine body, each having an extendable and retractable drive rod, wherein the control device is positioned at a distance from the shield jacks and detects the drive rods of the shield jacks non-contact, and identifies the extension and retraction state of each of the plurality of shield jacks' drive rods based on the detection results from a plurality of sensors arranged at intervals from each other in the circumferential direction of the boring machine body. The sensor has a detection range that extends from the sensor, and detects the drive rod within the detection range. One sensor It is within the detection range. Multiple drive rods are detected, and all drive rods are detected by multiple sensors. [Effects of the Invention]

[0016] According to the present invention, it becomes possible to understand the extension and retraction state of each shield jack while reducing costs and improving maintainability. [Brief explanation of the drawing]

[0017] [Figure 1] This is a schematic cross-sectional view showing the overall configuration of a tunnel boring machine according to an embodiment of the present invention. [Figure 2] This is a front view showing an erector device according to an embodiment of the present invention. [Figure 3] This diagram shows the camera arrangement according to an embodiment of the present invention. [Figure 4] This figure shows the extension and retraction state of the drive rod at the start of the drilling process according to an embodiment of the present invention. [Figure 5] This figure shows the extension and retraction state of the drive rod during the drilling process according to an embodiment of the present invention. [Figure 6] This figure shows the extension and retraction state of the drive rod at the end of the drilling process according to an embodiment of the present invention. [Figure 7] This figure shows the extension and retraction state of the drive rod during the installation of the segment to be installed, as part of the installation process according to the embodiment of the present invention. [Figure 8] This is a diagram illustrating the telescopic state of a drive rod after installation of a segment to be installed in an installation process according to an embodiment of the present invention. DETAILED DESCRIPTION OF EMBODIMENTS

[0018] Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings. The dimensions, materials, and other specific numerical values shown in such embodiments are merely examples for facilitating 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 functions and configurations are denoted by the same reference numerals to omit redundant description, and elements not directly related to the present invention are omitted from illustration.

[0019] First, the configuration of a tunnel excavator 1 according to an embodiment of the present invention will be described with reference to FIGS. 1 to 3. FIG. 1 is a schematic cross-sectional view showing the overall configuration of the tunnel excavator 1. Note that arrow F in FIG. 1 indicates the forward direction (that is, the traveling direction) of the tunnel excavator 1, and arrow B indicates the rearward direction of the tunnel excavator 1. That is, arrow F in FIG. 1 faces the working face side, and arrow B faces the tunnel portal side.

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

[0021] A cutter head 11 is provided at the front end of the excavator main body 10. The cutter head 11 is a substantially disk-shaped rotating body. The front end of a cutter central shaft 12 is fitted into the central portion of the cutter head 11, and the cutter head 11 is rotatably supported about the cutter central shaft 12.

[0022] The cutter head 11 includes an outer ring 11a, an inner ring 11b, cutter spokes 11c, a fishtail cutter 11d, and cutter bits 11e. Of these, the outer ring 11a forms the outer circumference of the cutter head 11, and the inner ring 11b is positioned radially inward from the outer ring 11a. The multiple cutter spokes 11c are arranged radially around the cutter central axis 12 on the front surface of the cutter head 11. A fishtail cutter 11d is mounted in the center of the front surface of the cutter head 11. Furthermore, numerous cutter bits 11e are mounted on the front surface of the cutter spokes 11c. The fishtail cutter 11d and cutter bits 11e may or may not be detachable.

[0023] Furthermore, the cutter head 11 has multiple openings formed between the outer ring 11a, the inner ring 11b, and the cutter spokes 11c. These openings function as intake ports for excavated soil generated when the cutter head 11 excavates the ground (face) and take it into the excavator body 10 (into the chamber 17, which will be described later).

[0024] A partition wall 13 is positioned behind the cutter head 11 in the excavator body 10. The partition wall 13 is a plate-shaped (for example, disc-shaped) wall positioned perpendicular to the axial direction (tunnel extension direction), and its outer edge is attached to the inner surface of the excavator body 10. The cutter head 11 and the partition wall 13 are positioned at a predetermined distance apart in the axial direction (tunnel extension direction). Various equipment of the tunnel excavator 1 is positioned behind the partition wall 13, and the partition wall 13 isolates this equipment from the excavated soil generated at the tunnel face. An outlet 13a, which is an opening for discharging excavated soil, is formed at the bottom of the partition wall 13.

[0025] A cutter central shaft 12 is rotatably supported at the center of the partition wall 13. Furthermore, an annular rotating ring 14 is rotatably supported on the partition wall 13 about the cutter central shaft 12. Multiple connecting beams 15 are provided at predetermined intervals in the circumferential direction at the front of the rotating ring 14. The multiple connecting beams 15 connect the cutter head 11 and the rotating ring 14. The front ends of the connecting beams 15 are connected to the connection between the inner circumferential ring 11b and the cutter spoke 11c of the cutter head 11. On the other hand, a ring gear 14a is provided at the rear of the rotating ring 14. The ring gear 14a may be an external gear type or an internal gear type. Furthermore, 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. This allows the cutter head 11 to rotate around the cutter central axis 12. As a result, the front surface of the rotating cutter head 11 can be pressed against the ground (work face) using the shield jack 21 described later, enabling excavation of the ground.

[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 roughly cylindrical space) partitioned 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. Excavated soil generated as a result of excavating the ground by the cutter head 11 is taken into the chamber 17 through the opening (excavated soil intake port) formed through the cutter head 11. The chamber 17 functions as a space (chamber) for temporarily storing the excavated soil. The excavated soil taken into the chamber 17 is discharged from the chamber 17 into the screw conveyor 18 through the discharge port 13a located at the bottom of the partition wall 13.

[0028] The screw conveyor 18 is installed on the rear side of the partition wall 13 within the excavator body 10. Within the excavator body 10, the screw conveyor 18 is positioned at an upward incline as it approaches the rear. The opening at the front end of the screw conveyor 18 is connected to the discharge port 13a of the partition wall 13. As a result, 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 is a screw-shaped rotating body with helical blades, called a screw blade 18a. By rotating the screw blade 18a, excavated soil 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] Furthermore, an erector device 19 is provided behind the bulkhead 13 of the excavator body 10. The erector device 19 is capable of gripping the segments 20, which are lining members, and assembles the gripped segments 20 along the inner wall surface (tunnel wall) of the tunnel T. The segments 20 are ring-shaped pieces with a curved shape that conforms to the inner wall surface of the excavated tunnel T. By driving the erector device 19, multiple segments 20 can be assembled in a ring shape along the circumferential direction. As a result, the inner wall surface of the tunnel T is lined with multiple segments 20, preventing the collapse of the inner wall surface.

[0030] Here, the erector device 19 will be described in more detail with reference to Figure 2 in addition to Figure 1. Figure 2 is a front view of the erector device 19. Specifically, Figure 2 is a view of the erector device 19 from the rear. As shown in Figures 1 and 2, the erector device 19 comprises a ring frame 191, support rollers 192, suspension beams 193, guide rods 194, lifting jacks 195, and gripping parts 196.

[0031] The ring frame 191 is an annular member provided along the inner circumferential 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 positioned 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 its central axis. The support rollers 192 are mounted on the inner circumferential surface of the excavator body 10 parallel to the central axis of the excavator body 10. As shown in Figure 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 Figure 2 coincides with the circumferential direction of the excavator body 10. The ring frame 191 is driven to rotate by an actuator such as a drive motor (not shown).

[0032] The suspension beam 193 is attached to the ring frame 191 via guide rods 194. Specifically, a bracket 191a projecting backward is provided at the rear of the ring frame 191. A guide rod 194 is attached to the tip of the bracket 191a so as to be able to move up and down radially. As shown in Figure 2, guide rods 194 are provided on each of two radially separated portions of the ring frame 191. The circumferential positions on the ring frame 191 where each guide rod 194 is installed are, for example, offset by approximately 180°. The two guide rods 194 extend in a direction perpendicular to the direction of separation between them and are extendable and retractable in that direction. The suspension beam 193 is stretched between the two guide rods 194.

[0033] Furthermore, as shown in Figure 1, lifting jacks 195 are attached to the bracket 191a near each guide rod 194 along the extending direction of each guide rod 194. The tip of each lifting jack 195 abuts against the suspension beam 193. The suspension beam 193 moves in the direction of extension and contraction of the lifting jack 195 as the lifting jack 195 extends and contracts. The direction of movement D1 of the suspension beam 193 (i.e., the direction of extension and contraction 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 two guide rods 194. A support frame 193a is provided on the central side of the suspension beam 193 in the direction of its extension. The support frame 193a protrudes axially rearward from the other parts of the suspension beam 193 toward the excavator body 10. The support frame 193a extends on a plane substantially perpendicular to the direction of movement 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 direction of movement D2 of the gripping portion 196 shown in Figure 1 coincides with the axial direction of the excavator body 10. The movement of the gripping portion 196 in the direction of movement D2 is driven by an actuator such as a jack (not shown).

[0035] A twist lock 196a is provided on the gripping portion 196. The twist lock 196a is provided on the radially outer side (lower side in Figure 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 circumferential surface of the segment 20 and has a substantially T shape.

[0036] Here, the orientation of the twist lock 196a relative to the other parts of the gripping portion 196 is changeable. For example, the orientation of the twist lock 196a can be changed in three directions: the roll direction (i.e., the direction of rotation around the axial axis (i.e., the front-to-back direction) of the tunnel boring machine 1), the pitch direction (i.e., the direction of rotation around the circumferential axis (left-to-right direction in Figure 2) of the tunnel boring machine 1), and the yaw direction (i.e., the direction of rotation around the radial axis (up-to-down direction in Figure 2) of the tunnel boring machine 1). In this case, changing the orientation in the above three directions can be achieved, for example, by using spherical bearings and various actuators. The mechanism for changing the orientation of the twist lock 196a in each direction is not particularly limited and can be designed as appropriate. Furthermore, the orientation of the twist lock 196a may be changeable in some of the above three directions.

[0037] Furthermore, the twist lock 196a can be moved radially to D1 by moving the gripping portion 196 itself radially (in the direction of arrow D1 in Figure 2). However, in this embodiment, the twist lock 196a can also be moved radially to D1 by extending or retracting the twist lock 196a radially to D1 relative to other parts of the gripping portion 196. This is because, in gripping the segment 20, moving only the twist lock 196a is more compact than moving the entire gripping portion 196, which is an advantage in that it results in a more compact movement of the device. The change in posture and extension / retraction of the twist lock 196a is achieved by actuators such as jacks (not shown).

[0038] By appropriately changing the posture and position of the twist lock 196a, the twist lock 196a can be inserted into the gripping hole H of the segment 20 and engaged with the gripping hole H. This allows the segment 20 to be gripped and moved by the twist lock 196a. While the segment 20 is gripped by the twist lock 196a, the posture and position of the segment 20 gripped by the twist lock 196a can be adjusted by adjusting the posture and position of the twist lock 196a.

[0039] The erector device 19 can move the segment 20 to a desired position by moving the gripping part 196 (specifically, the twist lock 196a) while the segment 20 is gripped by the gripping part 196. Specifically, by moving the suspension beam 193 in the movement direction D1, the gripping part 196 and the gripped segment 20 can be moved radially to the excavator body 10. Also, by moving the gripping part 196 in the movement direction D2, the gripping part 196 and the gripped segment 20 can be moved axially to the excavator body 10. Furthermore, by rotating the ring frame 191 in the rotation direction D3, the gripping part 196 and the gripped segment 20 can be moved circumferentially to the excavator 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 Figures 1 and 2, and can be designed as appropriate.

[0040] In the following, among the segments 20, the existing segments 20 that are already used to line the inner wall surface of tunnel T will be specifically referred to as segment 20a. Furthermore, among the segments 20, those that have not yet been used to line the inner wall surface of tunnel T and that are to be newly installed in addition to the existing segments 20a (i.e., the segments to be installed) will be specifically referred to as segment 20b.

[0041] As shown in Figures 1 and 2, the existing segments 20a are assembled in a ring shape along the circumferential direction. The segment 20b to be installed is transported from the tunnel entrance side to the tunnel face side and placed on the lower, face-side existing segment 20a among the multiple existing segments 20a. A segment transport device (not shown) is provided inside the excavator body 10, and the segment 20b to be installed is transported by the segment transport device. The segment 20b to be installed, transported in this manner, is gripped by the erector device 19 and attached to the existing segment 20a, thereby assembling the segment 20.

[0042] As shown in Figure 1, multiple shield jacks 21 are provided inside the excavator body 10, spaced apart from each other in the circumferential direction. Each shield jack 21 is positioned spaced apart along the inner circumferential surface of the excavator body 10 and extends in the axial direction of the excavator body 10. The shield jacks 21 are, for example, hydraulic jacks, but other types of jacks, actuators, etc., may be used as long as they can generate thrust for the tunnel boring machine 1.

[0043] The shield jack 21 comprises a main body 21a and a drive rod 21b. The main body 21a is a cylindrical member fixed to the inner circumferential surface of the excavator body 10. The drive rod 21b is arranged coaxially with the main body 21a and is inserted into the interior of 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 relative to the main body 21a. The drive rod 21b is extendable and retractable by sliding relative to the main body 21a.

[0044] The tip of the drive rod 21b faces the front end surface of the existing segment 20a. By extending the drive rod 21b of the shield jack 21 backward and pressing against the existing segment 20a, a propulsive reaction force (i.e., thrust) can be applied to the excavator body 10. In other words, the thrust generated when the drive rod 21b of the shield jack 21 presses against the existing segment 20a allows the excavator body 10 to move forward.

[0045] A tail brush 22 is provided between the inner circumference of the rear end of the excavator 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 of the excavator body 10 and slides against the outer circumference of the existing segment 20a. The tail brush 22 is provided to prevent water, soil, or backfill material from entering the excavator body 10.

[0046] In excavating tunnel T with tunnel boring machine 1, it is necessary to understand the extension and contraction state of each shield jack 21 (specifically, the extension and contraction state of the drive rod 21b) in various situations, as will be described later. Therefore, as shown in Figure 1, the tunnel boring machine 1 is equipped with a control system 30 to understand the extension and contraction state of each shield jack 21.

[0047] The control system 30 is a system for performing processing related to the tunnel boring machine 1 (particularly processing to understand the extension and retraction state of each shield jack 21). The control system 30 comprises a plurality of cameras 31 and a control device 32. The cameras 31 are examples of sensors that detect the drive rods 21b of each shield jack 21 in a non-contact manner, as will be described later.

[0048] Figure 3 shows the camera arrangement. Specifically, Figure 3 is a view from the rear of multiple cameras 31 and an existing segment 20a comprising one ring. In the example in Figure 3, there are six cameras 31.

[0049] Multiple cameras 31 are arranged at equal intervals in the circumferential direction and are installed, for example, on the excavator body 10. Each camera 31 is located radially inward from the shield jacks 21 and faces radially outward. In other words, the imaging range of each camera 31 extends radially outward from the tip of each camera 31 (the radially outward end). The imaging range of each camera 31 includes the drive rods 21b of multiple shield jacks 21 located in the vicinity of each camera 31. Specifically, the multiple shield jacks 21 imaged by one camera 31 are a group of shield jacks 21 arranged continuously in the circumferential direction. Note that some of the shield jacks 21 to be imaged may overlap between adjacent cameras 31. In that case, if the results of the imaging of the extension and retraction state of the overlapping shield jacks 21 do not match when each camera 31 grasps the extension and retraction state, it can be determined that there is a malfunction in one of the cameras 31 (or control processing). Furthermore, if one of the cameras 31 (or control processing) malfunctions for any reason, or if an obstruction is captured in the imaging range making it impossible to determine the expansion / contraction state, the other overlapping camera 31 (or control processing) can be used to determine the expansion / contraction state.

[0050] As described above, camera 31 is positioned at a distance from the shield jack 21 and images the drive rod 21b of the shield jack 21. Then, all drive rods 21b of the shield jack 21 are imaged by multiple cameras 31. For example, in the example in Figure 3, one ring of segment 20 is composed of 11 existing segments 20a. One ring of segment 20 is an annular assembly of existing segments 20a that are assembled in a ring shape along the circumferential direction for one full turn. And, four drive rods 21b face each other for one existing segment 20a. In other words, a total of 44 shield jacks 21 are provided. If the drive rods 21b of eight or more shield jacks 21 are within the imaging range of one camera 31, it is possible to image all drive rods 21b of the shield jacks 21.

[0051] However, the number of cameras 31 installed, their installation positions, and imaging range are not limited to the example in Figure 3. For example, multiple cameras 31 may be arranged at non-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. Also, the number of drive rods 21b facing one existing segment 20a may be other than four. Furthermore, the orientation of the cameras 31 is not limited to the radially outward direction; for example, the cameras 31 may be installed near the rear of the main body 21a of the shield jack 21 so that they face backward.

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

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

[0054] The control device 32 performs a specific processing to identify the extension and retraction state of the drive rods 21b of each shield jack 21 based on the detection results of the drive rods 21b by the camera 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 specific processing, the control device 32 identifies the extension and retraction state of each drive rod 21b shown in the image by applying image processing to the image.

[0055] As described above, one camera 31 captures images of the drive rods 21b of multiple shield jacks 21 (specifically, a group of shield jacks 21 arranged continuously in the circumferential direction). Therefore, the control device 32 can identify the extension and retraction state of the drive rods 21b of the multiple shield jacks 21 captured in the image by performing image processing on the image captured by one camera 31. Furthermore, the control device 32 can identify the extension and retraction state of the drive rods 21b of all shield jacks 21 by using multiple images captured by multiple cameras 31. This reduces the number of sensors needed to detect the drive rods 21b, thus making it easier to reduce costs.

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

[0057] Alternatively, a monocular camera may be used as camera 31. In this case, since the image is from a monocular camera, it will only capture a planar view. However, the control device 32 can use a machine learning-based learning model to calculate the distance of each drive rod 21b from camera 31 in the image captured by camera 31, based on the position and size of the object in the image frame, as well as the degree of focus. As a result, the extension and retraction state of the drive rods 21b can be identified.

[0058] Furthermore, a lens with a wide field of view, such as a fisheye lens, may be used as the lens for camera 31. In this case, the imaging range of a single camera 31 can be widened, thus reducing the total number of cameras 31.

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

[0060] The following explains an example of the situation in which the above-mentioned specific processing is performed, referring to Figures 4 to 8.

[0061] In the excavation of tunnel T by tunnel boring machine 1, for example, the excavation process, in which the cutter head 11 excavates the ground, and the installation process, in which the segments 20 are installed behind the main body of the boring machine 10, are repeated alternately. However, as will be described later, the excavation process and the installation process may be carried out in partial parallel.

[0062] The specific processing described above (i.e., the processing to determine the extension and retraction state of the drive rods 21b of each shield jack 21) can be performed, for example, during the excavation process. In other words, the control device 32 performs the specific processing, for example, during the excavation process. Specifically, during the excavation process, the tunnel boring machine 1 moves forward while the ground is excavated by the rotation of the cutter head 11. In such an excavation process, it is particularly important to know the stroke amount of the drive rods 21b. Therefore, in the specific processing during the excavation process, the control device 32 identifies information regarding the stroke amount of the drive rods 21b during the excavation process. Note that the information regarding the stroke amount may be information that directly indicates the stroke amount, or it may be information that can be substantially converted into a stroke amount.

[0063] Figure 4 shows the extension and retraction state of the drive rod 21b at the start of the drilling process. Figure 4, and Figures 5 to 8 described later, show a portion of the images captured by one camera 31.

[0064] First, as a preparatory step for the excavation process, the cutter rotation motor 16 is driven, causing the cutter head 11 to rotate. Then, while the cutter head 11 is rotating, the drive rod 21b of the shield jack 21 extends backward. As a result, as shown in Figure 4, the tip of the drive rod 21b comes into contact with the front end surface of the existing segment 20a, causing the shield jack 21 to press against the existing segment 20a.

[0065] From the state shown in Figure 4, the drive rod 21b of the shield jack 21 extends, applying a thrust reaction force (i.e., thrust) to the excavator body 10, causing the excavator body 10 to move 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. Thus, the excavation process begins when the drive rod 21b of the shield jack 21 extends from the state shown in Figure 4.

[0066] Here, the control device 32 can identify the stroke amount of the drive rod 21b during the excavation process and determine whether or not the excavation process has started based on the result of identifying the stroke amount. For example, the control device 32 identifies the stroke amount of the drive rod 21b during the excavation process based on the image captured by the camera 31. Then, the control device 32 can determine that the excavation process has started when the stroke amount of the drive rod 21b begins to extend from the state where the stroke amount ST1 shown in Figure 4 is present. In addition, the control device 32 can also determine that the installation process has ended based on the determination that the excavation process has started in this way.

[0067] Figure 5 shows the extension and retraction state of the drive rod 21b during the excavation process. Figure 6 shows the extension and retraction state of the drive rod 21b at the end of the excavation process.

[0068] In one excavation cycle, 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, the excavator body 10 moves forward by a length approximately equal to the width of one segment 20 in one excavation cycle. Once the excavator body 10 has moved forward by a length approximately equal to the width of one segment 20 in one excavation cycle, the extension of the drive rod 21b of the shield jack 21 stops. The cutter rotation motor 16 then stops, and the rotation of the cutter head 11 also stops. This completes the excavation of the ground by the cutter head 11, and the excavation process ends.

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

[0070] Here, the control device 32 can identify the stroke amount of the drive rod 21b during the excavation process and determine whether the excavation process is in progress or completed based on the result of identifying the stroke amount. For example, the control device 32 can determine that the excavation process is in progress if the stroke amount of the drive rod 21b is longer than the stroke amount ST1 shown in Figure 4 and shorter than the stroke amount ST3 shown in Figure 6. Also, for example, the control device 32 can determine that the excavation process is completed if the stroke amount of the drive rod 21b is the stroke amount ST3 shown in Figure 6. Furthermore, the control device 32 can also determine that the installation process has started based on the determination that the excavation process has been completed in this way.

[0071] As described above, the control device 32 identifies information regarding the stroke amount of the drive rod 21b during the excavation process in a specific processing step during the excavation process. This allows the control device 32 to understand the progress of the excavation process (specifically, whether the excavation process has started, is in progress, or has finished) during the excavation process in which the tunnel boring machine 1 moves forward while the ground is excavated by the rotation of the cutter head 11. For example, by notifying the operator of the decision result from the control device 32 (specifically, whether the excavation process has started, is in progress, or has finished), the operator can also understand the progress of the excavation process and proceed with various tasks while understanding the progress of the excavation process.

[0072] In particular, in this embodiment, as described above, the extension and retraction state of the drive rods 21b of multiple shield jacks 21 can be identified using a single camera 31, which is an example of a non-contact sensor. While conventionally used contact sensors are installed to directly measure the positional relationship between the body 21a of the shield jack 21 and the drive rod 21b, the non-contact sensor used in this embodiment captures the situation as data such as images from a distance from the shield jack 21, and by analyzing and calculating this data, it becomes possible to understand the positional relationship between the body 21a of the shield jack 21 and the drive rod 21b, including its relationship to the surroundings. Therefore, in the excavation process, the number of sensors that detect the drive rod 21b can be reduced, while still allowing for understanding the progress of the excavation process. This offers advantages such as cost reduction in the overall sensor configuration compared to, for example, providing one contact sensor to detect the drive rod 21b for each shield jack 21.

[0073] Furthermore, compared to a simple conventional stroke sensor, the camera 31 of this embodiment allows for visual confirmation of whether the drive rod 21b of the shield jack 21 is in contact with the segment 20 or if there is a gap. For example, in the excavation process, if an excavation command has been issued but one shield jack 21 is not in contact with the segment 20 and there is a gap, it can be determined that the shield jack 21 is malfunctioning.

[0074] The specific processing described above (i.e., the processing to determine the extension and retraction state of the drive rods 21b of each shield jack 21) can be performed, for example, during the installation process. In other words, the control device 32 performs the specific processing, for example, during the installation process. Specifically, during the installation process, with excavation by the cutter head 11 and the forward movement of the tunnel boring machine 1 stopped, one ring of segments 20 is installed behind the tunnel boring machine 1. In such an installation process, it is particularly important to understand the contact state between the drive rods 21b and the existing segments 20a. Therefore, in the specific processing during the installation process, the control device 32 determines the contact state between the drive rods 21b and the existing segments 20a during the installation process.

[0075] Figure 7 shows the extension and retraction state of the drive rod 21b during the installation of the segment 20b to be installed as part of the installation process.

[0076] As shown in Figure 7, once the excavation process is complete, the drive rod 21b of the shield jack 21 in the section where the segment 20b to be installed is to be installed is retracted, thereby creating a space SP for assembling the segment 20b to be installed with the existing segment 20a. The segment 20b to be installed is inserted into the created space SP, and the segment 20b is installed in front of the existing segment 20a.

[0077] Here, the control device 32 determines, based on the image captured by the camera 31, whether the contact state between the drive rod 21b and the existing segment 20a is such that 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 Figure 7, if it is determined that the space SP necessary for installing the segment 20b to be installed is formed by shortening the drive rods 21b of the four shield jacks 21 that are arranged continuously in the circumferential direction by a length longer than the width of one segment 20, then it can be determined that the segment 20b to be installed can be installed.

[0078] Furthermore, there are cases where the drive rod 21b of the shield jack 21 is intentionally not extended. For example, in the excavation process, instead of contacting the existing segment 20a to provide excavation thrust, there are cases where the drive rod 21b of the shield jack 21 in that section is not extended in order to secure the installation space for the first piece of segment 20b to be installed in the next installation process, thereby shortening the overall construction time. Based on the image captured by the camera 31, the control device 32 can determine that even for the shield jack 21 that is intentionally not extended, if it determines that a space SP is formed between the drive rod 21b of the four shield jacks 21 that are arranged continuously in the circumferential direction and the existing segment 20a, then it can determine that the segment 20b to be installed can be installed.

[0079] Figure 8 shows the extension and retraction state of the drive rod 21b after the installation of the segment 20b to be installed during 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, which had been retracted to form the space SP necessary for installing the segment 20b, extends. For example, in the example shown in Figure 8, the drive rods 21b of the four shield jacks 21, which had been retracted to form the space SP, extend. The tips of the drive rods 21b of the four shield jacks 21 then come into contact with the front end surface of the installed segment 20b, and these four shield jacks 21 press against the segment 20b.

[0081] Here, the control device 32 can determine, based on the image captured by the camera 31, whether the drive rod 21b has been extended relative to the installed segment 20b, as shown in Figure 8, and whether the shield jack 21 is pressing against the segment 20b. Since the installed segment 20b corresponds to the existing segment 20a, the state in which the installed segment 20b is pressed by the shield jack 21, as shown in Figure 8, can also correspond to one form of contact between the drive rod 21b and the existing segment 20a. The control device 32 may also determine whether the shield jack 21 is pressing against the segment 20b based on the determination of the stroke amount of the drive rod 21b, in addition to understanding such a contact state. Furthermore, the control device 32 may also take into account the hydraulic pressure value of the shield jack 21 when determining such a contact state.

[0082] After the installation of one segment 20b to be installed is completed, a new segment 20b to be installed is installed next to that segment 20b. This process is repeated sequentially until one ring of segments 20 is installed. The installation of the segments 20b to be installed is performed using the erector device 19, as described above.

[0083] As described above, in the installation process, the control device 32 not only grasps the change in the stroke amount of the drive rod 21b around the segment installation area, but also identifies the contact state between the drive rod 21b and the existing segment 20a during the installation process as a specific process. This allows the control device 32 to grasp the progress of the installation process (specifically, whether the installation process has started or finished, and whether the space SP necessary for installing the segment 20b to be installed has been formed) in the installation process where one ring of segment 20 is installed behind the tunnel boring machine 1 while the excavation by the cutter head 11 and the forward movement of the tunnel boring machine 1 have stopped. For example, by notifying the operator of the decision result from the control device 32 (specifically, whether the installation process has started or finished, and whether the space SP necessary for installing the segment 20b to be installed has been formed), the operator can also grasp the progress of the installation process and proceed with various tasks while understanding the progress of the installation process.

[0084] In particular, in this embodiment, as described above, the extension and retraction state of the drive rods 21b of multiple shield jacks 21 can be identified using a single camera 31, which is an example of a non-contact sensor. Therefore, in the installation process, the number of sensors that detect the drive rods 21b can be reduced, while still allowing for monitoring of the progress of the installation process. This offers advantages such as cost reduction in the overall sensor configuration compared to, for example, providing one contact-type sensor for each shield jack 21 to detect the drive rods 21b.

[0085] In the above example, the excavation process and the installation process are described in alternation. However, the excavation process and the installation process may be carried out partially simultaneously. For example, the installation process may start before the excavation process is completed. In this case, although the margin for forming the space SP necessary to install the segment 20b to be installed will be smaller, by starting the installation process once such space SP has been secured and carrying out the excavation and installation processes partially in parallel, the overall construction time for the combined excavation and installation processes can be shortened.

[0086] As described above, the control system 30 of the tunnel boring machine 1 according to this embodiment includes at least one sensor (a camera 31 in the above example) that is positioned at a distance from the plurality of shield jacks 21 and detects each of the drive rods 21b of the plurality of shield jacks 21 in a non-contact manner, and a control device 32 that performs a specific processing to identify the extension and retraction state of each of the drive rods 21b of the plurality of shield jacks 21 based on the detection results from the sensor. As a result, for example, as in the above example, the extension and retraction state of the drive rods 21b of the plurality of shield jacks 21 can be identified using one non-contact sensor, thereby reducing the number of sensors and lowering costs. In addition, compared to sensors built into the shield jacks 21, the structure and manufacturing process of the shield jacks 21 can be simplified by not building them in, thus reducing the overall cost. Furthermore, the maintainability of the sensor can be improved compared to sensors built into the shield jacks 21. In addition, compared to sensors provided on the shield jacks 21 in an exposed state, the failure due to the influence of the external environment can be suppressed by positioning the sensor in isolation. As described above, this embodiment makes it possible to understand the extension and retraction state of each shield jack 21 while reducing costs and improving maintainability.

[0087] In particular, in the control system 30 of the tunnel boring machine 1 according to this embodiment, the control device 32 performs specific processing during the excavation process in which the cutter head 11 excavates the ground. As a result, the operator can use the results of the specific processing during the excavation process to grasp the progress of the excavation process (for example, whether the excavation process has started, is in progress, or has finished) and proceed with various tasks.

[0088] In particular, in the control system 30 of the tunnel boring machine 1 according to this embodiment, the control device 32 identifies information regarding the stroke amount of the drive rod 21b during the excavation process in a specific processing step during the excavation process. As a result, the progress of the excavation process (for example, whether the excavation process has started, is in progress, or has finished) can be appropriately grasped through the specific processing step during the excavation process.

[0089] In particular, in the control system 30 of the tunnel boring machine 1 according to this embodiment, the control device 32 performs specific processing during the installation process in which the segments 20 are installed behind the boring machine body 10. As a result, the operator can use the results of the specific processing in the installation process to understand the progress of the installation process (for example, whether the installation process has started or finished, and whether the space SP necessary for installing the target segment 20b has been formed) and proceed with various tasks.

[0090] In particular, in the control system 30 of the tunnel boring machine 1 according to this embodiment, the control device identifies the contact state between the drive rod 21b and the existing segment 20a during the installation process. This makes it possible to appropriately grasp the progress of the installation process (for example, whether the installation process has started or finished, or whether the space SP necessary for installing the segment 20b to be installed has been formed) through the identification process during the installation process.

[0091] In particular, in the control system 30 of the tunnel boring machine 1 according to this embodiment, the control device 32 determines, in the specific processing during the installation process, whether the above-mentioned contact state is such that a space SP necessary for installing the segment 20b to be installed is formed around the existing segment 20a. As a result, the worker can proceed with various tasks after appropriately understanding, in particular, whether a space SP necessary for installing the segment 20b to be installed is formed through the specific processing during the installation process.

[0092] In particular, in the control system 30 of the tunnel boring machine 1 according to this embodiment, the sensor is a camera 31. This allows for non-contact detection of the drive rod 21b from a position spaced apart from the multiple shield jacks 21. Therefore, for example, since the extension and retraction state of the drive rods 21b of multiple shield jacks 21 can be identified using a single camera 31, the number of sensors can be reduced, and costs can be appropriately reduced. Furthermore, by using a camera 31 as the sensor, the structure and manufacturing process of the shield jack 21 can be simplified by not integrating it, thus appropriately reducing the overall cost of the sensor compared to cases where sensors are built into the shield jack 21. In addition, by using a camera 31 as the sensor, maintainability can be appropriately improved compared to cases where sensors are built into the shield jack 21. Furthermore, by using a camera 31 as the sensor, failures due to the influence of the external environment can be appropriately suppressed by locating it in isolation compared to cases where sensors are provided on the shield jack 21 in an exposed state.

[0093] In the above, an example was described in which multiple cameras 31 are used as sensors to detect the drive rods 21b of each shield jack 21 in a non-contact manner. However, such sensors are not limited to cameras 31. For example, the sensor may be a ranging device that emits a probe wave and receives the reflected wave. Examples of ranging devices include LIDAR, radar (e.g., millimeter-wave radar), ultrasonic sensors, etc. In this case as well, as in the case where cameras 31 are used as sensors, cost reduction, improved maintainability, and suppression of failures due to the influence of the external environment can be appropriately achieved. When selecting a camera 31 or ranging device as a sensor, the criteria should be determined by considering the distance to the object, directivity, environmental resistance, etc.

[0094] Furthermore, in addition to using non-contact sensors such as cameras 31 and LiDAR to grasp the situation in two or three dimensions, the obtained image data can be used not only to grasp and process the state of the shield jack 21, but also to present the image data itself to the operator, thereby improving work efficiency in the excavation and installation processes.

[0095] Furthermore, the above description illustrates an example in which one sensor (camera 31 in the above example) is provided for a group of shield jacks 21 arranged continuously in the circumferential direction. 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 shield jacks 21. Alternatively, 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] Furthermore, the above example illustrates how the hydraulic pressure of the shield jack 21 can be taken into account when determining the extension and retraction state of the drive rod 21b after installation of the segment 20b to be installed (specifically, the state in which the drive rod 21b is extended relative to the installed segment 20b, causing the shield jack 21 to press against the segment 20b). However, it is equally effective to take into account the hydraulic pressure value of the shield jack 21 when determining the extension and retraction state of the drive rod 21b in other situations.

[0097] Preferred embodiments of the present invention have been described above with reference to the attached drawings. However, it goes without saying that the present invention is not limited to the embodiments described above, and that various modifications or alterations within the scope of the claims also fall within the technical scope of the present invention.

[0098] For example, although the above describes a tunnel boring machine 1 of the earth pressure type (including the mud pressure type), the tunnel boring machine according to the present invention may also be of the slurry type.

[0099] Furthermore, although the above description of the components of the tunnel boring machine 1 was given with reference to the drawings, the dimensions and positional relationships of the components in the drawings are merely illustrative examples, and the dimensions and positional relationships of the components of the tunnel boring machine 1 are not limited to the examples shown in the drawings. In addition, components may be added, deleted, or modified as appropriate for the tunnel boring machine 1 illustrated in the drawings. [Explanation of Symbols]

[0100] 1. Tunnel boring machine 10 Excavator body 11 cutter heads 12 Cutter central axis 13 Bulkhead 14 Rotating Rings 15 Linked beams 16 Cutter Swivel Motor 17 Chambers 18 Screw conveyor 19 Erecta equipment 20 segments 20a Existing segments 20b Segments to be installed 21 Shield Jack 21a Main Unit 21b Drive Rod 22 Tail Brush 30 Control Systems 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 excavator body, A cutter head is rotatably mounted at the front end of the excavator body, Multiple shield jacks, each having an extendable drive rod, are arranged at intervals along the inner circumferential surface of the excavator body, A control system for performing processing related to a tunnel boring machine equipped with the following: Multiple sensors are positioned at a distance from the shield jack, non-contactively detect the drive rod of the shield jack, and are spaced apart from each other in the circumferential direction of the excavator body. A control device that performs a specific processing to determine the extension and retraction state of each of the drive rods of the plurality of shield jacks based on the detection results from the plurality of sensors, Equipped with, The sensor has a detection range that extends from the sensor, and detects the drive rod within the detection range. One of the sensors detects a plurality of the drive rods that are within the detection range, All of the drive rods are detected by the aforementioned multiple sensors. Control system for a tunnel boring machine.

2. The control device performs the specified processing during the excavation process in which the cutter head excavates the ground. A control system for a tunnel boring machine according to claim 1.

3. The control device, in the specific process, identifies 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 specified processing during the installation process in which segments are installed behind the main body of the excavator. A control system for a tunnel boring machine according to claim 1.

5. The control device, in the specific process, identifies 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. The control device, in the specific processing, determines whether the contact state is such that the 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 aforementioned sensor is a camera. A control system for a tunnel boring machine according to any one of claims 1 to 6.

8. The aforementioned sensor is a rangefinder that emits a probe wave and receives the reflected wave. A control system for a tunnel boring machine according to any one of claims 1 to 6.

9. A cylindrical excavator body, A cutter head is rotatably mounted at the front end of the excavator body, Multiple shield jacks, each having an extendable drive rod, are arranged at intervals along the inner circumferential surface of the excavator body, A control method for performing processing related to a tunnel boring machine equipped with the following: The control device is positioned at a distance from the shield jack and non-contactively detects the drive rod of the shield jack, and based on the detection results from a plurality of sensors positioned at intervals from each other in the circumferential direction of the excavator body, it identifies the extension and retraction state of each of the drive rods of the plurality of shield jacks. The sensor has a detection range that extends from the sensor, and detects the drive rod within the detection range. One of the sensors detects a plurality of the drive rods that are within the detection range, All of the drive rods are detected by the aforementioned multiple sensors. A control method for tunnel boring machines.

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