JP7794065B2 - Directional control system and method for shield tunneling machine - Google Patents

Description

The present invention relates to a directional control system and a directional control method for a shield tunneling machine.

Automatic control of the excavation direction of shield tunneling machines is being considered. For example, in Patent Document 1, a recommended force point is calculated as the point at which the jack thrust acts, in order to cause the shield tunneling machine to excavate along the planned alignment. The recommended horizontal force point, which is the horizontal component of the recommended force point, is calculated based on the results of a regression analysis of the actual stroke difference and the actual horizontal force point. Furthermore, the recommended vertical force point, which is the vertical component of the recommended force point, is calculated based on a regression analysis of the actual pitching angle difference and the actual vertical force point. This allows the operator to determine the target force point by referring to the recommended force point.

Japanese Patent Application Laid-Open No. 2019-82003

By the way, the direction of excavation by a shield machine is controlled horizontally based on excavation instruction values such as stroke difference. Furthermore, these excavation instruction values are generally set collectively for multiple excavation direction sections that make up the planned excavation range.

However, because the segments are displaced due to factors such as the thrust of the shield jack, when excavation in one excavation direction section is completed, a discrepancy occurs between the excavation progress instruction value and the actual measured value. Therefore, it is desirable to take this discrepancy into account when carrying out directional control in subsequent excavation direction sections. There is also a method of excavating based on gyro orientation, which is not affected by segment displacement, but there is a risk that the stroke difference will become excessive when realizing the excavation progress instruction value of the gyro orientation.

The direction control system for a shield tunneling machine that solves the above problem is a direction control system for a shield tunneling machine that excavates a planned excavation range consisting of multiple consecutive excavation direction sections based on stroke difference indication values and gyro orientation indication values. For each of the stroke difference and gyro orientation, the system obtains the actual measured value for the preceding excavation direction section and the initial indicated value for the subsequent excavation direction section, calculates the difference between the initial indicated value and the actual measured value for each of the stroke difference and gyro orientation, and calculates a gyro orientation conversion value in which the difference in stroke difference is converted to the gyro orientation and a stroke difference in which the difference in gyro orientation is converted to the stroke difference. a stroke difference conversion value; a stroke difference correction indication value based on the actual stroke difference value and the stroke difference conversion value; a gyro orientation correction indication value based on the actual gyro orientation value and the gyro orientation conversion value; a stroke difference indication value for the subsequent excavation direction section calculated using the initial stroke difference indication value, the stroke difference correction indication value, and the stroke difference weighting value; and a gyro orientation indication value for the subsequent excavation direction section calculated using the initial gyro orientation indication value, the gyro orientation correction indication value, and the gyro orientation weighting value.

According to the present invention, the direction of the shield machine can be controlled while taking into account any discrepancies that occur between the excavation progress instruction value and the actual measured value.

1 is a diagram showing a schematic configuration of one embodiment of a shield machine and a directional control system. FIG. FIG. 2 is a front view showing a schematic diagram of a shield machine. This is a diagram showing the planned excavation area by a shield tunneling machine, the excavation direction section, and measurement points. FIG. 10 is a diagram showing the force points on the operation panel of the shield control device. FIG. 1A is a diagram showing the horizontal deviation of a shield machine from the planned alignment, and FIG. 1B is a diagram showing the vertical deviation of a shield machine from the planned alignment. FIG. 2 is a functional block diagram showing the configuration of a direction control device. FIG. 2 is a functional block diagram showing the configuration of an excavation instruction value correction unit. 10 is a flowchart showing an actual indication value calculation process. FIG. 4 is a functional block diagram showing the configuration of a target force point recommendation unit. 10 is a flowchart showing a recommended point of force calculation process. FIG. 10 is a diagram illustrating an example of setting weighting values for gyro orientations.

(First embodiment)
A first embodiment of a direction control method and a direction control system will be described with reference to FIGS.

First, with reference to Figures 1 to 4, we will provide an overview of the shield tunneling machine 20, the jack thrust acting force point, actual force point E, recommended force point R, target force point G, and excavation instruction values (excavation instructions).

(Shield tunneling machine)
As shown in Figures 1 and 2, a shield machine 20 is used to form a tunnel 10 by the shield tunneling method. In the shield tunneling method, after the tunnel 10 is formed by excavation using the shield machine 20, a lining is formed from a plurality of segments 11 to cover the inner wall surface of the tunnel 10.

The shield tunneling machine 20 comprises an outer shell 21, shield jacks 22, and a shield control device 23. The outer shell 21 is cylindrical. The lining described above is formed at the rear of the interior of the outer shell 21. A cutter head 24 is provided at the tip of the outer shell 21 and is rotatable around the central axis of the outer shell 21. The shield jacks 22 are provided at predetermined intervals around the circumferential direction of the outer shell 21 and along the circumferential surface of the outer shell 21. The shield jacks 22 obtain a reaction force for excavation from the lining described above. The shield control device 23 controls the driving of the shield tunneling machine 20, such as the rotation of the cutter head 24 and the extension of each shield jack 22.

The shield tunneling machine 20 excavates the ground by extending the shield jacks 22 while rotating the cutter head 24. The excavation direction of the shield tunneling machine 20 is controlled by the position of the point of action of the jack thrust from the multiple shield jacks 22.

(Point of action of jack thrust)
As shown in Figure 2, the position of the point of action force is determined by the arrangement pattern (jack pattern) of jack pressures set for each shield jack 22. Specifically, the position of the point of action force is determined by the arrangement of shield jacks 22 to which jack pressures that contribute to the excavation of the shield machine 20 are set and the arrangement of shield jacks 22 to which jack pressures that do not contribute to excavation are set. By changing the position of the point of action force using the jack pattern, the shield machine 20 excavates in the excavation direction that corresponds to the point of action force.

(Excavation progress indication value)
As shown in Figure 3, when constructing a tunnel using a shield machine 20, the excavation manager creates an excavation instruction sheet in which excavation instruction values, which are initial instruction values, are set so that the shield machine 20 will excavate along the planned alignment L in the planned excavation range L1. The excavation instruction values are set for each of a number of consecutive excavation direction sections L2 that the planned excavation range L1 is divided into. Note that Figure 3 shows an example in which the width of one ring of segment 11 is the excavation direction section L2, and three sections of the excavation direction section L2 are the planned excavation range L1.

The excavation instruction values include an excavation instruction value for the stroke difference and an excavation instruction value for the gyro orientation. The excavation instruction values also include an excavation instruction value for each of the pitching angle difference, the water level value, and the position and extension amount of the copy cutter.

The stroke difference is the difference in the amount of extension and contraction (shield jack stroke) of the shield jacks 22 located at the left and right ends of a shield tunneling machine 20 as shown in Figure 2. The gyro orientation is a measurement value obtained by a gyro sensor.

The pitching angle difference is the difference in pitching angle before and after excavation in the excavation direction section L2; specifically, the difference in the vertical inclination angle of the shield machine 20 before and after excavation in the excavation direction section L2. The water level value is a measurement value using a water level gauge.

There are no limitations on the length of the excavation direction section L2 for which the excavation instruction value is set, or the number of sections in the planned excavation range L1. The operator of the shield machine 20 uses the direction control system 30 to control the excavation direction of the shield machine 20 so that the excavation instruction value is satisfied, causing the shield machine 20 to excavate along the planned alignment L.

(Recommended force point R, target force point G, and actual force point E)
As shown in Figure 4, the direction control system 30 calculates a recommended force point R as the force point at which the shield machine 20 will excavate along the planned alignment L. The recommended force point R is a force point that is recommended as the target force point G in the next excavation direction section L2 based on past performance data. The operator of the shield machine 20 determines the target force point G for the jack thrust while referring to the calculated recommended force point R.

The force points consist of horizontal and vertical points. The horizontal and vertical points are calculated based on the resultant jack thrusts of each of the multiple shield jacks 22. The horizontal point of force is the point of application of the horizontal component, and is located on a horizontal line passing through the central axis A of the shield machine 20. The vertical point of force is the point of application of the vertical component, and is located on a vertical line perpendicular to the horizontal line and passing through the central axis A of the shield machine 20.

The direction control system 30 calculates the recommended force point R based on the actual stroke difference, actual pitching angle difference, actual horizontal force point, and actual vertical force point obtained each time one section of excavation direction section L2 is excavated.

The actual stroke difference and actual horizontal force point are the stroke difference and horizontal force point after one section of excavation direction section L2 has been excavated.The actual pitching angle difference and actual vertical force point are the pitching angle difference and vertical force point after one section of excavation direction section L2 has been excavated.

However, the recommended force point R does not reflect all of the factors that affect the directional control of the shield machine 20, such as the attitude of the shield machine 20, tail clearance (the gap between the shield machine 20 and the segment 11), and the amount of overexcavation. For this reason, the operator of the shield machine 20 determines the target force point G of the jack thrust while referring to the recommended force point R and taking into account the performance of the shield machine 20, the ground conditions, past experience, etc. The operator inputs the determined target force point G into the shield control device 23 via the directional control system 30. The shield control device 23 controls the jack pressure of each shield jack 22 so that the actual force point E of the jack thrust tracks the target force point G. The shield control device 23 may also control the jack pressure of each shield jack 22 based on a jack pattern manually specified by the operator so that the target force point G determined by the operator becomes the actual force point E.

(Shield tunneling machine direction control system)
The directional control system 30 will now be described with reference to FIGS. 1 and 5-10.
As shown in Figure 1, the direction control system 30 is configured to be able to communicate with a shield control device 23 installed in the shield tunneling machine 20. The direction control system 30 includes an excavation management device 40 and a direction control device 50 that are configured to be able to communicate with each other.

The shield control device 23, excavation management device 40, and direction control device 50 are primarily comprised of an information processing device. The information processing device can be realized, for example, by circuitry, i.e., one or more dedicated hardware circuits such as an ASIC, one or more processing circuits that operate according to a computer program (software), or a combination of both. The processing circuit has a CPU and memory (ROM, RAM, etc.) that stores the program executed by the CPU. Memory, i.e., computer-readable medium, includes any available medium that can be accessed by a general-purpose or dedicated computer.

(Excavation management device)
The excavation management device 40 is a device that collects, calculates, records, and stores various information during excavation work based on the measurement values of various measuring instruments 25 mounted on the shield tunneling machine 20, and monitors the operating status of the shield tunneling machine 20.

The measuring device 25 measures the stroke difference and gyro orientation as measurements related to the horizontal direction. The measuring device 25 measures the pitch angle difference and water level as measurements related to the vertical direction. The measuring device 25 measures the tail clearance in both the horizontal and vertical directions.

As shown in Figures 5(a) and 5(b), the excavation management device 40 grasps the position and posture of the shield machine 20, as well as the horizontal deviation Dh and vertical deviation Dv from the planned alignment L based on the construction plan.

The excavation management device 40 also calculates the horizontal force point and vertical force point for the effective force point E based on the jack thrust of the shield jack 22. Based on the measurements of the measuring equipment 25 described above, the excavation management device 40 acquires data related to the operating status of the shield machine 20, such as the current values of the stroke difference and pitching angle difference of the shield machine 20.

As data relating to the operating status of the shield tunneling machine 20, the excavation management device 40 acquires, for example, recommended force point calculation data used to calculate the recommended force point R.
In acquiring data for calculating the recommended force point, the excavation management device 40 measures the position of the shield machine 20 based on the measurement values of the various measuring instruments 25 each time it excavates one section of the excavation direction section L2 shown in Figure 3. Based on the measurement results, the excavation management device 40 calculates the stroke difference and pitching angle difference of the shield machine 20, and the acting force points (horizontal force point and vertical force point) corresponding to these stroke difference and pitching angle difference. The excavation management device 40 also acquires the rotation direction (rightward or leftward) of the cutter head 24 when excavating the one section.

The excavation management device 40 then records the calculation results and data indicating the rotation direction as data for calculating the recommended force point (actual stroke difference, actual pitching angle difference, actual horizontal force point, actual vertical force point, actual rotation direction).The excavation management device 40 transmits the data for calculating the recommended force point to the direction control device 50 each time it excavates one section of the excavation direction section L2.

(Direction control device)
As shown in FIG. 6, the direction control device 50 includes an input device 51 , an output device 52 , a processing device 53 , a file device 54 , and a main memory 55 .

The input device 51 is a device that can be operated by an operator, such as a keyboard, mouse, scanner, or switch. The output device 52 is a device that allows the operator to check various information, such as a display or printer.

The processing device 53 executes various processes based on various programs and data stored in the main memory 55. The processing device 53 includes functional units that function through program execution: an excavation instruction value correction unit 61, a target force point recommendation unit 62, and a pattern extraction unit 63 that extracts jack patterns.

The excavation instruction value correction unit 61 calculates an actual instruction value, which is a value obtained by correcting the excavation instruction value. The target force point recommendation unit 62 calculates a recommended force point R based on data for calculating the recommended force point, etc. The pattern extraction unit 63 extracts a jack pattern with an approximate point of action for each of the recommended force point R and the target force point G.

The file device 54 is a storage device consisting of a semiconductor memory, a hard disk drive, or the like. The file device 54 stores an instruction data file 65. The instruction data file 65 stores excavation instruction values set in the excavation instruction sheet. The excavation instruction values are input to the direction control device 50 via the input device 51 and saved in the instruction data file 65. The excavation instruction values for each excavation direction section L2 that makes up the planned excavation range L1 are input together.

The file device 54 stores an actual indication value data file 66. The actual indication value data file 66 stores the actual indication values actually instructed when excavating each excavation direction section L2.

The file device 54 stores a data file 67, a regression analysis information file 68, and a recommended point of effort setting file 69 as storage portions related to the recommended point of effort R.
The file device 54 stores a jack pattern file 73 and the like. The jack pattern file stores data in which an acting force point is associated with a jack pattern that embodies the acting force point.

(Actual indication value calculation unit)
The excavation instruction value correcting section 61 of the direction control device 50 will be described with reference to FIGS.

The excavation instruction value correction unit 61 calculates the actual instruction value for the next excavation direction section L2, which is a corrected value of the excavation instruction value for the next excavation direction section L2 based on measurement values etc. when excavation in the excavation direction section L2 is completed. The excavation instruction value correction unit 61 of the first embodiment calculates the actual instruction value by correcting the excavation instruction value for each of the horizontal direction, i.e., the stroke difference and gyro orientation. The actual instruction value for the stroke difference is the stroke difference instruction value, and the actual instruction value for the gyro orientation is the gyro orientation instruction value. Note that the excavation instruction value correction unit 61 calculates the excavation instruction value as the actual instruction value for the first excavation direction section L2 that constitutes the planned excavation range L1.

As shown in Figure 7, the excavation instruction value correction unit 61 includes functional units that function through program execution, including a measurement data acquisition unit 75, a difference calculation unit 76, a conversion unit 77, a corrected instruction value calculation unit 78, a weight setting unit 79, and an actual instruction value calculation unit 80.

As shown in Figure 8, when calculating the actual indication value, the excavation indication value correction unit 61 executes an actual measurement value acquisition process (step S101), a difference calculation process (step S102), a conversion process (step S103), a corrected indication value calculation process (step S104), a weight setting process (step S105), and a calculation process (step S106). This series of processes is executed when excavation of the first excavation direction section L2 that constitutes the planned excavation range L1 is completed, and before excavation of any subsequent excavation direction section L2 is started.

In the actual measurement value acquisition process (step S101), the measurement data acquisition unit 75 acquires the measured value of the stroke difference and the measured value of the gyro orientation when excavation in the excavation direction section L2 is completed as actual measurements based on the measurement results of the measuring device 25.

In the difference calculation process (step S102), the difference calculation unit 76 calculates the stroke difference, which is the difference between the measured value of the stroke difference acquired by the measurement data acquisition unit 75 and the excavation instruction value of the stroke difference for the next excavation direction section L2.

In addition, the difference calculation unit 76 calculates the gyro orientation difference, which is the difference between the gyro orientation measurement value acquired by the measurement data acquisition unit 75 and the excavation instruction value of the gyro orientation for the next excavation direction section L2.

In the conversion process (step S103), the conversion unit 77 calculates a gyro orientation conversion value by converting the stroke difference calculated by the difference calculation unit 76 into a gyro orientation. The conversion unit 77 also calculates a stroke difference conversion value by converting the gyro orientation difference calculated by the difference calculation unit 76 into a stroke difference.

In the correction instruction value calculation process (step S104), the correction instruction value calculation unit 78 calculates a stroke difference correction instruction value for the next excavation direction section L2 based on the stroke difference measurement value acquired by the measurement data acquisition unit 75 and the stroke difference conversion value calculated by the conversion unit 77. The correction instruction value calculation unit 78 also calculates a gyro orientation correction instruction value for the next excavation direction section L2 based on the gyro orientation measurement value acquired by the measurement data acquisition unit 75 and the gyro orientation conversion value calculated by the conversion unit 77.

In the weight setting process (step S105), the weight setting unit 79 sets weights Ws and Wj, which are weighting values used when calculating the actual indication values for each of the stroke difference and gyro orientation. In the first embodiment, the weight setting unit 79 sets the weights Ws and Wj to values set by the excavation manager and input through the input device 51. These weights Ws and Wj specify which of the stroke difference and gyro orientation is given more importance. The stroke difference weight Ws and the gyro orientation weight Wj are values between 0 and 1, and are set so that their total value (= Ws + Wj) is 1.

When the stroke difference is emphasized, the stroke difference weight Ws is set to be greater than the gyro orientation weight Wj. In this case, emphasis is placed on prioritizing the positional relationship between the shield tunneling machine 20 and the segment 11 when excavating.

On the other hand, if gyro orientation is emphasized, the weight Wj of the gyro orientation is set to be greater than the weight Ws of the stroke difference. In this case, emphasis is placed on the linearity of the excavation direction, i.e., prioritizing excavation along the planned alignment L.

In the calculation process (step S106), the actual indication value calculation unit 80 calculates the actual indication value of the stroke difference (stroke difference indication value) based on the excavation indication value, which is the initial indication value for the next excavation direction section L2, the stroke difference correction indication value, and the stroke difference weight Ws. If the stroke difference weight Ws is greater than the gyro orientation weight Wj, the actual indication value calculation unit 80 calculates a value closer to the excavation indication value than the stroke difference correction indication value as the actual indication value of the stroke difference. On the other hand, if the stroke difference weight Ws is smaller than the gyro orientation weight Wj, the actual indication value calculation unit 80 calculates a value closer to the stroke difference correction indication value than the excavation indication value as the actual indication value of the stroke difference.

For example, if the stroke difference weight Ws is 1, the actual instruction value calculation unit 80 calculates the excavation instruction value as the actual instruction value. On the other hand, if the weight Ws is 0, the actual instruction value calculation unit 80 calculates the stroke difference corrected instruction value as the actual instruction value. In other words, the actual instruction value calculation unit 80 calculates "Ws × excavation instruction value + (1 - Ws) × stroke difference corrected instruction value" as the actual instruction value.

In addition, the actual indication value calculation unit 80 calculates the actual indication value of the gyro orientation (gyro orientation indication value) based on the excavation indication value, which is the initial indication value for the next excavation direction section L2, the gyro orientation correction indication value, and the gyro orientation weight Wj. If the gyro orientation weight Wj is greater than the stroke difference weight Ws, the actual indication value calculation unit 80 calculates a value closer to the excavation indication value than the gyro orientation correction indication value as the actual indication value of the gyro orientation. On the other hand, if the gyro orientation weight Wj is smaller than the stroke difference weight Ws, the actual indication value calculation unit 80 calculates a value closer to the gyro orientation correction indication value than the excavation indication value as the actual indication value of the gyro orientation.

For example, if the gyro orientation weight Wj is 1, the actual instruction value calculation unit 80 calculates the excavation instruction value as the actual instruction value. If the weight Wj is 0, the actual instruction value calculation unit 80 calculates the gyro orientation correction instruction value as the actual instruction value. In other words, the actual instruction value calculation unit 80 calculates "Wj × excavation instruction value + (1 - Wj) × gyro orientation correction instruction value" as the actual instruction value.

The actual indication value calculation unit 80 stores the calculated actual indication value of the stroke difference and the actual indication value of the gyro orientation in the actual indication value data file 66. For the first excavation direction section L2 that constitutes the planned excavation range L1, the actual indication value calculation unit 80 stores the excavation indication values of the stroke difference and gyro orientation as actual indication values in the actual indication value data file 66. For the pitching angle difference and water level value, for which the excavation indication values are not corrected, the actual indication value calculation unit 80 stores each excavation indication value as an actual indication value in the actual indication value data file 66.

(Recommended target force point)
9 and 10, the target force point recommendation unit 62 of the direction control device 50 will be described. The target force point recommendation unit 62 stores and accumulates the recommended force point calculation data transmitted by the excavation management device 40 in a data file 67 of the file device 54. The target force point recommendation unit 62 calculates a recommended force point R through regression analysis using the recommended force point calculation data. The recommended force point R is made up of a recommended horizontal force point Rh, which is a horizontal component, and a recommended vertical force point Rv, which is a vertical component. When the amount of recommended force point calculation data required for regression analysis has been accumulated in the data file 67, the target force point recommendation unit 62 executes a recommended force point calculation process each time one section of the excavation direction section L2 is excavated.

As shown in FIG. 9, the target force point recommendation unit 62 has, as functional units that function through program execution, an actual target value calculation unit 81, a regression analysis unit 82, a rotation information acquisition unit 83, a regression equation selection unit 84, and a recommended force point calculation unit 85.

As shown in FIG. 10, the recommended point of force calculation process first performs an actual target value setting process (step S201). In this process, the actual target value for the stroke difference and the actual target value for the pitching angle difference are set.

In this process, the actual target value calculation unit 81 obtains the current value of the stroke difference (latest value of the actual stroke difference) stored in the data file 67 of the filing device 54. Similarly, it obtains the current value of the pitching angle difference (latest value of the actual pitching angle difference). In addition, the actual target value calculation unit 81 obtains the actual indication value for the next excavation direction section L2 from the actual indication value data file 66.

The actual target value calculation unit 81 calculates the difference between the acquired current value of the stroke difference and the actual command value of the stroke difference as the actual target value of the stroke difference. The actual target value calculation unit 81 also calculates the difference between the current value of the pitching angle difference and the actual command value of the pitching angle difference as the actual target value of the pitching angle difference. The actual target value calculation unit 81 stores the calculated actual target value of the stroke difference and the actual target value of the pitching angle difference in the recommended force point setting file 69 of the filing device 54.

Next, a regression analysis process (step S202) is performed. The regression analysis process is a process in which a regression equation capable of calculating the recommended horizontal point of force Rh and a regression equation capable of calculating the recommended vertical point of force Rv are derived by regression analysis using the data for calculating the recommended point of force.

In this process, the regression analysis unit 82 extracts the number of pieces of recommended force point calculation data required for regression analysis of the actual stroke difference when the rotation direction of the cutter head 24 is clockwise and the actual horizontal force point corresponding to the actual stroke difference from the recommended force point calculation data stored in the data file 67. The regression analysis unit 82 performs regression analysis on the extracted recommended force point calculation data to obtain a regression equation that shows the relationship between the actual stroke difference and the actual horizontal force point during clockwise rotation. Using a similar procedure, the regression analysis unit 82 also obtains a regression equation using recommended force point calculation data when the rotation direction of the cutter head 24 is counterclockwise, and a regression equation that does not take into account the rotation direction using recommended force point calculation data that includes both clockwise and counterclockwise rotation. The regression analysis unit 82 stores the obtained regression equations in the regression analysis information file 68 as regression equations that can calculate the recommended horizontal force point Rh.

The regression analysis unit 82 also acquires a regression equation capable of calculating the recommended vertical point of force Rv based on the recommended point of force calculation data using the same method as the regression equation used to calculate the recommended horizontal point of force Rh. The regression analysis unit 82 stores the acquired regression equation in the regression analysis information file 68 as a regression equation capable of calculating the recommended vertical point of force Rv.

Next, the regression equation selection process (step S203) is performed. The regression equation selection process is a process in which a regression equation is selected. In this process, information on the rotation direction of the cutter head 24 planned for the next excavation direction section L2 is input to the direction control device 50. When the rotation direction information is input, the rotation information acquisition unit 83 extracts two types of regression equations from the regression analysis information file 68: a regression equation (for right rotation or left rotation) corresponding to the input rotation direction, and a regression equation that does not take the rotation direction into account.

Once the regression equations are extracted, the regression equation selection unit 84 uses any means to select a suitable regression equation from among the two regression equations for each of the recommended horizontal force point Rh and the recommended vertical force point Rv. The regression equation selection unit 84 stores the selected regression equation in the recommended force point setting file 69.

Next, a calculation process (step S204) is performed. In this calculation process, the recommended force point R is calculated using the actual target value and regression equation stored in the recommended force point setting file 69. In this process, the recommended force point calculation unit 85 calculates the recommended horizontal force point Rh by inputting the actual target value of the stroke difference as an explanatory variable into the regression equation selected for the recommended horizontal force point Rh. The recommended force point calculation unit 85 also calculates the recommended vertical force point Rv by inputting the actual target value of the pitching angle difference as an explanatory variable into the regression equation selected for the recommended vertical force point Rv. The recommended force point calculation unit 85 stores the calculated recommended force point R in the recommended force point setting file 69 of the filing device 54. Note that, as shown in FIG. 4, the recommended force point R may be transmitted from the direction control device 50 to the shield control device 23 and displayed on the selection screen 26 on the operation panel of the shield control device 23. In addition to the excavation instruction value, the weights Ws, Wj and actual instruction value may also be transmitted from the direction control device 50 to the shield control device 23 and displayed on the selection screen 26 on the operation panel of the shield control device 23.

(effect)
When the shield machine 20 excavates the excavation direction section L2, the direction control system 30 calculates the actual indicated value based on the weights Ws and Wj set by the excavation manager. The direction control system 30 also calculates the recommended force point R based on the actual indicated value.

The effects of the first embodiment will be described.
(1-1) According to the direction control system 30 described above, the actual indicated values of the stroke difference and gyro orientation are calculated based on the weights Ws and Wj set for the stroke difference and gyro orientation. This makes it possible to excavate the subsequent excavation direction section L2 after taking into account the difference between the indicated excavation value and the actual measured value when excavation in the preceding excavation direction section L2 is completed. Furthermore, by setting the weights Ws and Wj, it is possible to set which of the stroke difference and the gyro orientation is given more importance, that is, whether to prioritize the positional relationship between the shield tunneling machine 20 and the segments 11 or the linearity of the excavation direction.

(1-2) The actual stroke difference is the actual excavation result based on the actual stroke difference value. Therefore, the regression equation that can calculate the recommended horizontal force point Rh is an equation that is influenced by the actual stroke difference value in the past. The difference between the measured stroke difference value and the actual stroke difference value is input as an explanatory variable to this regression equation. Therefore, the recommended force point R can be calculated as a force point that takes into account whether the stroke difference or the gyro direction was given more importance in each situation in the past. In other words, the recommended force point R can be calculated as a force point that can maintain the linearity of the excavation direction and the positional relationship between the shield machine 20 and the segment 11 in an appropriate state.

(1-3) The stroke difference weight Ws and the gyro orientation weight Wj are set by the excavation manager. This allows the excavation manager to determine whether to prioritize the stroke difference or the gyro orientation depending on the situation at the time.

Second Embodiment
A second embodiment of a direction control method and a direction control system will be described with reference to FIG. 11 . The direction control method and the direction control system of the second embodiment have the same main configuration as the direction control method and the direction control system of the first embodiment. Therefore, in the second embodiment, only the parts that differ from the first embodiment will be described in detail, and the parts that are the same as those in the first embodiment will be denoted by the same reference numerals and will not be described in detail. Specifically, the actual measurement value acquisition process (step S101) and the weight setting process (step S105) are different.

In the actual measurement value acquisition process (step S101), the measurement data acquisition unit 75 acquires the horizontal shield deviation x2 and tail clearance x4 in addition to the stroke difference and gyro orientation. The measurement data acquisition unit 75 may calculate the shield deviation x2 based on various measurement values, or may acquire it from input from another system.

In the weight setting process (step S105), the weight setting unit 79 acquires the shield deviation control value x1 and the tail clearance control value x3. These shield deviation control value x1 and tail clearance control value x3 are included in the excavation instructions and stored in the instruction data file 65. The weight setting unit 79 calculates the weights Ws and Wj based on the shield deviation x2, shield deviation control value x1, tail clearance x4, and tail clearance control value x3.

Specifically, the weight setting unit 79 calculates the stroke difference weight Ws and the gyro orientation weight Wj by substituting various values into the weighting function formed by the following equations (1) and (2):

Ws=(x3/x4)/[(x2/x1)+(x3/x4)]... (1)
Wj=(x2/x1)/[(x2/x1)+(x3/x4)]... (2)
11 shows an example of the weight Wj calculated by the weight setting unit 79 when the shield deviation control value x1 is 50 and the tail clearance control value x3 is 10. As shown in Fig. 11, the weight setting unit 79 sets the weights Ws and Wj so that the stroke difference is given more importance as the tail clearance x4 becomes smaller, and the gyro orientation is given more importance as the shield deviation x2 becomes larger.

According to the second embodiment, in addition to the effects described in (1-1) and (1-2) above, the following effects can be obtained.
(2-1) The stroke difference weight Ws and the gyro orientation weight Wj are automatically set by the direction control system 30. This allows the weight of the stroke difference or the gyro orientation to be automatically set to an appropriate value depending on the situation at the time.

(2-2) By calculating the weights Ws and Wj using the above-mentioned equations (1) and (2), the stroke difference weight Ws and the gyro orientation weight Wj can be set according to the deviation of the shield deviation and tail clearance from the control values.

The first and second embodiments can be implemented with the following modifications. The first and second embodiments and the following modifications can be implemented in combination with each other to the extent that no technical contradiction occurs.

The excavation instruction value correction unit 61 in the first and second embodiments may calculate, as the actual instruction value, a value obtained by correcting the excavation instruction value based on the measurement value in the vertical direction.
The method for determining the stroke difference weight Ws and the gyro orientation weight Wj is not limited to equations (1) and (2). For example, the weighting function may be set so that the influence of the tail clearance-related value on the weights Ws and Wj is greater when the tail clearance measurement value is more accurate than the shield deviation measurement value.

- In the first and second embodiments, the direction control system 30 is configured to input the target force point G or jack pattern input by the operator to the shield control device 23 by referencing the recommended force point R calculated based on the actual indicated value. However, the direction control system 30 may also be configured to input the recommended force point R to the shield control device 23 as the target force point G. In this case, the shield control device 23 controls the jack pressure of each shield jack 22 so that the recommended force point R becomes the actual force point E.

10...Tunnel, 11...Segment, 20...Shield tunneling machine, 21...Outer shell, 22...Shield jack, 23...Shield control device, 24...Cutter head, 25...Measuring equipment, 26...Selection screen, 30...Direction control system, 40...Excavation management device, 50...Direction control device, 51...Input device, 52...Output device, 53...Processing device, 54...File device, 55...Main memory, 61...Excavation instruction value correction unit, 62...Target force point recommendation unit, 63...Pattern extraction unit, 65...Instruction data file, 66...Actual instruction value data file, 67...Data file, 68...Regression analysis information file, 69...Recommended force point setting file, 73...Jack pattern file, 75...Measurement data acquisition unit, 76...Difference calculation unit, 77...Conversion unit, 78...Corrected instruction value calculation unit, 79...Weight setting unit, 80...Actual instruction value calculation unit, 81...Actual target value calculation unit, 82...Regression analysis unit, 83...Rotation information acquisition unit, 84...Regression formula selection unit, 85...Recommended force point calculation unit.

Claims (5)

A direction control system for a shield machine that excavates a planned excavation range consisting of multiple consecutive excavation direction sections based on a stroke difference indication value and a gyro azimuth indication value,
For each of the stroke difference and the gyro direction, an actual measurement value in the preceding excavation direction section and an initial indication value in the subsequent excavation direction section are obtained;
calculating a difference between the initial indication value and the actual measurement value for each of the stroke difference and the gyro orientation;
calculating a gyro orientation conversion value obtained by converting the difference in the stroke differences into the gyro orientations and a stroke difference conversion value obtained by converting the difference in the gyro orientations into the stroke differences;
calculating a stroke difference correction instruction value based on the actual measurement value of the stroke difference and the stroke difference conversion value, and calculating a gyro orientation correction instruction value based on the actual measurement value of the gyro orientation and the gyro orientation conversion value;
calculating the stroke difference indication value for the subsequent excavation direction section using the initial stroke difference indication value, the stroke difference correction indication value, and the stroke difference weighting value;
A direction control system for a shield tunneling machine that calculates the gyro orientation instruction value for the subsequent excavation direction section using the initial instruction value of the gyro orientation, the gyro orientation correction instruction value, and the gyro orientation weighting value. By performing a regression analysis of the actual stroke difference and the actual horizontal force point, a regression formula is derived that can calculate the recommended horizontal force point, which is the horizontal component of the recommended force point.
The directional control system for a shield machine according to claim 1, wherein the recommended horizontal force point is calculated by inputting a difference between the actual measured value of the stroke difference and the indicated stroke difference value into the regression equation as an explanatory variable. The directional control system for a shield machine according to claim 1 or 2, wherein a value set by an excavation manager is acquired as the weighting value. Obtaining actual measurement values and control values for each of the shield deviation and the tail clearance,
A directional control system for a shield tunneling machine according to claim 1 or 2, wherein the actual measured value of the shield deviation, the control value of the shield deviation, the actual measured value of the tail clearance, and the control value of the tail clearance are input into a weighting function to calculate the weighting value. A direction control method for a shield machine that excavates a planned excavation range consisting of multiple consecutive excavation direction sections based on a stroke difference indication value and a gyro azimuth indication value,
The directional control system of the shield tunneling machine
A step of acquiring actual measured values in a preceding excavation direction section and initial indicated values in a subsequent excavation direction section for each of the stroke difference and the gyro orientation;
calculating a difference between the initial indication value and the actual measurement value for each of the stroke difference and the gyro orientation;
a step of calculating a gyro orientation conversion value obtained by converting the difference in the stroke differences into the gyro orientations and a stroke difference conversion value obtained by converting the difference in the gyro orientations into the stroke differences;
calculating a stroke difference correction indicator value based on the actual measured value of the stroke difference and the stroke difference converted value, and calculating a gyro orientation correction indicator value based on the actual measured value of the gyro orientation and the gyro orientation converted value;
calculating the stroke difference indicator for the subsequent excavation direction section using the initial stroke difference indicator, the modified stroke difference indicator, and the stroke difference weighting value;
a step of calculating the gyro orientation instruction value for the subsequent excavation direction section using the initial instruction value of the gyro orientation, the gyro orientation correction instruction value, and the gyro orientation weighting value.