KR20210053521A - TBM Optimal Driving System for Soft Ground - Google Patents

Abstract

The present invention relates to a TBM optimal driving system and a TBM optimal driving method for soil. More specifically, the TBM optimal driving system for soil comprises: a drilling data measurement unit measuring drilling data in real-time during soil drilling through a TBM; a ground state prediction unit computing a soil ground state prediction value based on the drilling data measured by the drilling data measurement unit; an optimal driving suggestion unit suggesting the optimal driving data based on specification data of TBM equipment and the soil ground state prediction value; a current state expression unit expressing a current state value of the TBM on the optimal driving data; and a driving control unit controlling a driving factor based on the optimal driving data where the current state value is expressed.

Description

TBM optimum driving system and optimal driving method for soil use {TBM Optimal Driving System for Soft Ground}

The present invention relates to a soil TBM optimum operation system and an optimum operation method.

The tunnel excavation method is largely divided into the conventional tunneling method represented by NATM (New Austrian Tunneling Method) and the mechanized tunneling method represented by Open and Shield TBM (Tunnel Boring Machine) method. The existing conventional tunnel construction method had many problems in labor costs, construction period, and safety.

In order to solve this problem, a mechanized tunnel method is widely used. The mechanized tunneling method is an eco-friendly tunnel excavation method that can secure stability and minimize noise and vibration by minimizing ground deformation because it is mechanically stable because it is excavated in a circular cross section.

Therefore, the recent excavation of tunnels and underground spaces has replaced the existing blasting method for the purpose of increasing the safety of workers, reducing civil complaints due to noise and vibration, and reducing construction costs, focusing on subways, power outlets, and telecommunication tunnels. The mechanization of TBM is on the rise. 1A to 1C show a conceptual diagram of a tunnel construction using a tunnel boring machine (TBM) (1).

In general, in tunnel construction, the blasting method is difficult to quickly cope with noise, vibration, and deformation after excavation. However, TBM is low noise and vibration-free, so it can be applied to various grounds such as downtown areas, soft grounds, and lower rivers, and tunnels are constructed by drilling the inside of the cylinder by pressing a cylinder, a steel blade with a sharp circumference, into the curtain.

However, in the process of excavating a tunnel using a tunnel boring machine, unpredictable safety accidents may occur depending on various conditions of the ground, and the excavation is stopped, resulting in a problem that the cost required for tunnel excavation is rapidly increased. Moreover, problems are occurring more frequently during the construction process according to the recent trend of lengthening tunnels.

In order to solve this problem, there have been attempts to simulate the excavation process by a tunnel boring machine in advance by numerical analysis. However, there is a problem of low accuracy because there is a limitation in reproducing the local condition by converting the soil properties of the ground and the shape of the structure by numerical analysis. By analyzing the excavation process by the tunnel boring machine more accurately, it is possible to predict all actual tunnel construction processes, and by controlling the operating conditions at the time of excavation of the tunnel boring machine for each section based on the prediction results, it is safer and more There is an urgent need to allow rapid tunnel construction.

In addition, the applicability of TBM is expanding at the time of construction of long tunnels or under downtown areas. During TBM construction, it is a way to shorten construction cost and construction period to maximize equipment performance and operate in response to geological conditions.

Until now, tunnel excavation is performed depending on the experience of the TBM driver, so it is difficult to determine whether or not the equipment performance is maximized, and it is difficult to predict and drive the effective excavation speed.

In other words, when driving TBM, it intuitively judges and operates the driving state based on the experience of the tunnel manager and the operator.

In addition, there is a difference in the ability to respond to changes in ground conditions according to the technical proficiency of the TBM driver, and the resulting excavation speed is different.

If TBM is not operated in response to changes in ground conditions, the opportunity to improve the excavation speed may be missed due to the failure to implement the maximum performance compared to the TBM equipment performance. Is reduced, and down time increases, resulting in air delay.

In particular, there is no system in the field that can accurately judge the driver's operation state and analyze excavation data and ground conditions in real time.

Therefore, in order to analyze the cause of the lack of excavation rate during construction and to suggest a solution to the problem, the TBM optimal operation that can provide the optimum operating conditions in accordance with the ground conditions by comprehensively analyzing the ground condition and excavation data. I needed a system.

Republic of Korea Patent Publication No. 2015-0111255

Therefore, the present invention was conceived to solve the conventional problems as described above, and according to an embodiment of the present invention, excavation data (TBM torque (Torque, T), revolutions per minute (RPM)) obtained during ground excavation using TBM , Thrust force (F), barrier pressure (p), penetration depth (P), etc.) are analyzed in real time to predict the ground condition in front, and the excavation speed is maximized within the capacity of the equipment by using the ground condition. Its purpose is to provide a system for optimal operation by presenting the values of TBM thrust, RPM and torque in real time.

According to an embodiment of the present invention, the main factors (Torque, RPM, Thrust force, Penetration rate, etc.) necessary to excavate the actual soil conditions by analyzing the excavation data acquired during TBM operation in real time are the maximum within the equipment performance. Its purpose is to provide a system that suggests an operation method to realize the performance.

And according to an embodiment of the present invention, in order to maximize the driving performance by analyzing the excavation data, A separate prediction equation for the soil ground is constructed so that the ground condition prediction using excavation data is possible, and it is analyzed according to the algorithm installed in the system using the ground condition and the excavation data of TBM acquired in real time, and the main driving factors ( It is a system that suggests operating conditions so that the thrust force, RPM) and excavation variable (Torque) reach the optimum point (maximum excavation speed), and it is possible to increase the excavation speed without overloading the equipment, thus reducing the construction period. Its purpose is to provide an optimal operation system and optimal operation method for TBM for soil use.

In addition, according to an embodiment of the present invention, it is possible to reduce the construction period through the expression of the maximum excavation speed within the equipment performance by deriving an operation method suitable for the soil and ground conditions. Its purpose is to provide an optimum operation system for soil use TBM and an optimum operation method that can reduce down time and set the direction of excavation in a similar ground in the future through analysis of data accumulated during/after construction.

In addition, according to an embodiment of the present invention, by analyzing the excavation data of TBM for soil use in real time, it is possible to predict the condition of the soil in the front, and driving factors and variables (Thrust force, RPM, Torque The purpose of this is to provide an optimum operation system for soil use TBM and an optimum operation method that can present the relationship of) to the driver.

In addition, according to an embodiment of the present invention, real-time using an algorithm that derives an optimal driving factor using predicted values of the _{soil condition (elastic coefficient E 0, adhesive force C', friction angle Φ) derived by using/analyzing real-time excavation data.} Its purpose is to provide an optimum operation system for soil use TBM and an optimum operation method that can analyze excavation data and present the optimum operation direction.

According to an embodiment of the present invention, when the TBM equipment specifications are input to the TBM optimal driving system, the optimal driving curve is automatically drawn and presented to the driver, and the driver compares the drawn optimal driving curve with the current excavation status to be intuitive. Soil TBM that can find the optimum operating point according to changes in the main excavation factors (soil ground condition (elastic modulus, elastic modulus E ₀ , adhesive force C', friction angle Φ), RPM, and Torque) Its purpose is to provide an optimum operation system and an optimum operation method.

In addition, according to an embodiment of the present invention, real-time data analysis and real-time data analysis and real-time data analysis and real-time data analysis and real-time data analysis through the TBM optimal driving system controller that informs the driver of the current situation by analyzing excavation data in real time during TBM excavation, and induces adjustment of key driving factors for optimal driving Its purpose is to provide an optimum operation system for soil use TBM and an optimum operation method that can be used for optimal operation guide and analyzed real-time data is recorded in a data storage device and can be used for further analysis of excavation records.

On the other hand, the technical problems to be achieved in the present invention are not limited to the technical problems mentioned above, and other technical problems that are not mentioned are clearly to those of ordinary skill in the technical field to which the present invention belongs from the following description. It will be understandable.

A first object of the present invention is to provide an optimum operation system for TBM for soil use, comprising: a excavation data measuring unit for measuring excavation data in real time when soil is excavated through the TBM; A ground condition prediction unit for calculating a soil condition prediction value based on the excavation data measured by the excavation data measuring unit; An optimum operation presentation unit for presenting optimum operation data based on the soil ground condition predicted value and TBM equipment specification data; A current state display unit for displaying a current state value of TBM on the optimal operation data; And a driving control unit that adjusts a driving factor based on the optimal driving data in which the current state value is expressed.

In addition, the excavation data may be characterized by TBM thrust force (F), TBM torque (T), revolutions per minute (RPM), membrane pressure (p), and pipe leaf depth (P).

In addition, the ground condition predicted value may be characterized in that the stratum elastic modulus, the adhesion force of the soil, and the internal friction angle of the soil.

And the ground state prediction value may be characterized in that it is calculated by Equation 1 and Equation 2 below.

[Equation 1]

[Equation 2]

In Equations 1 and 2, P = penetration depth, F = thrust force (kN), μ = soil-steel plate friction coefficient, D = TBM diameter, W = TBM shield weight (ton), α = coefficient (0.1), E ₀ = stratum elastic modulus (MPa), A = cutter bit area (m ² ), T = Torque (kN-m), C'= soil adhesion (KPa), Φ = soil internal friction angle ( °), σ` = membrane pressure (bar).

In addition, the optimal operation data may include, on the TBM torque graph for RPM, a steady state torque line set based on a maximum possible torque line and an optimum operation curve connecting an appropriate power curve and an RPM limit line. .

In addition, the equipment specification data may be characterized in that a maximum power value, a maximum RPM value, and a maximum torque value.

And the driving factor is TBM thrust and RPM, and when the TBM thrust and RPM are changed by the operation control unit, the optimal operation presenting unit recalculates the ground condition predicted value using the changed TBM thrust, RPM, and TBM torque, Based on this, it may be characterized in that the optimal operation curve is changed and presented again.

A second object of the present invention is in the TBM optimal operation method, the first step of excavating the soil through the TBM; A second step of measuring the excavation data in real time when the excavation data measuring unit excavates the TBM soil; A third step of calculating, by the ground condition prediction unit, a predicted value of the soil condition based on the excavation data measured by the excavation data measuring unit; A fourth step of presenting the optimum operation data based on the ground condition prediction value and the TBM equipment specification data by the optimum operation presentation unit; A fifth step of, by a current state display unit, displaying a current state value on the optimal operation data in real time; A sixth step of the TBM driver adjusting the driving factor through the driving control unit based on the optimal driving data in which the current state value is expressed, and the TBM optimal driving method for soil use may be achieved.

In the second step, the excavation data measurement unit measures TBM thrust force (F), TBM torque (T), revolutions per minute (RPM), plug pressure (p), and penetration depth (P) in real time. It can be characterized by that.

In addition, in the third step, the predicted value of the ground condition is the stratum elastic modulus, the adhesion force of the soil, and the internal friction angle of the soil, and the predicted value of the ground condition may be calculated by Equation 1 and 2 below.

[Equation 1]

[Equation 2]

In Equations 1 and 2, P = penetration depth, F = thrust force (kN), μ = soil-steel plate friction coefficient, D = TBM diameter, W = TBM shield weight (ton), α = coefficient (0.1), E ₀ = stratum elastic modulus (MPa), A = cutter bit area (m ² ), T = Torque (kN-m), C'= soil adhesion (KPa), Φ = soil internal friction angle ( °), σ` = membrane pressure (bar).

And in the fourth and fifth steps, the optimal operation presentation unit, based on the ground condition prediction value and equipment specification data, on a torque graph for RPM, a steady state torque line set based on a maximum possible torque line, and An optimum operation curve connecting an appropriate power curve and an RPM limit line is displayed, and the current state value may be characterized in that the current RPM and TBM torque are displayed on the optimum operation data.

In addition, the driving factors are TBM thrust and RPM, and the sixth step is that the driver adjusts the TBM thrust and RPM so that the current state value approaches the optimal driving curve based on the current state value and the optimal driving curve. It can be characterized.

And after the step of adjusting the driving factor, if the TBM thrust and RPM are changed by the driving control unit, the optimal operation presenting unit recalculates the ground condition predicted value using the changed TBM thrust, RPM, and TBM torque, and this It may be characterized in that the optimal operation curve is changed and presented again based on the basis.

In addition, after the seventh step, steps 5 to 7 may be repeated.

The third object of the present invention can be achieved as a program for optimum operation of TBM for land use, which is stored in a medium in order to execute a method according to the aforementioned second object by being combined with a computer as hardware.

According to the system according to an embodiment of the present invention, excavation data (TBM torque (Torque, T), revolutions per minute (RPM)), thrust (Thrust force, F), and closing pressure (p) obtained during ground excavation using TBM, It analyzes the depth of penetration (P) in real time to predict the geological condition in the front and increase the excavation speed by guiding in real time to appropriately adjust the RPM or thrust force. Have.

According to the system according to the embodiment of the present invention, the main factors (Torque, RPM, Thrust force, Penetration rate, etc.) necessary to excavate the actual soil conditions by analyzing the excavation data acquired during TBM operation in real time are within the equipment performance. It has the effect of being able to suggest a driving method to realize the maximum performance in.

And according to the soil TBM optimum operation system and the optimum operation method according to an embodiment of the present invention, a prediction equation for the soil ground is separately constructed so that the ground condition prediction using excavation data is possible, and the corresponding ground condition and the corresponding ground condition are acquired in real time. It is a system that presents the driving conditions so that the main driving factors (Thrust force, RPM) and the excavation variable (Torque) reach the optimum point (maximum excavation speed) by analyzing the excavation data of TBM that is installed according to the algorithm installed in the system. There is an advantage in that the construction period can be shortened because the excavation speed can be increased while the equipment is not overwhelmed.

In addition, according to the optimum operation system and optimal operation method for TBM for soil according to an embodiment of the present invention, it is possible to shorten the construction period by expressing the maximum excavation speed within the equipment performance by deriving an operation method suitable for the soil conditions. Determination of suitability of operation It is possible to reduce down time by preventing excessive/under-operation, and has the effect of setting the future construction direction through data analysis accumulated during/after construction.

In addition, according to the soil TBM optimum operation system and optimum operation method according to an embodiment of the present invention, it is possible to predict the soil condition in front by analyzing the excavation data of the soil TBM in real time, and realize the maximum excavation speed within the appropriate power. It has the effect of presenting the relationship between the driving factor and variables (Thrust force, RPM, Torque) to the driver.

In addition, according to the soil TBM optimum operation system and optimum operation method according to an embodiment of the present invention, the soil condition (elastic coefficient E ₀ , adhesive force C', friction angle Φ) derived by using/analyzing real-time excavation data is calculated. It has the advantage of presenting the optimal driving direction by analyzing the excavation data in real time using an algorithm that derives the optimal driving factor.

According to the TBM optimum operation system for soil use and the optimum driving method according to an embodiment of the present invention, when the TBM equipment specifications are input to the TBM optimum operation system, the optimum driving curve is automatically drawn and presented to the driver, and the driver is the drawn optimum driving system. can determine the status of the job with intuitive to curve and comparing the drilling into the currently operating, the optimum operating curve key drilling elements compared (gravel ground state (elastic modulus E _0, the adhesion C ', the friction angle Φ), RPM, Torque) It has the effect of finding the optimum operating point according to the change.

In addition, according to the TBM optimal operation system and optimal driving method for soil use according to an embodiment of the present invention, the excavation data is analyzed in real time during TBM excavation, informs the driver of the current situation, and induces adjustment of key driving factors for optimal driving. Real-time data analysis and real-time optimal operation guide are possible through the TBM optimal operation system controller, and the analyzed real-time data is recorded in a data storage device so that it can be used for future construction record analysis and other TBM sites with similar ground conditions. have.

On the other hand, the effects obtainable in the present invention are not limited to the above-mentioned effects, and other effects not mentioned will be clearly understood by those of ordinary skill in the art from the following description. I will be able to.

The following drawings attached to the present specification illustrate a preferred embodiment of the present invention, and serve to further understand the technical idea of the present invention together with the detailed description of the present invention. It is limited and should not be interpreted.
1A to 1C are a conceptual diagram of tunnel construction using a tunnel boring machine (TBM) (1),
Figure 2 is a configuration diagram of a soil TBM optimal operation system according to an embodiment of the present invention,
3 is a flow chart of a method for optimal operation of TBM for soil according to an embodiment of the present invention;
4 is a conceptual diagram showing the flow of the soil TBM optimal operation system according to an embodiment of the present invention,
5 is a controller display screen according to an embodiment of the present invention;
6 is an optimal operation curve in which past and present state values are displayed according to an embodiment of the present invention;
7A is a comparison data of a torque value measured for a previously constructed soil and a torque value predicted according to an embodiment of the present invention,
7B is a graph illustrating a ground state estimation range graph for predicting an actual measured value according to an embodiment of the present invention.

The above objects, other objects, features, and advantages of the present invention will be easily understood through the following preferred embodiments related to the accompanying drawings. However, the present invention is not limited to the embodiments described herein and may be embodied in other forms. Rather, the embodiments introduced herein are provided so that the disclosed content may be thorough and complete, and the spirit of the present invention may be sufficiently conveyed to those skilled in the art.

In the present specification, when a component is referred to as being on another component, it means that it may be formed directly on the other component or that a third component may be interposed therebetween. In addition, in the drawings, the thickness of the components is exaggerated for effective description of the technical content.

Embodiments described herein will be described with reference to cross-sectional views and/or plan views, which are ideal exemplary views of the present invention. In the drawings, thicknesses of films and regions are exaggerated for effective description of technical content. Therefore, the shape of the exemplary diagram may be modified by manufacturing technology and/or tolerance. Accordingly, embodiments of the present invention are not limited to the specific form shown, but also include a change in form generated according to the manufacturing process. For example, the area shown at a right angle may be rounded or may have a shape having a predetermined curvature. Accordingly, regions illustrated in the drawings have properties, and the shapes of regions illustrated in the drawings are for exemplifying a specific shape of the region of the device and are not intended to limit the scope of the invention. In various embodiments of the present specification, terms such as first and second are used to describe various elements, but these elements should not be limited by these terms. These terms are only used to distinguish one element from another element. The embodiments described and illustrated herein also include complementary embodiments thereof.

The terms used in the present specification are for describing exemplary embodiments and are not intended to limit the present invention. In this specification, the singular form also includes the plural form unless specifically stated in the phrase. As used in the specification, "comprises" and/or "comprising" does not exclude the presence or addition of one or more other components.

In describing the specific embodiments below, a number of specific contents have been prepared to explain the invention in more detail and to aid understanding. However, a reader who has knowledge in this field enough to understand the present invention can recognize that it can be used without these various specific contents. In some cases, it is mentioned in advance that parts that are commonly known in describing the invention and are not largely related to the invention are not described in order to prevent confusion without any reason in describing the invention.

Hereinafter, according to an embodiment of the present invention, the configuration and function of the soil TBM optimum operation system 100 according to an embodiment of the present invention according to an embodiment of the present invention, and an optimum operation method using the same will be described.

First, Figure 2 shows the configuration of the soil TBM optimal operation system according to an embodiment of the present invention. And Figure 3 shows a flow chart of the soil TBM optimal operation method according to an embodiment of the present invention. In addition, Figure 4 shows a conceptual diagram showing the flow of the soil TBM optimal operation system according to an embodiment of the present invention.

As shown in FIG. 2, the TBM optimal operation system 100 for rock according to an embodiment of the present invention includes an excavation data measurement unit 10, a soil ground condition prediction unit 20, an optimum operation presentation unit 30, and the like. It can be seen that it is configured to include.

The excavation data measuring unit 10 is configured to measure excavation data in real time when the earth is excavated through TBM. Specifically, the excavation data measuring unit 10 measures TBM thrust force (F), TBM torque (T), revolutions per minute (RPM), closing pressure (p) and penetration depth (P) in real time during rock excavation. It is done.

In addition, the soil ground condition prediction unit 20 calculates a soil ground condition prediction value based on the excavation data measured by the excavation data measurement unit 10. The predicted value of the ground condition according to an embodiment of the present invention may be a stratum elastic modulus (E ₀ ), an adhesive force of the soil (C` (kPa)), and an internal friction angle of the soil (Φ, °).

And the ground state prediction value according to an embodiment of the present invention is calculated by the following equations (1) and (2).

[Equation 1]

In Equation 1, P = penetration depth, F = thrust force (kN), μ = soil-steel plate friction coefficient, D = TBM diameter, W = TBM shield weight (ton), α = coefficient (0.1 ), E ₀ = stratum elastic modulus (MPa), A = cutter bit area (m ² ).

[Equation 2]

In Equation 2, T = Torque (kN-m), C'= soil adhesion (kPa), Φ = soil internal friction angle (°), σ` = membrane pressure (bar), D = TBM diameter, α = Modulus (0.1), E ₀ = stratum elastic modulus (MPa), A = cutter bit area (m ² ).

And the optimum operation presentation unit 30 is configured to present the optimum operation data based on the predicted soil condition prediction value and TBM equipment specification data.

It can be seen that the optimum driving presentation unit 30 may include an optimum driving curve calculation unit 31, a current state display unit 32, and a driving adjustment unit 33, as shown in FIG. 2. .

5 illustrates a controller display screen according to an embodiment of the present invention. And FIG. 6 shows an optimal operation curve in which past and present state values are displayed according to an embodiment of the present invention.

The optimum operation curve calculation unit 31 according to an embodiment of the present invention includes a steady state torque line and an appropriate power curve set based on the maximum possible torque line on the TBM torque graph for RPM, as shown in FIG. 6. The optimum operation curve connected to the RPM limit line is calculated and displayed.

That is, on a graph with RPM as the horizontal axis and torque (kN-m) as the vertical axis, the optimal operation curve that connects the steady state torque line set based on the maximum possible torque line and the proper power curve and the RPM limit line is displayed.

Equipment specification data according to an embodiment of the present invention is a maximum power value, a maximum RPM value, and a maximum torque value. Based on this equipment specification data, the steady state torque line, proper power curve, and RPM limit line are determined. That is, when TBM equipment specification data is input to the soil TBM optimum operation system 100, the optimum operation curve is automatically drawn and presented to the driver. The optimum operating range designation can be set as, for example, 60% of the maximum power of the equipment and 70% of the maximum torque.

As shown in Fig. 6, the driver is the main excavation factor compared to the optimum driving curve drawn using the TBM optimum driving system for soil use (soil ground condition (elastic coefficient E ₀ , adhesion C`, friction angle Φ), RPM, torque) You can check the tendency to find the optimum operating point according to the change in. That is, the driver can intuitively grasp the work status by comparing the optimal driving curve with the current excavation status.

In addition, as shown in FIG. 5, it can be seen that the equipment specification data and current excavation data are displayed in real time on the display unit of the controller to inform the driver of information. Real-time data analysis and real-time optimal driving guide are possible through the TBM optimal driving system controller that analyzes the excavation data in real time during TBM excavation, informs the driver of the current situation and induces adjustment of key driving factors for optimal driving. In addition, the analyzed real-time data is recorded in a data storage device and can be used for future construction record analysis.

In addition, as shown in FIG. 7, the current state display unit 32 displays the current state value of the TBM on the optimum operation curve in real time or every specific period. These current state values are RPM and torque.

In addition, the driver adjusts the driving factor based on the optimal driving curve in which the current state value is expressed through the driving adjustment unit 33.

In addition, the driving factors are TBM thrust and RPM, and when the TBM thrust and RPM are changed by the operation control unit 33, the optimum driving curve calculation unit 31 uses the changed TBM thrust, RPM, and TBM torque. The predicted value is recalculated, and based on this, the optimal driving curve is changed and presented.

That is, the driver checks the current optimum driving curve and the current state value, and adjusts the TBM thrust and RPM so that it can be driven close to the optimum driving curve.

And when the TBM thrust and RPM are adjusted, the optimal driving curve calculation unit 31 changes and presents the optimal driving curve based on the changed TBM thrust, RPM, and TBM torque and the recalculated soil ground condition prediction value. Repeats this process, and changes the driving factor so that the optimum operation can be achieved.

7A shows comparison data between a torque value measured for a previously constructed soil and a torque value predicted according to an embodiment of the present invention. And Figure 7b shows a ground state estimation range graph for predicting the measured value according to an embodiment of the present invention.

7A and 7B, as a result of analyzing TBM excavation data for the previously constructed soil ground by the soil TBM optimum operation system according to the embodiment of the present invention, the actual excavation data and the predicted value are generally You can see that they are in agreement.

Hereinafter, a method for optimal operation of TBM for soil use according to an embodiment of the present invention will be described.

First, input the equipment specification data of TBM to be operated. The equipment specification data corresponds to the maximum power value, maximum RPM value, maximum torque value, maximum thrust, and the like, as mentioned above.

And through this TBM, soil excavation is started (S1).

And when the excavation data measuring unit 10 excavates the TBM rock mass, the excavation data is measured in real time (S2). Such excavation data according to an embodiment of the present invention corresponds to TBM thrust force (F), TBM torque (T), revolutions per minute (RPM), closing pressure (p), and excavation depth (P).

And, based on the excavation data measured by the excavation data measurement unit 10, the soil ground condition prediction unit 20 calculates the stratum elastic modulus corresponding to the soil ground condition prediction value, the adhesion of the soil, and the internal friction angle of the soil ( S3).

As mentioned above, the soil ground condition prediction value according to the embodiment of the present invention is calculated by the following Equations 1 and 2.

[Equation 1]

In Equation 1, P = penetration depth, F = thrust force (kN), μ = soil-steel plate friction coefficient, D = TBM diameter, W = TBM shield weight (ton), α = coefficient (0.1 ), E ₀ = stratum elastic modulus (MPa), A = cutter bit area (m ² ).

[Equation 2]

In Equation 2, T = Torque (kN-m), C'= soil adhesion (kPa), Φ = soil internal friction angle (°), σ` = membrane pressure (bar), D = TBM diameter, α = Modulus (0.1), E ₀ = stratum elastic modulus (MPa), A = cutter bit area (m ² ).

And the optimum operation presentation unit 30 presents the optimum operation data based on the soil condition prediction value and TBM equipment specification data.

Specifically, the optimum operation curve calculation unit 31 includes a steady state torque line set based on the maximum possible torque line, an appropriate power curve and an RPM limit line on the torque graph for RPM, based on the soil ground condition prediction value and equipment specification data. The optimum driving curve connected to is displayed (S4).

In addition, the current state display unit 32 displays the current state value on the optimum operation curve in real time. That is, the current RPM and torque of the TBM, which is the current state value, are displayed on the optimum operation curve in real time or at specific periods (S5).

In addition, the TBM driver adjusts the TBM thrust and RPM, which are driving factors, so that the current state value approaches the optimal driving curve through the driving control unit 33 based on the optimal driving curve in which the current state value is expressed (S6, S7). .

And when the TBM thrust and RPM are changed by the operation adjustment unit 33, the optimum operation curve calculation unit 31 calculates the optimum operation curve based on the changed TBM thrust, RPM, and TBM torque and the recalculated soil ground condition prediction value. It will be changed and presented.

According to the system according to an embodiment of the present invention, excavation data (TBM torque (Torque, T), revolutions per minute (RPM)), thrust (Thrust force, F), and closing pressure (p) obtained when excavating the soil using TBM , Intrusion depth (P), etc.) are analyzed in real time to predict the ground condition in the front, and guide in real time to appropriately adjust RPM or thrust force as a method to increase the excavation speed so that optimal operation can be performed. do.

According to the system according to the embodiment of the present invention, the main factors (Torque, RPM, Thrust force, Penetration rate, etc.) necessary to excavate the actual soil conditions by analyzing the excavation data acquired during TBM operation in real time are within the equipment performance. It is possible to suggest a driving method to realize the maximum performance in the.

And according to the soil TBM optimum operation system and the optimum operation method according to an embodiment of the present invention, in order to analyze the excavation data to maximize the driving performance, a prediction equation for the soil ground was separately constructed to match the soil ground condition. When the TBM excavation data acquired in real time is received, it is analyzed according to the algorithm installed in the system, and the driving conditions are presented so that the main driving factors (RPM, thrust force) reach the optimum point. With the system, it is possible to increase the excavation speed in a state where the equipment is not overwhelmed, thereby reducing the construction period.

In addition, according to the optimum operation system and optimal operation method for TBM for soil according to an embodiment of the present invention, it is possible to shorten the construction period by expressing the maximum excavation speed within the equipment performance by deriving an operation method suitable for the soil conditions. It is possible to reduce down time by preventing over/under-operation by judging whether the operation is suitable or not, and setting the future construction direction through data analysis accumulated during/after construction.

And according to the soil TBM optimum operation system and optimum operation method according to an embodiment of the present invention, it is possible to predict the soil condition in front by analyzing the excavation data of the soil TBM in real time, and the maximum excavation speed within the appropriate torque and power. The relationship between the optimal driving factor (Thrust force, RPM) that implements the can be presented to the driver.

In addition, according to the soil TBM optimum operation system and optimum operation method according to an embodiment of the present invention, the soil condition (elastic coefficient E ₀ , adhesive force C', friction angle Φ) derived by using/analyzing real-time excavation data is calculated. Using an algorithm to derive an optimal driving factor, it is possible to analyze the excavation data in real time and present the optimal driving direction.

According to the TBM optimum operation system for soil use and the optimum driving method according to an embodiment of the present invention, when the TBM equipment specifications are input to the TBM optimum operation system, the optimum driving curve is automatically drawn and presented to the driver, and the driver is the drawn optimum driving system. By comparing the curve and the current excavation status, you can intuitively grasp the work status, and the main excavation factors (soil ground condition (elastic coefficient E ₀ , adhesion C', friction angle Φ), RPM, and torque) compared to the optimal operation curve. You can find the optimum operating point according to the change.

In addition, according to the TBM optimal operation system and optimal driving method for soil use according to an embodiment of the present invention, the excavation data is analyzed in real time during TBM excavation, informs the driver of the current situation, and induces adjustment of key driving factors for optimal driving. Real-time data analysis and real-time optimal operation guide are possible through the TBM optimal operation system controller, and the analyzed real-time data can be recorded in a data storage device and used for future construction record analysis.

In addition, the above-described apparatus and method are not limitedly applicable to the configuration and method of the above-described embodiments, but all or part of each of the embodiments may be selectively combined so that various modifications may be made to the above-described embodiments. It can also be configured.

1:TBM
10: excavation data measurement unit
20: Soil ground condition prediction unit
30: Optimal driving presentation unit
31: Optimal operation curve calculation unit
32: Current status display section
33: operation control unit
100: TBM optimal operation system for soil use

Claims (15)

In the soil TBM optimal operation system,
Excavation data measuring unit for measuring the excavation data in real time when the soil is excavated through the TBM;
A ground condition prediction unit for calculating a soil condition prediction value based on the excavation data measured by the excavation data measuring unit;
An optimum operation presentation unit for presenting optimum operation data based on the soil ground condition predicted value and TBM equipment specification data;
A current state display unit for displaying a current state value of TBM on the optimal operation data; And
And a driving adjustment unit that adjusts a driving factor based on the optimal driving data in which the current state value is expressed.
The method of claim 1,
The excavation data is TBM thrust force (F), TBM torque (T), revolutions per minute (RPM), closing pressure (p) and penetration depth (P).
The method of claim 2,
The predicted value of the ground condition is the stratum elastic modulus, the adhesion force of the soil, and the internal friction angle of the soil.
The method of claim 3,
The ground condition prediction value is a soil TBM optimal operation system, characterized in that calculated by the following Equation 1 and Equation 2:
[Equation 1]

[Equation 2]

In Equations 1 and 2, P = penetration depth, F = thrust force (kN), μ = soil-steel plate friction coefficient, D = TBM diameter, W = TBM shield weight (ton), α = coefficient (0.1), E ₀ = stratum elastic modulus (MPa), A = cutter bit area (m ² ), T = Torque (kN-m), C'= soil adhesion (kPa), Φ = soil internal friction angle ( °), σ` = membrane pressure (bar).
The method of claim 4,
The optimal operation data,
On the TBM torque graph for RPM, the TBM optimum operation system for earth use, characterized in that it includes a steady state torque line set based on a maximum possible torque line, and an optimum operation curve connecting an appropriate power curve and an RPM limit line.
The method of claim 5,
The equipment specification data is a soil TBM optimum operation system, characterized in that the maximum power value, maximum RPM value, and maximum torque value.
The method of claim 6,
The driving factors are TBM thrust and RPM, and when the TBM thrust and RPM are changed by the operation control unit, the optimal operation presenting unit recalculates the ground condition predicted value using the changed TBM thrust, RPM, and TBM torque, and this Earthwork TBM optimal operation system, characterized in that to change and present the optimal operation curve again based on.
In the TBM optimal operation method,
The first step of excavating the soil through TBM;
A second step of measuring the excavation data in real time when the excavation data measuring unit excavates the TBM soil;
A third step of calculating, by a ground condition prediction unit, a soil ground condition prediction value based on the excavation data measured by the excavation data measuring unit;
A fourth step of presenting the optimum operation data based on the ground condition prediction value and the TBM equipment specification data by the optimum operation presentation unit;
A fifth step of, by a current state display unit, displaying a current state value on the optimal operation data in real time;
And a sixth step of the TBM driver adjusting a driving factor through a driving control unit based on the optimal driving data in which the current state value is expressed.
The method of claim 8,
In the second step, the excavation data measuring unit measures the TBM thrust force (Fn), TBM torque (T), revolutions per minute (RPM), the closing pressure (p), and the penetration depth (P) in real time. Optimal operation method of TBM for soil use characterized by.
The method of claim 9,
In the third step, the predicted value of the ground condition is the stratum elastic modulus, the adhesive force of the soil, and the internal friction angle of the soil,
TBM optimal operation method for soil, characterized in that calculating the ground condition predicted value by the following Equation 1,2:
[Equation 1]

[Equation 2]

In Equations 1 and 2, P = penetration depth, F = thrust force (kN), μ = soil-steel plate friction coefficient, D = TBM diameter, W = TBM shield weight (ton), α = coefficient (0.1), E ₀ = stratum elastic modulus (MPa), A = cutter bit area (m ² ), T = Torque (kN-m), C'= soil adhesion (kPa), Φ = soil internal friction angle ( °), σ` = membrane pressure (bar).
The method of claim 10,
In the fourth and fifth steps,
The optimal operation presentation unit is an optimal operation by connecting the steady state torque line set based on the maximum possible torque line and the proper power curve and the RPM limit line on a torque graph for RPM based on the ground condition prediction value and equipment specification data. Expressing the curve,
The current state value displays the current RPM and TBM torque on the optimum operation data.
The method of claim 11,
The driving factors are TBM thrust and RPM,
In the sixth step, the TBM optimum driving method for soil use, characterized in that the driver adjusts the TBM thrust and RPM so that the current state value approaches the optimal driving curve based on the current state value and the optimal driving curve.
The method of claim 12,
After the step of adjusting the driving factor,
When the TBM thrust and RPM are changed by the operation control unit, the optimum operation presentation unit recalculates the ground condition prediction value using the changed TBM thrust, RPM, and TBM torque, and changes the optimum operation curve again based on this. TBM optimal operation method for soil, characterized in that it further comprises a seventh step to be presented.
The method of claim 13,
After the seventh step, the soil TBM optimal operation method, characterized in that repeating the steps 5 to 7.
In combination with a computer that is hardware, and stored in a medium to execute the method of any one of claims 8 to 14, the TBM optimum operation program for soil use.

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