JP3523830B2 - Mud pressure control method in excavation mud pressure type small diameter propulsion method and recording medium recording mud pressure control program - Google Patents

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a mud for controlling a mud pressure in an excavated mud pressure small diameter propulsion method in which a pipe is buried in the ground while excavating the ground by a non-excavation method using an excavation propulsion machine. The present invention relates to a pressure control method and a recording medium in which a mud pressure control program is recorded.

[0002]

2. Description of the Related Art In order to bury a conduit for accommodating cables and the like in the ground, an excavator is used to excavate the ground horizontally along the ground surface by a non-cutting method that does not cut the ground surface. However, excavation and propulsion work is being carried out by burying a pipeline in the ground, but with the application of such a non-excavation method that does not excavate the ground surface, locations with significant soil changes, routes with large curvatures or The number of difficult constructions such as constructions near the buried objects has increased, and advanced propulsion operation skills of skilled operators are required.

A large number of troubles in such excavation and propulsion work are related to mud, and the most important problem is mud pressure control. The mud pressure control is conventionally performed based on the experience and knowledge of the operator, and the operation technique based on the experience and knowledge of such an operator is acquired through many experiences, and is not easily acquired.

It is also conceivable that the mud pressure control is performed by a program, but the mud pressure during excavation and propulsion by the excavation propulsion machine is complicated by a number of factors.
It is difficult to control the mud pressure with only the program.

[0005]

As described above, the mud pressure management is carried out by the experience and knowledge of the operator, and the operation technique based on such experience and knowledge of the operator can be acquired through many experiences. The thing
In view of the current situation where operators who are not easy to learn and who have experience and knowledge are lacking, such mud pressure is constantly monitored and the optimum operation is presented, and mud pressure control is automatically performed. There is a demand for a method that can prevent mud troubles in excavation work.

Further, since the mud pressure is a complicated condition in which a plurality of conditions are intertwined with each other, it is not possible to manage the mud pressure with only one factor, and it is difficult to control the mud pressure with only a program. is there.

The present invention has been made in view of the above,
The purpose is to record the mud pressure control method and the mud pressure control program in the excavated mud pressure small diameter propulsion method that can accurately control mud pressure based on the past operator know-how accumulated in the database. To provide.

[0008]

In order to achieve the above object, the present invention according to claim 1 embeds a pipeline in the ground while excavating the ground by a non-excavation method using an excavation propulsion machine. It is a mud pressure control method for controlling the mud pressure in the excavation mud pressure type small diameter propulsion method, and it corresponds to know-how including operator's knowledge and experience accumulated in past excavation propulsion work.
The excavation promotion information, mud pressure information, soil quality information, mud making agent information, and soil discharge information at the construction site are stored in the database, and the excavation promotion information, mud pressure information, and soil quality obtained during the excavation propulsion operation of the excavator Drives the excavation propulsion machine while controlling the mud pressure according to the excavation propulsion control program using a predetermined control theory based on the information, the mud making agent information, and the soil discharge information,
The mud pressure obtained by the excavation propulsion operation is compared with a predetermined optimum mud pressure value, and it is automatically determined whether or not the mud pressure is abnormal, and when it is determined that the mud pressure is abnormal, the excavation is performed. Excavation propulsion information obtained by propulsion operation, mud earth pressure information, soil information, mud making agent information, and soil discharge information are collated with the information stored in the database, and it is automatically determined whether or not a trouble has occurred, As a result of this determination, when trouble does not occur, the factor of the abnormal state is automatically determined from the collation with the information stored in the database, the propulsion speed according to this factor, the number of times of soil discharge pumping, Automatically judge and present the control target value and control method including the injection amount of mud making agent, and perform mud pressure control based on this control target value and control method. or hardly work and self When it is determined it shall be summarized in that performing remote control by a skilled operator.

According to the first aspect of the present invention, the excavation promotion information, the mud pressure information, the soil information, etc. of the construction site are provided in correspondence with the know-how including the knowledge and experience of the operator accumulated in the past excavation promotion work. The mud agent information and soil dumping information are stored in the database, and the mud soil is stored according to the excavation propulsion control program using a predetermined control theory based on the excavation propulsion information, mud pressure information, soil information, mud mixture information, and soil discharge information. Drive control of the excavation propulsion machine while performing pressure control, compare the mud pressure in this excavation propulsion operation with a predetermined optimum mud pressure value, if the mud pressure is abnormal, excavation propulsion information, mud pressure information, soil information,
The mud making information and the soil discharge information are collated with the information stored in the database, and it is automatically determined whether or not a trouble has occurred. If no trouble has occurred, the information stored in the database is compared. auto-size <br/> constant factors of the abnormal state from the verification, propulsion speed corresponding to this factor, the number of times of delivering dumping, automatic-format the control target value and the control method comprising the injection amount of Sakudorozai <br / > Promptly present, perform mud pressure control based on this control target value and control method, and as a result of the judgment, if trouble occurs, if it is automatically judged as special construction or difficult construction,
Since remote control is performed by a skilled operator, it is possible to automatically and efficiently perform excavation propulsion work while properly controlling mud pressure without the need for advanced propulsion operation by a skilled operator during normal operation. In addition, the remote control by a skilled operator can be performed without difficulty during smooth construction or special construction, and excavation propulsion work can be performed smoothly.

The present invention according to claim 2 is the same as claim 1
In the invention described above, the database is provided in an operation support center remote from the construction site, and whether or not the mud pressure is abnormal is determined at the construction site, and whether or not the trouble has occurred. Judgment, judgment of control method and control target value according to the factors, remote control by the skilled operator, excavation propulsion information obtained at the construction site, mud pressure information, soil information, mud agent information,
The gist is that the excavation information is transmitted to the operation support center via the communication line and is performed at the operation support center.

Further, according to the present invention of claim 3, mud pressure in the excavated mud pressure type small diameter propulsion method in which a pipe is buried in the ground while excavating the ground by a non-excavation method using an excavation propulsion machine. A recording medium that records a mud pressure control program to control , corresponding to the know-how including the knowledge and experience of the operator accumulated in the past excavation propulsion work, excavation propulsion information at the construction site, mud pressure information, soil information, Sakudorozai information, earth removal information is stored in the database, drilling forwarding information obtained in drilling propulsion operation of excavating propulsion units, mud pressure information, soil information, Sakudorozai information, predetermined control based on dumping information is stored drilled propulsion control program that drives and controls the drilling propulsion unit while performing control mud pressure using a theory, compares the mud pressure obtained by the digging propulsion operation and predetermined optimal mud pressure value,該泥earth Automatically determining whether it is abnormal,
When it is determined that the mud pressure is abnormal, corresponding information stored in the database is the excavation propulsion information, the mud pressure information, the soil information, the mud agent information, and the soil discharge information obtained by the excavation propulsion operation. against the, whether the occurrence of trouble is automatically determined, the result of this determination, if not the occurrence of trouble, the cause of the abnormal state from the comparison with the corresponding information stored in the database Judge,
Prop speed according to this factor, the number of pumping of soil discharge, control target value including the injection amount of mud making agent and control method are automatically determined and presented, and mud pressure control based on this control target value and control method is performed. As a result of the judgment, a trouble has occurred,
When it is determined that the work is special work or difficult work, the mud pressure control program in the excavation mud pressure small diameter propulsion method is characterized in that it is taken over by remote control by a skilled operator.

According to the present invention of claim 3 , corresponding to the know-how including the knowledge and experience of the operator accumulated in the past excavation propulsion work, excavation propulsion information, mud pressure information, soil information of the construction site, The mud agent information and soil dumping information are stored in the database. Drive control of the excavation propulsion machine while performing pressure control, compare the mud pressure in this excavation propulsion operation with a predetermined optimum mud pressure value, if the mud pressure is abnormal, excavation propulsion information, mud pressure information, soil information, Sakudorozai information, the soil discharge information against the information stored in the database, whether or not troubles automatically <br/> determination, if not the occurrence of trouble, is stored in the database The self-factor matching from the abnormal state of the information
The control target value and control method including the propulsion speed, the number of times soil is pumped, and the amount of mud preparation injected are determined based on the dynamic determination.
Automatically judge and present, perform mud pressure control based on this control target value and control method, and as a result of the judgment, if trouble is encountered and it is judged to be special construction or difficult construction,
Since the mud pressure control program in the excavation mud pressure type small diameter propulsion construction method in which a skilled operator performs remote control is recorded in the recording medium, it is possible to enhance the distribution property by using the recording medium.

[0013]

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 a configuration of a system for implementing a mud pressure control method in an excavated mud pressure small diameter propulsion method according to an embodiment of the present invention. The system shown in the figure is an excavator 100 as shown in FIG.
Is used to control the mud pressure in the excavation mud pressure type small diameter propulsion method in which a pipeline is buried in the ground while excavating the ground horizontally along the surface by a non-cutting method that does not open the ground surface. 4, a construction site side device 10 for directly controlling the excavation propulsion machine 100 and the like, and an operation support center side device 30 connected to the construction site side device via a public line 20 such as a communication line. It consists of and. In the present embodiment, the public line 20 is used to connect the construction site side device 10 and the operation support center side device 30. However, the present invention is not limited to this, and a PHS or a mobile phone may be used. A wireless line including the same is applicable as well. Further, the operation support center side device 30 is capable of supporting and controlling a plurality of construction site side devices 10. In the present embodiment, a case where there is one construction site side device 10 will be described.

The construction site side device 10 is an excavation propulsion machine operating device 1 for operating the operation of the excavation propulsion machine 100 shown in FIG. 4, excavation propulsion information obtained in the excavation propulsion operation of the excavation propulsion machine 100, and mud pressure. Record the excavation propulsion data while automatically controlling the excavation propulsion machine while automatically performing the mud pressure control according to the excavation propulsion control program using a predetermined control theory based on information, soil information, mud agent information, and soil discharge information. In addition, a personal computer 2 for controlling communication with the operation support center side device 30 via the public line 20, and a communication modem 3 for communicating with the operation support center side device 30 via the public line 20.
It consists of

The operation support center side device 3
0 is a communication modem 4 for communicating with the construction site side device 10 via the public line 20, know-how including the knowledge and experience of the operator accumulated in the past excavation promotion work, and excavation promotion information of the construction site, mud A database 6 which stores master information corresponding to pressure information, soil information, mud agent information, and soil discharge information, and information stored in the database 6 from a construction site side device 10 via a public line 20. Existence of excavation propulsion information, mud pressure information, soil quality information, mud preparation information, and soil discharge information obtained by the excavation propulsion operation of the excavation propulsion machine 100 transmitted to determine whether or not a trouble has occurred.
Automatically determining, if not the occurrence of trouble to determine the cause of the abnormal condition, propulsion speed corresponding to this factor, the number of times of delivering dumping, automatically determine the control target value and the control method comprising the injection amount of Sakudorozai Then, the excavation propulsion machine 100 is driven and controlled via the construction site side device 10 so as to perform the mud pressure control based on the control target value and the control method, and troubles occur. If it is determined that the personal computer 5 is configured to perform remote control by a skilled operator.

FIG. 2 is a diagram showing a configuration of software stored in the construction site side device 10 and the operation support center side device 30 of the system shown in FIG.

Further, as shown in FIG. 2, the construction site apparatus 10 has a predetermined control based on an operating system (OS), excavation propulsion information, mud pressure information, soil information, mud agent information, and soil discharge information. WWW having a middleware including a drilling propulsion control program that controls the excavation propulsion using theory, a mud pressure control program that controls mud pressure, a propulsion data recording program that records excavation propulsion data, and a data transfer function and a screen display function. The operation support center side device 30 has a browser, and the operating system (OS) and know-how including the knowledge and experience of the operator accumulated in the past excavation promotion work are used for the excavation promotion information of the construction site, the mud pressure information, A relational database stored in the database 6 corresponding to soil information, mud making information, and soil discharge information. A scan and (RDB), a trouble determination software for determination of trouble based on the information recorded in the database 6.

Next, the processing procedure of the mud pressure control method in the system of the present embodiment configured as described above will be described with reference to the flow chart shown in FIG.

In FIG. 3, first, the operation panel of the excavation propulsion device operating device 1 of the construction site side device 10 and the excavation propulsion device 10 shown in FIG.
When machine information and propulsion data are input from the machine tip of 0 (step S11), the mud pressure is monitored based on the control theory using these information and data, and specifically, excavation propulsion of the excavation propulsion machine 100 is performed. Monitoring and controlling the mud pressure according to the excavation propulsion control program using a predetermined control theory based on information such as excavation propulsion information, mud pressure information, soil information, mud agent information, and soil removal information obtained in operation. While controlling the excavator while driving, the mud pressure value is compared and collated with a predetermined optimum mud pressure value to automatically determine whether the mud pressure value is normal or abnormal (step S1).
3).

If the result of this determination is normal, the excavation propulsion information, the mud pressure information, the soil information, the mud agent information, the excavation information, etc. obtained in the excavation propulsion operation of the excavation propulsion machine 100 as before. The excavation propulsion machine is driven and controlled while monitoring and controlling the mud pressure according to the excavation propulsion control program using a predetermined control theory based on such information.However, as a result of the determination of the mud pressure value, the mud pressure value is the optimum mud pressure. When the pressure value greatly changes, that is, when it is automatically determined that the mud pressure is abnormal, the excavation propulsion information, the mud pressure information, the soil information, and the mud-creating agent obtained in the excavation propulsion operation of the excavation propulsion machine 100. Information such as information and excavation information is sent to the operation support center side device 30 via the public line 20.
And stores it in the database 6 (step S1
5) Then, the accumulated information and the master data stored in advance in the database 6 are compared and collated, that is, pattern matching is performed (step S17), and it is automatically determined whether a trouble has occurred (step S19).

If no trouble has occurred as a result of this judgment, that is, in normal times, the process ends. Further, when it is determined that there is a trouble, the factor of the abnormal state is determined from the collation with the master data stored in the database 6, and the propulsion speed, the number of times of soil discharge pumping, and the amount of mud preparation The control target value including the injection amount and the control method are determined and presented, and the mud pressure control is performed based on the control target value and the control method (step S21). On the other hand, as a result of the judgment, when it is impossible or difficult to judge the trouble, remote control is performed by a skilled operator (step S23).

The processing procedure of the mud pressure control method of the above embodiment is recorded as a program on a recording medium, the recording medium is incorporated into a computer system, and the program recorded on the recording medium is downloaded to the computer system or By installing and operating the computer system with the program, it is of course possible to function as a mud pressure control system for carrying out the mud pressure control method, and by using such a recording medium, its distribution is improved. It can be raised.

[0023]

As described above, according to the present invention,
The know-how including operator's knowledge and experience accumulated in the past excavation promotion work is stored in the database in correspondence with the excavation promotion information, mud pressure information, soil information, mud preparation information, and soil discharge information at the construction site. Drive control of the excavator while performing mud pressure control according to the excavation propulsion control program,
The mud pressure is compared with a predetermined optimum mud pressure value, and if the mud pressure is abnormal, the excavation propulsion information, mud pressure information, soil information, mud making information, and soil discharge information are collated with the information in the database to check for trouble. If it is not a trouble, determine the cause of the abnormal state by collating it with the information in the database, and determine the propulsion speed, the number of times soil is pumped, and the mud-making agent according to these factors. The target control value and control method including the injection amount are determined and presented, mud pressure control is performed based on this target control value and control method, and if trouble occurs and it is determined to be special construction or difficult construction, Since remote control is performed by a skilled operator, it does not require the advanced propulsion operation by a skilled operator all the time as in the past, and it automatically controls excavation propulsion work while appropriately controlling the mud pressure. Rate to can be performed, also at the time of flame construction and special construction work without trouble by performing remote control by a skilled operator, it is possible to smoothly carry out the excavation promotion work.

[Brief description of drawings]

FIG. 1 is a block diagram showing a configuration of a system for implementing a mud pressure control method in an excavated mud pressure small diameter propulsion method according to an embodiment of the present invention.

FIG. 2 is a diagram showing a configuration of software stored in a construction site side device and an operation support center side device of the system shown in FIG.

FIG. 3 is a flowchart showing a processing procedure of a mud pressure control method in the system of the embodiment shown in FIG.

4 is a diagram showing an overall configuration of a construction site side device including an excavation propulsion device and an excavation propulsion device operating device used in the system shown in FIG. 1. FIG.

[Explanation of symbols]

1 Excavation propulsion machine operation device 2,5 personal computer 3,4 communication modem 6 database

─────────────────────────────────────────────────── ─── Continuation of the front page (72) Inventor Masahiko Mikawa 2-3-1, Otemachi, Chiyoda-ku, Tokyo Inside Nippon Telegraph and Telephone Corporation (56) Reference JP-A-10-196281 (JP, A) JP Hei 11-36782 (JP, A) JP-A-6-129183 (JP, A) JP-A-60-51296 (JP, A) JP-B 6-94783 (JP, B2) (58) Fields investigated (Int .Cl. ⁷ , DB name) E21D 9/06

Claims (3)

(57) [Claims] 1. A mud pressure control method for controlling mud pressure in a small-diameter excavation method of excavating mud pressure in which a conduit is buried in the ground while excavating the ground by a non-excavation method using an excavation propulsion machine. drilling forwarding information of a construction site in response to knowledge including knowledge and experience of the operator stored in the past drilling propulsion work, mud pressure information, soil information, Sakudorozai information, de the earth removal information <br/> In accordance with the excavation propulsion control program that uses a predetermined control theory based on excavation propulsion information, mud pressure information, soil information, mud agent information, and soil discharge information obtained in the excavation propulsion operation of the excavation propulsion machine. Drive control the excavation propulsion machine while performing mud pressure control, compare the mud pressure obtained by the excavation propulsion operation with a predetermined optimum mud pressure value, and automatically determine whether the mud pressure is abnormal, It was determined that the mud pressure was abnormal. If determined, the excavation propulsion information, the mud pressure information, the soil information, the mud agent information, and the soil discharge information obtained by the excavation propulsion operation are collated with the information stored in the database to determine whether a trouble has occurred. Or not
If the result of this determination is that no trouble has occurred, the cause of the abnormal state is automatically determined from the collation with the information stored in the database, and the propulsion speed and soil removal according to this factor are determined. The control target value and the control method including the number of times of pumping and the injection amount of the mud making agent are automatically determined and presented, and the mud pressure control is performed based on this control target value and the control method. Yes, a mud pressure control method in the excavated mud pressure small diameter propulsion method characterized by performing remote control by a skilled operator when it is automatically judged to be special construction or difficult construction. 2. The database is remote from the construction site
It is provided in an operation support center, and whether or not the mud pressure is abnormal is determined at a construction site, and whether or not the trouble is occurring is determined, a control method and a control target value according to the factors. The remote control by the skilled operator transmits excavation promotion information, mud pressure information, soil information, mud agent information, and earth removal information obtained at the construction site to the operation support center via the communication line to support the operation. The mud pressure control method in the excavated mud pressure small diameter propulsion method according to claim 1, wherein the method is performed in a center. 3. A mud pressure control program for controlling mud pressure in the excavated mud pressure small diameter propulsion method in which a pipe is buried in the ground while excavating the ground by a non-excavation method using an excavator a recording medium, drilling forwarding information expertise construction site in response to including the knowledge and experience of the operator stored in the past drilling propulsion work, mud pressure information, soil information, Sakudorozai information, earth removal information de <br/> it is stored in the database, using drilling forwarding information obtained in drilling propulsion operation of excavating propulsion units, mud pressure information, soil information, Sakudorozai information, a predetermined control theory based on dumping information The excavation propulsion control program that drives and controls the excavation propulsion machine while controlling the mud pressure is stored.
It is determined that the mud pressure obtained in the excavation propulsion operation is compared with a predetermined optimum mud pressure value, and whether the mud pressure is abnormal is automatically determined, and the mud pressure is abnormal. In this case, the excavation propulsion information, the mud pressure information, the soil information, the mud preparation information, and the soil discharge information obtained by the excavation propulsion operation are collated with the corresponding information stored in the database to determine whether a trouble has occurred. or automatically determined, the result of this determination, if not the occurrence of trouble, determines the cause of the abnormal state from the comparison with the corresponding information stored in the database, propulsion speed corresponding to this factor, The number of times the soil is pumped, the control target value including the injection amount of the mud making agent and the control method are automatically determined and presented, and the mud pressure control is performed based on this control target value and the control method. Occurrence and special A recording medium that records a mud pressure control program for the excavated mud pressure small diameter propulsion method, which is characterized in that when it is determined to be construction or difficult construction, it is taken over by remote control by a skilled operator.