Automatic pressure analysis-based steering apas propulsion method

Abstract

The present invention relates to an automatic pressure analysis-based steering APAS propulsion method within a tunneling machine body, which enables automatic control of multiple steering jacks for steering the excavation head through a direction detection structure using laser position information irradiated onto a target part installed at the rear of the tunneling machine and a pressure-based analysis structure using a pressure detection unit and a pressure analysis unit installed on each of the multiple propulsion hydraulic jacks, thereby allowing real-time comparative analysis of pressure values ​​and pressure change rates acting on each of the propulsion hydraulic jacks, and early prediction of the tunneling machine's direction of travel using laser position information, so as to minimize eccentric excavation or deviation from the direction of travel that may occur during the excavation process, and to perform steering of the excavation head more quickly and precisely, thereby improving the straightness of the excavation direction and steering precision.

Description

Technology Field

[0001] The present invention relates to a propulsion method for an automatic pressure analysis-based steering APAS (Automatic Pressure Analysis Steering) within a tunneling machine body, which enables automatic control of the excavation head's steering using a laser-based direction detection structure and a pressure analysis structure of a propulsion hydraulic jack. Background Technology

[0002] In general, trenchless excavation methods for installing underground pipes such as water and sewage pipes, power lines, communication lines, and gas lines are widely used in various industrial fields due to the advantage of being able to form pipelines underground while minimizing road excavation.

[0003] In particular, the trenchless excavation method is carried out by excavating the ground while propelling the tunneler forward using multiple hydraulic jacks based on a reaction wall installed behind the launching shaft, and technology to stably maintain the directionality and straightness of the tunneler during the excavation process is highly required.

[0004] Korean Patent Registration No. 10-1376730 (registered on March 14, 2014, hereinafter referred to as 'Document 1') presents a "horizontal excavation method capable of tip adjustment." Document 1 comprises: a reaction plate installation process for installing a reaction plate; a head section preparation process for preparing a head section for excavation by rotary cutting; a steel pipe installation process for installing a steel pipe at the rear of the head section; a propulsion device preparation process for preparing a propulsion device equipped with a plurality of hydraulic cylinders and a plurality of pistons driven by them; a propulsion device installation process for installing the propulsion device at the rear of the steel pipe such that the rear of the plurality of hydraulic cylinders is supported by the reaction plate and the steel pipe is propelled forward by the plurality of pistons; and an excavation process for excavating the ground by the head section and the propulsion device. The present invention relates to a horizontal excavation method capable of tip adjustment, which includes a correction process for correcting the excavation direction of the head portion and the steel pipe by installing an eccentric forming member in the area between some or all of the pistons among the plurality of pistons and the steel pipe, thereby enabling easy adjustment when the excavation deviates from a predetermined path.

[0005] Another technology is disclosed in Korean Patent Registration No. 10-1727205 (registered on April 10, 2017, hereinafter referred to as 'Document 2'), titled "Method for Constructing a Non-excavation Structure Using an Automatic Control Device for Propulsion Direction." Document 2 comprises: a base installation step of installing a launching base and a receiving base; an equipment installation step of installing a pilot pipe head, propulsion equipment, and a control system at the launching base; a pilot pipe propulsion step of sequentially installing and pressing a plurality of pilot pipes into the rear of the pilot pipe head while simultaneously monitoring the pilot pipe head with the control system to control the direction of travel of the pilot pipe head; and a re-hole auger head connection step of connecting a re-hole auger head to the rear of the plurality of pilot pipes when the pilot pipe head reaches the receiving base. The present invention relates to a method for constructing a trenchless structure using an automatic propulsion direction control device, comprising: a propulsion step in which a plurality of reaming augers are sequentially installed at the rear of the reaming auger head and propelled, while discharging soil and gravel discharged from the launching base through the reaming augers, and simultaneously dismantling the pilot pipe head and the plurality of pilot pipes sequentially at the arrival base; and a main pipe propulsion step in which, when the reaming auger head reaches the arrival base, a plurality of main pipes are sequentially installed at the rear end of the reaming auger and pressed in, while simultaneously dismantling the reaming auger head and the plurality of reaming augers sequentially at the arrival base; wherein the pilot pipe head is monitored by a control system to control the direction of travel of the pilot pipe head, thereby ensuring the direction of travel of the pilot pipes is accurate, and the construction of the reaming augers and the main pipes is accurate and rapid by utilizing the pilot pipes as guide pipes.

[0006] Another technology is disclosed in Korean Patent Registration No. 10-2782280 (registered on March 11, 2025, hereinafter referred to as 'Literature 3'), titled "SSM Method Using a Straight-Line Guidance Device to Maintain Directionality of Propulsion Operation." Literature 3 comprises: a vertical excavation completion stage in which earthwork operations on the ground are completed within the launching work area and the receiving work area installed in the ground of the work area to complete conditions for horizontal excavation work; a reaction wall installation stage in which the machine height for installing the tunneler within the launching work area and the receiving work area is secured and raised, floor concrete is poured, and a reaction wall installation stage to maintain the directionality and straightness of the propulsion operation; a rail installation stage in which an entrance necessary for the initial excavation of the tunneler is installed on the floor of the launching work area to maintain the directionality of the tunneler operation and an entrance installation stage; and an initial excavation stage in which preparations are made to excavate and insert the tunneler horizontally into the ground using the entrance in the launching work area. The technology relates to an SSM method using a straight-line guide device for maintaining the directionality of a propulsion operation, comprising: a propulsion pipe joining arrangement step in which a hydraulic jack is advanced and then retracted to arrange a propulsion pipe between the tunneler and the hydraulic jack while the tunneler is installed horizontally; wherein the propulsion pipe joining arrangement step is implemented by using a straight-line guide device that guides the tunneler to maintain its direction from the launching work area to the arrival work area during propulsion, thereby enabling the tunneler to accurately maintain its directionality and straightness through the straight-line guide device.

[0007] However, since most of the aforementioned conventional technologies perform directional correction only after a deviation in the excavation direction occurs, or rely on laser-based position information or a separate straight-line guidance structure to maintain directionality, there were limitations in preemptively predicting and responding to changes in ground resistance or eccentric loads that occur during the excavation process.

[0008] In addition, during the excavation process, instantaneous impact loads are repeatedly applied to the excavation head by rock, gravel layers, or foreign materials. Since these impact loads are directly transmitted to the hinge of the steering jack used to steer the excavation head, problems such as hinge play, damage to the elastic body, increased steering error, and reduced durability may occur. Prior art literature

[0009] Reference 1. Republic of Korea Patent Registration No. 10-1376730 (Registered Mar. 14, 2014) Reference 2. Republic of Korea Patent Registration No. 10-1727205 (Registered April 10, 2017) Reference 3. Republic of Korea Patent Registration No. 10-2782280 (Registered Mar. 11, 2025) The problem to be solved

[0010] The present invention aims to solve the above-mentioned problems by providing an automatic pressure analysis-based steering APAS propulsion method within the main body of a tunneler that can improve the straightness and automatic control of excavation by analyzing the pressure value and pressure change rate acting on each propulsion hydraulic jack to predict the deviation in the excavation direction and automatically control the steering of the excavation head.

[0011] Furthermore, another objective of the present invention is to provide a steering type APAS propulsion method based on automatic pressure analysis within the main body of a tunneling machine, which can distribute and absorb repetitive impact loads in multiple directions and improve the durability and steering stability of the hinge part by applying an elastic bushing structure including a plurality of main elastic members and sub-elastic members to the hinge part of a steering jack. means of solving the problem

[0012] In order to solve the above-mentioned problem, the steering-type APAS propulsion method based on automatic pressure analysis within the tunneling machine body according to the present invention is,

[0013] Work area preparation step for preparing a launching work area and a reaching work area formed on the ground of the work area;

[0014] A reaction wall installation step of installing a reaction wall at the rear of the above-mentioned oscillation work area;

[0015] A tunneling machine placement step of positioning a tunneling machine equipped with a front excavation head in front of a plurality of propulsion hydraulic jacks;

[0016] A step for placing ground equipment and soil removal equipment in a work area for controlling tunneling operations and for removing excavated soil;

[0017] An excavation step of excavating the ground by advancing the plurality of propulsion hydraulic jacks to propel the tunneling machine and excavation head forward;

[0018] A propulsion pipe arrangement step of retracting the plurality of propulsion hydraulic jacks and then additionally arranging a propulsion pipe between the tunneler and the propulsion hydraulic jacks;

[0019] A direction detection step for determining the deviation in the direction of travel of the tunneling machine by detecting the position of a laser irradiated onto a target part installed at the rear of the tunneling machine; and

[0020] An automatic steering step of detecting a pressure value acting on each of the plurality of propulsion hydraulic jacks and automatically controlling a plurality of steering jacks for steering the excavation head based on the deviation of the detected pressure value;

[0021] It is characterized by including Effects of the invention

[0022] The steering-type APAS propulsion method based on automatic pressure analysis within the main body of the tunneling machine according to the present invention is

[0023] By comparing and analyzing the pressure values ​​and pressure change rates of each propulsion hydraulic jack in real time, deviation in the excavation direction can be predicted early, and accordingly, the steering of the excavation head can be automatically controlled, thereby improving the straightness and precision of the excavation.

[0024] In addition, by utilizing a laser-based direction detection structure and a pressure-based predictive control structure together, preemptive steering control is possible before laser position deviation occurs, which has the effect of improving steering responsiveness and stability.

[0025] In addition, since the impact load can be distributed and transmitted in multiple directions by the structure of the main elastic member and sub-elastic member of the elastic bushing, it is possible to mitigate the impact concentrated on the hinge part and reduce damage to the steering jack and play caused by repeated impacts.

[0026] In addition, as the main elastic member deforms, it pressurizes the sub-elastic member of an adjacent main elastic member, thereby allowing the impact load to be distributed and transferred to the adjacent main elastic member, and has the effect of suppressing excessive deformation of a specific main elastic member.

[0027] In addition, since the contact position between the main elastic member and the sub-elastic member can be stably maintained by the guide protrusion and guide groove structure, it has the effect of suppressing torsional deformation or slippage during repeated impacts.

[0028] In addition, by arranging multiple elastic bushings in an alternating manner, it is possible to prevent the concentration of impact in a specific direction and to distribute the impact load more uniformly. Brief explanation of the drawing

[0029] FIG. 1 is a block diagram showing an automatic pressure analysis-based steering type APAS propulsion method within a tunneling machine body according to the present invention, FIG. 2 is a diagram showing a tunneling machine and a steering structure, FIG. 3 is a block diagram showing a control structure of a control unit, FIG. 4 is a rear view showing a state in which four steering jacks are arranged in the excavation head of the tunneling machine, FIG. 5 is a side view showing that an elastic bushing is provided, FIG. 6 is a three-dimensional view showing that an elastic bushing is provided, FIG. 7 is a three-dimensional view showing an elastic bushing, FIG. 8 is a side view of FIG. 7, and FIG. 9 is a three-dimensional view showing a state in which two or more elastic bushings are arranged side by side. Specific details for implementing the invention

[0030] Preferred embodiments of the present invention will be described in detail below with reference to the attached drawings.

[0031] Prior to this, terms and words used in this specification and claims should not be interpreted as being limited to their ordinary or dictionary meanings, but should be interpreted in a meaning and concept consistent with the technical spirit of the invention, based on the principle that the inventor can appropriately define the concept of the terms to best describe his invention. Accordingly, the embodiments described in this specification and the configurations illustrated in the drawings are merely one preferred embodiment of the invention and do not represent all of the technical spirit of the invention; therefore, it should be understood that various equivalents and modifications capable of replacing them may exist at the time of filing this application.

[0032] Based on Figure 2, the direction is designated as the front or forward side of the excavation head of the tunneling machine and the rear or rear side of the reaction wall.

[0033] As illustrated in FIGS. 1 and 2, the steering type APAS propulsion method based on automatic pressure analysis within the tunneling machine body according to the present invention is,

[0034] Work area preparation step for preparing a launching work area and a reaching work area formed on the ground of the work area;

[0035] A reaction wall installation step of installing a reaction wall (10) at the rear of the above-mentioned launching work area;

[0036] A drilling machine placement step in which a drilling machine (20) having a drilling head (21) at the front is placed in front of a plurality of propulsion hydraulic jacks (30);

[0037] A step for placing ground equipment and soil removal equipment in a work area for controlling tunneling operations and for removing excavated soil;

[0038] An excavation step of excavating the ground by advancing the plurality of propulsion hydraulic jacks (30) to propel the tunneling machine (20) and the excavation head (21) forward;

[0039] A propulsion pipe arrangement step of retracting the plurality of propulsion hydraulic jacks (30) and then additionally arranging a propulsion pipe between the tunneler (20) and the propulsion hydraulic jacks (30);

[0040] A direction detection step for determining the deviation in the direction of travel of the tunneling machine (20) by detecting the position of a laser beam irradiated onto a target part (60) installed at the rear of the tunneling machine (20); and

[0041] Automatic steering step of detecting a pressure value acting on each of the plurality of propulsion hydraulic jacks (30) and automatically controlling a plurality of steering jacks (22) for steering the excavation head (21) based on the deviation of the detected pressure value;

[0042] Includes,

[0043] The above direction detection step is performed using a laser irradiation unit (50) installed at the rear of the oscillation work unit, a target unit (60) installed at the rear of the tunneling machine (20) that displays the laser irradiated from the laser irradiation unit (50), a shooting unit (70) that photographs the target unit (60), and a display unit (80) that displays the image captured by the shooting unit (70).

[0044] The above automatic steering step is performed using a control unit (90) that automatically controls the plurality of steering jacks (22) using laser position information displayed on the display unit (80) and pressure deviation analyzed by the pressure analysis unit (92), and is equipped with a pressure detection unit (91) installed on each of the plurality of propulsion hydraulic jacks (30) and a pressure analysis unit (92) that compares and analyzes pressure values ​​detected by the pressure detection unit (91).

[0045] Here, the pressure analysis unit (92) predicts the direction in which ground resistance is concentrated by comparing and analyzing the pressure values ​​and pressure change rates of each propulsion hydraulic jack (30) while the plurality of propulsion hydraulic jacks (30) are respectively positioned on the upper, lower, left, and right sides relative to the rear of the tunneling machine (20), and the control unit (90) automatically controls the plurality of steering jacks (22) using the predicted direction information.

[0046] And when the pressure value of one or more of the plurality of propulsion hydraulic jacks (30) exceeds a reference pressure range, the control unit (90) automatically corrects the direction of the excavation head (21) by contracting the steering jack (22) in the direction corresponding to the direction in which the pressure increased or extending the steering jack (22) in the opposite direction, and preemptively performs steering of the excavation head (21) using the pressure deviation of each of the plurality of propulsion hydraulic jacks (30) before the laser position displayed on the target unit (60) deviates from the reference position.

[0047] And the plurality of steering jacks (22) include a jack body (221) and a piston rod (222) that moves back and forth within the jack body (221), the jack body (221) is rotatably coupled to the tunneling machine (20) via a first hinge part (23), and the end of the piston rod (222) is rotatably coupled to the excavation head (21) via a second hinge part (24).

[0048] In particular, at least one of the first hinge part (23) and the second hinge part (24) is provided with an elastic bushing (25) interposed between the hinge shaft (26) and the hinge (27) that form the hinge part.

[0049] At this time, the elastic bushing (25) is composed of a hollow cylindrical shaft portion (251) fitted onto a hinge shaft (26), a plurality of main elastic members (252) connected to be spaced apart radially along the outer surface of the shaft portion (251), and a sub-elastic member (253) formed to protrude from the middle portion of each main elastic member (252) and contact the end of an adjacent main elastic member (252).

[0050] In addition, each of the above main elastic members (252) is formed in a hook shape that extends outward from the outer surface of the shaft (251) and then has its end bent along the circumferential direction.

[0051] Furthermore, a guide projection (254) is formed on either the end of the main elastic member (252) or the sub-elastic member (253), and a guide groove (255) into which the guide projection (254) is inserted or guided is formed on the other.

[0052] Next, two or more elastic bushings (25) are fitted along the hinge axis (26) so as to be spaced apart, and adjacent elastic bushings (25) are arranged such that their respective main elastic member (252) and sub-elastic member (253) face each other when viewed from the side.

[0053] Looking at the present invention in more detail,

[0054] As shown in FIG. 1, the present invention comprises a work area preparation step, a reaction wall installation step, a tunneling machine placement step, a ground equipment and soil removal equipment placement step, an excavation step, a thrust pipe arrangement step, a direction detection step, and an automatic steering step.

[0055] First, in the preparation stage of the work area, a launching work area and a reaching work area are formed in the ground of the work area. The launching work area may consist of a space where a tunneling machine (20), a propulsion hydraulic jack (30), a propulsion pipe, and various control equipment are installed, and the reaching work area may consist of a space where the tunneling machine (20) reaches after the tunneling is completed.

[0056] At this time, the above-mentioned launching and reaching work areas may be formed in various sizes and structures depending on the excavation depth, soil conditions, groundwater conditions, and construction distance, and additional earth retaining structures, lining structures, or concrete reinforcement structures may be formed for work stability.

[0057] Next, in the reaction wall installation step, a reaction wall (10) is installed at the rear of the launching work area. The reaction wall (10) is configured to stably support the propulsion reaction force generated by a plurality of propulsion hydraulic jacks (30).

[0058] The above reaction wall (10) may be made of a steel structure, a concrete structure, or a composite structure thereof, and may be installed to be integrated with the inner wall or floor structure of the work area so as not to be deformed by repeated loads or impact loads occurring during the propulsion process.

[0059] Next, in the tunneling machine placement step, a tunneling machine (20) equipped with a front excavation head (21) is placed in front of the plurality of propulsion hydraulic jacks (30).

[0060] The above-mentioned tunneling machine (20) may include a main body with a cylindrical or polygonal structure, and may have a soil discharge structure, a power supply structure, a control wiring structure, and a sensor structure installed inside.

[0061] The above excavation head (21) is configured to perform ground cutting or crushing and may include a disc cutter, a cutting bit, a screw cutter, or a mixed cutting structure. Additionally, the above excavation head (21) may be configured to be replaceable depending on the type of ground to be excavated.

[0062] As shown in FIG. 4, a plurality of steering jacks (22) are positioned at the rear of the excavation head (21). The steering jacks (22) can be positioned at the upper, lower, left, and right directions of the excavation head (21), respectively, and are configured so that the tilt direction of the excavation head (21) can be adjusted by the extension or contraction movement of the steering jacks (22).

[0063] The above steering jack (22) includes a jack body (221) and a piston rod (222) that moves back and forth within the jack body (221).

[0064] The jack body (221) is rotatably coupled to the drilling machine (20) via the first hinge part (23), and the end of the piston rod (222) is rotatably coupled to the drilling head (21) via the second hinge part (24).

[0065] Accordingly, when the steering jack (22) in a specific direction is extended, the excavation head (21) is tilted in the opposite direction, and conversely, when the steering jack (22) in a specific direction is retracted, it can be rotated in that direction.

[0066] Next, in the placement phase of ground facilities and soil removal facilities, ground facilities for controlling tunneling operations and soil removal facilities for discharging excavated soil generated during the excavation process are placed in the work area.

[0067] The above-mentioned ground equipment may be configured for the control, monitoring, and power supply of excavation operations, and may include a hydraulic supply unit, a power supply unit, a control panel, a control computer, a data processing unit, a communication device, and a monitoring device.

[0068] In particular, the above control panel and control computer can be electrically connected to a propulsion hydraulic jack (30), a steering jack (22), a pressure detection unit (91), a pressure analysis unit (92), a shooting unit (70), and a display unit (80), and can be configured to control and monitor the operating status of each device in real time during excavation work.

[0069] In addition, the above ground equipment may include a work monitoring device for displaying in real time the propulsion distance of the tunneling machine (20), excavation speed, excavation direction, pressure value of the propulsion hydraulic jack (30), operating status of the steering jack (22), and laser position information.

[0070] Accordingly, the operator can check the excavation status and direction deviation status in real time, and if necessary, perform manual control or change automatic control conditions.

[0071] Meanwhile, the above-mentioned soil removal facility is configured to discharge soil, rock fragments, or slurry generated during the excavation process to the outside.

[0072] The above-mentioned soil removal equipment may include a screw conveyor, a soil removal conveyor, a slurry transfer pipe, a vacuum suction device, a soil storage hopper, or a soil removal transfer vehicle, and may be configured in various ways depending on the condition of the ground to be excavated or the construction environment.

[0073] For example, in soft ground with high moisture content or when a slurry excavation method is applied, the excavated soil can be discharged using a slurry transfer pipe and a slurry separation device, and in dry ground or general soil layers, the excavated soil can be transported to the outside using a screw conveyor or a belt conveyor.

[0074] In addition, the above-mentioned soil removal facility can be automatically controlled in conjunction with the excavation speed or excavation volume of the tunneling machine (20), and can be configured to output a warning signal through the control unit (90) or temporarily stop the tunneling operation in the event of insufficient discharge of excavated soil or blockage of the soil removal line.

[0075] Accordingly, excavated soil generated during the excavation process can be stably discharged to the outside, and soil accumulation or slurry backflow within the work area can be prevented.

[0076] In addition, the above-mentioned ground facilities and soil removal facilities may be installed as movable or fixed structures depending on the ground conditions of the work area, excavation distance, excavation diameter, and construction environment, and multiple facilities may be arranged in a modular form.

[0077] In other words, the present invention is configured to improve the control stability and construction efficiency of excavation operations by placing above-ground facilities for controlling excavation operations and soil discharge facilities for discharging excavated soil together in the work area.

[0078] Next, in the excavation stage, the plurality of propulsion hydraulic jacks (30) are advanced to propel the tunneling machine (20) and the excavation head (21) forward, thereby excavating the ground.

[0079] The plurality of propulsion hydraulic jacks (30) can be positioned in the upper, lower, left, and right directions, respectively, based on the rear of the tunneling machine (20).

[0080] As the tunneling machine (20) is propelled forward by the forward movement of the above-mentioned hydraulic jack (30), the above-mentioned excavation head (21) excavates the ground.

[0081] In this process, if the ground to be excavated is bedrock, a gravel layer, or an eccentric ground, ground resistance may increase in a specific direction, and accordingly, there is a possibility that the direction of travel of the tunneling machine (20) may be deflected.

[0082] Next, in the propulsion pipe arrangement step, after retracting the plurality of propulsion hydraulic jacks (30), additional propulsion pipes are arranged between the tunneler (20) and the propulsion hydraulic jacks (30).

[0083] The above-mentioned propulsion pipe may be made of steel or concrete pipe and can be used as a structure to form an underground pipeline after excavation is completed.

[0084] The above propulsion tube may be configured to be continuously connected to the rear of a previously installed propulsion tube, and the propulsion hydraulic jack (30) repeatedly advances the tunneling machine (20) while pressing the rear of the propulsion tube.

[0085] Next, in the direction detection step, the position of the laser irradiated onto the target part (60) installed at the rear of the tunneling machine (20) is detected to determine the deviation in the direction of travel of the tunneling machine (20).

[0086] The above direction detection step is performed using a laser irradiation unit (50), a target unit (60), a shooting unit (70), and a display unit (80).

[0087] The above laser irradiation unit (50) is installed at the rear of the oscillation work area and is configured to irradiate a laser in a straight line along a reference direction.

[0088] The target part (60) is installed at the rear of the tunneling machine (20) and is configured to indicate the position of the laser irradiated by the laser irradiation part (50).

[0089] The above-mentioned shooting unit (70) is configured to photograph the above-mentioned target unit (60) and may include a camera or an image sensor.

[0090] The image captured by the above-mentioned shooting unit (70) can be displayed in real time on the display unit (80), and the operator can visually check the direction deviation status of the tunneling machine (20) through this.

[0091] Next, in the automatic steering stage, the pressure value of the propulsion hydraulic jack (30) is detected in real time using a pressure detection unit (91) installed on each of the plurality of propulsion hydraulic jacks (30).

[0092] The pressure value detected by the pressure detection unit (91) is transmitted to the pressure analysis unit (92), and the pressure analysis unit (92) determines the direction in which ground resistance is concentrated by comparing and analyzing the pressure value and pressure change rate of each propulsion hydraulic jack (30).

[0093] For example, if the pressure value of the propulsion hydraulic jack (30) positioned to the left of the tunneling machine (20) increases relatively compared to the propulsion hydraulic jack (30) in another direction, the pressure analysis unit (92) can determine that a relatively high ground resistance has occurred to the left of the excavation head (21).

[0094] That is, if there is bedrock, a gravel layer, a high-density soil layer, or an underground obstacle on the left side of the excavation head (21), the excavation resistance increases, and accordingly, a relatively larger driving force may be required on the left side to drive the excavator (20) forward.

[0095] The pressure analysis unit (92) determines the state in which ground resistance is concentrated in a specific direction by comparing and analyzing the pressure values ​​of each propulsion hydraulic jack (30), and the results of this analysis can be transmitted to the control unit (90).

[0096] Accordingly, the control unit (90) may determine that there is a possibility that the excavator (20) may be deflected to the right direction due to an increase in ground resistance in the left direction, and in response, the steering jack (22) positioned in the left direction is retracted or the steering jack (22) positioned in the right direction is extended to automatically correct the direction of the excavation head (21).

[0097] That is, the excavation head (21) can be tilted to perform a relatively larger cutting or crushing action toward the direction of increased ground resistance, thereby allowing the target excavation path to be stably maintained while correcting the excavation deviation occurring in a specific direction.

[0098] In addition, the control unit (90) may be configured not to simply perform steering based on the pressure value of one propulsion hydraulic jack (30), but to determine the steering amount and steering direction of the excavation head (21) by comprehensively analyzing the pressure values, pressure change rates, and pressure deviation directions of multiple propulsion hydraulic jacks (30).

[0099] For example, if the pressure value of the left-direction propulsion hydraulic jack (30) continuously increases and the pressure value of the upper-direction propulsion hydraulic jack (30) also increases at the same time, the control unit (90) can determine that ground resistance is concentrated in the upper-left direction of the excavation head (21), and accordingly, the direction of the excavation head (21) can be corrected to the upper-left direction by controlling a plurality of steering jacks (22) in combination.

[0100] In addition, the present invention is configured not to simply perform steering after a laser position deviation occurs, but to preemptively predict the direction of increase in ground resistance using the pressure change rate of the propulsion hydraulic jack (30).

[0101] That is, when the excavation head (21) approaches high-resistance ground in a specific direction, a characteristic may appear in which the pressure value or pressure change rate of the hydraulic jack (30) propelling in a specific direction increases at a stage before the actual excavator (20) is deflected.

[0102] The pressure analysis unit (92) analyzes these pressure change patterns in real time, and the control unit (90) can use the analysis results to predict which direction the tunneling machine (20) is likely to be deflected in.

[0103] Accordingly, if an increase in pressure or an increase in the rate of change of pressure in a specific direction occurs at a stage before the laser position deviates from the reference range, the control unit (90) determines in advance the possibility of the excavation head (21) being deflected and controls the steering jack (22) in advance, thereby enabling the straightness of the excavation direction to be maintained more stably.

[0104] That is, the present invention is configured to perform preemptive automatic steering control at a stage prior to the occurrence of excavation deflection by utilizing a pressure-based predictive control structure of the propulsion hydraulic jack (30), rather than a simple post-correction method.

[0105] Meanwhile, as shown in FIGS. 5 and 6, at least one of the first hinge portion (23) and the second hinge portion (24) is provided with an elastic bushing (25). The elastic bushing (25) is interposed between the hinge shaft (26) and the hinge (27) forming the hinge portion, and is configured to mitigate the direct transmission of repetitive impact loads, vibrations, and eccentric loads acting on the excavation head (21) to the steering jack (22) during the excavation process.

[0106] In particular, during the excavation process, instantaneous impact loads may repeatedly act on the excavation head (21) due to bedrock, gravel layers, or foreign substances in the ground, and the impact loads may be concentratedly transmitted to the hinge portion connected to the jack body (221) and piston rod (222) of the steering jack (22).

[0107] Accordingly, in the past, problems such as play occurring between the hinge shaft and the hinge, increased wear, damage to the hinge part, or accumulation of steering errors could occur, but the present invention is configured to elastically absorb and disperse the impact load by interposing an elastic bushing (25) between the hinge shaft (26) and the hinge (27).

[0108] The elastic bushing (25) includes a hollow cylindrical shaft portion (251). The shaft portion (251) is configured to be fitted onto a hinge shaft (26) and is formed to be closely positioned along the outer surface of the hinge shaft (26).

[0109] Additionally, as shown in FIGS. 7 and 8, a plurality of main elastic members (252) are connected to the outer surface of the shaft (251) in a radially spaced manner. The main elastic members (252) are formed in a hook shape that extends outward from the outer surface of the shaft (251) and has an end that is bent along the circumferential direction.

[0110] Accordingly, the main elastic member (252) can perform not only simple compression deformation but also bending deformation, torsional deformation and elastic recovery deformation in combination, and can respond elastically in multiple directions to impact loads acting from various directions.

[0111] In addition, a sub-elastic member (253) is formed protruding from the middle portion of each main elastic member (252). The sub-elastic member (253) is positioned to contact the end of an adjacent main elastic member (252).

[0112] Accordingly, when an impact load in a specific direction occurs during the excavation process and one of the main elastic members (252) is deformed by pressure, the end of the main elastic member (252) presses the sub-elastic member (253) of the adjacent main elastic member (252).

[0113] That is, the impact load concentrated on a specific main elastic member (252) can be distributed and transferred to an adjacent main elastic member (252), and the impact energy can be distributed and absorbed by a plurality of main elastic members (252).

[0114] In addition, the sub-elastic member (253) acts as a buffer support point that supports the end of the adjacent main elastic member (252), thereby enabling the suppression of excessive bending deformation or sudden elastic collapse of a specific main elastic member (252).

[0115] In particular, as stepwise support force is formed by the sub-elastic member (253) during the process in which the main elastic member (252) is deformed by pressure, it is possible to implement non-linear elastic characteristics in which the initial impact is absorbed relatively smoothly, while the stiffness increases when an impact load greater than a certain amount is applied.

[0116] Accordingly, the present invention can simultaneously secure cushioning performance against repeated impacts and structural support performance, and can improve the durability of the hinge part against eccentric impacts and vibrations occurring during the excavation process.

[0117] Also, as shown in FIG. 8, a guide projection (254) is formed on either the end of the main elastic member (252) or the sub-elastic member (253), and a guide groove (255) into which the guide projection (254) is inserted or guided is formed on the other.

[0118] Accordingly, the contact position can be stably maintained during the process in which the end of the main elastic member (252) presses the sub-elastic member (253), and twisting deformation or slipping caused by repeated impact can be suppressed.

[0119] In addition, as shown in FIG. 9, two or more elastic bushings (25) may be fitted so as to be spaced apart along the hinge axis (26). At this time, adjacent elastic bushings (25) may be arranged such that their respective main elastic member (252) and sub-elastic member (253) face each other when viewed from the side.

[0120] That is, the bending direction of the main elastic member (252) formed in one elastic bushing (25) and the bending direction of the main elastic member (252) formed in an adjacent elastic bushing (25) can be arranged to face opposite directions, and accordingly, the elastic deformation directions of each elastic bushing (25) can be configured to intersect each other.

[0121] In addition, the above-mentioned sub-elastic member (253) can also be positioned to face opposite directions between adjacent elastic bushings (25), so that when an impact load is applied, each elastic bushing (25) can provide elastic support in different directions.

[0122] For example, when the main elastic member (252) of the front elastic bushing (25) is bent and deformed in one direction, the main elastic member (252) of the rear elastic bushing (25) can provide elastic support in a direction opposite to the direction of the bending and deformation, thereby suppressing rapid elastic deformation in a specific direction.

[0123] In addition, since the main elastic member (252) and the sub-elastic member (253) are structured to face each other, even if the impact load is concentrated in one direction, the impact transmission direction can be distributed to the elastic bushing (25) on the opposite side.

[0124] That is, since the impact energy can be transmitted while being cross-distributed among the multiple elastic bushings (25), the phenomenon of the impact being concentrated only on a single elastic bushing (25) can be suppressed.

[0125] In particular, regarding the repetitive impact and torsional loads that occur during the excavation process, the elastic bushings (25) in the front and rear directions provide elastic support forces in opposite directions, thereby reducing the eccentric stress acting on the hinge shaft (26) and the hinge (27).

[0126] Accordingly, uneven wear of the hinge part, increased play, or vibration transmission of the steering jack (22) can be suppressed, and as a result, steering stability of the excavation head (21) and durability of the hinge part can be improved.

[0127] That is, the present invention is configured to automatically control the steering of the excavation head (21) using a laser-based direction detection structure and a pressure-based analysis structure of a propulsion hydraulic jack, and to improve straightness of the excavation direction, steering stability, and durability by applying an elastic bushing (25) having a multi-stage impact dispersion structure to the hinge part of the steering jack (22).

[0128] In describing the present invention above, the "steering type APAS propulsion method based on automatic pressure analysis within the tunneling machine body" having a specific shape and structure has been described primarily with reference to the attached drawings; however, the present invention is capable of various modifications and changes by those skilled in the art, and such modifications and changes should be interpreted as falling within the scope of protection of the present invention. Explanation of the symbols

[0129] 10 : Reaction wall 20: Tunneling machine 21 : Excavation head 22 : Steering Jack 221 : Jack main body 222 : Piston rod 23 : 1st hinge part 24 : Second hinge part 25 : Elastic bushing 251 : Shrine 252 : Main elastic member 253 : Subelastic member 254 : Guide projection 255 : Guide Home 26 : Hinge axis 27 : Hinge 30 : Hydraulic jack 50: Laser irradiation unit 60 : Target section 70 : Filming Department 80: Display section 90 : Control unit 91: Pressure detection unit 92 : Pressure Analysis Unit

Claims

Claim 1 A work area preparation step for preparing a launching work area and a reaching work area formed in the ground of the work area; a reaction wall installation step for installing a reaction wall (10) at the rear of the launching work area; a tunneling machine placement step for placing a tunneling machine (20) equipped with an excavation head (21) at the front in front of a plurality of propulsion hydraulic jacks (30); a ground equipment and soil discharge equipment placement step for placing ground equipment for controlling tunneling work and soil discharge equipment for discharging excavated soil in the work area; an excavation step for excavating the ground while advancing the plurality of propulsion hydraulic jacks (30) to propel the tunneling machine (20) and the excavation head (21) forward; a propulsion pipe arrangement step for retracting the plurality of propulsion hydraulic jacks (30) and then additionally arranging propulsion pipes between the tunneling machine (20) and the propulsion hydraulic jacks (30); and a direction detection step for determining the deviation in the direction of travel of the tunneling machine (20) by detecting the position of a laser irradiated on a target part (60) installed at the rear of the tunneling machine (20). and an automatic steering step of detecting a pressure value acting on each of the plurality of propulsion hydraulic jacks (30) and automatically controlling a plurality of steering jacks (22) for steering the excavation head (21) based on the deviation of the detected pressure value;The plurality of steering jacks (22) include a jack body (221) and a piston rod (222) that moves back and forth within the jack body (221); the jack body (221) is rotatably coupled to the tunneling machine (20) via a first hinge portion (23); the end of the piston rod (222) is rotatably coupled to the excavation head (21) via a second hinge portion (24); at least one of the first hinge portion (23) and the second hinge portion (24) is provided with an elastic bushing (25) interposed between a hinge shaft (26) and a hinge (27) forming the corresponding hinge portion; the elastic bushing (25) comprises a hollow cylindrical shaft portion (251) fitted onto the hinge shaft (26) and a plurality of members connected to be spaced apart radially along the outer surface of the shaft portion (251). An automatic pressure analysis-based steering type APAS propulsion method within a tunneling machine body, characterized by comprising a main elastic member (252) and a sub-elastic member (253) formed to protrude from the middle portion of each main elastic member (252) and contact the end of an adjacent main elastic member (252). Claim 2 In claim 1, the direction detection step is performed using a laser irradiation unit (50) installed at the rear of the oscillation work unit, a target unit (60) installed at the rear of the tunneling machine (20) for displaying a laser irradiated from the laser irradiation unit (50), a shooting unit (70) for shooting the target unit (60), and a display unit (80) for displaying an image shot by the shooting unit (70); the automatic steering step is performed using a control unit (90) that automatically controls the plurality of steering jacks (22) using laser position information displayed on the display unit (80) and pressure deviation analyzed by the pressure analysis unit (92), and is equipped with a pressure detection unit (91) installed on each of the plurality of propulsion hydraulic jacks (30). Claim 3 In claim 2, the pressure analysis unit (92) predicts the direction in which ground resistance is concentrated by mutually comparing and analyzing the pressure values ​​and pressure change rates of each propulsion hydraulic jack (30) while the plurality of propulsion hydraulic jacks (30) are respectively positioned on the upper, lower, left, and right sides relative to the rear of the tunneling machine (20); the control unit (90) automatically controls the plurality of steering jacks (22) using the predicted direction information; and when the pressure value of one or more of the plurality of propulsion hydraulic jacks (30) exceeds a reference pressure range, the control unit (90) automatically corrects the direction of the excavation head (21) by contracting the steering jack (22) in the direction corresponding to the direction of increased pressure or extending the steering jack (22) in the opposite direction, and preemptively performs steering of the excavation head (21) using the pressure deviation of each of the plurality of propulsion hydraulic jacks (30) before the laser position displayed on the target unit (60) deviates from the reference position. Pressure analysis-based steering APAS propulsion method. Claim 4 delete Claim 5 The automatic pressure analysis-based steering type APAS propulsion method within the main body of the tunneling machine, characterized in that, in claim 1, each main elastic member (252) is formed in a hook shape that extends outward from the outer surface of the shaft (251) and then has its end bent along the circumferential direction. Claim 6 In claim 5, the automatic pressure analysis-based steering type APAS propulsion method within the main body of the tunneling machine is characterized in that a guide projection (254) is formed on either the end of the main elastic member (252) or the sub-elastic member (253), and a guide groove (255) into which the guide projection (254) is inserted or guided is formed on the other. Claim 7 In claim 6, the elastic bushings (25) are fitted so as to be spaced apart along the hinge axis (26), and adjacent elastic bushings (25) are arranged such that their respective main elastic members (252) and sub-elastic members (253) face each other when viewed from the side, characterized by an automatic pressure analysis-based steering APAS propulsion method within the main body of the tunneling machine.

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