| 摘要 |
PURPOSE:To enable attitude control by assuming displacement from instrumentation data for a direction of a shield excavator based on correlation between variations in the direction of the shield excavator and variations in displacement in the case position measurement data lacks. CONSTITUTION:Laser beams are irradiated to a target 16 provided to the inside of a shield excavator 11 from an automatic measurement device 15 installed in a fixed point in a tunnel. After that, the sight is adjusted to the target 16, and follow control of a sight direction is made to automatically perform always position measurement of the shield excavator 11. In the case position measurement data lacks, displacement is assumed from instrumentation data for a direction of the shield excavator 11 based on correlation between variations in the displacement and variations in deflection. Then, displacement estimated value is used as one of control parameter, and selection of jack patterns is made to make attitude control. According to the constitution, even if frequent view obstruction of the automatic measurement device 15 is made by workers or carrying articles, automatic attitude control is continuously implemented, and excavation can be carried out. |
