JPH0713432B2 - Shield excavator obstacle detection device - Google Patents

Description

TECHNICAL FIELD The present invention relates to a shield excavator obstacle detection device.

[Conventional technology]

Conventionally, a "shield excavator obstacle detection device" disclosed in Japanese Patent Laid-Open No. 60-261892 is known.

[Problems to be Solved by the Invention]

However, such a conventional one cannot detect the shape including the depth of the underground obstacle in front of the shield excavator,
It was extremely inconvenient.

The present invention eliminates such drawbacks.

[Means for Solving the Problems]

The shield excavator obstacle detection device of the present invention is provided with a subterranean radar antenna provided on the front surface of the cutter face to irradiate a microwave forward to receive a reflected wave, and the subsurface radar antenna has its microwave irradiation surface inclined. A mechanism for oscillating, such as a swing angle detector of the underground radar antenna, a rotation angle detector of the cutter face, a stroke detector of the cutter face advancing and retracting jack,
It is characterized by comprising a calculation mechanism for calculating the output of the above ground radar antenna and the output of each of the above detectors, and a display of the calculation result.

[Action]

In the shield excavator obstacle detection device of the present invention, not only the position of the obstacle but also the shape including the depth is displayed on the display.

〔Example〕

 Embodiments of the present invention will be described below with reference to the drawings.

1 and 2 are explanatory views of a shield excavator obstacle detection device to which the present invention is applied, wherein 1 is a shield excavator and 2
Is the ground, 3 is the cutter face, 4 is the cutter drive shaft,
5 is a cutter bit, 6 is a shield jack, and 8 is a driver truck. In the present invention, an underground radar antenna 10 is provided on the front face of the cutter face 3 for directing and emitting microwave forward to receive reflected waves. The subsurface radar antenna (10) has a microwave oscillating mechanism (11) so that its microwave irradiation surface can be freely tilted, and this oscillating angle can be detected by a oscillating angle detector (12).

Further, the rotation angle of the cutter drive shaft 4 can be detected by the cutter rotation angle detector 13, and the stroke of the shield jack can be detected by the jack stroke detector 14.
5, computer 16, CRT display 17, converter 18-20
Are provided respectively.

Further, as shown in FIG. 3, the output of the subsurface radar antenna 10 is added to the data logger 15, and the swing angle detector is added.
12 and the output of the cutter rotation angle detector 13 are converted into the converter 1
In addition to the above data logger 15 via 8,19, this data logger
The output of 15 is applied to the computer 16, the output of the jack stroke detector 14 is applied to the computer 16 via the converter 20, and the output of the computer 16 is displayed on the CRT display 17.

Since the shield excavator obstacle detection device of the present invention is configured as described above, the ground 2 in front of the ground radar antenna 10
The microwave irradiation surface of the underground radar antenna 10 is oscillated by a oscillating mechanism 11 at a fixed angle when the cutter face 3 is rotated. If the microwave irradiation point is moved over a wide area and continuously, the microwave signal reflected from the front obstacles such as underground buried objects and soil boundary,
The signals of the detectors 13 and 12 for the cutter rotation angle and the antenna swing angle are added to the data log 15, and the moving average values of the distance and the reflection level of the underground obstacle with respect to the cutter rotation angle and the antenna swing angle are calculated. The computer 16 calculates the depth of the obstacle and the reflection level intensity on the front coordinates of the shield excavator 1 based on the moving average value, the output from the jack stroke detector 14, and the magnitude of the obstacles. Will be displayed on the CRT display 17.

In this case, as shown in FIG. 4, the measuring point for the obstacle ahead is on the circumferential line whose radius is the attachment point of the ground radar antenna 10 on the cutter face 3, and the shape and position of the obstacle are as follows. Desired.

(1) The coordinate points X and Y with respect to the front plane are obtained by the cutter rotation angle signal with the front center of the shield machine as a reference, and the thrust point coordinate position Z of the point is determined with the jack stroke signal with the shield machine excavation start point as a reference. Ask.

(2) Microwave directivity angle is 30 °, obstruction shape
Since the position resolution is poor, the "moving average value within each setting range angle" for "" the signal value for each cutter rotation angle on the rotation locus line of the measuring point "and" the signal value for each antenna swing angle "is set to" each By setting the data as the measurement point at the center of the set range angle, the resolution of the shape and position of the obstacle is improved.

(3) The front position of the obstacle, the distance and the reflection level obtained from the data of the measurement point coordinate positions X, Y and Z, the antenna swing angle and the distance of the obstacle, and the reflection level obtained above are displayed on the CRT display. Display as follows.

1) Display an image of an obstacle with respect to the shield machine reference point on the front plane position on one screen.

 Display by size according to depth.

 It is displayed in similar shades and shades according to the reflection level.

2) The mesh at coordinate position X, Y, Z is, for example, 50 cm.

〔The invention's effect〕

As described above, according to the shield excavator obstacle detection device of the present invention, there is a great advantage that the shape of the obstacle can be detected by the front position, distance and reflection level of the obstacle displayed on the CRT display.

[Brief description of drawings]

FIG. 1 is an explanatory view of a shield excavator obstacle detection device of the present invention, FIG. 2 is a front view of a cutter face, FIG. 3 is a block diagram of a shield excavator obstacle detection device of the present invention, and FIG.
The figure is an explanatory view of a display example of an obstacle. 1 ... Shield excavator, 2 ... Ground, 3 ... Cutter face, 4 ... Cutter drive shaft, 5 ... Cutter bit, 6 ... Shield jack, 8 ... Driving truck, 10 ...
Underground radar antenna, 11 …… Swinging mechanism, 12 …… Swinging angle detector, 13 …… Cutter rotation angle detector, 14 …… Jack stroke detector, 15 …… Data logger, 16 …… Computer, 17 …… CRT display, 18-20 …… Transducer.

Claims (1)

[Claims] 1. A subsurface radar antenna provided on the front surface of a cutter face for irradiating a microwave forward to receive a reflected wave, and a mechanism for swinging the subsurface radar antenna so that its microwave irradiation surface is inclined. And a swing angle detector of the underground radar antenna, a rotation angle detector of the cutter face, a stroke detector of the jack face advancing and retracting jack, the output of the underground radar antenna and the detector A shield excavator obstacle detection device comprising a calculation mechanism for calculating the output and a display of the calculation result.