JP3822507B2 - Method and apparatus for estimating state of buried pipe propulsion device - Google Patents

Description

【００２８】
ＡＲＸモデルについては、例えば文献「I.D.Landau,“System Identification and Control Design”,PrenticeHall(1990)」、文献「足立修一，“ユーザのためのシステム同定理論”，計測自動制御学会(1993)」に記載されている。
折れ角の自己回帰成分を考慮するのは方向修正部１０３の剛性が極めて高いのに対し、中折れ部１０６には埋設管推進機の旋回を容易にするためのコンプライアンスが存在すると考えられるためである。式（１）において、ｋはマシンデータのサンプリング回数、ａHi（ｉ＝１，・・・，ｎａ），ｂHj（ｊ＝１，・・・，ｎｂ）は周囲の地盤の性質によって変化する埋設管推進機の旋回特性に関するパラメータ、ｗ[k] は上記ダイナミクスに作用する白色システムノイズを意味している。
【００２９】
次に、先導体１０１の推進方向に関するモデリングについて考える。図６は推進中の先導体１０１の各部の移動ベクトルを示したものである。前述のとおり、方向修正部１０３の剛性は非常に大きいため、カッターヘッド１０２から先導体前筒１０４までを一体として埋設管推進機の旋回運動に伴う瞬間的な回転中心をＣf 、中折れ部１０６を介して接続される先導体後筒１０５に関する瞬間回転中心をＣr とする。
【００３０】
また、瞬間回転中心Ｃf から先導体前筒１０４へ降ろした垂線の足から方向修正部１０３までの距離をＤf 、カッターヘッド１０２から先導体前筒１０４までを一体とする旋回運動の曲率半径を１／ρH 、瞬間回転中心Ｃr から先導体後筒１０５へ降ろした垂線の足から中折れ部１０６までの距離をＤr 、先導体後筒１０５の旋回運動の曲率半径を１／ρHrとする。ただし、ρH は先導体前筒１０４の水平旋回曲率、ρHrは先導体後筒１０５の水平旋回曲率であり、これら曲率ρH ，ρHrは右方向への旋回時を正と定義しておく。
【００３１】
先導体前筒１０４と先導体後筒１０５は中折れ部１０６を共有しているので、先導体前筒１０４において定義される中折れ部１０６の移動ベクトルは、先導体後筒１０５で定義されるものと一致しなければならない。このとき、中折れ部１０６、瞬間回転中心Ｃfおよび瞬間回転中心Ｃrは一直線上に並び、次式が成立する。
θH＋β＝θHr＋βr ・・・（２）
【００３２】
図６に示すように、βは先導体前筒１０４を基準とする中折れ部１０６の移動ベクトルの傾き、βr は先導体後筒１０５を基準とする中折れ部１０６の移動ベクトルの傾きである。式（２）は各曲率半径を用いて次のように表すことができる。
θH−（Ｌf−Ｄf）ρH＝θHr＋ＤrρHr ・・・（３）
【００３３】
一方、図６に示すように先導体後筒１０５を基準とするレーザ受光装置２０２の移動ベクトルの傾きをγとするとき、γ＝−（Ｌr−Ｄr）ρHrであることから、レーザ受光装置２０２の移動ベクトルの水平方向の勾配∂Ｘt／∂Ｌ （≪１）は先導体後筒１０５の回転中心と曲率半径に関して次式のような境界条件を与える。
θHr−（Ｌr−Ｄr）ρHr＝∂Ｘt／∂Ｌ ・・・（４）
【００３４】
式（４）において、Ｌは埋設管推進機の累積距離を表す。さて、先導体１０１の推進方向は、ここでは方向修正部１０３の移動ベクトルの水平方向の勾配∂Ｘh／∂Ｌ （≪１）で代表させることにすれば次式で表現できる。
∂Ｘh／∂Ｌ＝θH＋α＝θH＋ＤfρH ・・・（５）
式（５）において、αは図６に示すように先導体前筒１０４を基準とする方向修正部１０３の移動ベクトルの傾きである。
【００３５】
ここで、式（５）へ式（３）と式（４）を代入して整理すれば、結局、先導体１０１の推進方向に関して次の式が導かれる。
∂Ｘh／∂Ｌ＝ＬfρH＋ＬrρHr＋∂Ｘt／∂Ｌ ・・・（６）
以上で、先導体１０１の水平旋回と推進方向に関する基本的な運動モデルが導入された。
【００３６】
一方、中折れ角φを各旋回曲率に結び付け、先導体１０１の水平計画線に対する位置・姿勢やＡＲＸモデルの係数を同時に推定するにはさらなる条件を導入する必要がある。
＜仮定Ａ＞先導体後筒１０５の運動に関しては、先導体前筒１０４の水平計画線に対する角度の軌跡を一定距離遅れてトレースするように振舞う。
【００３７】
すなわち、ある地点での水平計画線に対する先導体前筒１０４の角度がθH とすると、このときの先導体前筒１０４の中心位置をその後に先導体後筒１０５の中心が通過したとき、先導体後筒１０５の傾斜角θHrはθH に一致するものとする。いま、（Ｌf＋Ｌr）／（２Ｌp ）の小数点第一位を四捨五入した整数をｍd とすると、上記の仮定Ａは次式で表現できる。
【００３８】
【数１】

【００３９】
また、式（７）を用いれば、先導体前筒１０４の中折れ角φは次のように表すことができる。
【００４０】
【数２】

【００４１】
式（８）を式（１）へ代入すれば、水平計画線に対する先導体１０１の傾斜角に関する状態変化モデルが次式のように与えられる。
【００４２】
【数３】

【００４３】
さらに、方向修正部１０３の移動ベクトルの勾配∂Ｘh／∂Ｌ を水平計画線からみた方向修正部１０３の水平変位Ｘh の後退差分で１次近似すれば、次式が得られる。
【００４４】
【数４】

【００４５】
そして、方向修正部１０３の水平変位Ｘh に関する次の状態変化モデルが導かれる。
【００４６】
【数５】

【００４７】
このとき、式（１）と式（１１）を組み合わせれば、レーザ受光装置２０２の移動ベクトルの水平方向の勾配∂Ｘt／∂Ｌ を外部入力とするカルマンフィルタを構成することにより、先導体１０１の位置姿勢（θH[k]，Ｘh[k]）や旋回運動に関するＡＲＸモデルのパラメータ（ａH1，・・・，ａHna ，ｂH1，・・・，ｂHnb ）をオンライン推定する逐次状態変数ベクトル推定器４０７を構成することが可能となる。
【００４８】
一方、上記のような推定法においてレーザ受光装置２０２の移動ベクトルの勾配∂Ｘt／∂Ｌ が直接観測できることはまれである。水平計画線からみたレーザ受光装置２０２の水平変位Ｘt のデータのみで直接その微分値が得られない場合は例えばＸt のデータに適当な曲線を当てはめて微分操作を行うこと等が考えられるが、ノイズの影響もあって正確な近似値を得るのは難しい。
【００４９】
そこで、Ｘt は先導体１０１が描く線形であり、ある地点における勾配はその直前の先導体後筒１０５の水平計画線に対する水平傾斜角が遅れて現れたものと考えて、Ｘt の微分値に関して次のような仮定をおくことにする。
＜仮定Ｂ＞レーザ受光装置２０２の移動ベクトルの水平方向の勾配∂Ｘt／∂Ｌ は、先導体後筒１０５の水平計画線に対する水平傾斜角の軌跡を一定距離遅れてトレースするように変化する。
【００５０】
すなわち、ある地点での水平計画線に対する先導体後筒１０５の傾斜角がθHrとすると、このときの先導体後筒１０５の中心位置をその後にレーザ受光装置２０２が通過したときの移動ベクトルの勾配∂Ｘt／∂Ｌ はθHrに一致するものとする。なお、仮定Ａと組み合わせると、レーザ受光装置２０２の移動ベクトルの水平方向の勾配∂Ｘt／∂Ｌ は、先導体前筒１０４の水平計画線に対する水平傾斜角の軌跡を一定距離遅れてトレースすることになる。仮定Ａと組み合わせた場合、（Ｌf＋２Ｌr）／（２Ｌp ）の小数点第一位を四捨五入した整数をｎd とすると、上記の仮定Ｂは次式で表現できる。
【００５１】
【数６】

【００５２】
式（１）と式（１１）の状態変化モデルに式（１２）を組み合わせれば、外部入力項のないカルマンフィルタを用いて先導体１０１の位置・姿勢及び水平旋回に関するＡＲＸモデルの各係数が求められ、さらにその後の運動を予測するための状態方程式表現やこれに基づく方向修正制御のためのフィードバック制御則が直ちに導出可能となる。以下、この場合のカルマンフィルタを用いた逐次状態変数ベクトル推定器４０７の構成法について述べる。
【００５３】
まず、以下のように推定すべき状態変数ベクトルＸH ∈Ｒ^(nd+2+na+nb)×¹を定義する。
【００５４】
【数７】

【００５５】
このとき、式（１）、式（１１）は式（１２）の下で次の状態方程式により表すことができる。
【００５６】
【数８】

【００５７】
式（１４）において、Ｏ_i×_j，Ｉkはそれぞれｉ行ｊ列の零行列とｋ次元単位行列を示している。ωH[k]はＥ(ωH)＝０，Ｅ（ωH[k]ω^TH[k']）＝ΣωHδkk' のシステムノイズを表している。ここで、Ｅ(・)は期待値、δkk' はクロネッカのδを意味している。
【００５８】
一方、水平計画線からみたレーザ受光装置２０２の水平変位Ｘt は、水平計画線からみた方向修正部１０３の水平変位Ｘh と水平計画線に対する先導体前筒１０４の水平傾斜角θH と水平計画線に対する先導体後筒１０５の水平傾斜角θHrを用いれば、次式で表される。
Ｘt＝Ｘh−ＬfθH−ＬrθHr ・・・（１５）
【００５９】
式（１５）と先導体前筒１０４の中折れ角φに関する式（８）とレーザ受光装置２０２の変位の微分値に関する仮定式（１２）とを組み合わせれば、次の観測式が導かれる。
【００６０】
【数９】

【００６１】
式（１６）において、υH[k]はＥ(υH)＝０，Ｅ(υH[k]υ^TH[k'])＝ΣυHδkk' の観測ノイズを表している。いま、Ｅ(ωH[k]υ^TH[k'])＝Ｏ_(nd+2+na+nb)×₃と仮定すると、以下のようなカルマンフィルタが構成され、未知変数ベクトルＸH[k]の推定値ハットＸH[k]を求めることが可能になる。以下、同様に文字上に付した「∧」をハットと呼ぶ。
【００６２】
【数１０】

【００６３】
【数１１】

【００６４】
【数１２】

【００６５】
【数１３】

【００６６】
【数１４】

【００６７】
式（１７）、式（１８）はフィルタ方程式、式（１９）はカルマンゲイン、式（２０）、式（２１）は誤差の共分散行列方程式である。
【００６８】
一方、レーザターゲット法が使用できない曲線施工時の埋設管推進機の水平位置検知は、図３に示すとおり埋設管推進機に内蔵された誘導磁界発生装置３０１が作り出す磁界を誘導磁界検出装置３０２で検知することにより、水平計画線との変位ＸD （誘導磁界発生装置３０１の位置）を求めている。
【００６９】
このとき、埋設管１本程度の長さ毎に検知されるコイル位置ＸD を先導体１０１のローリング情報を基に補正した後、適当な曲線で補間してゆけば、レーザ受光部相当位置の水平変位とその微分値を逐次求めることができる。これらを式（１６）のデータベクトルとして提供すれば前述のカルマンフィルタで状態推定を行うことができる。
【００７０】
次に、図４に示した水平方向状態推定装置４０２の構成の構成について説明する。水平方向状態推定装置４０２は、マシン状態方程式生成部４０３と、レーザ受光部水平変位微分器４０６と、逐次状態変数ベクトル推定器４０７とから構成される。マシン状態方程式生成部４０３は、先導体水平旋回モデル４０４と、先導体水平推進方向モデル４０５とを有する。
【００７１】
なお、先導体１０１と埋設管１０８とを水平方向修正量ηH に基づいて水平計画線の方向に推進させる方向制御装置は、以上の水平方向状態推定装置４０２と観測信号切替器４０１と図示しない水平方向制御器とから構成される。
【００７２】
水平計画線の方向を示す水平計画線情報は、オペレータによって設定され、水平方向状態推定装置４０２と図示しない水平方向制御器に入力される。埋設管推進機に設けられたレーザ受光装置２０２は、レーザ光（計画線）に対する自装置の水平変位Ｘt を示す観測信号を出力する。地上に設置された誘導磁界検出装置３０２は、埋設管推進機に設けられた誘導磁界発生装置３０１の計画線に対する水平変位ＸD を示す観測信号を出力する。
【００７３】
観測信号切替器４０１は、直線施工のときは、レーザ受光装置２０２から出力された水平変位観測信号を選択出力し、曲線施工の場合は、誘導磁界検出装置３０２から出力された水平変位観測信号を選択出力する。
【００７４】
水平方向状態推定装置４０２は、観測信号切替器４０１の出力信号と、埋設管推進機の中折れ角センサ２０４から出力された、先導体前筒１０４と先導体後筒１０５との水平方向の相対角（中折れ角）φを示す中折れ角信号と、水平方向制御器から出力された現時点での水平方向修正量ηH と、前記水平計画線情報とを入力信号とする。
【００７５】
レーザ受光部水平変位微分器４０６は、直線施工時の場合、観測信号切替器４０１の出力を基に、レーザ受光装置の水平計画線に対する水平変位Ｘt を推進距離Ｌに関して微分した微分値∂Ｘt／∂Ｌ を求める。また、レーザ受光部水平変位微分器４０６は、曲線施工時の場合、観測信号切替器４０１の出力（誘導磁界発生装置３０１の計画線に対する水平変位ＸD ）を先導体１０１のローリング情報を基に補正した後補間して、水平変位Ｘt に相当する変位を求め、求めた変位を推進距離Ｌに関して微分した微分値を求める。
【００７６】
そして、水平方向状態推定装置４０２の逐次状態変数ベクトル推定器４０７は、中折れ角φを出力変数とし水平方向修正量ηH を入力変数としたとき、単位推進長Ｌp 毎に得られる入力変数と出力変数との関係をＡＲＸモデルとして記述した先導体水平旋回モデル４０４（式（１））と、先導体前筒１０４の水平旋回曲率ρH に先導体前筒１０４の長さＬf を乗じた項と、先導体後筒１０５の水平旋回曲率ρHrに先導体後筒１０５の長さＬr を乗じた項と、レーザ受光装置２０２の水平計画線に対する水平変位Ｘt を推進距離Ｌに関して微分した微分値の項との合計を、先導体１０１の水平推進方向とする先導体水平推進方向モデル４０５（式（６））と、レーザ受光部水平変位微分器４０６の出力と、前記入力信号とに基づいて、水平計画線に対する先導体１０１の水平位置・姿勢パラメータθH[k]，Ｘh[k]とＡＲＸモデルのパラメータａH1，・・・，ａHna ，ｂH1，・・・，ｂHnb とをオンライン推定（すなわち、埋設管推進機の推進と同時に推定）する。
【００７７】
図示しない水平方向制御器は、逐次状態変数ベクトル推定器４０７によって推定された水平方向状態変数ベクトル推定値に基づいて次の水平方向修正量ηH を計算する。水平方向制御器で計算された水平方向修正量ηH は、埋設管推進機に入力され、この水平方向修正量ηH に基づいて方向修正ジャッキ１１１が駆動される。こうして、先導体１０１が水平計画線の方向に前進するよう方向制御が行われる。
【００７８】
なお、水平方向状態推定装置４０２は、演算装置、記憶装置及びインタフェースを備えたコンピュータとこれらのハードウェア資源を制御するプログラムによって実現することができる。このようなコンピュータでは、マシン状態方程式生成部４０３は記憶装置に格納される。以上のようにして、オペレータの熟練度に依存せず、均質で高精度な埋設管推進機の状態推定を実現できる。
【００７９】
［第２の実施の形態］
次に、埋設管推進機の垂直方向の位置・姿勢を推定する垂直方向状態推定装置について説明する。図７は、本発明の第２の実施の形態となる垂直方向状態推定装置の構成を示すブロック図である。図７の各要素の具体的構成法を述べるため、最初に埋設管推進機の垂直方向修正量に対する先導体１０１の旋回特性を表すマシン状態変化モデルの設計法について述べる。その後、直線施工時のレーザターゲット法および曲線施工時の誘導磁界検知法それぞれの観測手段による埋設管推進機の垂直方向に関する状態変化モデルパラメータのオンライン推定法について説明する。
【００８０】
図８は埋設管推進機の垂直方向の運動を表すための各部位の位置や角度の定義を示している。垂直計画線（基線）から見たカッターヘッド１０２の先端部の垂直変位をＹc 、垂直計画線から見た方向修正部１０３の垂直変位をＹh 、垂直計画線から見た中折れ部１０６の垂直変位をＹm 、垂直計画線から見たレーザ受光装置２０２の垂直変位をＹt とする。
【００８１】
また、垂直計画線に対する先導体前筒１０４の傾斜角（ピッチング角）をθV 、垂直計画線に対する先導体後筒１０５の傾斜角をθVr、先導体前筒１０４を基準としたときの方向修正部１０３の傾斜角（ヘッド角）である垂直方向修正量をηV とする。
【００８２】
先導体１０１の垂直方向の旋回運動に関しても前述の水平旋回時の挙動がそのまま当てはまる。ただし、垂直運動については先導体前筒１０４に内蔵されたピッチング計により垂直方向の旋回曲率ρV が算出できるので、これに関する次式のようなＡＲＸモデルを使用する。

【００８３】
式（２２）において、ａVi（ｉ＝１，・・・，ｎａ），ｂVj（ｊ＝１，・・・，ｎｂ）は周囲の地盤の性質によって変化する埋設管推進機の旋回特性に関するパラメータ、ｗV[k] は上記ダイナミクスに作用する白色システムノイズを意味している。
【００８４】
先導体１０１の推進方向に関するモデリングについても、図６の水平旋回運動に伴う各部の移動ベクトルの算出法と同様の考え方を用いることができる。結局、先導体１０１の垂直運動における推進方向に関して次の式が導かれる。
∂Ｙh／∂Ｌ＝ＬfρV＋ＬrρVr＋∂Ｙt／∂Ｌ ・・・（２３）
【００８５】
ただし、ρV ，ρVrはそれぞれ先導体前筒１０４と先導体後筒１０５の垂直旋回曲率、Ｙh，Ｙtはそれぞれ方向修正部１０３とレーザ受光装置２０２の垂直計画線に対する垂直変位を表す。以上で、先導体１０１の垂直方向の旋回運動と推進方向に関する基本的な運動モデルが導入された。
【００８６】
垂直方向の運動に関してはピッチングデータが直接得られるため、先導体１０１の垂直計画線に対する姿勢やＡＲＸモデルの係数の推定値は直ちに求めることができる。実際、式（２２）の左辺第一項を先導体前筒１０４の傾斜角θV に関する後退差分で１次近似すれば、垂直計画線に対する先導体１０１の垂直傾斜角に関する次のような状態変化モデルが導かれる。
【００８７】
【数１５】

【００８８】
ただし、方向修正部１０３などの垂直変位等を同時に推定するには水平運動時と同様さらなる条件を導入する必要がある。すなわち、前述の＜仮定Ａ＞と同様の仮定が垂直方向の運動に関しても成立するものと仮定する。
＜仮定Ａ’＞先導体後筒１０５の垂直運動に関しては、先導体前筒１０４の垂直計画線に対する角度の軌跡を一定距離遅れてトレースするように振舞う。
【００８９】
すなわち、ある地点での垂直計画線に対する先導体前筒１０４の垂直方向の角度がθV とすると、このときの先導体前筒１０４の中心位置をその後に先導体後筒１０５の中心位置が通過したとき、先導体後筒１０５の傾斜角θVrはθV に一致するものとする。前述と同様、（Ｌf＋Ｌr）／（２Ｌp ）の小数点第一位を四捨五入した整数をｍd とすると、上記の仮定Ａ’は次式で表現できる。
【００９０】
【数１６】

【００９１】
このとき、次式を考慮する。
【００９２】
【数１７】

【００９３】
式（２６）を考慮することにより、方向修正部１０３の垂直変位Ｙh に関する次の状態変化モデルが得られる。
【００９４】
【数１８】

【００９５】
ここで、式（２４）と式（２７）を組み合わせれば、レーザ受光装置２０２の移動ベクトルの垂直方向の勾配∂Ｙt／∂Ｌ を外部入力とするカルマンフィルタを構成することにより、先導体１０１の位置姿勢（θV[k]，Ｙh[k]）や旋回運動に関するＡＲＸモデルのパラメータ（ａV1，・・・，ａVna ，ｂV1，・・・，ｂVnb ）をオンライン推定する逐次状態変数ベクトル推定器５０７を構成することが可能となる。
【００９６】
一方、レーザ受光装置２０２の移動ベクトルの垂直方向の勾配∂Ｙt／∂Ｌ に関しても水平方向のときと同様な仮定をおくことにする。
＜仮定Ｂ’＞レーザ受光装置２０２の移動ベクトルの垂直方向の勾配∂Ｙt／∂Ｌ は、先導体後筒１０５の垂直計画線に対する垂直傾斜角の軌跡を一定距離遅れてトレースするように変化する。
【００９７】
すなわち、ある地点での垂直計画線に対する先導体後筒１０５の傾斜角がθVrとすると、このときの先導体後筒１０５の中心位置をその後にレーザ受光装置２０２が通過したときの移動ベクトルの垂直方向の勾配∂Ｙt／∂Ｌ はθVrに一致するものとする。なお、仮定Ａ’と組み合わせると、レーザ受光装置２０２の移動ベクトルの垂直方向の勾配∂Ｙt／∂Ｌ は、先導体前筒１０４の垂直計画線に対する垂直傾斜角の軌跡を一定距離遅れてトレースすることになる。仮定Ａ’と組み合わせた場合、（Ｌf＋２Ｌr）／（２Ｌp ）の小数点第一位を四捨五入した整数をｎd とすると、上記の仮定Ｂ’は次式で表現できる。
【００９８】
【数１９】

【００９９】
式（２４）と式（２７）の状態変化モデルに式（２８）を組み合わせれば、外部入力項のないカルマンフィルタを用いて先導体１０１の位置・姿勢及び垂直旋回に関するＡＲＸモデルの各係数が求められ、さらにその後の運動を予測するための状態方程式表現やこれに基づく方向修正制御のためのフィードバック制御則が直ちに導出可能となる。以下、この場合のカルマンフィルタを用いた逐次状態変数ベクトル推定器５０７の構成法について述べる。
【０１００】
まず、以下のように推定すべき状態変数ベクトルＸH ∈Ｒ^{(nd+2+na+nb+1)}×¹を定義する。
【０１０１】
【数２０】

【０１０２】
このとき、式（２４）、式（２７）は式（２８）の下で次の状態方程式により表すことができる。
【０１０３】
【数２１】

【０１０４】
式（２９）に表す状態変数ベクトルには未知の量であるピッチング計のオフセットｐ0 が含まれている。また、ωV[k]はＥ(ωV)＝０，Ｅ（ωV[k]ω^TV[k']）＝ΣωVδkk' のシステムノイズを表している。
【０１０５】
一方、垂直計画線からみたレーザ受光装置２０２の垂直変位Ｙt は、垂直計画線からみた方向修正部１０３の垂直変位Ｙh と垂直計画線に対する先導体前筒１０４の垂直傾斜角θV と垂直計画線に対する先導体後筒１０５の垂直傾斜角θVrを用いれば、次式で表される。
Ｙt＝Ｙh−ＬfθV−ＬrθVr ・・・（３１）
【０１０６】
式（３１）とピッチング計出力ｐ（＝θV＋ｐ0）とレーザ受光装置２０２の変位の微分値に関する仮定式（２８）とを組み合わせれば、次の観測式が導かれる。
【０１０７】
【数２２】

【０１０８】
式（３２）において、υV[k]はＥ(υV)＝０，Ｅ(υV[k]υ^TV[k'])＝ΣυVδkk' の観測ノイズを表している。いま、Ｅ(ωV[k]υ^TV[k'])＝Ｏ_{(nd+2+na+nb+1)}×₃と仮定すると、以下のようなカルマンフィルタが構成され、未知変数ベクトルＸV[k]の推定値ハットＸV[k]を求めることが可能になる。
【０１０９】
【数２３】

【０１１０】
【数２４】

【０１１１】
【数２５】

【０１１２】
【数２６】

【０１１３】
【数２７】

【０１１４】
式（３３）、式（３４）はフィルタ方程式、式（３５）はカルマンゲイン、式（３６）、式（３７）は誤差の共分散行列方程式である。
【０１１５】
一方、レーザターゲット法が使用できない曲線施工時の埋設管推進機の垂直位置検知は、図３に示すとおり埋設管推進機に内蔵された圧力センサ３０３により垂直計画線との垂直変位（深度データ）Ｙs を求めている。
【０１１６】
このとき、単位推進長Ｌp 毎に圧力センサ３０３により検知される深度データＹs を先導体１０１のローリング情報を基に補正した後、適当な曲線で補間してゆけば、レーザ受光部相当位置の垂直変位とその微分値を逐次求めることができる。これらを式（３２）のデータベクトルとして提供すれば前述のカルマンフィルタで状態推定を行うことができる。
【０１１７】
次に、図７に示した垂直方向状態推定装置５０２の構成の構成について説明する。垂直方向状態推定装置５０２は、マシン状態方程式生成部５０３と、レーザ受光部垂直変位微分器５０６と、逐次状態変数ベクトル推定器５０７とから構成される。マシン状態方程式生成部５０３は、先導体垂直旋回モデル５０４と、先導体垂直推進方向モデル５０５とを有する。
【０１１８】
なお、先導体１０１と埋設管１０８とを垂直方向修正量ηV に基づいて垂直計画線の方向に推進させる方向制御装置は、以上の垂直方向状態推定装置５０２と観測信号切替器５０１と図示しない垂直方向制御器とから構成される。
【０１１９】
垂直計画線の方向を示す垂直計画線情報は、オペレータによって設定され、垂直方向状態推定装置５０２と図示しない垂直方向制御器に入力される。埋設管推進機に設けられたレーザ受光装置２０２は、レーザ光（計画線）に対する自装置の垂直変位Ｙt を示す観測信号を出力する。埋設管推進機に設けられた圧力センサ３０３は、地上の基準液圧測定装置３０４で測定された基準液圧と自センサで測定した液圧との差に基づいて、自センサの計画線に対する垂直変位Ｙs を示す観測信号を出力する。
【０１２０】
観測信号切替器５０１は、直線施工のときは、レーザ受光装置２０２から出力された垂直変位観測信号を選択出力し、曲線施工の場合は、圧力センサ３０３から出力された垂直変位観測信号を選択出力する。
【０１２１】
垂直方向状態推定装置５０２は、観測信号切替器５０１の出力信号と、埋設管推進機のピッチング計２０３から出力された、垂直計画線に対する先導体前筒１０４の傾斜角（ピッチング角）ｐ（＝θV＋ｐ0）を示すピッチング角信号と、垂直方向制御器から出力された現時点での垂直方向修正量ηv と、前記垂直計画線情報とを入力信号とする。
【０１２２】
レーザ受光部垂直変位微分器５０６は、直線施工時の場合、観測信号切替器５０１の出力を基に、レーザ受光装置の垂直計画線に対する垂直変位Ｙt を推進距離Ｌに関して微分した微分値∂Ｙt／∂Ｌ を求める。また、レーザ受光部垂直変位微分器５０６は、曲線施工時の場合、観測信号切替器４０１の出力（圧力センサ３０３の計画線に対する垂直変位Ｙs ）を先導体１０１のローリング情報を基に補正した後補間して、垂直変位Ｙt に相当する変位を求め、求めた変位を推進距離Ｌに関して微分した微分値を求める。
【０１２３】
そして、垂直方向状態推定装置５０２の逐次状態変数ベクトル推定器５０７は、先導体前筒１０４の垂直旋回曲率ρV を出力変数とし垂直方向修正量ηV を入力変数としたとき、単位推進長Ｌp 毎に得られる入力変数と出力変数との関係をＡＲＸモデルとして記述した先導体垂直旋回モデル５０４（式（２２））と、先導体前筒１０４の垂直旋回曲率ρV に先導体前筒１０４の長さＬf を乗じた項と、先導体後筒１０５の垂直旋回曲率ρVrに先導体後筒１０５の長さＬr を乗じた項と、レーザ受光装置２０２の垂直計画線に対する垂直変位Ｙt を推進距離Ｌに関して微分した微分値の項との合計を、先導体１０１の垂直推進方向とする先導体垂直推進方向モデル５０５（式（２３））と、レーザ受光部垂直変位微分器５０６の出力と、前記入力信号とに基づいて、垂直計画線に対する先導体１０１の垂直位置・姿勢パラメータθV[k]，Ｙh[k]とＡＲＸモデルのパラメータａV1，・・・，ａVna ，ｂV1，・・・，ｂVnb とをオンライン推定する。
【０１２４】
図示しない垂直方向制御器は、逐次状態変数ベクトル推定器５０７によって推定された垂直方向状態変数ベクトル推定値に基づいて次の垂直方向修正量ηV を計算する。垂直方向制御器で計算された垂直方向修正量ηV は、埋設管推進機に入力され、この垂直方向修正量ηV に基づいて方向修正ジャッキ１１１が駆動される。こうして、先導体１０１が垂直計画線の方向に前進するよう方向制御が行われる。
【０１２５】
なお、垂直方向状態推定装置５０２は、演算装置、記憶装置及びインタフェースを備えたコンピュータとこれらのハードウェア資源を制御するプログラムによって実現することができる。このようなコンピュータでは、マシン状態方程式生成部５０３は記憶装置に格納される。以上のようにして、オペレータの熟練度に依存せず、均質で高精度な埋設管推進機の状態推定を実現できる。
【０１２６】
【発明の効果】
本発明によれば、水平変位と中折れ角と水平方向修正量とを入力とし、水平旋回モデル式と水平推進方向モデル式とに基づいて、水平計画線に対する先導体の水平位置・姿勢パラメータとＡＲＸモデルのパラメータとを埋設管推進機の推進と同時に推定するようにしたことにより、埋設管掘進機の先導体の状態変化モデルを基にして各種観測信号からオンラインで状態推定を行うようにしたので、先導体の水平計画線に対する位置・姿勢や周囲地盤の性質に見合った埋設管推進機の旋回特性を求めることが可能となり、オペレータが熟練者か非熟練者かに関係なく、埋設管推進機の均質で高精度な状態推定を行うことができ、現在より先の予測情報を提供することができる。
【０１２７】
また、水平旋回モデル式と水平推進方向モデル式において、水平計画線に対する先導体後筒の水平傾斜角が先導体前筒の水平傾斜角を一定距離遅らせた値と等しいと仮定することにより得られる状態方程式を基にすることにより、水平計画線に対する先導体の水平位置・姿勢パラメータとＡＲＸモデルのパラメータとを同時に推定することができる。
【０１２８】
また、レーザ受光装置の水平計画線に対する水平変位を推進距離に関して微分した微分値が先導体前筒の水平傾斜角を一定距離遅らせた値と等しいと仮定することにより得られる状態方程式を基にすることにより、水平計画線に対する先導体の水平位置・姿勢パラメータとＡＲＸモデルのパラメータとを同時に推定することができる。
【０１２９】
また、レーザ受光装置の水平計画線に対する水平変位の代わりに、先導体に設けられた誘導磁界発生装置の水平計画線に対する水平変位を補間した値を用いることにより、レーザターゲット法が使用できない曲線施工時についても、先導体の水平位置・姿勢パラメータとＡＲＸモデルのパラメータとを同時に推定することができる。
【０１３０】
また、ピッチング角と垂直変位と垂直方向修正量とを入力とし、垂直旋回モデル式と垂直推進方向モデル式とに基づいて、垂直計画線に対する先導体の垂直位置・姿勢パラメータとＡＲＸモデルのパラメータとを埋設管推進機の推進と同時に推定するようにしたことにより、埋設管掘進機の先導体の状態変化モデルを基にして各種観測信号からオンラインで状態推定を行うようにしたので、先導体の垂直計画線に対する位置・姿勢や周囲地盤の性質に見合った埋設管推進機の旋回特性を求めることが可能となり、オペレータが熟練者か非熟練者かに関係なく、埋設管推進機の均質で高精度な状態推定を行うことができ、現在より先の予測情報を提供することができる。
【０１３１】
また、垂直旋回モデル式と垂直推進方向モデル式において、垂直計画線に対する先導体後筒の垂直傾斜角が先導体前筒の垂直傾斜角を一定距離遅らせた値と等しいと仮定することにより得られる状態方程式を基にすることにより、垂直計画線に対する先導体の垂直位置・姿勢パラメータとＡＲＸモデルのパラメータとを同時に推定することができる。
【０１３２】
また、レーザ受光装置の垂直計画線に対する垂直変位を推進距離に関して微分した微分値が先導体後筒の垂直傾斜角を一定距離遅らせた値と等しいと仮定することにより得られる状態方程式を基にすることにより、垂直計画線に対する先導体の垂直位置・姿勢パラメータとＡＲＸモデルのパラメータとを同時に推定することができる。
【０１３３】
また、レーザ受光装置の垂直計画線に対する垂直変位の代わりに、先導体に設けられた誘導磁界発生装置の垂直計画線に対する垂直変位を補間した値を用いることにより、レーザターゲット法が使用できない曲線施工時についても、先導体の垂直位置・姿勢パラメータとＡＲＸモデルのパラメータとを同時に推定することができる。
【図面の簡単な説明】
【図１】 本発明の方向制御装置の制御対象となる掘削型埋設管推進機の全体構成を示す側面図である。
【図２】 掘削型埋設管推進機の直線施工時の位置検知システムであるレーザターゲット法による位置検知システムの構成を示すブロック図である。
【図３】 掘削型埋設管推進機の曲線施工時の位置検知システムである誘導磁界検出装置による水平位置検知システム及び液圧差法による垂直位置検知システムの構成を示すブロック図である。
【図４】 本発明の第１の実施の形態となる水平方向状態推定装置の構成を示すブロック図である。
【図５】 埋設管推進機の水平方向の状態変化モデルを記述するための座標系の定義法を示す説明図である。
【図６】 埋設管推進機の旋回運動に伴う先導体各部の移動ベクトルを示す図である。
【図７】 本発明の第２の実施の形態となる垂直方向状態推定装置の構成を示すブロック図である。
【図８】 埋設管推進機の垂直方向の状態変化モデルを記述するための座標系の定義法を示す説明図である。
【符号の説明】
１０１…先導体、１０２…カッターヘッド、１０３…方向修正部、１０４…先導体前筒、１０５…先導体後筒、１０６…中折れ部、１０７…元押装置、１０８…埋設管、１０９…地盤、１１０…発進立抗、１１１…方向修正ジャッキ、２０１…レーザセオドライト、２０２…レーザ受光装置、２０３…ピッチング計、２０４…中折れ角センサ、２０５…ローリング計、３０１…誘導磁界発生装置、３０２…誘導磁界検出装置、３０３…圧力センサ、３０４…基準液圧測定装置、４０１…観測信号切替器、４０２…水平方向状態推定装置、４０３…マシン状態方程式生成部、４０４…先導体水平旋回モデル、４０５…先導体水平推進方向モデル、４０６…レーザ受光部水平変位微分器、４０７…逐次状態変数ベクトル推定器、５０１…観測信号切替器、５０２…垂直方向状態推定装置、５０３…マシン状態方程式生成部、５０４…先導体垂直旋回モデル、５０５…先導体垂直推進方向モデル、５０６…レーザ受光部垂直変位微分器、５０７…逐次状態変数ベクトル推定器。[0001]
BACKGROUND OF THE INVENTION
The present invention has a front conductor composed of a front conductor front cylinder, a front conductor rear cylinder connected to the front conductor front cylinder via a bent portion, and a cutter head provided at the tip of the front conductor front cylinder. In addition, the present invention relates to an embedded pipe propulsion machine that forms a pipe line by propelling the leading pipe and the buried pipe sequentially added to the rear of the leading conductor with a main pushing device of a starting shaft while excavating the surrounding ground with a cutter head, In particular, the present invention relates to a state estimation method and a state estimation device capable of sequentially estimating the position / posture of a buried pipe propulsion device or predicting behavior ahead of the present.
[0002]
[Prior art]
Conventionally, buried pipe propulsion devices display the amount of displacement from a planned line obtained from signals from various sensors such as a laser receiver and pitching meter built in the leading conductor on an operation panel installed on the ground. Based on the amount of displacement, the operator determines the amount of correction of the direction of the cutter head and operates the hydraulic jack for tilting the cutter head.
[0003]
[Problems to be solved by the invention]
However, it is not possible to determine the correct position / posture of the buried pipe propulsion machine by using only the sensor information obtained, and the problem is that the status of the buried pipe propulsion machine and the direction correction operation depend greatly on the experience and technology of the operator. was there.
[0004]
An object of the present invention is to reduce the dependence of an operator on the technology as much as possible, and to make it possible to grasp the state of an embedded pipe propulsion device with high accuracy regardless of whether the operator is an expert or a non-expert.
[0005]
[Means for Solving the Problems]
The present invention is provided at a front conductor front cylinder (104 in FIG. 1), a front conductor rear cylinder (105) connected to the front conductor front cylinder via a middle bent portion (106), and a tip of the front conductor front cylinder. In a buried pipe propulsion device for propelling a leading conductor (101) composed of the cutter head (102) and a buried pipe (108) sequentially added behind the leading conductor in the direction of a predetermined horizontal plan line A state estimation method for estimating a horizontal position / posture of a pipe propulsion device, wherein a bending angle (φ) which is a horizontal relative angle between the front conductor front cylinder and the front conductor rear cylinder is used as an output variable, and the cutter head The relationship between the input variable and the output variable obtained for each unit propulsion length (Lp) is defined as an ARX model where the horizontal direction correction amount (ηH) that is the horizontal relative angle between the front conductor and the leading conductor front cylinder is used as an input variable. Horizontal turning model formula (formula ( )) In advance, a term obtained by multiplying the horizontal turning curvature (ρH) of the front conductor front tube by the length (Lf) of the front conductor front tube, and the horizontal turning curvature (ρHr) of the front conductor rear tube. ) Multiplied by the length (Lr) of the leading conductor rear cylinder and the horizontal displacement (Xt) of the laser receiver (202) provided at the rear end of the leading conductor rear cylinder with respect to the horizontal plan line. A procedure for presetting a horizontal propulsion direction model formula (formula (6)) in which the sum of the differential value terms differentiated with respect to (L) is set as the horizontal propulsion direction of the leading conductor, the horizontal displacement and the bending angle And the horizontal correction amount, and based on the horizontal turning model formula and the horizontal propulsion direction model formula, the horizontal position / posture parameters (θH [k], Xh [k ]) And parameters of the ARX model (aH1,..., AHna, bH1,. Hnb) and is not put up to run and the state variable vector estimation procedure for simultaneously estimating the propulsion of the buried pipe propulsion machine. In the present invention, state estimation is performed online from various observation signals based on the state change model of the leading conductor of the buried pipe excavator.
[0006]
Further, in one configuration example of the state estimation method for the buried pipe propulsion unit according to the present invention, the state variable vector estimation procedure is performed in the horizontal turning model formula and the horizontal propulsion direction model formula in the leading conductor rear cylinder with respect to a horizontal plan line. The horizontal design line is based on the equation of state (Equation (1), Equation (11)) obtained by assuming that the horizontal inclination angle is equal to the value obtained by delaying the horizontal inclination angle of the front conductor front tube by a certain distance. The horizontal position / posture parameters of the leading conductor and the parameters of the ARX model are estimated simultaneously.
Moreover, in one configuration example of the state estimation method for the buried pipe propulsion device according to the present invention, the state variable vector estimation procedure is such that a differential value obtained by differentiating a horizontal displacement with respect to a horizontal plan line of the laser receiving device with respect to a propulsion distance is the leading conductor. Based on the state equations (Equation (1), Equation (11), Equation (12)) obtained by assuming that the horizontal inclination angle of the front cylinder is equal to a value delayed by a certain distance, the leading for the horizontal plan line is obtained. The horizontal position / posture parameters of the body and the parameters of the ARX model are estimated simultaneously.
Also, one configuration example of the state estimation method of the buried pipe propulsion device according to the present invention is the horizontal direction of the induction magnetic field generator (301) provided in the leading conductor instead of the horizontal displacement with respect to the horizontal plan line of the laser receiving device. A value obtained by interpolating the horizontal displacement (XD) with respect to the design line is used.
[0007]
Further, the present invention provides a front conductor composed of a front conductor front cylinder, a front conductor rear cylinder connected to the front conductor front cylinder via a bent portion, and a cutter head provided at the tip of the front conductor front cylinder. And in the buried pipe propulsion device for propelling the buried pipe sequentially added behind the leading conductor in the direction of a predetermined vertical plan line, a state estimation method for estimating the vertical position / posture of the buried pipe propulsion machine, When the vertical turning curvature (ρV) of the front conductor front cylinder is an output variable, and the vertical direction correction amount (ηV) that is the vertical relative angle between the cutter head and the front conductor front cylinder is an input variable, the unit propulsion length ( Lp), a procedure for presetting a vertical turning model formula (formula (22)) in which the relationship between the input variable and the output variable obtained for each Lp model is described as an ARX model, and the vertical turning curvature of the front conductor front tube The length (Lf) of the front conductor front tube A term obtained by multiplying a vertical turning curvature (ρVr) of the leading conductor rear tube by a length (Lr) of the leading conductor rear tube, and a laser receiving device provided at the rear end of the leading conductor rear tube A vertical propulsion direction model formula (formula (23)) in which the sum of the vertical displacement (Yt) with respect to the vertical plan line in (202) and the differential value term obtained by differentiating the propulsion distance (L) is the vertical propulsion direction of the leading conductor. ), A pitching angle (p or θV) that is an inclination angle of the leading conductor front cylinder with respect to a vertical plan line, the vertical displacement, and the vertical correction amount, and the vertical turning model formula Based on the vertical propulsion direction model formula, the vertical position / posture parameters (θV [k], Yh [k]) of the leading conductor with respect to the vertical plan line and the parameters (aV1,..., AVna,. bV1,..., bVnb) It is obtained so as to perform the state variable vector estimation procedure for estimating simultaneously. In the present invention, state estimation is performed online from various observation signals based on the state change model of the leading conductor of the buried pipe excavator.
[0008]
Further, in one configuration example of the state estimation method for the buried pipe propulsion device according to the present invention, the state variable vector estimation procedure is performed in the vertical turning model formula and the vertical propulsion direction model formula in the leading conductor rear cylinder with respect to a vertical plan line. Based on the equation of state (Equation (24), Equation (27)) obtained by assuming that the vertical inclination angle is equal to the value obtained by delaying the vertical inclination angle of the leading conductor front cylinder by a certain distance, The vertical position / posture parameters of the leading conductor with respect to the ARX model and the parameters of the ARX model are estimated simultaneously.
Further, in one configuration example of the state estimation method for the buried pipe propulsion device according to the present invention, the state variable vector estimation procedure is such that a differential value obtained by differentiating a vertical displacement with respect to a vertical plan line of the laser light receiving device with respect to a propulsion distance is the leading conductor. Based on the equation of state (Equation (24), Equation (27), Equation (28)) obtained by assuming that the vertical inclination angle of the front cylinder is equal to a value delayed by a certain distance, the lead for the vertical plan line is obtained. The body vertical position / posture parameters and the parameters of the ARX model are estimated simultaneously.
Also, one configuration example of the state estimation method of the buried pipe propulsion device according to the present invention is based on the vertical plan line of the induced magnetic field generator provided in the leading conductor, instead of the vertical displacement with respect to the vertical plan line of the laser receiving device. A value obtained by interpolating the vertical displacement (Ys) is used.
[0009]
Further, the state estimation device for a buried pipe propulsion device according to the present invention uses a turning angle that is a horizontal relative angle between the leading conductor front cylinder and the leading conductor rear cylinder as an output variable, and the cutter head and the leading conductor front cylinder. A horizontal turning model in which the relationship between the input variable and the output variable obtained for each unit propulsion length is described as an ARX model (404 in FIG. 4). A term obtained by multiplying the horizontal turning curvature of the leading conductor front tube by the length of the leading conductor front tube, and a term obtained by multiplying the horizontal turning curvature of the leading conductor rear tube by the length of the leading conductor rear tube; A horizontal propulsion direction model in which a sum of a differential value obtained by differentiating a horizontal displacement with respect to a horizontal plan line of a laser receiving device provided at a rear end of the front conductor rear cylinder with respect to a propulsion distance is a horizontal propulsion direction of the leading conductor (405), the horizontal displacement and the bending angle. The horizontal position correction amount is used as an input, and the horizontal position / posture parameters of the leading conductor with respect to a horizontal plan line and the parameters of the ARX model are embedded based on the horizontal turning model formula and the horizontal propulsion direction model formula A sequential state variable vector estimator (407) that estimates simultaneously with the propulsion of the pipe propulsion device.
[0010]
Further, in one configuration example of the state estimation device for the buried pipe propulsion unit according to the present invention, the sequential state variable vector estimator may be configured so that the rear conductor after the leading conductor with respect to a horizontal plan line in the horizontal turning model formula and the horizontal propulsion direction model formula. Based on the equation of state obtained by assuming that the horizontal inclination angle of the cylinder is equal to the value obtained by delaying the horizontal inclination angle of the front conductor front cylinder by a certain distance, the horizontal position / posture parameters of the front conductor with respect to a horizontal plan line And the parameters of the ARX model are estimated simultaneously.
Further, in one configuration example of the state estimation device for the buried pipe propulsion device according to the present invention, the sequential state variable vector estimator has a differential value obtained by differentiating a horizontal displacement with respect to a horizontal plan line of the laser receiving device with respect to a propulsion distance. Based on the state equation obtained by assuming that the horizontal inclination angle of the front cylinder is equal to a value delayed by a certain distance, the horizontal position / posture parameters of the leading conductor with respect to the horizontal plan line and the parameters of the ARX model are Estimate at the same time.
Moreover, in one structural example of the state estimation apparatus of the buried pipe propulsion apparatus according to the present invention, the sequential state variable vector estimator is provided in the leading conductor instead of a horizontal displacement with respect to a horizontal plan line of the laser receiving device. A value obtained by interpolating the horizontal displacement with respect to the horizontal plan line of the induction magnetic field generator is used.
[0011]
Further, the state estimation device for the buried pipe propulsion device according to the present invention uses the vertical turning curvature of the leading conductor front cylinder as an output variable, and calculates a vertical correction amount that is a vertical relative angle between the cutter head and the leading conductor front cylinder. As an input variable, a vertical turning model (504 in FIG. 7) describing the relationship between the input variable and the output variable obtained for each unit propulsion length as an ARX model, and a vertical turning curvature of the front conductor front tube. A term obtained by multiplying the length of the front conductor front tube, a term obtained by multiplying the vertical turning curvature of the front conductor rear tube by the length of the front conductor rear tube, and a rear end of the front conductor rear tube. A vertical propulsion direction model (505) in which the sum of the vertical displacement of the laser receiver relative to the vertical plan line with respect to the propulsion distance is a vertical propulsion direction model (505), and the leading conductor with respect to the vertical plan line Pitching angle, which is the inclination angle of the front cylinder The vertical displacement and the vertical correction amount are input, and based on the vertical turning model formula and the vertical propulsion direction model formula, the vertical position / posture parameters of the leading conductor with respect to the vertical plan line and the parameters of the ARX model And a sequential state variable vector estimator (507) for estimating the above simultaneously with the propulsion of the buried pipe propulsion device.
[0012]
Further, in one configuration example of the state estimation device for the buried pipe propulsion unit according to the present invention, the sequential state variable vector estimator may be configured so that the rear conductor behind the vertical plan line in the vertical turning model formula and the vertical propulsion direction model formula. Based on the equation of state obtained by assuming that the vertical inclination angle of the cylinder is equal to the value obtained by delaying the vertical inclination angle of the front conductor front cylinder by a certain distance, the vertical position / posture parameters of the front conductor with respect to the vertical plan line And the parameters of the ARX model are estimated simultaneously.
Further, in one configuration example of the state estimation device for the buried pipe propulsion device according to the present invention, the sequential state variable vector estimator has a differential value obtained by differentiating a vertical displacement with respect to a vertical plan line of the laser receiving device with respect to a propulsion distance. Based on the state equation obtained by assuming that the vertical inclination angle of the front cylinder is equal to a value delayed by a certain distance, the vertical position / posture parameters of the leading conductor with respect to the vertical plan line and the parameters of the ARX model are Estimate at the same time.
Moreover, in one configuration example of the state estimation device for the buried pipe propulsion device according to the present invention, the sequential state variable vector estimator is provided in the leading conductor instead of a vertical displacement with respect to a vertical plan line of the laser receiving device. A value obtained by interpolating the vertical displacement with respect to the vertical plan line of the induction magnetic field generator is used.
[0013]
DETAILED DESCRIPTION OF THE INVENTION
Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings. FIG. 1 is a side view showing the overall configuration of an excavation type buried pipe propulsion device to be controlled by the direction control device of the present invention. The buried pipe propulsion machine shown in FIG. 1 moves forward while excavating the surrounding ground 109 by a cutter head 102 provided at the tip of the leading conductor 101, and by sequentially adding a fixed length of buried pipe 108, Form.
[0014]
The leading conductor 101 includes a cutter head 102 for excavating the ground 109, a direction correcting portion 103 with the cutter head 102 attached to the tip, a leading conductor front tube 104 with the tip correcting portion 103 attached to the tip, and a leading conductor front. It is composed of a cylinder 104 and a leading conductor rear cylinder 105 connected through a bent portion 106.
[0015]
The propulsive force for advancing the leading conductor 101 and the buried pipe 108 is generated by the main pushing device 107 in the starting stand 110 formed perpendicular to the ground 109. Further, the propulsion direction of the buried pipe propulsion device can be controlled by tilting the direction correcting unit 103 (cutter head 102) up and down and left and right by a later-described direction correcting jack built in the direction correcting unit 103.
[0016]
FIG. 2 shows a horizontal position detection and vertical position detection system based on a laser target method at the time of straight construction. When the laser beam emitted from the laser theodolite 201 provided in the start-up resistor 110 is irradiated onto the target surface of the laser light receiving device 202 disposed in the leading conductor rear cylinder 105, the laser beam (reference line, i.e., the reference line, i.e. The displacement of the laser light receiving device 202 with respect to a planned line (to be described later) can be obtained.
[0017]
On the other hand, since the inclination angle of the leading conductor rear cylinder 105 with respect to the laser light cannot be directly obtained, when comparing the current displacement of the laser receiving device 202 with respect to the laser light and the same displacement after the buried pipe propulsion device has propelled several tens of centimeters. Approximate horizontal and vertical tilt angles are obtained from the variation of.
[0018]
However, the inclination angle at this time is not necessarily an accurate value because it is based on the assumption that the leading conductor 101 does not rotate while the buried pipe propulsion device propels several tens of centimeters. From this inclination angle, the horizontal displacement and the vertical displacement of the bent portion 106 can be obtained.
[0019]
Further, the horizontal position of the direction correcting unit 103 can be obtained by using the value of the center angle sensor 204 that detects the relative angle in the horizontal direction between the front conductor front cylinder 104 and the front conductor rear cylinder 105. Further, the vertical position of the front conductor front cylinder 104 is obtained by the pitching meter 203 installed in the front conductor front cylinder 104, and the rotation angle of the front conductor front cylinder 104 is obtained by the rolling meter 205. Further, as described above, the direction correcting unit 103 includes the direction correcting jack 111.
[0020]
FIG. 3 shows a horizontal position detection system using an electromagnetic method and a vertical position detection system using a hydraulic pressure difference method during curve construction. With respect to the horizontal direction, the induction magnetic field generated by the induction magnetic field generator 301 built in the leading conductor 101 is detected by the induction magnetic field detection device 302 installed on the ground, so that the propulsion reference line (plan line) of the buried pipe propulsion device is obtained. ) Horizontal displacement can be obtained.
[0021]
As for the vertical direction, it is embedded by detecting the difference between the hydraulic pressure measured by the pressure sensor 303 built in the leading conductor 101 and the reference hydraulic pressure measured by the reference hydraulic pressure measuring device 304 installed on the ground. The depth of the pipe thruster can be determined. In addition, in order to clearly describe the configuration of the buried pipe propulsion device, it is shown separately in FIGS. 2 and 3, but the buried pipe propulsion device and the buried pipe propulsion device are shown in FIGS. Each component is installed at the same time.
[0022]
[First Embodiment]
Hereinafter, a horizontal state estimation device for estimating the horizontal position / posture of the buried pipe propulsion device will be described. FIG. 4 is a block diagram showing the configuration of the horizontal state estimation apparatus according to the first embodiment of the present invention. In order to describe a specific configuration method of each element in FIG. 4, first, a design method of a machine state change model representing a turning characteristic of the leading conductor 101 with respect to a horizontal correction amount of the buried pipe propulsion device will be described. After that, the on-line estimation method of the state change model parameters for the horizontal direction of the buried pipe propulsion machine by the observation means of the laser target method at the time of straight construction and the induced magnetic field detection method at the time of curved construction will be described.
[0023]
FIG. 5 shows the definition of the position and angle of each part for representing the horizontal movement of the buried pipe propulsion device. The horizontal displacement of the tip of the cutter head 102 viewed from the horizontal plan line (base line) is Xc, the horizontal displacement of the direction correcting unit 103 viewed from the horizontal plan line is Xh, and the horizontal displacement of the bent portion 106 viewed from the horizontal plan line is Xm, Let Xt be the horizontal displacement of the laser receiving device 202 viewed from the horizontal plan line.
[0024]
In addition, the inclination angle (yaw angle) of the front conductor front cylinder 104 with respect to the horizontal plan line is θH, the inclination angle of the front conductor rear cylinder 105 with respect to the horizontal plan line is θHr, and the direction correcting portion when the front conductor front cylinder 104 is used as a reference. The horizontal correction amount, which is the inclination angle (head angle) of 103, is ηH, and the inclination angle (center bend angle) of the front cylinder 104 with respect to the leading conductor rear cylinder 105 is φ. Further, the length of the front conductor front cylinder 104 is Lf, the length of the direction correcting portion 103 including the cutter head 102 is Lh, and the length of the front conductor rear cylinder 105 is Lr.
[0025]
The turning motion of the leading conductor 101 is greatly influenced by the propulsive force generated by the main pushing device 107 and the reaction force received by the direction correcting portion 103 including the cutter head 102 from the surrounding ground, and the direction correction of the buried pipe propulsion device is performed before the leading conductor. This is considered to be realized by controlling the direction correction amount, which is the relative angle between the cylinder 104 and the direction correcting unit 103, and adjusting the influence of the reaction force from the ground.
[0026]
Further, as is apparent from the structure of the buried pipe propulsion device, the leading conductor 101 cannot be turned rapidly, and a certain amount of propulsion distance is required after changing the direction in order to change the inclination angle with respect to the horizontal plan line. If the propulsion is continued with a certain amount of direction correction, the leading conductor front tube 104 starts to tilt in the same direction and a half-turn angle is generated. If the subsequent ground properties are constant, the leading conductor 101 is ideal. Tries to turn with a certain curvature while maintaining a certain bending angle.
[0027]
Therefore, sampling is performed for each unit propulsion length Lp, which is closely related to the horizontal turning curvature of the leading conductor 101 and has a turning angle φ that can be measured by an internal sensor as an output variable and a horizontal correction amount ηH as an input variable. Considering the motion model of the buried pipe propulsion unit by introducing an ARX (Auto-Regressive eXogenous) model such as

[0028]
The ARX model is described in, for example, the document “IDLandau,“ System Identification and Control Design ”, Prentice Hall (1990)”, the document “Shuichi Adachi,“ System Identification Theory for Users ”, Society of Instrument and Control Engineers (1993)”. ing.
The reason for considering the autoregressive component of the bending angle is that the rigidity of the direction correcting unit 103 is extremely high, whereas it is considered that there is a compliance for facilitating the turning of the buried pipe propulsion unit in the middle folding unit 106. is there. In equation (1), k is the number of machine data samplings, aHi (i = 1,..., Na), bHj (j = 1,..., Nb) are buried pipes that vary depending on the properties of the surrounding ground. The parameter relating to the turning characteristics of the propulsion unit, w [k], means white system noise acting on the dynamics.
[0029]
Next, the modeling related to the propulsion direction of the leading conductor 101 will be considered. FIG. 6 shows the movement vector of each part of the leading conductor 101 being propelled. As described above, since the rigidity of the direction correcting portion 103 is very large, the instantaneous center of rotation accompanying the turning motion of the buried pipe propulsion unit is integrally formed from the cutter head 102 to the leading conductor front tube 104, and the middle bent portion 106 is obtained. Let Cr be the center of instantaneous rotation for the leading conductor rear cylinder 105 connected via the.
[0030]
In addition, the distance from the foot of the perpendicular line dropped from the instantaneous rotation center Cf to the front conductor front cylinder 104 to the direction correcting portion 103 is Df, and the radius of curvature of the turning motion integrating the cutter head 102 to the front conductor front cylinder 104 is 1 / ΡH, Dr is the distance from the foot of the perpendicular dropped from the instantaneous center of rotation Cr to the leading conductor rear cylinder 105 to the middle bent portion 106, and the radius of curvature of the turning motion of the leading conductor rear cylinder 105 is 1 / ρHr. However, ρH is the horizontal turning curvature of the leading conductor front cylinder 104, ρHr is the horizontal turning curvature of the leading conductor rear cylinder 105, and these curvatures ρH and ρHr are defined as positive when turning rightward.
[0031]
Since the front conductor front tube 104 and the front conductor rear tube 105 share the middle bent portion 106, the movement vector of the middle bent portion 106 defined in the front conductor front tube 104 is defined by the front conductor rear tube 105. Must match. At this time, the folded portion 106, the instantaneous rotation center Cf, and the instantaneous rotation center Cr are aligned on a straight line, and the following equation is established.
θH + β = θHr + βr (2)
[0032]
As shown in FIG. 6, β is the inclination of the movement vector of the middle bent portion 106 with respect to the front conductor front cylinder 104, and βr is the inclination of the movement vector of the middle bent portion 106 with respect to the front conductor rear cylinder 105. . Equation (2) can be expressed as follows using each radius of curvature.
θH− (Lf−Df) ρH = θHr + DrρHr (3)
[0033]
On the other hand, as shown in FIG. 6, γ = − (Lr−Dr) ρHr, where γ is the inclination of the movement vector of the laser light receiving device 202 with respect to the leading conductor rear cylinder 105, and therefore, the laser light receiving device 202. The horizontal gradient ∂Xt / ∂L (<< 1) of the movement vector of ## EQU1 ## gives the following boundary condition regarding the center of rotation and the radius of curvature of the leading conductor rear cylinder 105.
θHr− (Lr−Dr) ρHr = ∂Xt / ∂L (4)
[0034]
In Expression (4), L represents the cumulative distance of the buried pipe propulsion device. Here, the propulsion direction of the leading conductor 101 can be expressed by the following equation if it is represented by the horizontal gradient ∂Xh / ∂L (<< 1) of the movement vector of the direction correcting unit 103.
∂Xh / ∂L = θH + α = θH + DfρH (5)
In Expression (5), α is the inclination of the movement vector of the direction correcting unit 103 with reference to the front conductor front tube 104 as shown in FIG.
[0035]
Here, if the formulas (3) and (4) are substituted into the formula (5) and rearranged, the following formula is finally derived with respect to the propulsion direction of the leading conductor 101.
∂Xh / ∂L = LfρH + LrρHr + ∂Xt / ∂L (6)
As described above, the basic motion model concerning the horizontal turning and the propulsion direction of the leading conductor 101 has been introduced.
[0036]
On the other hand, it is necessary to introduce further conditions in order to connect the bending angle φ to each turning curvature and simultaneously estimate the position / posture of the leading conductor 101 with respect to the horizontal plan line and the coefficient of the ARX model.
<Assumption A> Regarding the movement of the leading conductor rear cylinder 105, the trajectory of the angle of the leading conductor front cylinder 104 with respect to the horizontal plan line is traced so as to be delayed by a certain distance.
[0037]
That is, assuming that the angle of the leading conductor front cylinder 104 with respect to the horizontal plan line at a certain point is θH, when the center of the leading conductor rear cylinder 105 passes through the center position of the leading conductor front cylinder 104 at this time, the leading conductor The inclination angle θHr of the rear cylinder 105 is assumed to coincide with θH. Now, assuming that an integer obtained by rounding the first decimal place of (Lf + Lr) / (2Lp) is md, the above assumption A can be expressed by the following equation.
[0038]
[Expression 1]

[0039]
Further, if Expression (7) is used, the middle turning angle φ of the front conductor front cylinder 104 can be expressed as follows.
[0040]
[Expression 2]

[0041]
By substituting equation (8) into equation (1), a state change model regarding the inclination angle of the leading conductor 101 with respect to the horizontal plan line is given by the following equation.
[0042]
[Equation 3]

[0043]
Further, if the gradient ∂Xh / ∂L of the movement vector of the direction correcting unit 103 is linearly approximated by the backward difference of the horizontal displacement Xh of the direction correcting unit 103 viewed from the horizontal plan line, the following equation is obtained.
[0044]
[Expression 4]

[0045]
Then, the next state change model regarding the horizontal displacement Xh of the direction correcting unit 103 is derived.
[0046]
[Equation 5]

[0047]
At this time, by combining the equations (1) and (11), a Kalman filter having the horizontal gradient ∂Xt / ∂L of the movement vector of the laser light receiving device 202 as an external input is configured, whereby the leading conductor 101 A sequential state variable vector estimator 407 for on-line estimation of parameters (aH1,..., AHna, bH1,. It can be configured.
[0048]
On the other hand, in the estimation method as described above, it is rare that the gradient 移動 Xt / レ ー ザ L of the movement vector of the laser light receiving device 202 can be directly observed. If the differential value cannot be obtained directly by only the horizontal displacement Xt data of the laser receiving device 202 as seen from the horizontal plan line, for example, it is possible to apply a differential curve by applying an appropriate curve to the Xt data. It is difficult to obtain an accurate approximate value due to the influence of.
[0049]
Therefore, Xt is a linear shape drawn by the leading conductor 101, and the gradient at a certain point is considered to have appeared with a delay in the horizontal inclination angle with respect to the horizontal plan line of the leading cylinder rear cylinder 105 immediately before that, and the following is the differential value of Xt. The following assumptions are made.
<Assumption B> The horizontal gradient ∂Xt / ∂L of the movement vector of the laser light receiving device 202 changes so as to trace the trajectory of the horizontal inclination angle with respect to the horizontal plan line of the leading conductor rear cylinder 105 with a delay of a certain distance.
[0050]
That is, if the inclination angle of the leading conductor rear cylinder 105 with respect to the horizontal plan line at a certain point is θHr, the gradient of the movement vector when the laser light receiving device 202 subsequently passes through the center position of the leading conductor rear cylinder 105 at this time. It is assumed that ∂Xt / ∂L coincides with θHr. When combined with Assumption A, the horizontal gradient ∂Xt / ∂L of the movement vector of the laser receiving device 202 traces the locus of the horizontal inclination angle with respect to the horizontal plan line of the front conductor front cylinder 104 with a certain distance delay. become. When combined with Assumption A, assuming that an integer obtained by rounding the first decimal place of (Lf + 2Lr) / (2Lp) is nd, the above Assumption B can be expressed by the following equation.
[0051]
[Formula 6]

[0052]
When the equation (12) is combined with the state change models of the equations (1) and (11), each coefficient of the ARX model relating to the position / posture of the leading conductor 101 and the horizontal rotation is obtained using a Kalman filter having no external input term. Furthermore, a state equation expression for predicting the subsequent motion and a feedback control law for the direction correction control based on this can be immediately derived. Hereinafter, a configuration method of the sequential state variable vector estimator 407 using the Kalman filter in this case will be described.
[0053]
First, the state variable vector XH ∈R to be estimated as follows: ^{(nd + 2 + na + nb)} × ¹ Define
[0054]
[Expression 7]

[0055]
At this time, Formula (1) and Formula (11) can be expressed by the following state equation under Formula (12).
[0056]
[Equation 8]

[0057]
In formula (14), O _i × _j , Ik respectively indicate a zero matrix and a k-dimensional unit matrix of i rows and j columns. ωH [k] is E (ωH) = 0, E (ωH [k] ω ^T H [k ′]) = ΣωHδkk ′ represents the system noise. Here, E (•) means an expected value, and δkk ′ means Kronecker δ.
[0058]
On the other hand, the horizontal displacement Xt of the laser light receiving device 202 viewed from the horizontal plan line is equal to the horizontal displacement Xh of the direction correcting unit 103 viewed from the horizontal plan line, the horizontal inclination angle θH of the leading conductor front cylinder 104 with respect to the horizontal plan line, and the horizontal plan line. If the horizontal inclination angle θHr of the leading conductor rear cylinder 105 is used, it is expressed by the following equation.
Xt = Xh−LfθH−LrθHr (15)
[0059]
Combining the equation (15) with the equation (8) regarding the bending angle φ of the leading conductor front cylinder 104 and the hypothetical equation (12) regarding the differential value of the displacement of the laser light receiving device 202, the following observation equation is derived.
[0060]
[Equation 9]

[0061]
In Expression (16), υH [k] is E (υH) = 0, E (υH [k] υ ^T H [k ']) = ΣυHδkk' observation noise. Now, E (ωH [k] υ ^T H [k ']) = O _{(nd + 2 + na + nb)} × _Three Assuming that, the following Kalman filter is configured, and an estimated value hat XH [k] of the unknown variable vector XH [k] can be obtained. In the following, “し た” on the character is also called a hat.
[0062]
[Expression 10]

[0063]
[Expression 11]

[0064]
[Expression 12]

[0065]
[Formula 13]

[0066]
[Expression 14]

[0067]
Equations (17) and (18) are filter equations, Equation (19) is Kalman gain, and Equations (20) and (21) are error covariance matrix equations.
[0068]
On the other hand, as shown in FIG. 3, the horizontal position detection of the buried pipe propulsion unit at the time of curve construction where the laser target method cannot be used is performed by using the induced magnetic field detection apparatus 302 to generate a magnetic field generated by the induced magnetic field generator 301 built in the buried pipe propulsion unit. By detecting, the displacement XD (position of the induction magnetic field generator 301) with respect to the horizontal plan line is obtained.
[0069]
At this time, if the coil position XD detected every length of about one buried pipe is corrected based on the rolling information of the leading conductor 101 and then interpolated with an appropriate curve, the horizontal position corresponding to the position corresponding to the laser receiving portion is obtained. The displacement and its differential value can be obtained sequentially. If these are provided as the data vector of equation (16), state estimation can be performed by the Kalman filter described above.
[0070]
Next, the configuration of the configuration of the horizontal state estimation device 402 shown in FIG. 4 will be described. The horizontal state estimation device 402 includes a machine state equation generation unit 403, a laser light receiver horizontal displacement differentiator 406, and a sequential state variable vector estimator 407. The machine state equation generation unit 403 includes a leading conductor horizontal turning model 404 and a leading conductor horizontal propulsion direction model 405.
[0071]
The direction control device for propelling the leading conductor 101 and the buried pipe 108 in the direction of the horizontal plan line based on the horizontal direction correction amount ηH is the above-described horizontal state estimation device 402, observation signal switch 401, and horizontal signal not shown. It consists of a direction controller.
[0072]
Horizontal plan line information indicating the direction of the horizontal plan line is set by an operator and input to the horizontal direction state estimation device 402 and a horizontal direction controller (not shown). The laser receiving device 202 provided in the buried pipe propulsion device outputs an observation signal indicating the horizontal displacement Xt of the own device with respect to the laser beam (plan line). The induction magnetic field detection device 302 installed on the ground outputs an observation signal indicating the horizontal displacement XD with respect to the plan line of the induction magnetic field generation device 301 provided in the buried pipe propulsion device.
[0073]
The observation signal switching unit 401 selectively outputs the horizontal displacement observation signal output from the laser light receiving device 202 during straight line construction, and the horizontal displacement observation signal output from the induced magnetic field detection device 302 during curve construction. Select output.
[0074]
The horizontal direction state estimation device 402 compares the output signal of the observation signal switch 401 and the horizontal direction between the front conductor front cylinder 104 and the front conductor rear cylinder 105 output from the center break angle sensor 204 of the buried pipe propulsion device. An input signal is a turning signal indicating a turning angle (turning angle) φ, a current horizontal correction amount ηH output from the horizontal controller, and the horizontal plan line information.
[0075]
In the case of straight line construction, the laser light receiving unit horizontal displacement differentiator 406 differentiates the horizontal displacement Xt with respect to the horizontal plan line of the laser light receiving device with respect to the propulsion distance L based on the output of the observation signal switch 401. Find ∂L. Further, the laser light receiver horizontal displacement differentiator 406 corrects the output of the observation signal switch 401 (horizontal displacement XD with respect to the plan line of the induction magnetic field generator 301) based on the rolling information of the leading conductor 101 in the case of curve construction. After that, interpolation is performed to obtain a displacement corresponding to the horizontal displacement Xt, and a differential value obtained by differentiating the obtained displacement with respect to the propulsion distance L is obtained.
[0076]
Then, the sequential state variable vector estimator 407 of the horizontal direction state estimating device 402 uses the input variable and output obtained for each unit propulsion length Lp when the turning angle φ is an output variable and the horizontal correction amount ηH is an input variable. A leading conductor horizontal turning model 404 (Equation (1)) describing the relationship with the variable as an ARX model, and a term obtained by multiplying the horizontal turning curvature ρH of the leading conductor front cylinder 104 by the length Lf of the leading conductor front cylinder 104; A term obtained by multiplying the horizontal turning curvature ρHr of the leading conductor rear cylinder 105 by the length Lr of the leading conductor rear cylinder 105, and a differential value term obtained by differentiating the horizontal displacement Xt with respect to the horizontal plan line of the laser receiving device 202 with respect to the propulsion distance L; Is calculated based on the leading conductor horizontal propulsion direction model 405 (formula (6)), the output of the laser light receiving unit horizontal displacement differentiator 406, and the input signal. Against the line On-line estimation of the horizontal position and orientation parameters θH [k], Xh [k] of the leading conductor 101 and the parameters aH1,..., AHna, bH1,. At the same time as the promotion of
[0077]
A horizontal controller (not shown) calculates the next horizontal correction amount ηH based on the horizontal state variable vector estimated value estimated by the sequential state variable vector estimator 407. The horizontal correction amount ηH calculated by the horizontal controller is input to the buried pipe propulsion unit, and the direction correction jack 111 is driven based on the horizontal correction amount ηH. Thus, direction control is performed so that the leading conductor 101 moves forward in the direction of the horizontal plan line.
[0078]
The horizontal state estimation device 402 can be realized by a computer having an arithmetic device, a storage device, and an interface, and a program for controlling these hardware resources. In such a computer, the machine state equation generation unit 403 is stored in a storage device. As described above, the state estimation of the buried pipe propulsion device can be realized with high accuracy and without depending on the skill level of the operator.
[0079]
[Second Embodiment]
Next, a vertical direction state estimating device for estimating the vertical position / posture of the buried pipe propulsion device will be described. FIG. 7 is a block diagram showing a configuration of a vertical state estimation apparatus according to the second embodiment of the present invention. In order to describe a specific configuration method of each element in FIG. 7, first, a design method of a machine state change model representing a turning characteristic of the leading conductor 101 with respect to a vertical correction amount of the buried pipe propulsion device will be described. After that, the on-line estimation method of the state change model parameter for the vertical direction of the buried pipe propulsion machine by the observation means of the laser target method at the time of straight construction and the induced magnetic field detection method at the time of curved construction will be described.
[0080]
FIG. 8 shows the definition of the position and angle of each part for representing the vertical movement of the buried pipe propulsion device. The vertical displacement of the tip of the cutter head 102 as viewed from the vertical plan line (baseline) is Yc, the vertical displacement of the direction correcting unit 103 as viewed from the vertical plan line is Yh, and the vertical displacement of the bent portion 106 as viewed from the vertical plan line Is Ym, and the vertical displacement of the laser receiving device 202 viewed from the vertical plan line is Yt.
[0081]
Further, the inclination angle (pitching angle) of the front conductor front cylinder 104 with respect to the vertical plan line is θV, the inclination angle of the front conductor rear cylinder 105 with respect to the vertical plan line is θVr, and the direction correcting portion when the front conductor front cylinder 104 is used as a reference. The vertical correction amount which is the inclination angle (head angle) of 103 is assumed to be ηV.
[0082]
The behavior at the time of horizontal turning as described above also applies to the turning motion of the leading conductor 101 in the vertical direction. However, for vertical movement, the turning curvature ρV in the vertical direction can be calculated by a pitching meter built in the front conductor front cylinder 104. Therefore, an ARX model such as the following equation is used.

[0083]
In equation (22), aVi (i = 1,..., Na), bVj (j = 1,..., Nb) are parameters relating to the turning characteristics of the buried pipe propulsion device that vary depending on the properties of the surrounding ground. wV [k] means white system noise acting on the dynamics.
[0084]
For the modeling related to the propulsion direction of the leading conductor 101, the same concept as the method of calculating the movement vector of each part accompanying the horizontal turning motion of FIG. 6 can be used. Eventually, the following equation is derived with respect to the propulsion direction in the vertical movement of the leading conductor 101.
∂Yh / ∂L = LfρV + LrρVr + ∂Yt / ∂L (23)
[0085]
Here, ρV and ρVr represent vertical turning curvatures of the front conductor front tube 104 and the front conductor rear tube 105, respectively, and Yh and Yt represent vertical displacements of the direction correcting unit 103 and the laser light receiving device 202 with respect to the vertical plan line, respectively. As described above, the basic motion model concerning the vertical turning motion and the propulsion direction of the leading conductor 101 has been introduced.
[0086]
Since the pitching data is directly obtained with respect to the vertical movement, the posture of the leading conductor 101 with respect to the vertical plan line and the estimated value of the coefficient of the ARX model can be obtained immediately. Actually, if the first term on the left side of the equation (22) is first-order approximated by a backward difference with respect to the inclination angle θV of the front conductor front cylinder 104, the following state change model relating to the vertical inclination angle of the front conductor 101 with respect to the vertical plan line: Is guided.
[0087]
[Expression 15]

[0088]
However, in order to simultaneously estimate the vertical displacement or the like of the direction correcting unit 103 or the like, it is necessary to introduce further conditions as in the case of horizontal movement. That is, it is assumed that the same assumption as the above-mentioned <Assumption A> holds for the movement in the vertical direction.
<Assumption A ′> Regarding the vertical movement of the leading conductor rear cylinder 105, the trajectory of the angle with respect to the vertical plan line of the leading conductor front cylinder 104 is traced so as to be delayed by a certain distance.
[0089]
That is, if the angle in the vertical direction of the front conductor front cylinder 104 with respect to the vertical plan line at a certain point is θV, the center position of the front conductor rear cylinder 105 passes through the center position of the front conductor front cylinder 104 at this time. At this time, it is assumed that the inclination angle θVr of the leading conductor rear cylinder 105 coincides with θV. As above, assuming that an integer obtained by rounding off the first decimal place of (Lf + Lr) / (2Lp) is md, the above assumption A ′ can be expressed by the following equation.
[0090]
[Expression 16]

[0091]
At this time, the following equation is considered.
[0092]
[Expression 17]

[0093]
By considering the equation (26), the following state change model regarding the vertical displacement Yh of the direction correcting unit 103 is obtained.
[0094]
[Formula 18]

[0095]
Here, by combining Expression (24) and Expression (27), by configuring a Kalman filter that uses the vertical gradient ∂Yt / ∂L of the movement vector of the laser light receiving device 202 as an external input, A sequential state variable vector estimator 507 for on-line estimating the parameters (aV1,..., AVna, bV1,..., BVnb) of the ARX model related to the position and orientation (θV [k], Yh [k]) and the turning motion It can be configured.
[0096]
On the other hand, the same assumption is made for the vertical gradient ∂Yt / ベ ク ト ル L of the movement vector of the laser light receiving device 202 as in the horizontal direction.
<Assumption B ′> The vertical gradient ∂Yt / ∂L of the movement vector of the laser light receiving device 202 changes so as to trace the locus of the vertical inclination angle with respect to the vertical plan line of the leading conductor rear cylinder 105 with a certain delay. .
[0097]
That is, if the inclination angle of the leading conductor rear tube 105 with respect to the vertical plan line at a certain point is θVr, the movement vector is vertical when the laser light receiving device 202 passes through the center position of the leading conductor rear tube 105 at this time. It is assumed that the direction gradient ∂Yt / ∂L coincides with θVr. When combined with the assumption A ′, the vertical gradient ∂Yt / ∂L of the movement vector of the laser receiving device 202 traces the trajectory of the vertical inclination angle with respect to the vertical plan line of the front conductor front cylinder 104 with a certain distance delay. It will be. When combined with the assumption A ′, assuming that an integer obtained by rounding off the first decimal place of (Lf + 2Lr) / (2Lp) is nd, the above assumption B ′ can be expressed by the following equation.
[0098]
[Equation 19]

[0099]
When the equation (28) is combined with the state change models of the equations (24) and (27), the coefficients of the ARX model relating to the position / posture of the leading conductor 101 and the vertical rotation are obtained using a Kalman filter having no external input term. Furthermore, a state equation expression for predicting the subsequent motion and a feedback control law for the direction correction control based on this can be immediately derived. Hereinafter, a configuration method of the sequential state variable vector estimator 507 using the Kalman filter in this case will be described.
[0100]
First, the state variable vector XH ∈R to be estimated as follows: ^{(nd + 2 + na + nb + 1)} × ¹ Define
[0101]
[Expression 20]

[0102]
At this time, Expression (24) and Expression (27) can be expressed by the following equation of state under Expression (28).
[0103]
[Expression 21]

[0104]
The state variable vector represented by the equation (29) includes an unknown amount of the pitching machine offset p0. Also, ωV [k] is E (ωV) = 0, E (ωV [k] ω ^T V [k ′]) = ΣωVδkk ′ represents the system noise.
[0105]
On the other hand, the vertical displacement Yt of the laser receiving device 202 viewed from the vertical plan line is relative to the vertical displacement Yh of the direction correcting unit 103 viewed from the vertical plan line, the vertical inclination angle θV of the front conductor front cylinder 104 with respect to the vertical plan line, and the vertical plan line. If the vertical inclination angle θVr of the leading conductor rear cylinder 105 is used, it is expressed by the following equation.
Yt = Yh−LfθV−LrθVr (31)
[0106]
Combining the equation (31), the pitching meter output p (= θV + p0), and the hypothetical equation (28) relating to the differential value of the displacement of the laser light receiving device 202, the following observation equation is derived.
[0107]
[Expression 22]

[0108]
In the equation (32), υV [k] is E (υV) = 0, E (υV [k] υ ^T V [k ']) = ΣυVδkk' observation noise. Now, E (ωV [k] υ ^T V [k ']) = O _{(nd + 2 + na + nb + 1)} × _Three Assuming that, the following Kalman filter is configured, and it is possible to obtain the estimated value hat XV [k] of the unknown variable vector XV [k].
[0109]
[Expression 23]

[0110]
[Expression 24]

[0111]
[Expression 25]

[0112]
[Equation 26]

[0113]
[Expression 27]

[0114]
Equations (33) and (34) are filter equations, Equation (35) is Kalman gain, and Equations (36) and (37) are covariance matrix equations of errors.
[0115]
On the other hand, the vertical position detection of the buried pipe propulsion unit at the time of curve construction in which the laser target method cannot be used, as shown in FIG. 3, is a vertical displacement (depth data) with respect to the vertical plan line by the pressure sensor 303 built in the buried pipe propulsion unit. Seeking Ys.
[0116]
At this time, if the depth data Ys detected by the pressure sensor 303 for each unit propulsion length Lp is corrected based on the rolling information of the leading conductor 101 and then interpolated with an appropriate curve, the vertical position of the position corresponding to the laser light receiving portion is obtained. The displacement and its differential value can be obtained sequentially. If these are provided as the data vector of Expression (32), the state estimation can be performed by the Kalman filter described above.
[0117]
Next, the configuration of the configuration of the vertical direction state estimation apparatus 502 shown in FIG. 7 will be described. The vertical state estimation device 502 includes a machine state equation generation unit 503, a laser light receiver vertical displacement differentiator 506, and a sequential state variable vector estimator 507. The machine state equation generation unit 503 includes a leading conductor vertical turning model 504 and a leading conductor vertical propulsion direction model 505.
[0118]
The direction control device for propelling the leading conductor 101 and the buried pipe 108 in the direction of the vertical plan line based on the vertical direction correction amount ηV is the above-described vertical direction state estimation device 502, the observation signal switch 501, and the vertical not shown. It consists of a direction controller.
[0119]
The vertical plan line information indicating the direction of the vertical plan line is set by the operator and input to the vertical direction state estimation device 502 and a vertical direction controller (not shown). The laser light receiving device 202 provided in the buried pipe propulsion device outputs an observation signal indicating the vertical displacement Yt of the own device with respect to the laser beam (plan line). The pressure sensor 303 provided in the buried pipe propulsion device is perpendicular to the planned line of the own sensor based on the difference between the reference hydraulic pressure measured by the ground reference hydraulic pressure measuring device 304 and the hydraulic pressure measured by the own sensor. An observation signal indicating the displacement Ys is output.
[0120]
The observation signal switch 501 selects and outputs the vertical displacement observation signal output from the laser light receiving device 202 during straight line construction, and selectively outputs the vertical displacement observation signal output from the pressure sensor 303 during curve construction. To do.
[0121]
The vertical direction state estimation device 502 outputs the output signal of the observation signal switch 501 and the inclination angle (pitching angle) p (= pitch angle) of the front conductor front cylinder 104 with respect to the vertical plan line, which is output from the pitching meter 203 of the buried pipe propulsion device. The pitching angle signal indicating θV + p0), the current vertical correction amount ηv output from the vertical controller, and the vertical plan line information are input signals.
[0122]
The laser light receiving unit vertical displacement differentiator 506 differentiates the vertical displacement Yt with respect to the vertical plan line of the laser light receiving device with respect to the propulsion distance L based on the output of the observation signal switch 501 in the case of straight line construction. Find ∂L. Further, the laser light receiving unit vertical displacement differentiator 506 corrects the output of the observation signal switch 401 (vertical displacement Ys with respect to the planned line of the pressure sensor 303) based on the rolling information of the leading conductor 101 in the case of curve construction. A displacement corresponding to the vertical displacement Yt is obtained by interpolation, and a differential value obtained by differentiating the obtained displacement with respect to the propulsion distance L is obtained.
[0123]
Then, the sequential state variable vector estimator 507 of the vertical state estimation device 502 uses the vertical turning curvature ρV of the leading conductor front cylinder 104 as an output variable and the vertical correction amount ηV as an input variable for each unit propulsion length Lp. The leading conductor vertical turning model 504 (formula (22)) describing the relationship between the obtained input variable and output variable as an ARX model, the vertical turning curvature ρV of the leading conductor front cylinder 104, and the length Lf of the leading conductor front cylinder 104 And the term obtained by multiplying the vertical turning curvature ρVr of the leading conductor rear cylinder 105 by the length Lr of the leading conductor rear cylinder 105 and the vertical displacement Yt of the laser light receiving device 202 with respect to the vertical plan line with respect to the propulsion distance L. The leading conductor vertical propulsion direction model 505 (formula (23)) in which the sum of the term of the differential value obtained is the vertical propulsion direction of the leading conductor 101, the output of the laser light receiving unit vertical displacement differentiator 506, and the input signal Based on the vertical position / posture parameters θV [k], Yh [k] of the leading conductor 101 with respect to the vertical plan line and the ARX model parameters aV1,..., AVna, bV1,. .
[0124]
A vertical controller (not shown) calculates the next vertical correction amount ηV based on the vertical state variable vector estimated value estimated by the sequential state variable vector estimator 507. The vertical correction amount ηV calculated by the vertical controller is input to the buried pipe propulsion unit, and the direction correction jack 111 is driven based on the vertical correction amount ηV. Thus, direction control is performed so that the leading conductor 101 moves forward in the direction of the vertical planned line.
[0125]
Note that the vertical state estimation device 502 can be realized by a computer having an arithmetic device, a storage device, and an interface, and a program for controlling these hardware resources. In such a computer, the machine state equation generation unit 503 is stored in a storage device. As described above, the state estimation of the buried pipe propulsion device can be realized with high accuracy and without depending on the skill level of the operator.
[0126]
【The invention's effect】
According to the present invention, the horizontal displacement, the turning angle, and the horizontal correction amount are input, and based on the horizontal turning model formula and the horizontal propulsion direction model formula, By estimating the parameters of the ARX model at the same time as the propulsion of the buried pipe propulsion device, the state estimation is performed online from various observation signals based on the state change model of the leading conductor of the buried pipe excavator. Therefore, it is possible to determine the turning characteristics of the buried pipe propulsion machine that matches the position / posture of the tip conductor with respect to the horizontal plan line and the nature of the surrounding ground, and regardless of whether the operator is skilled or unskilled, the buried pipe propulsion is possible. It is possible to estimate the state of the machine with high accuracy and provide prediction information ahead of the present.
[0127]
Further, in the horizontal turning model formula and the horizontal propulsion direction model formula, it is obtained by assuming that the horizontal inclination angle of the leading conductor rear cylinder with respect to the horizontal plan line is equal to a value obtained by delaying the horizontal inclination angle of the leading conductor front cylinder by a certain distance. By using the state equation as a basis, the horizontal position / posture parameters of the leading conductor with respect to the horizontal plan line and the parameters of the ARX model can be estimated simultaneously.
[0128]
Also, based on the state equation obtained by assuming that the differential value obtained by differentiating the horizontal displacement of the laser receiving device with respect to the horizontal plan line with respect to the propulsion distance is equal to the value obtained by delaying the horizontal inclination angle of the front conductor front cylinder by a certain distance. Thus, the horizontal position / posture parameters of the leading conductor with respect to the horizontal plan line and the parameters of the ARX model can be estimated simultaneously.
[0129]
Also, instead of the horizontal displacement with respect to the horizontal plan line of the laser light receiving device, by using the value obtained by interpolating the horizontal displacement with respect to the horizontal plan line of the induction magnetic field generator provided in the leading conductor, the curve construction in which the laser target method cannot be used. Even with respect to time, the horizontal position / posture parameters of the leading conductor and the parameters of the ARX model can be estimated simultaneously.
[0130]
Also, the pitching angle, vertical displacement, and vertical correction amount are input. Based on the vertical turning model formula and the vertical propulsion direction model formula, Is estimated simultaneously with the propulsion of the buried pipe propulsion unit, so that the state estimation of various types of observation signals is performed online based on the state change model of the leading conductor of the buried pipe excavator. It is possible to obtain the turning characteristics of the buried pipe propulsion machine that matches the position / posture with respect to the vertical plan line and the nature of the surrounding ground, regardless of whether the operator is skilled or unskilled. Accurate state estimation can be performed, and prediction information ahead of the present can be provided.
[0131]
Further, in the vertical turning model formula and the vertical propulsion direction model formula, it is obtained by assuming that the vertical inclination angle of the leading conductor rear cylinder with respect to the vertical plan line is equal to a value obtained by delaying the vertical inclination angle of the leading conductor front cylinder by a certain distance. Based on the state equation, the vertical position / posture parameters of the leading conductor with respect to the vertical plan line and the parameters of the ARX model can be estimated simultaneously.
[0132]
Also, based on the equation of state obtained by assuming that the differential value obtained by differentiating the vertical displacement of the laser receiving device with respect to the vertical plan line with respect to the propulsion distance is equal to the value obtained by delaying the vertical inclination angle of the leading conductor rear cylinder by a certain distance. Thus, the vertical position / posture parameters of the leading conductor with respect to the vertical plan line and the parameters of the ARX model can be estimated simultaneously.
[0133]
In addition, instead of the vertical displacement of the laser receiving device with respect to the vertical plan line, by using the value obtained by interpolating the vertical displacement with respect to the vertical plan line of the induction magnetic field generating device provided in the leading conductor, the curve construction in which the laser target method cannot be used. Even with respect to time, the vertical position / posture parameters of the leading conductor and the parameters of the ARX model can be estimated simultaneously.
[Brief description of the drawings]
FIG. 1 is a side view showing the overall configuration of an excavation type buried pipe propulsion device to be controlled by a direction control device of the present invention.
FIG. 2 is a block diagram showing a configuration of a position detection system based on a laser target method, which is a position detection system for straight construction of an excavation type buried pipe propulsion device.
FIG. 3 is a block diagram showing a configuration of a horizontal position detection system using an induction magnetic field detection device and a vertical position detection system using a hydraulic pressure difference method, which are position detection systems at the time of curve construction of an excavation type buried pipe propulsion device.
FIG. 4 is a block diagram showing a configuration of a horizontal state estimation apparatus according to the first embodiment of the present invention.
FIG. 5 is an explanatory diagram showing a definition method of a coordinate system for describing a horizontal state change model of a buried pipe propulsion device.
FIG. 6 is a diagram showing a movement vector of each part of the leading conductor accompanying a turning motion of the buried pipe propulsion device.
FIG. 7 is a block diagram showing a configuration of a vertical direction state estimation apparatus according to a second embodiment of the present invention.
FIG. 8 is an explanatory diagram showing a definition method of a coordinate system for describing a vertical state change model of the buried pipe propulsion device.
[Explanation of symbols]
DESCRIPTION OF SYMBOLS 101 ... Lead conductor, 102 ... Cutter head, 103 ... Direction correction part, 104 ... Lead conductor front cylinder, 105 ... Lead conductor rear cylinder, 106 ... Middle bending part, 107 ... Main pushing apparatus, 108 ... Embedded pipe, 109 ... Ground DESCRIPTION OF SYMBOLS 110 ... Start resistance, 111 ... Direction correction jack, 201 ... Laser theodolite, 202 ... Laser light receiving device, 203 ... Pitch meter, 204 ... Center angle sensor, 205 ... Rolling meter, 301 ... Induction magnetic field generator, 302 ... Inductive magnetic field detection device 303 ... Pressure sensor 304 ... Reference fluid pressure measurement device 401 ... Observation signal switcher 402 ... Horizontal state estimation device 403 ... Machine state equation generator 404 ... Preconductor horizontal turning model 405 ... Lead conductor horizontal propulsion direction model, 406 ... Laser light receiving part horizontal displacement differentiator, 407 ... Sequential state variable vector estimator, 501 ... Observation signal 502, vertical direction state estimation device, 503 ... machine state equation generation unit, 504 ... leading conductor vertical turning model, 505 ... leading conductor vertical driving direction model, 506 ... laser light receiving unit vertical displacement differentiator, 507 ... sequential state Variable vector estimator.

Claims (16)

A front conductor composed of a front conductor front cylinder, a front conductor rear cylinder connected to the front conductor front cylinder via a bent portion, a cutter head provided at the tip of the front conductor front cylinder, and a rear side of the front conductor In a buried pipe propulsion device for propelling buried pipes sequentially added in the direction of a predetermined horizontal plan line, a state estimation method for estimating the horizontal position / posture of the buried pipe propulsion device,
An intermediate variable angle that is a horizontal relative angle between the front conductor front cylinder and the front conductor rear cylinder is an output variable, and a horizontal correction amount that is a horizontal relative angle between the cutter head and the front conductor front cylinder is an input variable. A procedure for setting in advance a horizontal turning model formula describing the relationship between the input variable and the output variable obtained for each unit propulsion length as an ARX model;
A term obtained by multiplying the horizontal turning curvature of the leading conductor front tube by the length of the leading conductor front tube, a term obtained by multiplying the horizontal turning curvature of the leading conductor rear tube by the length of the leading conductor rear tube, and the leading The horizontal propulsion direction model formula is defined as the horizontal propulsion direction of the leading conductor as the sum of the differential value term obtained by differentiating the horizontal displacement with respect to the horizontal plan line of the laser receiving device provided at the rear end of the body rear cylinder with respect to the propulsion distance. Procedures to set in advance;
Based on the horizontal turning model equation and the horizontal propulsion direction model equation, the horizontal position, the bending angle, and the horizontal direction correction amount are input, and the horizontal position / posture parameters of the leading conductor with respect to a horizontal plan line; A state estimation method for a buried pipe propulsion device, comprising: executing a state variable vector estimation procedure for estimating the parameters of the ARX model simultaneously with the propulsion of the buried pipe propulsion device. In the underground pipe propulsion device state estimation method according to claim 1,
In the state variable vector estimation procedure, in the horizontal turning model formula and the horizontal propulsion direction model formula, the horizontal inclination angle of the front conductor rear cylinder with respect to a horizontal plan line delayed the horizontal inclination angle of the front conductor front cylinder by a certain distance. A buried pipe propulsion device characterized by simultaneously estimating a horizontal position / posture parameter of the leading conductor with respect to a horizontal plan line and a parameter of the ARX model based on a state equation obtained by assuming that the value is equal to the value State estimation method. In the buried pipe propulsion device state estimation method according to claim 2,
The state variable vector estimation procedure assumes that a differential value obtained by differentiating a horizontal displacement with respect to a horizontal plan line of the laser receiving device with respect to a propulsion distance is equal to a value obtained by delaying a horizontal inclination angle of the leading conductor front cylinder by a predetermined distance. A method for estimating a state of a buried pipe propulsion device, wherein a horizontal position / posture parameter of the leading conductor with respect to a horizontal plan line and a parameter of the ARX model are estimated simultaneously based on a state equation obtained. In the underground pipe propulsion device state estimation method according to claim 1,
The state of the buried pipe propulsion device using a value obtained by interpolating the horizontal displacement with respect to the horizontal plan line of the induction magnetic field generator provided in the leading conductor instead of the horizontal displacement with respect to the horizontal plan line of the laser light receiving device Estimation method. A front conductor composed of a front conductor front cylinder, a front conductor rear cylinder connected to the front conductor front cylinder via a bent portion, a cutter head provided at the tip of the front conductor front cylinder, and a rear side of the front conductor In a buried pipe propulsion device for propelling buried pipes sequentially added in the direction of a predetermined vertical plan line, a state estimation method for estimating the vertical position / posture of the buried pipe propulsion device,
The input obtained for each unit propulsion length when the vertical turning curvature of the front conductor front cylinder is an output variable and the vertical direction correction amount which is the vertical relative angle between the cutter head and the front conductor front cylinder is an input variable. A procedure for presetting a vertical turning model formula describing a relationship between a variable and the output variable as an ARX model;
A term obtained by multiplying a vertical turning curvature of the leading conductor front tube by the length of the leading conductor front tube, a term obtained by multiplying a vertical turning curvature of the leading conductor rear tube by the length of the leading conductor rear tube, and the leading The vertical propulsion direction model formula is defined as a vertical propulsion direction model equation in which the sum of the differential value obtained by differentiating the vertical displacement with respect to the vertical plan line of the laser receiving device provided at the rear end of the body rear cylinder with respect to the propulsion distance Procedures to set in advance;
Based on the vertical turning model expression and the vertical propulsion direction model expression, the vertical planning is performed by inputting the pitching angle, which is the inclination angle of the leading conductor front cylinder with respect to the vertical planning line, the vertical displacement, and the vertical correction amount. A state of the buried pipe propulsion unit, which executes a state variable vector estimation procedure for estimating a vertical position / posture parameter of the leading conductor with respect to a line and a parameter of the ARX model simultaneously with the propulsion of the buried pipe propulsion unit Estimation method. In the buried pipe propulsion device state estimation method according to claim 5,
In the state variable vector estimation procedure, in the vertical turning model formula and the vertical propulsion direction model formula, the vertical inclination angle of the front conductor rear cylinder with respect to a vertical plan line delayed the vertical inclination angle of the front conductor front cylinder by a certain distance. A buried pipe propulsion device characterized by simultaneously estimating a vertical position / posture parameter of the leading conductor with respect to a vertical plan line and a parameter of the ARX model based on a state equation obtained by assuming that the value is equal to the value State estimation method. In the buried pipe propulsion device state estimation method according to claim 6,
The state variable vector estimation procedure assumes that a differential value obtained by differentiating a vertical displacement with respect to a vertical plan line of the laser receiving device with respect to a propulsion distance is equal to a value obtained by delaying the vertical inclination angle of the front conductor front cylinder by a predetermined distance. A method for estimating a state of a buried pipe propulsion device, wherein a vertical position / posture parameter of the leading conductor with respect to a vertical plan line and a parameter of the ARX model are simultaneously estimated based on a state equation obtained. In the buried pipe propulsion device state estimation method according to claim 5,
The state of the buried pipe propulsion device using a value obtained by interpolating the vertical displacement with respect to the vertical plan line of the induction magnetic field generating device provided in the leading conductor instead of the vertical displacement with respect to the vertical plan line of the laser light receiving device Estimation method. A front conductor composed of a front conductor front cylinder, a front conductor rear cylinder connected to the front conductor front cylinder via a bent portion, a cutter head provided at the tip of the front conductor front cylinder, and a rear side of the front conductor In the buried pipe propulsion device for propelling the buried pipe sequentially added in the direction of a predetermined horizontal plan line, a state estimation device for estimating the horizontal position / posture of the buried pipe propulsion device,
An intermediate variable angle that is a horizontal relative angle between the front conductor front cylinder and the front conductor rear cylinder is an output variable, and a horizontal correction amount that is a horizontal relative angle between the cutter head and the front conductor front cylinder is an input variable. A horizontal turning model in which the relationship between the input variable and the output variable obtained for each unit propulsion length is described as an ARX model;
A term obtained by multiplying the horizontal turning curvature of the leading conductor front tube by the length of the leading conductor front tube, a term obtained by multiplying the horizontal turning curvature of the leading conductor rear tube by the length of the leading conductor rear tube, and the leading A horizontal propulsion direction model in which the sum of the differential value obtained by differentiating the horizontal displacement with respect to the horizontal plan line of the laser receiving device provided at the rear end of the body rear cylinder with respect to the propulsion distance is the horizontal propulsion direction of the leading conductor;
Based on the horizontal turning model equation and the horizontal propulsion direction model equation, the horizontal position, the bending angle, and the horizontal direction correction amount are input, and the horizontal position / posture parameters of the leading conductor with respect to a horizontal plan line; A state estimation device for a buried pipe propulsion unit, comprising: a sequential state variable vector estimator that estimates the parameters of the ARX model simultaneously with the propulsion of the buried pipe propulsion unit. In the buried pipe propulsion device state estimation device according to claim 9,
The sequential state variable vector estimator is configured such that, in the horizontal turning model formula and the horizontal propulsion direction model formula, a horizontal inclination angle of the front conductor rear cylinder with respect to a horizontal plan line delays a horizontal inclination angle of the front conductor front cylinder by a certain distance. Embedded pipe propulsion characterized by simultaneously estimating a horizontal position / posture parameter of the leading conductor with respect to a horizontal plan line and a parameter of the ARX model based on a state equation obtained by assuming that the value is equal to Machine state estimation device. In the underground pipe propulsion device state estimation device according to claim 10,
The successive state variable vector estimator assumes that a differential value obtained by differentiating a horizontal displacement with respect to a horizontal plan line of the laser receiving device with respect to a propulsion distance is equal to a value obtained by delaying a horizontal inclination angle of the front conductor front cylinder by a predetermined distance. A state estimation device for a buried pipe propulsion device, which simultaneously estimates a horizontal position / posture parameter of the leading conductor with respect to a horizontal plan line and a parameter of the ARX model, based on a state equation obtained by the following equation. In the buried pipe propulsion device state estimation device according to claim 9,
The sequential state variable vector estimator uses a value obtained by interpolating the horizontal displacement with respect to the horizontal plan line of the induction magnetic field generator provided in the leading conductor, instead of the horizontal displacement with respect to the horizontal plan line of the laser receiving device. A characteristic estimation device for buried pipe propulsion devices. A front conductor composed of a front conductor front cylinder, a front conductor rear cylinder connected to the front conductor front cylinder via a bent portion, a cutter head provided at the tip of the front conductor front cylinder, and a rear side of the front conductor In the buried pipe propulsion device for propelling the buried pipe sequentially added in the direction of a predetermined vertical plan line, a state estimation device for estimating the vertical position / posture of the buried pipe propulsion device,
The input obtained for each unit propulsion length when the vertical turning curvature of the front conductor front cylinder is an output variable and the vertical direction correction amount which is the vertical relative angle between the cutter head and the front conductor front cylinder is an input variable. A vertical turning model in which the relationship between the variable and the output variable is described as an ARX model;
A term obtained by multiplying a vertical turning curvature of the leading conductor front tube by the length of the leading conductor front tube, a term obtained by multiplying a vertical turning curvature of the leading conductor rear tube by the length of the leading conductor rear tube, and the leading A vertical propulsion direction model in which the sum of the differential value obtained by differentiating the vertical displacement with respect to the vertical plan line of the laser receiving device provided at the rear end of the body rear cylinder with respect to the propulsion distance is the vertical propulsion direction of the leading conductor;
Based on the vertical turning model expression and the vertical propulsion direction model expression, the vertical planning is performed by inputting the pitching angle, which is the inclination angle of the leading conductor front cylinder with respect to the vertical planning line, the vertical displacement, and the vertical correction amount. A state of a buried pipe propulsion device comprising a sequential state variable vector estimator for estimating a vertical position / posture parameter of the leading conductor with respect to a line and a parameter of the ARX model simultaneously with the propulsion of the buried pipe propulsion device Estimating device. In the buried pipe propulsion device state estimation device according to claim 13,
The sequential state variable vector estimator is characterized in that, in the vertical turning model equation and the vertical propulsion direction model equation, the vertical inclination angle of the front conductor rear cylinder with respect to a vertical plan line delays the vertical inclination angle of the front conductor front cylinder by a certain distance. Embedded pipe propulsion characterized in that the vertical position / posture parameters of the leading conductor with respect to a vertical plan line and the parameters of the ARX model are estimated simultaneously based on a state equation obtained by assuming that they are equal to Machine state estimation device. In the buried pipe propulsion device state estimation device according to claim 14,
The successive state variable vector estimator assumes that a differential value obtained by differentiating a vertical displacement with respect to a vertical plan line of the laser receiving device with respect to a propulsion distance is equal to a value obtained by delaying a vertical inclination angle of the front conductor front cylinder by a predetermined distance. A state estimation device for a buried pipe propulsion device, which simultaneously estimates a vertical position / posture parameter of the leading conductor with respect to a vertical plan line and a parameter of the ARX model based on a state equation obtained by the following equation. In the buried pipe propulsion device state estimation device according to claim 13,
The sequential state variable vector estimator uses a value obtained by interpolating the vertical displacement with respect to the vertical plan line of the induction magnetic field generator provided in the leading conductor, instead of the vertical displacement with respect to the vertical plan line of the laser receiving device. A characteristic estimation device for buried pipe propulsion devices.

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