JP3523805B2 - Drilling propulsion remote support system, remote support method, and recording medium storing remote support program for implementing the method - Google Patents

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a remote support system for an excavator and a remote support method for remotely supporting an excavator in a non-excavation method, and a recording medium recording a remote support program for implementing the method. It is a thing.

[0002]

2. Description of the Related Art Recently, when burying a pipeline in the ground,
The application of non-excavation methods that do not excavate the ground surface is expanding.
Along with this, the number of difficult constructions such as constructions where the soil quality changes significantly, lines with large curvatures, or constructions close to the buried objects has increased, and advanced propulsion operation skills of skilled operators are required.

[0003]

However, due to the recent expansion of the application of the non-cutting method, the number of operators is originally insufficient, and the construction environment is different at each construction site. There is a problem that it is difficult to accumulate propulsion know-how in the excavation method, especially in excavation propulsion machines, and skilled operators who are familiar with the operation cannot be trained.

Further, when a trouble occurs during the propulsion of the excavator and there is no skilled operator who can cope with the trouble, the operator at the site makes an inquiry to the skilled operator by telephone, facsimile, or the like. Came directly to the construction site and provided support. Therefore, in the non-open cutting method, it is difficult to avoid the construction period extension and the construction cost soaring due to troubles.

The present invention has been made in view of the above problems, and enables optimum operation for the prevention of troubles from the analysis of the present promotion situation and future predictions, and at the time of occurrence of troubles, the promotion information. Another object of the present invention is to provide a remote support system for an excavator and a remote support method capable of determining and solving a propulsion trouble from soil information, and a recording medium recording a remote support program for implementing the method.

[0006]

In order to achieve the above-mentioned object, the present invention according to claim 1 is an operation site for operating an excavation propulsion machine at an execution site for excavation by the excavation propulsion machine. In the support center connected to the construction site via the public line, the excavation information acquisition means for obtaining the excavation status of the excavation propulsion machine that excavates by operating the operation means as the excavation information, When the excavation information is obtained from the excavation information acquisition means via the public line, the data accumulation means capable of accommodating the excavation information and the support information corresponding to each other is referred to the accumulated data accumulated in the data accumulation means. The present invention has an excavation assistance means for automatically determining the excavation situation at the construction site and providing optimal assistance information for excavation work.

According to the first aspect of the present invention, the excavation information indicating the excavation status of the excavator from the construction site and the data accumulation means of the support center connected to the construction site via the public line are stored. By comparing the accumulated data (soil information, promotion information, and soil discharge information tables), the promotion status of the construction site is automatically determined, and optimal support information for excavation work is obtained.
To provide .

The invention according to claim 2 is the above-mentioned claim.
The gist is that the accumulated data accumulated in the data accumulating means described in 1 and the excavation information obtained from the excavation information obtaining means each include at least one of soil information, promotion information, and earth removal information.

A third aspect of the present invention is characterized in that the soil information according to the second aspect includes at least one of soil characteristics , N value, soil cover value, and groundwater level.

According to a fourth aspect of the present invention, the propulsion information according to the second aspect includes at least any one of mud pressure, propulsion speed, original pushing force, number of times of pressing, amount of injected mud making agent and cutter hydraulic pressure. That is the summary.

A fifth aspect of the present invention is summarized in that the earth unloading information according to the second aspect includes at least one of the earth unloading amount and the earth unloading property.

The invention according to claim 6 is such that, when the excavation information obtained from the excavation information acquisition means includes a problem, the support information according to claim 1 or 2 is based on the cause of the problem. The main point is that it is the optimum promotion information obtained from.

According to a seventh aspect of the present invention, there is provided a remote assisting method for an excavation propulsion apparatus, comprising:
Obtain a soil information and forwarding information and earth removal information as drilling information support center via a public line, at least one of the stored Tei Ru soil information and forwarding information and earth removal information to the drilling information and data storage means With reference to, the gist is to automatically determine the excavation situation at the construction site and provide the optimum support information.

According to the present invention of claim 7, the excavation information (soil information, propulsion information, and earth removal information) indicating the excavation state of the excavation propulsion machine from the construction site is connected to the construction site via a public line. Data stored in the data storage means of the support center (each table of mud pressure, promotion information, and discharge information)
By comparing with, the on-site promotion status is automatically determined,
Provide optimal support information for excavation work.

The recording medium in which the remote support program for the excavation propulsion machine according to the invention of claim 8 is recorded is excavation information obtained through a public line from an execution site where the excavation propulsion machine excavates. Soil information, promotion information , soil removal information, and support
With reference to at least one of the data stored in the storage means Tei Ru soil information and forwarding information and earth removal information center, the drilling conditions in the construction site to automatically determine and record the program that provides support information of the optimum possible Is the gist.

According to the present invention of claim 8, since the remote support program for the excavation propulsion machine for remotely supporting the excavation propulsion machine is recorded as a recording medium, the excavation propulsion machine using the recording medium is recorded. It is possible to increase the distribution of the remote support program.

[0017]

BEST MODE FOR CARRYING OUT THE INVENTION Embodiments of the present invention will be described below with reference to the drawings.

FIG. 1 is a block diagram showing the configuration of a remote support system for an excavation propulsion machine in an excavation mud pressure type excavation propulsion method according to an embodiment of the present invention.

The remote support system for an excavation propulsion machine shown in FIG. 1 makes a trouble determination regarding the mud pressure control of the excavation mud pressure propulsion method, and supports the present situation analysis, future prediction, and optimum operation. .

As shown in FIG. 1, a remote support system for an excavator and propulsion machine according to the present embodiment comprises a construction site 10 and a support center 3.
0 is connected by the public line 20. Note that a telephone line via a communication cable will be described as an example of the public line 20, but a wireless line including a PHS and a mobile phone can be similarly applied. Further, although one support center 30 can support a plurality of construction sites 10, the construction site 10 will be described here as one site.

First, the construction site 10 will be explained.
At the construction site 10, an excavation propulsion machine that actually performs excavation (see FIG. 6), a display that interactively displays the operating conditions and the like of this excavation propulsion device, and an operator inputs and sets the operating conditions and the like according to the display of this display. And an input means such as a lever for operating the excavation propulsion machine, which monitors and controls whether or not the excavation propulsion machine operates under the set operating conditions, and the operation of the excavation propulsion machine. A personal computer 13 that obtains the excavation information, which is the excavation state of the excavator, and the soil discharge information from the soil discharge information detection unit 17 from the device 11, records and processes the information, and further controls communication. It is composed of a communication modem 15 which is interposed in communication between the personal computer 13 and the support center 30. Here, the operator who operates the excavator propulsion device operating apparatus 11 does not necessarily have to be a skilled person.

In this embodiment, the excavation information includes at least soil information, promotion information, and soil discharge information, the soil information includes soil characteristics , N value, soil cover value, and groundwater level, and the promotion information includes mud pressure. and includes a propulsion speed and the original pushed by force and圧挿count and Sakudoro injection amount Contact and cutter hydraulic, dumping information is intended to include soil discharge amount and Hyde nature.

Next, the support center 30 will be described. The support center 30 comprises a communication modem 31, a personal computer 33 and a database 35. The excavation information input via the communication modem 31 records and processes the information. Further, it is input to a personal computer 33 which controls communication and a database 35 which stores and stores information.

In the present embodiment, the database 35
In addition to storing and accumulating excavation information for each construction site, the data for automatically determining the excavation status at the construction site from the excavation information input from each construction site to support the excavation work. That is, soil information, promotion information, soil discharge information and support information are stored and accumulated as a relational database (RDB).

As master data accumulated in the database 35, soil information includes soil properties , N value, soil cover value, and groundwater level, and propulsion information includes mud pressure, propulsion speed, and original thrust. It includes the number of times of pressing, the amount of mud making agent injected, the amount of mud making agent injected, and the cutter hydraulic pressure. The earth unloading information includes the earth unloading quantity and the earth unloading property, and the support information is obtained from the construction site 10, for example. When a problem is included in excavation information, it is information for automatically determining and supporting the cause of the problem, and specifically, a database that accumulates the knowledge of multiple skilled operators and accumulates the optimum propulsion information. This is information such as an algorithm for selecting.

FIG. 2 shows the software configuration of this embodiment. In the figure, the construction site 10 has an operating system (OS), software for recording propulsion information, and a W that has a data transfer function and a screen display function.
The support center 30 has an operating system (OS), a relational database (RDB), image middleware, and trouble determination algorithm software.

Next, the basic support procedure of the remote support system in this embodiment will be described with reference to FIGS. 3 is a flow chart showing the basic support procedure of the remote support system, FIG. 4 is a flow chart showing the support procedure in the trouble determination regarding the mud pressure of the remote support system, and FIG. 5 is the remote support system. 6 is a flowchart showing a support procedure in a trouble determination relating to the original pushing force, the injection pressure, and the cutter pressure.

Referring to FIG. 3, first, the construction site 10 stores the propulsion information, the soil quality information, and the soil discharge information in the database 35 via the public line 20 (step S11). The personal computer 33 searches the master data on the database 35 (step S13), and compares the optimum value with the actual value by pattern matching (step S15). Succeedingly, in a step S17, a trouble determination is performed depending on whether or not each information from the construction site 10 is within the range of the optimum value.

When it is determined that there is no trouble within the optimum value range, the construction site 10 is notified via the public line 20 that there is no problem.
This information is appropriately displayed on the display screen of the excavation propulsion machine operating device 11 or the personal computer 13 of the construction site 10 as needed.

On the other hand, when it is determined in step S17 that there is a trouble state, the process proceeds to step S19, the countermeasure method is determined, and the countermeasure method obtained from the support information of the master data on the database 35 is applied to the construction site 10.
Present to.

Here, the countermeasure method presented to the construction site 10 is the same as in the case of "no problem", and the excavator propulsion machine operating device 11 or the personal computer 1 of the construction site 10 is used.
Although it may be displayed on the display screen of No. 3 as needed, the excavator at the construction site 10 may be actually remotely controlled.

Next, a specific example will be described with reference to FIGS. 4 and 5.

Here, the outline of the information shown in FIGS. 4 and 5 will be described.

First, the soil classification, which is soil information, indicates the type of soil such as gravel and clay, and the N value is a parameter representing the hardness of soil and is displayed as a numerical value of 0 to 50. Generally, the numerical value is The larger the value is, the harder the soil is, the soil cover is the distance from the ground to the propulsion device, and the groundwater level is the distance from the ground to the groundwater. In addition,
This soil information is obtained in advance by a geological survey such as underground boring, transmitted to the support center 30, and stored in the database.

The mud pressure, which is the propulsion information, indicates the pressure between the excavator and the soil, and the mud referred to here is a mixture of the excavated soil and the mud-making agent. , Propulsion speed refers to the underground propulsion speed of the excavation propulsion machine, and original pushing force refers to the force applied to the original pushing device when pushing the excavation propulsion machine. Is the injection amount of mud making agent injected into the soil from the tip of the excavator.
It should be noted that the mud excavated by the mud-making agent is given fluidity to be carried to the surface of the earth as mud, and the mud-making agent reduces friction when the excavation propulsion machine advances in the soil.
Further, as for the mud-making agent, for example, see “Japanese Patent Laid-Open No. 6-2071
For details, refer to Japanese Patent No. 67, “Method for producing aqueous solution of mud making agent”.

Similarly, the injection pressure of the mud-making agent, which is the propulsion information, indicates the pressure when pouring the mud-making agent, and the cutter hydraulic pressure indicates the pressure applied to the cutter head at the tip of the excavator. Is. It should be noted that this propulsion information is sequentially set at the time of construction, or is obtained by construction according to the setting.

Further, the earth removal amount, which is the earth removal information detected by the earth removal information detection unit, is the flow rate showing the earth removal discharged by the propulsion of the propulsion unit per unit time, and the earth removal property is the discharge. It also indicates the type of soil discharged (gravel, clay, etc.), viscosity, and the mixing state of the mud making agent in the soil discharged. Further, the mud making agent information, which is the mud making agent information, shows the kind of the mud making agent injected into the soil from the tip of the excavator, and the viscosity shows the viscosity ratio of the used mud making agent. .

Next, with reference to FIG. 4, a description will be given of a support procedure in the trouble determination regarding the mud pressure of the present remote support system.

In FIG. 4, soil information (soil classification, N value, soil cover, etc.) from the construction site 10 to the construction site 10 in advance.
It is assumed that the groundwater level etc.) and machine information (machine model number, pipe type, pipe diameter, etc.) are transmitted to the support center 30 and are respectively stored in the database.

In step S21, the support center 30
The personal computer 33 performs pattern matching and calculates the optimum mud pressure value from the database from the soil discharge information and soil information. The trouble determination is performed by comparing the calculated mud pressure value with the actual mud pressure value (step S23). When it is determined that the value is within the optimum range, the construction site 10 is notified via the public line 20 that there is no problem, and the process ends.
Further, when it is determined that there is a trouble outside the optimum value range, the trouble factor is determined from the database (step S25). Here, even in the same trouble state, the cause of the trouble is determined, for example, because the cause of the trouble is different depending on the amount of discharged soil and the nature of the discharged soil. When the trouble factor is determined (step S27), a countermeasure method corresponding to the trouble factor, for example, a propulsion speed of the excavation propulsion machine according to the pipe diameter, a sludge injection amount, and the like are calculated as parameters of the injection rate. It is judged by comparison with the optimum injection rate based on the parameters (step S29), the optimum operation method is presented based on this (step S31), and the support is ended.

For example, regarding the mud pressure, when the construction site 10 reports that "exceeding the upper limit of mud pressure and discharging little or no earth", "whether the mud passage is clogged up or the soil clogged is clogged". Is determined to be trouble,
Advice is given to the construction site 10 such as "check whether the mud pressure is lowered by lowering the propulsion speed".

Next, with reference to FIG. 5, a description will be given of a support procedure in the trouble determination regarding the original thrust, the injection pressure and the cutter pressure of the remote support system.

In step S41, pattern matching is performed between the original pushing force of the propulsion information of the construction site 10 and the optimum original pushing force value of the support center 30. In step S43, pattern matching between the mud making agent injection pressure of the propulsion information and the optimum injection pressure value is performed. In step S45, pattern matching is performed between the cutter hydraulic pressure of the same propulsion information and the optimum cutter hydraulic pressure value.

Trouble determination is performed from these pattern matching (step S47). When it is determined that the value is within the optimum range, the construction site 10 is notified via the public line 20 that there is no problem, and the process ends. Further, when it is determined that there is a trouble outside the range of the optimum value, the trouble factor is determined from the database (step S49). When the trouble factor is determined, the countermeasure method corresponding to each trouble factor is determined, and the optimum operation method is presented based on this (step S51), and the support is ended.

As described above, according to the present embodiment, since the construction site and the support center are connected by the public line, it is possible to collectively support the excavation propulsion machine at a plurality of construction sites from a remote location. It becomes possible, and further, it becomes possible to provide the assistance contents more than the assistance provided by the skilled operator. Furthermore, since one support center can support multiple construction sites, the system can be made inexpensive.

The optimum operation of the excavation propulsion machine from a remote location is realized by the remote support program for the excavation propulsion machine according to the present invention, and the remote support program is provided by being recorded in a recording medium.

[0047]

As described above, according to the present invention, since the construction site and the support center are connected by the public line, it becomes possible to remotely support the excavation propulsion machine at the construction site. Even if there are multiple construction sites, it is possible to provide support that exceeds the support provided by a skilled operator almost at the same time.

[Brief description of drawings]

FIG. 1 is a block diagram showing a schematic configuration of an embodiment of a remote support system for an excavation propulsion machine according to the present invention.

FIG. 2 is a block diagram illustrating a software configuration installed in the remote support system shown in FIG.

FIG. 3 is a basic flowchart for schematically explaining a support procedure in the remote support system shown in FIG.

FIG. 4 is a flowchart for schematically explaining a support procedure for dealing with a trouble related to mud pressure.

FIG. 5 is a flow chart for schematically explaining a support procedure for dealing with a trouble related to a thrust force, an injection pressure and a cutter pressure.

FIG. 6 is a diagram showing a schematic configuration of an excavation propulsion machine and its operating device.

[Explanation of symbols]

10 construction sites 11 Excavation propulsion machine operation device 13 personal computer 15 Communication modem 17 Discharge information detector 30 Support Center 31 communication modem 33 personal computer 35 Database

─────────────────────────────────────────────────── ─── Continued Front Page (72) Nobuyuki Kimura Inventor Nobuyuki Kimura 3-18-10 Moto-Asakusa, Taito-ku, Tokyo Inside Airec Giken Co., Ltd. (56) Reference JP-A-3-199597 (JP, A) Kaihei 11-36782 (JP, A) JP-A-2-115492 (JP, A) (58) Fields investigated (Int. Cl. ⁷ , DB name) E21D 9/06

Claims (8)

(57) [Claims] 1. At an execution site where excavation is performed by an excavation propulsion device, operation means for operating the excavation propulsion device and the excavation status of the excavation propulsion device excavating by the operation of the operation means are obtained as excavation information. The excavation information acquisition means, the data accumulation means for accommodating excavation information and support information related to the excavator in the support center connected to the construction site via the public line, and the public line. When the excavation information is obtained from the excavation information acquisition means via the excavation information acquisition means, referring to the accumulated data accumulated in the data accumulating means, the excavation situation at the construction site is automatically checked.
A remote assistance system for an excavation propulsion machine, comprising: an excavation assistance means that determines a motion and provides optimal assistance information for excavation work. 2. The accumulated data accumulated in the data accumulating means and the excavation information obtained from the excavation information obtaining means,
The remote support system for an excavator according to claim 1 , characterized in that it includes at least one of soil information, propulsion information, and earth removal information. 3. The remote support system for an excavator as claimed in claim 2, wherein the soil information includes at least one of soil properties , N value, soil cover value, and groundwater level. 4. The excavation propulsion according to claim 2, wherein the propulsion information includes at least any one of mud pressure, propulsion speed, original pushing force, number of times of press insertion, amount of mud making agent injection, and cutter hydraulic pressure. Machine remote support system. 5. The remote support system for an excavator as claimed in claim 2, wherein the earth removal information includes at least one of an earth removal amount and an earth removal property. 6. When the excavation information obtained from the excavation information acquisition means includes a problem, the support information is optimum propulsion information obtained from the data accumulation means based on a factor of the problem. The remote support system for an excavation propulsion machine according to claim 1 or 2, wherein: 7. Soil information, promotion information, and soil discharge information are obtained as excavation information at a support center from an execution site where excavation is performed by an excavation propulsion machine, and the excavation information and data accumulation means are accumulated. are with reference to at least one of Tei Ru soil information and forwarding information and earth removal information, the drilling conditions in the construction site to automatically determine, remote support method of excavating propulsion unit and providing the support information of the optimum . From 8. enforcement site to perform excavation by drilling propulsion unit, were obtained via the public line, and soil information as drilling information and forwarding information and earth removal information, Ru Tei stored in the data storage means support center A recording medium recording a remote support program for an excavation propulsion machine that automatically determines the excavation status at a construction site and provides optimum support information by referring to at least one of soil information, promotion information, and soil removal information.