JP2763464B2 - Moving state detection device - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an apparatus for detecting the traveling state of a moving body, and more particularly to a traveling state detecting apparatus capable of measuring the traveling direction of a moving body such as a shield machine.

[0002]

2. Description of the Related Art When a tunnel is excavated using a shield machine or the like, generally, the attitude direction of the shield machine is detected using a gyrocompass so that the shield machine proceeds along a predetermined target path. Has control.

[0003] However, when shield excavation is performed, FIG.
As shown in (A), the attitude direction 100 of the shield machine 10 and the actual traveling direction 200 may not match. In this case, since the gyro compass can detect only the attitude direction 100 of the shield machine 10, there is a problem that a difference between the attitude direction 100 and the actual traveling direction 200 appears as a detection error.

[0004] Further, as shown in FIG.
If 0 moves parallel (slides) during shield excavation,
The posture direction 100 does not change. For this reason, the gyro compass cannot detect this translation, and as a result, there is a problem that a measurement error occurs in the actual traveling direction 200 of the shield machine 10.

As a measure against such a measurement error, at present,
Each time a single ring segment is assembled, error correction is performed by optical surveying. However, the advantages of the gyrocompass are that there is no need for an underground space for installing excavation path measuring equipment, and there is no need to change equipment. It cannot be used.

[0006] In particular, such error correction by optical surveying is possible when excavating a large-diameter tunnel because there is sufficient space for installing equipment, but when excavating a small-diameter tunnel such as water and sewage. Had a problem that was difficult.

[0007]

As described above, in the conventional traveling state detecting device using the gyro compass, only the attitude direction 100 of the shield machine 10 is detected. In the case where there is an error between them and when the shield machine 10 has caused a side slip, this appears as a measurement error. Therefore, it is necessary to periodically correct the error using optical surveying or other means. There is a problem that accurate real-time measurement of the traveling direction cannot be performed.

In particular, in the prior art requiring such error correction, an expensive surveying machine is required, and it takes time and labor. Therefore, these are one of the factors that increase the construction unit cost.

SUMMARY OF THE INVENTION The present invention has been made in view of such conventional problems, and has as its object to provide a traveling state detecting device capable of directly and almost real-time measuring the traveling direction of a moving body such as a shield machine. Is to do.

[0010]

In order to achieve the above-mentioned object, the present invention is directed to a method in which an acceleration component in a movement plane including a posture direction of a moving body is directed to regions on both sides of the posture direction, and First and second acceleration sensors that detect as intersecting acceleration components in first and second directions;
Speed component calculating means for calculating a speed component of the moving body in the first and second directions based on the acceleration components in the first and second directions; and first and second directions with respect to the attitude direction And a traveling direction calculating means for calculating a traveling direction of the moving body based on the crossing angle of the moving body and the velocity components of the moving body in the first and second directions.

Further, according to the present invention, an acceleration component in a movement plane including a posture direction of a shield machine is directed to regions on both sides of the posture direction and intersects with each other in first and second directions. First and second components detected as components
An acceleration sensor, speed component calculating means for calculating a speed component of the shield machine in the first and second directions based on the acceleration components in the first and second directions, and a first component for the attitude direction. And a traveling direction computing means for computing the traveling direction of the shield machine based on the intersection angle of the shield machine in the second direction and the speed component of the shield machine in the first and second directions. .

Here, it is preferable that the first and second acceleration sensors are formed such that the first and second directions intersect the posture direction at an acute angle.

[0013]

According to the present invention, the first and second acceleration sensors are used to detect the acceleration of a moving body as acceleration components directed in first and second directions intersecting each other via the posture direction of the moving body. doing.

Then, based on the acceleration components in the first and second directions, the speed components of the moving body in the first and second directions are calculated, and the speed components are vector-wise synthesized. , The traveling direction of the moving object is calculated.

As described above, according to the present invention, the actual traveling direction of a moving body such as a shield machine can be accurately detected almost in real time from a plurality of acceleration components.

Further, based on the velocity components of the moving body in the first and second directions, the moving distance components of the moving body in the first and second directions are calculated, and these are integrated, whereby The current traveling position of the moving body can be accurately detected.

As described above, according to the present invention, the actual traveling direction of the moving object itself using the acceleration sensor is determined by, for example, an error between the attitude direction 100 and the traveling direction 200 as shown in FIG. The measurement can be performed accurately in almost real time without being affected by parallel movement or the like.

[0018]

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

FIG. 1 shows a preferred example of a shield machine to which the present invention is applied. The shield machine 10 of the embodiment
, A face plate 12 provided with a cutter is driven to rotate to excavate a face. Posture direction 100 of this shield machine 10
Is set to coincide with the rotation axis of the face plate 12.

In the shield machine 10, a plurality of jacks 14 are provided at the rear end side of the shield machine 10 at intervals in the circumferential direction. , A thrust directed in the excavation direction is obtained by applying a reaction force to the excavation direction, and the excavation direction is changed by controlling the reaction force from each segment 16.

In such a shield machine 10, depending on the rotation direction of the face plate 12 and the soil condition of the face, the shield machine 10 has a direction 20 different from the attitude direction 100 as shown in FIG.
In some cases, the vehicle may move toward zero or slide as shown in FIG. Especially such a phenomenon,
It is more likely to occur in the horizontal direction than in the vertical direction. For this reason,
The shield machine 10 of the embodiment is provided with a gyro 18 for detecting a posture direction 100 and three acceleration sensors 20, 22, and 24 for detecting an actual traveling direction 200.

FIG. 2A shows how the three acceleration sensors 20, 22, and 24 are mounted. Lateral direction of the shield machine 10 including the posture direction 100 (posture direction 10
In the movement plane, the first and second acceleration sensors 20 and 22 are directed to the regions on both sides of the posture direction 100 and intersect with each other in the movement plane. It is installed to detect accelerations α1, α2 toward two directions 110, 120. Each of these acceleration sensors 20, 22 has an installation direction 110, 1
It is preferable to use a single-axis accelerometer that selectively detects only the acceleration component toward 20.

A direction 13 perpendicular to the posture direction 100
The acceleration component to 0 is a relatively small value. Therefore, when using an acceleration sensor with normal sensitivity,
It is preferable that the acceleration component toward the lateral direction 130 is combined with the acceleration component having a large value toward the posture direction 100 and the whole is picked up as a relatively large value. For this reason, it is preferable that the first and second acceleration sensors 20 and 22 be installed in a direction as close as possible to the posture direction 100 as long as the acceleration component in the lateral direction 130 can be detected. The installation angle θ is appropriately changed according to the detection sensitivity of the sensor and the like, but is set to θ = 5 ° in the embodiment.

The auxiliary acceleration sensor 24 is installed so as to detect an acceleration component in a lateral direction 130 perpendicular to the posture direction 100. Therefore, the sideslip distance can be detected by integrating the detected acceleration of the auxiliary acceleration sensor 24 twice in time. The auxiliary acceleration sensor 24 is also configured using a single-axis type accelerometer, similarly to the first and second acceleration sensors 20 and 22.

With the above configuration, the acceleration components α 1 and α 2 in the first and second directions 110 and 120 detected by the first and second acceleration sensors 20 and 22 are provided.
Is integrated over time, velocity components v1 and v2 directed to the first and second directions 110 and 120 as shown in FIG. 2B can be obtained. The actual traveling direction 200
The speed vector V toward can be obtained.

As described above, in the shield machine 10 of the embodiment, since the actual traveling direction 200 is directly measured, even if the deviation angle α exists between the attitude direction 100 and the actual traveling direction 200, It is possible to measure the traveling direction 200 in real time without being affected by this.

Further, the first and second directions 110, 1
The speed components v1 and v2 to 20 are time-integrated to obtain a moving distance component per unit time, and a moving distance per unit time toward the actual traveling direction 200 is obtained from the moving distance component vector thus obtained, By integrating this as vector information, the traveling path of the shield machine 10 can be accurately grasped in real time.

Although it is often thought that the acceleration cannot be measured when the shield machine has a constant velocity, the actual shield excavation generally proceeds while the shield machine 10 pulsates. The traveling direction 200 can be detected almost in real time and continuously using the apparatus described above.

FIG. 3 shows the acceleration sensors 20, 22,
An example of a single-axis accelerometer used as 24 is shown. In this accelerometer, the horizontal direction in the figure is an input axis indicating the detected acceleration direction. The accelerometer detects the amount of deflection of a beam 34 attached to the housing 30 via a flexure hinge 32 via a flexure hinge 32 so as to be tiltable in the direction of the input axis, using a deflection pickup 36, and controls the servo amplifier 38. It is configured to output as an acceleration signal via In the same figure, 37 is a magnet, 39
Represents a Toruca coil, respectively.

FIG. 4 is a block diagram of a traveling state detecting device provided in the shield machine 10 according to the embodiment.

First and second acceleration sensors 20, 22
And each direction 1 detected using the auxiliary acceleration sensor 24
Acceleration components α1, α2, α3 of 10, 120, 130
Are time-integrated by the corresponding speed calculation units 40, 42, and 44 and output as speed components v1, v2, v3.

The velocity vector calculator 46 calculates the velocity components v 1, v 2 in the first and second directions 110, 120.
And the first and second directions 11 with respect to the posture direction 100
Velocity components v1, v2 based on the crossing angle .theta.
Are vector synthesized. The velocity vector V thus obtained
Is a velocity vector of the shield machine in the actual traveling direction 200 as shown in FIG. Therefore, based on the velocity vector V, the progress calculation unit 56
Can be grasped in real time.

In particular, as shown in FIG.
In the case where the attitude direction 100 of 0 is different from the traveling direction 200, or in the case where the shield machine 10 slides as shown in FIG. 10 actual travel directions 2
00 can be accurately grasped directly and in real time without being affected by the conventional error factors.

The speed components v1 and v2 in the first and second directions 110 and 120 calculated by the speed calculation units 40 and 42 are time-integrated by the distance calculation units 48 and 50, and the moving distance components l1 and It is converted to l2. The moving distance calculation unit 54 calculates the first and second directions 110 and 120.
The moving distance components l1 and l2 toward the vector are synthesized, and the moving distance L per unit time toward the actual traveling direction 200 of the shield machine 10 is calculated.
Operation output to

Accordingly, the progress calculation unit 56 calculates the excavation path of the shield machine 10 and the current coordinate position in real time based on the speed vector V and the actual moving distance L per unit time as described above. Output.

Further, in the embodiment, the speed component v3 in the lateral direction 130 output from the speed computing unit 44 is time-integrated in the lateral slip amount computing unit 52, and this is calculated as the lateral slip amount l3 in the lateral direction 130. Output to 56. Therefore, the progress calculation unit 56 calculates the moving distance in the horizontal direction 130 based on the data input from the velocity vector calculating unit 46 and the moving distance calculating unit 54, and the moving distance is calculated by the side slip amount calculating unit 52. It is possible to monitor in real time whether or not an error component is included in the calculation outputs of the speed vector calculation unit 46 and the movement distance calculation unit 54 while checking whether the output is equal to the side slip amount l3.

Further, in the apparatus of the embodiment, the attitude direction 100 of the shield machine 10 detected by the gyro compass 18
Is input to the progress calculation unit 56.

The progress calculation unit 56 shields data such as the actual traveling direction 200 of the shield machine 10, the excavation route and the current coordinate position, and the attitude direction 100 of the shield machine 10 inputted from the gyro compass 18. Output to the control unit 58. The shield control unit 58 controls the direction of excavation of the shield machine 10 and other controls based on such input data.

In particular, in the present embodiment, the current attitude direction 100 of the shield machine 10 and the actual traveling direction 200 can be measured in real time, and the current coordinate position of the shield machine 10 can be calculated in real time. The control unit 58 can accurately control the direction of the shield machine 10 so that the shield machine 10 advances along a predetermined target route.

The present invention is not limited to the above embodiment, and various modifications can be made within the scope of the present invention.

For example, in the above embodiment, the speed sensor 2
Although the case where 0 and 22 are installed only in the horizontal movement plane including the posture direction 100 has been described as an example, a speed sensor having the same configuration is provided in the vertical movement plane including the posture direction 100 (preferably, the horizontal movement plane). (In a plane perpendicular to the plane) by a similar method to form a progress detection circuit.
Thereby, not only the traveling direction of the shield machine 10 in the horizontal direction but also the actual traveling direction in the vertical direction can be grasped in real time, and the shield machine 10 can be controlled more accurately.

In the above-described embodiment, the intersection angle between the first and second acceleration sensors 20 and 22 and the posture direction 100 is set to be equal. However, if necessary, the intersection angle may be set to a different angle. Good.

Further, in the above embodiment, the case where the traveling state detecting device of the present invention is used for detecting the traveling direction of the shield machine 10 has been described as an example, but the present invention is not limited to this, and other various moving The present invention can be widely applied as a traveling state detecting device for a body, for example, a moving body such as a ship or a vehicle.

[0044]

As described above, according to the present invention,
The traveling directions of the shield machine and other moving bodies can be measured almost in real time and accurately without being affected by the deviation between the attitude direction of the moving bodies and the actual traveling direction.

In particular, by using the apparatus of the present invention for detecting the direction of travel of the shield machine, it is not necessary to periodically correct the error between the attitude direction of the shield machine and the actual travel direction as in the prior art. In addition, the entire apparatus can be made simple and inexpensive, and automatic continuous control of the shield machine can be performed. .

[Brief description of the drawings]

FIG. 1 is a schematic explanatory view of a shield machine to which the present invention is applied.

FIG. 2 is an explanatory diagram of an arrangement of acceleration sensors provided in the shield machine of the embodiment and a principle of detecting a traveling direction performed by using the acceleration sensors.

FIG. 3 is a schematic explanatory view of an acceleration sensor used in the embodiment.

FIG. 4 is a block diagram of a progress detection circuit provided in the shield machine of the embodiment.

FIG. 5 is a schematic explanatory diagram when the attitude direction of the shield machine is different from the actual movement direction.

[Explanation of symbols]

 Reference Signs List 10 shield machine 20 acceleration sensor 22 acceleration sensor 40 speed detection unit 42 speed detection unit 46 speed vector calculation unit 48 distance calculation unit 50 distance calculation unit 54 moving distance calculation unit 56 progress calculation unit 100 attitude direction 110 first direction 120 first 2 direction 200 direction of travel

────────────────────────────────────────────────── ─── Continuing on the front page (72) Shoji Takahashi 1-7-1, Kyobashi, Chuo-ku, Tokyo Toda Construction Co., Ltd. (72) Koichi Ito 1-7-1, Kyobashi, Chuo-ku, Tokyo Toda Construction Inside (72) Inventor Tadashi Higuchi 1-7-1, Kyobashi, Chuo-ku, Tokyo Toda Construction Co., Ltd. (72) Inventor Takeshi Yagura 1-7-1, Kyobashi, Chuo-ku, Tokyo Toda Construction ( 56) References JP-A-4-237637 (JP, A) JP-A-63-19397 (JP, A) (58) Fields investigated (Int. Cl. ⁶ , DB name) E21D 9/06 301

Claims (2)

(57) [Claims] An acceleration in a first plane and a second direction intersecting with each other in an area on both sides of a posture plane in a movement plane including a posture direction of a shield machine. First and second acceleration sensors detected as components, and speed component calculation for calculating speed components of the shield machine in the first and second directions based on the acceleration components in the first and second directions. Means, an intersection angle of the first and second directions with respect to the attitude direction, and a speed component of the shield machine in the first and second directions.
And a traveling direction computing means for computing a traveling direction of the shield machine based on the movement of the shield machine. The first and second acceleration sensors determine the first and second directions in the movement plane within the movement plane.
Within the angle range where the acceleration component perpendicular to the force direction can be detected
, The traveling state detection device being set to a direction close to the posture direction . 2. The method of claim 1, based on the velocity component to the first and second directions, Sea
Moving distance calculating means for calculating the moving distance of the machine in the traveling direction, and shielding based on the detected traveling direction and the detected traveling distance.
And a traveling position calculating means for calculating a traveling position of the machine.