JPH0660555B2 - How to select a jack pattern for a shield machine - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION <Industrial Application Field> The present invention relates to a method for selecting a jack pattern of a shield machine, and in order to move the shield machine along a planned line, a shield machine based on an empirical rule is used. Find the jack pattern to be selected by the jack pattern selection rule,
The present invention relates to a method for selecting a jack pattern of a shield machine that outputs the result.

<Prior Art> The shield method is as shown in FIG.
While excavating the ground with the cutter 12 provided at the tip of the shield machine 11, the shield machine 11 is installed on the planned line 14 of the tunnel by the shield jack 15 attached to the inner periphery of the rear end of the shield machine using the segment 13 or the propulsion pipe as a reaction body. To move forward along. The shield machine 11 is the planned line 1
4, the reference point of the shield machine 11 (for example, the center point of the front end of the shield machine 11) is on the planning line 14 and the direction of the shield machine 11 is the planning line 14. It must match the direction.

Therefore, conventionally, in the direction control of the shield machine 11, the deviation and the deviation angle of the shield machine 11 with respect to the planned line 14 are measured, and the position and the direction of the shield machine 11 are controlled so that the deviation and the deviation angle become the target values. is doing.

That is, each time the shield machine 11 moves forward by one ring of the segment 13, the position of the reference point in the shield machine 11 is measured, and the horizontal deviation amount (horizontal deviation amount) of the shield machine 11 from the planned line 14 is measured. And a vertical deviation amount (vertical deviation amount), and a horizontal deviation amount and a vertical deviation amount between the plan line 14 and the central axis of the shield machine 11. Then, the operator appropriately selects and operates a plurality of shield jacks 15, 15 provided on the inner peripheral edge of the rear end of the shield machine according to the amount of deviation and the amount of deviation. By this, the direction of the shield machine 11 is controlled (the number of shield jacks 15 is larger than the number required for advancing the shield machine 11). The reason why the deflection angle amount is used for the direction control is as follows. For example, as shown in FIG. 6, if the shield machine 11 is tilted even if the amount of deviation is zero, if the shield machine 11 is moved forward as it is, the shield machine 11 will deviate from the planned line 14.

<Problems to be Solved by the Invention> However, in the jack pattern selection method of the conventional shield machine 11 described above, it is not possible to qualify the selection of the shield jack 15 based on the obtained deviation amount and deviation amount, Automatic control cannot be performed based on the survey results. Therefore, conventionally, the shield jack 15 to be operated is selected based on the experience and intuition of the operator.
Therefore, there is a problem that a skilled operator is required to control the direction of the shield machine 11.

Therefore, an object of the present invention is to automatically and accurately select the jack pattern of the shield machine by performing a predetermined process on the bias amount and the angle of deflection of the shield machine, even if it is not based on the experience and intuition of the operator. Another object of the present invention is to provide a method for selecting a jack pattern for a shield machine that can be carried out.

Further, an object of the present invention is to provide a jack pattern selection method for a shield machine capable of selecting a jack pattern accurately and promptly by fuzzy inference based on a control rule obtained from an empirical rule regarding the amount of deviation and the amount of deviation. To provide.

<Means for Solving the Problems> In order to achieve the above object, the present invention provides a shield machine that selects a jack pattern that specifies a shield jack to be operated among a plurality of shield jacks attached to the rear end of the shield machine. A method for selecting a jack pattern, which is on the center axis of the shield machine and is located in front of the rear end position of the shield jack, the amount of deviation in the shield cross-section direction from the tunnel plan center line, and the tunnel. A step of obtaining the amount of deviation between the direction of the planned center line and the direction of the central axis of the shield machine, the ratio of the deviation amount to the allowable amount of the predetermined deviation amount, the deviation amount and the predetermined deviation angle. The ratio of the amount of the shield jack to the allowable amount, the step of determining the one-sided push degree of the shield jack based on the above-mentioned respective ratios, the one-sided push degree of the shield jack obtained above, and the It is characterized in that it comprises a step of selecting a jack pattern by collating it with the one-sided push degree of the shield jack obtained in advance from the arrangement of the field jack.

Further, the present invention is a jack pattern selection method for a shield machine for selecting a jack pattern for specifying a shield jack to be operated among a plurality of shield jacks attached to the rear end of the shield machine, the center line of the shield machine. And the amount of deviation from the tunnel planning center line,
And a step of determining the amount of deviation and the amount of change between the direction of the center line of the shield machine and the direction of the tunnel planning center line, the ratio of the deviation amount and the allowable amount of the predetermined deviation amount, and the deviation amount. Of the ratio between the amount of change in the amount of change and the allowable amount of change in the predetermined displacement amount, the step of obtaining the smaller ratio, the ratio of the deviation amount and the predetermined deviation amount allowable amount, and
Of the ratios of the amount of change in the deviation amount and the allowable amount of change in the predetermined amount of deviation angle, the step of obtaining the smaller ratio,
A step of obtaining the one-sided push degree of the shield jack based on the ratio of the two smaller ones, the one-sided push degree of the shield jack obtained above and the one-side push degree of the shield jack previously obtained from the arrangement of the shield jack, and Is selected to select a jack pattern.

Further, in the present invention, it is desirable that the ratio, the degree of one-sided pressing, etc. be obtained by fuzzy inference based on a control rule obtained from an empirical rule regarding the amount of deviation and the amount of deviation.

<Example> Hereinafter, the present invention will be described in detail with reference to illustrated examples.

FIG. 1 is a schematic view of a jack pattern selection device for a shield machine according to the present invention. This jack pattern selection device is roughly constituted by a surveying device 1, a fuzzy control device 2, a jack control device 3, a shield jack 15 and a pump 5 for supplying oil to the shield jack 15. The surveying device 1 is a device for detecting the deviation amount and the deviation amount of the shield machine 6 with respect to the planned line, and uses a level meter, a transit, or the like.

The fuzzy control device 2 uses the data relating to the deviation amount and the deviation amount of the shield machine 6 from the surveying device 1 to infer the optimum jack pattern as described in detail later, and to obtain the information of the obtained jack pattern as described above. Jack control device 3
Output to. The jack control device 3 opens the valve 7 corresponding to the selected shield jack 15 in accordance with the jack pattern information from the fuzzy control device 2 so that the oil from the pump 5 is shielded by the shield jack 1.
5 to drive the shield jack 15.

When the shield machine 11 is dug along the planned line 14 of the tunnel as shown in FIG. 16, the direction of the shield machine 11 is controlled as follows. As shown in FIG. 2 and FIG. 6, every time the shield machine 11 propels a certain distance, the planned line 14 and a reference point in the shield machine 11 (for example,
Horizontal deviation amount D from the center of the shield machine 11 front end)
H and the vertical deviation amount DV, and the horizontal deviation amount θH and the vertical deviation amount θV formed by the planned line 14 and the center line of the shield machine 11 are obtained. Then, the deviation amount D
The direction of the shield machine 11 is controlled by appropriately selecting and operating the plurality of shield jacks 15 provided on the inner peripheral edge of the rear end of the shield machine according to H, DV and the deviation amounts θH, θV. Hereinafter, a method of selecting the shield jack 15 (selecting a jack pattern) based on the deviation amount and the deviation amount will be described.

The following method is used to control the direction of the shield machine 11 by the shield jack 15 provided at the rear end of the shield machine 11. That is, the number of shield jacks 15 is set so that the total propulsive capability of the shield jacks 15 is equal to or greater than the propulsive force required to propel the shield machine 11 (12 in the embodiment of FIG. 4). The minimum number of jacks required to propel the shield machine 11 (8 in this embodiment)
Book. Therefore, the shield machine 11 can be propelled without using up to four. ) The shield jacks 15 having the above number are provided at the center O (4th
(See the drawing) A jack pattern that is offset to either a horizontal line X passing through or a vertical line Z passing through the center O is selected. Then, the selected shield jack 15 is operated (that is, one-sidedly pressed), and a rotational moment is applied to the shield machine 11, whereby the shield machine 11 is operated.
Direction control.

The above rotation moment is given by the following equation.

M = F · L where: M: rotational moment given by the shield jack 15 F: total thrust of the selected shield jack 15 (propulsion force required to propel the shield machine 11 and is a constant value) L: shield Distance from the center of the machine 11 to the point of action of the total thrust F In this equation, M and L are proportional, and the size of L indicates the degree of one-sided pushing. The distance L to the point of action of the total thrust F is expressed by the following equation.

L = (sum of horizontal or vertical distances from the central axis of the jack used) / number of jacks used) That is, as shown in FIG.
When the direction L of the shield machine is controlled by using the eight shield jacks, the distance L is as follows.

LV = (-a ₅ -a ₆ + a ₇ + a ₈ + a ₉ + a ₁₀ + a ₁₁ + a ₁₂ ) / 8 LV = (-b ₅ -b ₆ -b ₇ -b ₈ -b ₉ + b ₁₀ + b ₁₁ + b ₁₂ ) / 8 where LH: distance from the vertical line Z passing through the center O LV: distance from the horizontal line X passing through the center O Such L is the total number of jacks m and jacks not used There are T = mC ₀ + mC ₁ + mC ₂ + ... + mC _n depending on the number n and their arrangement (arrangement pattern of the shield jack 15).

Now, let the maximum absolute value of the distance LH and the distance LV be max | LH | and max | LV |, and EH (one push degree) = LH / max | LH | ... (1) EV (one push degree) = LV / max | LV | ... (2), EH and EV are in the range of -1 to +1. EV is the one-sided push of the horizontal shield jack, and EV is the one-sided push of the vertical shield jack. The one-side pressing degrees EH and EV are calculated in advance as many as the number T and stored as jack patterns.

Next, the control rules used when the fuzzy control device 2 infers the jack pattern will be described in detail.

As shown in FIG. 2, when the measurement point (planned center point) is deviated to the left side by + DH in the horizontal direction, the shield machine 11 is displaced to the left side of the planned line. In this case, the left jack is selected from the twelve shield jacks 15 of the shield machine 11 in order to correct the above deviation, and the shield machine 11 is propelled. As a result, the shield machine 11
The direction of will be corrected toward the planning line. However, it is not clear whether it is appropriate to set the one-sided pushing degree EH1 (the degree of one-sided pushing only due to the horizontal bias) of the shield jack when the amount of bias DH is some.

It is empirically known that when the displacement amount DH is larger than an arbitrary displacement amount DHa (a displacement allowance amount), the one-sided depression degree EH1 is also increased again, and the displacement amount DH is arbitrary. When the deviation amount DH is smaller than DHa (allowable displacement amount), the pressing amount EH1 is made small again. When the deviation amount DH is within the allowable range, that is, between -DHa and DHa, the pressing amount EH1 is appropriately selected. It means that In that case, the deviation amount DH is the deviation allowable range in the horizontal direction −DHa to D
When it is between Ha, when the displacement amount DH is judged to be close to -DHa, the jack pattern in which the one-sided depression degree EH1 is close to -1 is selected, while when it is judged that the displacement amount DH is close to DHa, the one-sided depression degree is selected. EH1 selects a jack pattern close to +1. That is, the one-side depression degree EH1 and the deviation amount DH do not correspond one-to-one, and the jack pattern is determined in an ambiguous manner. Although the above description refers to the horizontal pushing degree EH1, the vertical pushing degree EH is one.
The same applies to V1.

Therefore, in the present invention, the jack pattern is selected by fuzzy inference based on the control rule based on the above empirical rule.

The control rules adopted in this embodiment are as follows. First, a control rules (i = 1 to a) are set, and if the deviation amount DH is AHi, the horizontal one-sided depression degree EH1 related to the deviation amount is CHi, and “if” DH = AHi “then”. EH1 = CHi (3) AHi: a function that indicates the state of DH, and a function that indicates the degree of DH in the range of -DH to DH. CHi: a function that indicates the state (degree) of the horizontal direction push degree EH1. The control rule of the inference of the vertical one-sided push degree EV1 related to the amount of deviation is similarly expressed.

On the other hand, as shown in FIG.
If the angle is + θH in the horizontal direction with respect to 4 (inclined to the left by θ degrees toward the front), the left one of the shield jacks 15 of the shield machine 11 is selected and the shield machine is propelled. However, as in the case of the deviation amount DH, when the deviation amount θH is, the one-sided pushing degree E of the shield jack is calculated.
It is uncertain how much H2 (the degree of one-sided pressing due to only the horizontal declination) should be appropriate.

Therefore, the state of the declination θH with respect to the allowable range of the declination in the horizontal direction −θHa to + θHa, and how much the one-sided push degree EH2 in the horizontal direction should be determined depending on the state of the declination θH. To infer, set the control rules as follows from the rule of thumb.

Set a control rules (i = 1 to a) and declination amount θH
Is aHi, the horizontal offset EH2 relating to the deviation amount
Is cHi, “if” θH = aHi “then” EH1 = cHi (4) aHi: a function indicating the state of θH, and −θHa to θH
Function representing the degree of θH in the range of a cHi: It is represented as a function representing the state (degree) of the one-sided depression degree EH2 in the horizontal direction. A control rule for inferring the vertical one-sided push degree EV2 related to the amount of declination is similarly expressed.

The control rule represented in this way is stored in the control rule memory of the fuzzy controller 2.

The jack pattern selection device of the shield machine having the above configuration operates as follows.

The detection value from the surveying device 1 is the fuzzy control device 2
Entered in. The fuzzy control device 2 takes out the control rule stored in advance in the control rule memory, selects a jack pattern based on the control rule by fuzzy inference, which will be described in detail later, and outputs information on the selected jack pattern. Is output to the jack control device 3. The jack control device 3 "opens-closes" the valve 7 according to the above jack pattern to shield the jack 1.
5 controls the operation.

According to the control rule, the deviation amount DH, the deviation angle amount θH, and the strength of the one-sided push degree EH are large or small as described above,
It is set in stages according to the degree of moderateness. Therefore, when a fine jack pattern is selected, the degree to which the measured values of the displacement amount DH and the deflection amount θH satisfy the antecedent part (if part) of the control rule is calculated. It is necessary to estimate the one-side depression degree EH according to the degree.

Therefore, in the present embodiment, the degree is set to the deviation amount DH,
It is calculated by using a membership function (attribution function) for the deviation amount θH and the one-sided push degree EH. That is, each proposition in the above control rule DH = AHi, EH1 = CH
i, θH = aHi, EH2 = cHi, the function (membership function) representing the degree is AHi (D
H), cHi (EH1), aHi (θH), cHi (E
H2). Seventeenth Example of Membership Function
Shown in Figures and FIG. FIG. 17 shows the case where the number of propositions is 3, and FIG. 18 shows the case where the number of propositions is 5.

In the fuzzy inference executed by the fuzzy controller 2 in FIG. 1, fuzzy logic operation is performed using the control rules (3) and (4) and the membership function to calculate the one-sided push degree EH. FIG. 8 shows a schematic flowchart of the direction control of the shield machine using the above fuzzy inference.

In step S ₁ , the deviation amounts DH and DV and the deviation amounts θH and θV obtained by the surveying device are input to the fuzzy control device 2.

In step S _2, by the fuzzy control unit 2, after reasoning horizontal pieces押度EH and the vertical piece押度EV as detailed is performed.

In step S _3, pieces押度obtained in step S ₂ EH, based on the EV, the selection of the optimum jack pattern is performed.

In step S ₄ , the selected shield jack is driven and the direction of the shield machine 11 is controlled according to the control of the jack control device 3 using the jack pattern selected in step S ₃ .

Next, the inference of the one-sided depression degrees EH and EV in step S ₂ in the flowchart of FIG. 8 will be described in more detail. FIG. 9 shows horizontal push EH and vertical push E
It is a flowchart of a V calculation routine.

In step S ₁₁ , the deviation amounts DH and DV and the deviation amount θ
H and θV are input.

In step S _12, the fuzzy controller 2 to the stored said control rules (3) and on the basis of (4), the horizontal piece about the horizontal piece押度EH1 and the angle of deflection θH about bias amount DH押度EH2 is calculated as described in detail later.

In step S _13, the horizontal piece押度E about horizontal piece押度EH1 and the angle of deflection θH relating to the bias amount DH
According to the coupling rule of H2, the horizontal unidirectional pressing force EH 'is calculated as described in detail later.

In step S _14, based on the control rules stored in the fuzzy controller 2, biasing the vertical piece about the amount DV押度EV1 and the angle of deflection θV about vertical piece押度EV2 is calculated.

In step _{S 15,} bias amount vertical piece about the vertical piece押度EV1 and the angle of deflection θV about DV押度EV2
The binding rules, vertical comprehensive piece押度EV 'is calculated, the process proceeds to step S ₃ of Figure 8.

Next, a method of calculating the horizontal unidirectional depressions EH1 and EH2 and the vertical unidirectional depressions EV1 and EV2 will be described. Here, the method for calculating the vertical one-sided push degrees EV1 and EV2 is the same as the horizontal direction one-sided push degrees EH1 and EH2, so only the method for calculating the horizontal one-sided push degrees EH1 and EH2 will be described.

FIG. 10 is a flowchart of a routine for calculating the horizontal piece押度EH1, EH2 in step _{S 12} of the flowchart of FIG. 9.

In step _{S 21,} bias amount DH and the angle of deflection θH is input.

In step _{S 22,} the fitness of each proposition antecedent of the control rule AHi (DH) and aHi (.theta.H) is calculated.

In step _{S 23,} the fitness AHi each proposition of the antecedent calculated in step _{S 22} (DH) and aHi
Based on (θH), the suitability ω ₁ i, ω ₂ i of the antecedent part of the control rule is calculated by the following equation.

ω ₁ i = min {AHi (DH)} ω ₂ i = min {aHi (θH)} In the above control rule, the proposition DH = AHi holds at a rate of ω ₁ i, and θH = aHi. Is ω
_It means that it holds at a rate of ₂ i.

In step S ₂₄ , based on the conformance ω ₁ i, ω ₂ i of the antecedent part of the control rule calculated in step S ₂₃ ,
The suitability of the consequent part of the control rule (that is, the inference result by the control rule) is calculated by the following equation.

CHi ^* (EH1) = ω ₁ iCHi (EH1) cHi ^* (EH2) = ω ₂ icHi (EH2) As described above, the antecedent part of the control rule is ω ₁ i.
Or if ω ₂ i holds, the consequent part of the rule (“t
The "hen" part) also holds true at a ratio of ω ₁ i or ω ₂ i.

In step S ₂₅ , i calculated in step S ₂₄ is calculated.
= 1 to a, the conformances CHi ^* (EH1) and CHi ^* (EH2) of all consequent parts regarding the a control rules
Therefore, the total membership function ξ ₁ (EH1) of the consequent part of all control rules relating to the deviation amount DH, and the deviation amount θH
The total membership function ξ ₂ (EH2) of the consequent part of all control rules regarding is calculated by the following equation.

^{_{ξ 1 (EH1) = max {}} CHi * (EH1)} ξ 2 (EH2) = max {cHi * (EH2)} This is because when bias amount of the shield machine of DH _0, the angle of deflection .theta.H _0, optimum jack the degree of occurrence of the horizontal piece押度EH1 ₀ or EH2 ₀ to obtain a pattern is a representation as a function of the horizontal piece押度EH1 or EH2.

In step _{S 26,} the horizontal piece押度EH about bias amount
1 and the horizontal one-sided pushability EH2 regarding the amount of declination are calculated by the following equation.

EH1 ₀ = {∫ξ ₁ (EH1) ・ EH1dEH1} / {∫ξ ₁ (EH1) dEH1} EH2 ₀ = {∫ξ ₂ (EH2) ・ EH2dEH2} / {∫ξ ₂ (EH2) dEH2} Obtained horizontal one-sided push degree EH1 ₀ , E
Based on H2 _0, horizontal comprehensive piece押度EH above 'is being asked.

Although the above is the case of inferring the horizontal one-sided push degrees EH1 and EH2 from the displacement amount DH and the angle-of-angle amount θH, the horizontal one-sided push degrees EV1 and EV2 can be similarly inferred.

Here, it is not clear which of the one-sided push degrees EV1 and EV2 in the horizontal direction determines the jack pattern. on the other hand,
Originally, it is desirable that the shield machine proceed in line with the planned line, and it is desirable that the deviation amount is small.
That is, it is necessary to give importance to the amount of bias in selecting the jack pattern.

Therefore, the horizontal unidirectional push degree EH1 relating to the deviation amount and the horizontal unidirectional push degree E relating to the deviation amount thus obtained
By combining H2 and H2, the total one-sided pushing degree EH 'in the horizontal direction is obtained by the following equation.

EH '= α ₀ · EH1 ₀ + (1-α ₀ ) · EH2 ₀ ...
(5) where α ₀ is a parameter indicating the degree of importance of the deviation amount DH when correcting the direction of the shield machine, and the deviation amount D
Based on H and the angle of deviation θH, fuzzy inference is performed as follows.

First, b combining rules (j = 1 to b) are set, and this combining rule is expressed as “if” DH = Dj “and” θH = Ej “then” α = Fj (6). Then, using the combination rule (6) above, the first
Infer α _{0 according} to the flowchart of FIG.

In step S ₃₁ , the deviation amount DH and the deviation amount θH are input.

In step _{S 32,} the fitness of each proposition antecedent of the control rule Dj (DH) and Ej (.theta.H) is calculated.

In step S ₃₃ , the fitness Dj (DH) and Ej for each proposition of the antecedent part calculated in step S ₃₂ .
Based on (θH), the suitability ω ₃ i of the antecedent part of the control rule is calculated by the following equation.

ω ₃ i = min {Dj (DH), Ej (θH)} This is DH = Dj and θH in the above control rule.
It means that the proposition of = Ej holds at a rate of ω ₃ i.

In step S _34, based on the fitness omega _{3 i} antecedent of control rule calculated in the step S _33, adaptability of the consequent part of the control rules are calculated by the following equation.

Fj ^* (α) = ω ₃ i / Fj (α) This is because the antecedent part of the control rule is the ratio ω ₃ i as described above.
If it is satisfied, the execution part of the rule is satisfied at a ratio of ω ₃ i.

In step S ₃₅ , b calculated in step S ₃₄ is calculated.
Goodness of fit Fj of all consequent parts with respect to each control rule
From (α), the total membership function ζ (α) of the consequent part of all control rules relating to the displacement amount DH and the deflection amount θH
Is calculated by the following equation.

ζ (α) = max {Fj ^* (α)} In step S ₃₆ , the parameter α ₀ is calculated by the following equation.

α ₀ = (∫ζ (α) · αdα) / (∫ζ (α) dα) Based on the parameter α ₀ thus obtained,
The horizontal total one-sided pushing force EH 'is obtained by the above equation (5).

As described above, the horizontal total pushing degree FH ′ is set to the parameter α _0.
Although the method of obtaining by using is described, it may be obtained as follows.

Depending on the magnitude of the deviation amount DH, EH ′ = EH1 | DH | <EH ′ = EH1 | DH | <depending on the magnitude of the deviation amount DH. When | DHb |, EH '= EH2 may be set.

Here, ± DHb is a predetermined control target value, and | DHb <| DHa |.

The above is a method of obtaining the horizontal total one-sided push degree EH ′ from the horizontal displacement amount DH and the deflection angle amount θH.
According to the equation (7), it is possible to obtain the vertical total one-sided push degree EV 'by the vertical deviation amount DH and the deviation amount θH.

EV ′ = α ₀ · EV1 ₀ + (1-α ₀ ) · EV2 ₀ ...
(7) The values of EH 'and EV' thus obtained are
One-sided push degrees EH and EV calculated by the equations (1) and (2) (values determined by the shield machine, which are discrete values).
When the value is equal to, the values of the one-side pressing degrees EH 'and EV' obtained by (5) and (7) may be selected as the jack pattern. However, since the shield jacks 15 are arranged at regular intervals, the one-sided push degrees EH and EV calculated by the equations (1) and (2) have discrete values as described above. Therefore, the one-sided push degrees EH ′ and EV ′ calculated by the equations (5) and (7) almost never take the same values as the one-sided push degrees EH and EV calculated by the equations (1) and (2). There is no. Therefore,
The jack pattern is determined as follows.

That is, regarding the jack pattern as described above in T
Using the one-sided push degrees EV and EV calculated by the equations (1) and (2) (denoted by EHt and EVt), the following equations are used to calculate the sum F (t) of the difference between EHt and EVH ′ and the difference between EVt and EV ′. ).

Then, EHt and EVt that minimize the value of F (t) are output to the jack control device 3 as the one-sided depression degrees EH and EV of the optimum jack pattern.

As described above, according to the present invention, the one-sided pushing degree of the shield jack is fuzzy inferred by using the control amount obtained from the deviation amount and the angle of deviation from the planned line 14 of the shield machine 11 and the empirical rule, and the one-sided pushing degree is determined. Since the pattern of the shield jack is selected based on the above, it is possible to accurately control the direction of the shield machine according to the empirical rule of the operator.

In the above embodiment, the one-sided depression degrees EH and EV are inferred based on the deviation amounts DH and DV and the deviation amounts θH and θV, and the optimum jack pattern is determined. However, the jack pattern may be determined as follows.

That is, as shown in FIG. 7, the deviation amounts DH and DV
The amount of change ΔDH and ΔDV is taken into consideration, and the amount of change ΔθH and ΔθV is taken into account with the amounts of deviation θH and θV to determine the jack pattern. In this case, the above control rules (1) and (2) are replaced as follows.

“If” DH = AHi “and” ΔDH = BHi “then” EH1 = CHi ... (8) “if” θH = aHi “and” ΔθH = bHi “then” EH2 = cHi ... (9) And the above control Based on the rules (8) and (9), the pushing degree is inferred according to the flowcharts shown in FIGS. At that time, it is assumed that the conformance of the antecedent part of the control rule in the flowchart of FIG. 14 is ω ₁ i at the smaller ratio of the ratio of DH entering AHi and the ratio of ΔDH entering BHi. Of.

In this way, by adding ΔDH, ΔDV, ΔθH, and ΔθV, the amount of change between the amount of deviation and the amount of deviation at the time of the previous direction change and the amount of deviation and the amount of deviation at this time are calculated this time. Can be reflected in the direction change of the shield machine 11, and the direction of the shield machine 11 can be controlled more finely. That is,
The direction control of the shield machine is such that the entire circumference of the shield machine is restrained by the ground, and it has the characteristic of maintaining the progress state when it advances in a certain direction, so let's change the direction suddenly. This is because it has a characteristic that cannot be changed.

In the above embodiment, the deviation from the planned line of the shield machine is expressed by using the deviation amount DH from the vertical line passing through the center O and the deviation amount DV from the horizontal line passing through the center O as shown in FIG. There is. However, the present invention is not limited to this, and as shown in FIG. 3, depending on the distance 1 from the center O of the shield machine 11 to the measurement point and the angle β from the reference line, the deviation amounts DH and DV can be obtained. May be represented. The allowable values DHa and DVa of the deviation amounts DH and DV in this case may be the deviation amounts DH and DV when the distance 1 reaches the allowable value. Also, in that case, the distance L of the point of action of the propulsion jack
Can be obtained by rotating the reference line by the angle β as shown in FIG.

<Effects of the Invention> As is clear from the above, the selection method of the jack pattern of the shield machine of the present invention is to obtain the deviation amount and the deviation amount with respect to the tunnel planning line of the shield machine, and then the deviation amount and the predetermined amount. The ratio of the allowable amount of the bias amount and the ratio of the allowable amount of the deviation amount and the predetermined deviation amount and the ratio of the allowable amount of the deviation amount is obtained, and the one-sided pressing degree of the shield jack is calculated based on the respective ratios.
Since the jack pattern is selected by comparing the one-sided push degree of the shield jack obtained above with the one-sided push degree of the shield jack previously obtained from the arrangement of the shield jacks, the bias amount and the angle of deflection of the shield machine are selected. Depending on the quantity
The jack pattern of the shield machine can be automatically selected without the operator's experience and intuition.

Further, the selection method of the jack pattern of the shield machine of the present invention, the deviation amount with respect to the tunnel planning line of the shield machine and its change amount, and the deviation amount and its change amount, and then, the deviation amount and the predetermined. The ratio of the allowable deviation amount, the ratio of the deviation amount change amount and the predetermined deviation amount allowable amount ratio, the step of obtaining the smaller ratio, and the deviation angle amount. Among the ratios of the predetermined deviation amount allowable amount and the deviation amount changing amount and the predetermined deviation amount changing amount allowable amount, the smaller ratio is obtained and Calculate the one-sided push degree of the shield jack based on the ratio of the two smaller ones, and compare the one-sided push degree of the shield jack obtained above with the one-side push degree of the shield jack previously obtained from the arrangement of the shield jacks. And select the jack pattern As a result, the shield machine's deviation amount and its variation amount, and the deflection angle amount and its variation amount make it possible to select the jack pattern of the shielding machine more appropriately and quickly without being based on the experience and intuition of the operator. And it can be done automatically.

Further, the jack pattern selection method of the shield machine of the present invention, based on the control rule obtained from empirical rules regarding the amount of deviation and the amount of angle of deviation, so as to obtain the ratio and push degree by fuzzy reasoning. Therefore, the jack putter of the shield machine can be automatically selected in a more suitable and prompt manner without being based on the experience and intuition of the operator.

[Brief description of drawings]

FIG. 1 is a schematic diagram of a jack pattern selection device for a shield machine according to a method for selecting a jack pattern for a shield machine according to the present invention, FIGS. 2 and 3 are explanatory views of the deviation amount, and FIGS. 4 and 5 are 6 and 7 are explanatory diagrams of the distance to the point of action of the total thrust of the shield jack, FIGS. 6 and 7 are explanatory diagrams of the deviation amount and its variation amount, and the deflection angle amount and its variation amount, and FIGS. 8 and 12 are fuzzy. A flow chart of inference, FIGS. 9 and 13 are flowcharts of a calculation routine for one-sided push degrees EH 'and EV', and FIGS. 10 and 14 are flowcharts of a calculation routine for horizontal one-sided push degrees EH1 ₀ and EH2 ₀ .
11 and 15 are flowcharts for inferring α ₀ , FIG. 16 is an explanatory diagram of the shield construction method, and FIGS. 17 and 18 are diagrams showing an example of the membership function. 1 ... Surveying device, 2 ... Fuzzy control device, 3 ... Jack control device, 5 ... Pump, 6 ... Shield machine, 7 ... Valve, 15 ... Shield jack.

Front page continuation (72) Inventor Yasuhide Ueno 1-3-10 Akasaka, Minato-ku, Tokyo Okumura Corp. Tokyo branch office (72) Inventor Go Asano 1-3-10 Akasaka, Minato-ku, Tokyo Okumura Corp. Tokyo branch office (56) Reference JP 58-33695 (JP, A) JP 57-137596 (JP, A) JP 60-80696 (JP, A) JP 61-24792 (JP, A)

Claims (6)

[Claims] 1. A jack pattern selection method for a shield machine, comprising: selecting a jack pattern that specifies a shield jack to be operated from among a plurality of shield jacks attached to the rear end of the shield machine; And in front of the rear end position of the shield jack, the amount of deviation in the shield cross-section direction from the tunnel plan centerline, the direction of the tunnel plan centerline, and the direction of the central axis of the shield machine. And a step of obtaining a ratio of the deviation amount and an allowable amount of the predetermined deviation amount, and a step of calculating a ratio of the deviation amount and an allowable amount of the predetermined deviation amount, A step of obtaining the one-sided push degree of the shield jack based on the ratio, the above-mentioned one-sided push degree of the shield jack, and the shield previously obtained from the arrangement of the shield jack. A method for selecting a jack pattern for a shield machine, which comprises a step of selecting a jack pattern by checking the degree of one-sidedness of the jack. 2. The method for selecting a jack pattern for a shield machine according to claim 1, wherein the step of determining the one-sided push degree of the shield jack is performed by a method of selecting the one-sided bias of the shield jack on the basis of a horizontal displacement amount. Determining the push degree, further determining the one-sided push degree of the shield jack based on the horizontal deviation amount, and the one-sided push degree of the shield jack based on the vertical deviation amount, and further determining the vertical direction A method for selecting a jack pattern for a shield machine, the method comprising the step of determining the one-sided pressing degree of the shield jack based on the amount of deviation angle. 3. A method for selecting a jack pattern for a shield machine according to claim 2, wherein the shield is based on a bias of the shield in the horizontal direction and a bias of the shield in the horizontal direction. A step of using the one-sided push of the jack and combining the both one-sided pushes according to the ratios of the respective allowable values of the deviation amount and the angle of deviation to obtain a total one-sided push degree of the shield jack in the horizontal direction; , The one-sided pushing degree of the shield jack based on the vertical deviation amount and the one-sided pushing degree of the shield jack based on the vertical deviation amount are used. A method of selecting a jack pattern for a shield machine, comprising the step of combining the shield jacks in accordance with the ratio of the allowable values to obtain the overall push-out degree of the shield jack in the vertical direction. 4. A jack pattern selecting method for a shield machine according to any one of claims 1 to 3, wherein a ratio of the deviation amount to a predetermined allowable deviation amount and the ratio The step of obtaining the ratio of the deviation amount and the allowable amount of the predetermined deviation amount, and the step of obtaining the one-sided pressing degree of the shield jack based on each of the above ratios are based on the empirical rules regarding the deviation amount and the deviation amount. A method for selecting a jack pattern for a shield machine, characterized in that the ratio and the degree of one-sided pressing are obtained by fuzzy inference based on the obtained control rule. 5. A jack pattern selection method for a shield machine for selecting a jack pattern for specifying a shield jack to be operated among a plurality of shield jacks attached to the rear end of the shield machine, the method comprising: selecting a jack pattern on a central axis of the shield machine. And in front of the rear end position of the shield jack and the deviation amount in the shield cross-section direction between the tunnel plan center line and its change amount, and the direction of the shield machine center line and the tunnel plan center line. A step of obtaining the amount of deviation from the direction and the amount of change thereof, the ratio of the deviation amount to the allowable amount of the predetermined deviation amount, the amount of change of the deviation amount and the allowable amount of change of the predetermined deviation amount And the ratio of the deviation amount and the allowable amount of the predetermined deviation amount, the change amount of the deviation amount, and the change of the predetermined deviation amount. Quantity of Of the ratio with the capacity, the step of obtaining the smaller one, the step of obtaining the one-sided push degree of the shield jack based on the two smaller ones, the above-mentioned one-side push degree of the shield jack, A method of selecting a jack pattern for controlling a direction of a shield machine, which comprises a step of selecting a jack pattern by collating with a one-sided push degree of the shield jack obtained in advance from the arrangement of the shield jack. 6. A method for selecting a jack pattern for a shield machine according to claim 5, wherein a ratio of the deviation amount to a predetermined allowable deviation amount and a change amount of the deviation amount are included. Of the ratio with the allowable amount of change in the predetermined deviation amount, the step of obtaining the smaller ratio, the ratio between the deviation amount and the allowable amount of the predetermined deviation amount, and the deviation amount Of the ratio between the change amount and the allowable amount of change in the predetermined declination amount, a step of obtaining the smaller one, and a step of obtaining the one-sided push degree of the shield jack based on the two smaller ones Is a jack of a shield machine, characterized in that the ratio and the degree of one-sided pressing are obtained by fuzzy inference based on a control rule obtained from the deviation amount and the change amount thereof, and the control rule obtained from the deflection angle amount and the change amount thereof. How to select the pattern.