JPH0665840B2 - Automatic direction control method for shield machine - Google Patents

Description

The present invention relates to an automatic direction control method for a shield machine.

[Prior Art] The conventional automatic direction control method for a shield machine is to determine the position of the shield machine using an automatic surveying device, calculate the deflection moment from the difference from the planned line with a computer, and operate to realize the deflection moment. The jack pattern to be selected is selected from a plurality of predetermined patterns and is output to the jack drive circuit for automatic excavation.

However, in the above method, since an optical surveying device using a laser beam, for example, is used as the automatic surveying device, it is not possible to automatically survey the curved tunnel included in most of recent urban tunnels. In addition, it is not possible to cope with changes in control characteristics due to changes in the peculiar behavior, soil quality, and soil layer of the shield machine. In addition, as a method of measuring the attitude angle of the excavator, for example, Japanese Patent Publication No. 50-1297.
The publication is known. However, in such a known technique, even if the posture is known, it must be corrected by human power in order to correct it, which is inefficient and cannot respond to changes in the soil layer.

[Object of the Invention] Therefore, an object of the present invention is to perform automatic surveying continuously, automatically control the shield machine in response to changes in soil quality, improve the excavation accuracy, and save labor. To provide.

[Configuration of the Invention] According to the automatic direction control method for a shield machine according to the present invention,
The computer reads the preset planned line position data from the file, inputs the azimuth, pitching angle, and roll angle from the azimuth / pitch angle / roll angle detector, inputs the jack stroke from the jack stroke meter, and the azimuth,
The pitching angle is integrated with the jack stroke to calculate the tip position of the shield machine, and then the deviation amount between the calculated tip position of the shield machine and the planned line position is obtained, and the required deflection angle is calculated from the deviation amount. The jack pattern to be operated is calculated from the calculated deflection angle, an operation signal is output to the jack having the calculated pattern, and the above operation is repeated to automatically advance the car.

[Advantageous effects of the invention] Therefore, it is possible to improve the excavation accuracy by performing automatic surveying regardless of the straight or curved excavation line, automatically detecting habits of the shield machine and changes in the soil layer and performing corresponding control. it can.
Further, it is possible to automate the excavation operation, which has been based on the experience and intuition of the conventional operator, and save labor.

Embodiments Embodiments of the present invention will be described below with reference to the drawings.

FIG. 1 shows a control device for implementing the present invention. A face chamber 3 is defined behind the cutter head 2 of the shield machine 1, and the chamber 3 includes a mud feeding pipe 4 and a mud drain pipe 5.
It is connected to a mud sending device and a mud discharging device (not shown) on the ground G via. And the skin plate 1 of the shield machine 1
The plurality of shield jacks 6 attached to a are in contact with the front end surface of the segment S assembled in the tunnel T. Further, the azimuth / pitching angle / roll angle detector 7 provided in the shield machine 1 is connected to a microcomputer 13 on the ground G by a signal transmission line 9 via a control panel 8. The control board 8 is connected to the cutter motor 10 and the propulsion jack 6, and is also connected to a jack stroke gauge 11 provided on the propulsion jack 6. Reference numeral 12 in the drawing is a tail clearance meter, which is connected to the control panel 8. And these devices 7, 8, 9, 11, 1
A control device is constituted by 2 and 13.

Next, an embodiment of the present invention will be described with reference to FIG.

First, the computer 13 reads the excavation line position data from the file (step S ₁ ). Next, the azimuth, pitching angle, and roll angle detectors are used to input the azimuth, pitching angle, and roll angle, and the jack stroke gauge 11 is used to input the jack stroke (step S ₂ ). determination of the tip position (step _S 3). Next, the deviation amount between the obtained position of the shield machine 1 and the planned line position is obtained, and the required deflection angle is calculated from the deviation amount (step S ₄ ). Then determine the pattern of the jack to be operated from the deflection angle obtained (step S _5), and outputs an operation signal to the jack of the determined pattern (Step S _6). Then, it is determined whether the shield machine 1 is advanced by 1 ring (i.e. 1 segment length) (step S _7). If NO, the process returns to step S ₂ , and if YES, a signal for stopping the operation of the jack 6 and the cutter is output (step S ₈ ).
Next, enter an instruction to start the next ring excavation (step S
_9), it is determined whether the start (Step S _10). In the case of NO, returns to the step _{S 9,} the flow returns to step _{S 2} you were YES.

Thus, in step S ₃ to S _5, performs a comparison study of the planned line position and the current position, the jack 6 operates to select the jack pattern, than it is auto boring shield machine 1 while correcting the deflection angle .

Will now be described learning control step _S 3 to S _5.

The position coordinates of the shield machine 1 are obtained as follows.

(1) Rolling is added by integrating stroke and azimuth and pitching angle.

(2) Obtain the amount of side slip from the stroke difference and the tail clearance.

(3) The habit of the detector 7 of the azimuth and the pitching angle (hereinafter referred to as the azimuth meter and the pitching angle meter) of the detector 7 is detected from the above result. That is, when there is continuous skidding and a certain tendency is exhibited after a certain length of excavation, this tendency is used as a habit of the azimuth meter and the pitching angle meter.

(4) Incorporate a habit into the azimuth and pitching angle detector, and repeat steps (1) to (3).

Now, let the excavation direction be the plus side of the x coordinate, find the X coordinate immediately before the excavation start from Σ (number of rings) × {(segment S length) + (packing thickness)}, and the y coordinate up to the front ring. And the integral value of.

The position after excavation is obtained as follows.

The above value is maintained until the start of the excavation, and after the start condition is satisfied, the integrated value by the stroke is used. In addition,
The integral calculation is done every 4 cm or 30 cm, and is not performed when the stroke is reduced. That is, the coordinate values xi, yi, and zi are xi = xiφ + ΔS · cosφ · cos θ yi = yiφ + ΔS · cosφ · sin θ zi = ziφ + ΔS · sinφ where xiφ, yiφ, ziφ ... Amount of deviation from the planned line) ΔS ・ ・ ・ Stroke increment θ ・ ・ ・ Internal representation of current bearing φ ・ ・ ・ Current pitching angle The shield machine position represents the center position on the front face of the cutter head 2, and the segment assembly position corresponds to the machine length. Therefore, the captain is set to L, and it is calculated from xiβ = xi−L · cosφ · cosθ yiβ = yi−L · cosφ · sinθ ziβ = zi−L · sinφ.

The amount of lateral deviation is calculated as follows. That is, in FIG. 3, the relative position between the segment S before the excavation and the shield machine (hereinafter referred to as machine) 1 is represented by the left and right strokes S _L φ,
The orientation difference α ₀ between the segment S and the machine 1 is determined from S _R φ. At this time, the tail clearance d _L φ, d
_R φ is also measured.

In FIG. 4, the relative position after excavation is determined as the orientation difference α ₁ from the strokes S _L1 and S _R1 .

Next, the predicted tail clearance value d after segment assembly
_L1 and d _R1 are calculated, and this value and tail clearance meter 12
The difference from the output value of is obtained as the lateral deviation amount. This is added to the deflection angle integration by the stroke to determine the machine position.

In FIG. 5, the azimuth variation amount obtained from the stroke difference and the deflection angle based on the azimuth meter output are matched as follows. The deflection angle calculated value Δθ is Δθ = α ₁ −α ₀ = tan ⁻¹ (ΔS ₁ / D) −tan ⁻¹ (ΔS ₀ / D) = {tan ⁻¹ (S _R1 −S _L1 ) / D} − tan ⁻¹ (S _R φ-S _L φ) / D where D ... Machine diameter (distance between the centers of the stroke gauges 11) The difference between this Δθ and the deflection angle Δθ obtained from the compass is
This is the change in direction due to the movement of the rear segment during excavation.

In FIG. 6, the orientation difference α between the segment S and the machine 1
Is calculated from α ₀ (before excavation) = tan ⁻¹ {(S _R φ−S _L φ) / D} α ₁ (after excavation) = tan ⁻¹ {(S _R1 −S _L1 ) / D}. For example, when the stroke difference is 1 mm and the machine diameter D is 3 m, the azimuth difference is about 0.02 °.

In FIG. 7, the next ring segment S at the pre-digging position
₁ The tail clearance predicted values d _R1a and d _L1a after assembly are
When the digging length is 1 (for example, 90 cm), it can be obtained from d _R1a = d _R φ-l · tan α ₀ d _L1a = d _L φ + l · tan α ₀ .

Letting Δy be the lateral movement amount azimuth integral calculation value after one ring excavation, Δy = yi−yiφ, the tail clearance predicted value d _R1b after excavation in the absence of lateral slip is d _R1b = [{Ys-tan << (π / 2) -Δθ >> ・ Xs-L ・ tanα ₀ + (D / 2) -d _R1a + Δy} / {tanα ₀ -tan << (π / 2) -Δθ >>-Xs] / sinΔθ (L is the tail from the machine tip. clearance gauge lengths up) where determined from X _S, position Δθ = α ₁ -α ₀ of skin plate after excavation when considered in the coordinates with the origin of the machine end center after Ys · · · excavation , The predicted value d _{L1b is} also obtained in the same manner, but is omitted.

Then, the difference between the tail clearance predicted value d _1b and the tail clearance amount d measured before the next ring excavation is the side slip amount ΔSL. That is, ΔSL = d−d _1b = − (d _R −d _R1b ) = d _L −d _L1b Accordingly, the y coordinate of the machine position is equal to the azimuth integral value yi and Δ.
SL and y are obtained from y = yi + ΔSL. It should be noted that the horizontal shift in the vertical direction, that is, the vertical shift can be similarly obtained.

The lateral deviation amount correction method described above is performed only after one ring has been dug up (after measuring the tail clearance after assembling the next ring).

Since the lateral deviation correction is performed even during the excavation, the azimuth integration is performed using a calculation formula that takes into account the past lateral deviation amount. That is, when the lateral deviation amount reaches a certain constant value, the lateral deviation amount is divided by one ring excavation length (for example, 90 cm) to be converted into an angle, and an offset error of the azimuth meter is obtained by this angle. Then, at the time of azimuth integration, subtraction position calculation is performed from the azimuth meter output by this error.

The offset error Δθ ₀ is calculated from the following equation.

Where ΔSLi ... amount of lateral deviation before i-ring (m) li ... 1 ring excavation length before i-ring (m) usually 9
0cm n ・ ・ ・ Used to correct the past n rings. It shall be used from the ring that turned on the compass to the current ring.

Therefore, the y coordinate calculation formula of the machine position is as follows.

yi = yiφ + ΔS · cosφ · cos (θ−Δθ ₀ ) However, when calculating the lateral shift amount, the y coordinate is set so that the offset error is not subtracted.

Next, an automatic jack control method, that is, step S ₅
Will be described.

Among the factors that determine the position of the shield machine, those that can be actively controlled are: ◎ rear segment taper amount ◎ deflection moment ◎ copy cutter protrusion amount ◎ center bending amount ◎ segment movement amount during backfill injection ◎ skin plate protrusion Of these, the deflection moment, which can be easily controlled automatically,
That is, the jack pattern is controlled, and the control factors such as the segment taper amount, the copy cutter protrusion amount (and the location angle), and the center bending amount are fed back as input information for determining the jack pattern.

The outline of the control method is as follows.

In FIGS. 8 to 11, (1) Required control amount In the left-right direction, the necessary deflection angle (azimuth angle difference) θc for placing on the planned line L at the n-ring ahead is calculated from the current position and azimuth obtained by azimuth integration. put out. In the vertical direction, the required deflection angle (pitching angle difference) Pc is obtained as in the above. The number of rings n is variable.

(2) Obtain the moments My and Mz for realizing the required moments θc and Pc. At this time, the presence / absence of the taper segment, the copy cutter, the center bending amount, and the past moment are fed back. When | θc | or | Pc | is less than the dead zone (constant), My or Mz is set to zero.

(3) Determination of control axis The composite moment M and the composite vector angle φc are obtained from My and Mz.

(4) Determination of Number of Jacks (Pattern) to be Used The number of jacks to be removed for producing the combined moment M is obtained with the combined vector angle φc as the center.

The method for obtaining the moment is to first obtain the moment by removing one from the jack closest to the angle φc. Next, the two moments are extracted symmetrically with respect to the angle φc to obtain the moment. In this case, jacks up to plus / minus 90 ° with respect to the angle φc are targeted. Subsequently, the calculation is performed in the same manner as in the case of removing three and four, and the process is repeated up to the minimum number. Then, these data are sorted and the pattern closest to the combined moment M is determined.

(5) Checking the effect (feedback) When the shield machine is pushed in the decided pattern and, for example, 30 cm are advanced and the angles θc and Pc are not approached,
The required moments My and Mz are increased to obtain the angle pattern. On the contrary, when the angles θc and Pc are likely to be exceeded, the moments My and Mz are decreased to obtain the pattern. At this time, the amount of increase / decrease per time is set to 1 or 2 propulsion jacks.

Next, the calculation formula will be described.

(1) Required deflection angle (horizontal direction ... θc, vertical direction P
c, FIG. 12 and FIG. 13) θc = 90 ° −tan ⁻¹ {(y _n −y _H ) / (xn−x _H )} − (θ i −θ ₀ ), where xn> x _H xn. ..X coordinate of design position of n ring destination x _H ... x coordinate of machine tip of current ring (i ring) yn ... y coordinate of design position of n ring destination y _H ... current ring Y coordinate of machine tip of (i-ring) θi ... current machine direction of ring (i-ring) θ ₀ ... azimuth offset (planned route start point azimuth) Pc = tan ^-1 {(Zn-Z _H ) / (Xn-x _H )}-Pi where Zn ... Z coordinate of the design position of the ring destination Z _H ... Z coordinate of the machine tip of the current ring Pi ... Pitching angle of the current ring The rolling meter shall not be corrected by rolling.

(2) Required moment (horizontal direction My, vertical direction Mz,
(See FIG. 14) my = (moment term) + (taper segment term) +
(Medium bending angle term) + (Copy amount term) + (Machine habit term) where: Moment term = C ₁ · θc + C ₂ · My _y-1 + C ₃ · My _y-1 + C ₄ · My _yi-3 taper Segment term = C ₅ · T _i-1 + C ₆ · T _i-2 + C ₇ · T _i-3 Medium bending angle term = C ₈ · Q _Ay Copy amount term = C ₉ · Sci [cos {(α _STi −α _Ei ) / 2}] · C ₁₀ · (| α _STi −α _Ei |) + C ₁₁ · S _ci-1 [cos {(α _STi-1 −α _Ei-1 ) / 2}] × C ₁₂ (| α _STi-1 −α _Ei-1 |) + C ₁₃ · S _ci-2 [cos {(α _STi-2 −α _Ei-2 ) / 2}] × C ₁₄ (| α _STi-2 −α _Ei-2 | ) + C ₁₅ · S _ci-3 [cos {(α _STi-3 −α _Ei-3 ) / 2}] × C ₁₆ (| α _STi-3 −α _Ei-3 |) Machine's habit term = C ₀ here _{in, C} i · · · (as determined by the structure size of the machine) regression coefficient No Yes of Ti · · · taper (zero or ± 1) M _yi ··· past Bending in the horizontal moment Q _Ay · · · angle (horizontal direction component) S _Ci · · · copy cutter maximum stroke alpha _STi · · · copying cutter start angle + 90 ° α _Ei ··· copying cutter end angle + 90 ° My = _{K 1} + K ₂ + K ₃ · my where K ₁ ... Extra amount (described later) K ₂ ... Soil layer coefficient (change of soil layer) K ₃ ... Soil coefficient However, the moment My is the actual moment. Total thrust ×
Normalized moment divided by machine radius (corresponding to the action point,
Hereinafter, the normalized moment is simply referred to as the moment).

The vertical moment Mz is also substantially the same as the above equation.
However, when | θc | <δθ (dead zone), my = C
_{When 0} and | Pc | <δp (dead zone), mz = C _PO . When the tail clearance is smaller than the predetermined value, My or Mz is set to zero.

(3) Control axis φc and combined moment M M = √My ² + Mz ² φc = 90 ° + tan ⁻¹ (Mz / My) −θr ± 180 ° (MyO) φc = 270 ° + tan ⁻¹ (Mz / My) − θr Here, θr is a rolling angle, and φc is 0 ° to 36.
The sign of ± 180 ° is determined so that it becomes 0 °.

(4) Combination extraction of jacking number In FIG. 15, the jack number j closest to the control axis φc is j = (1/2) {(φc · JN / 180 °) −1, where JN is the number of jacks. } +1 Here, when the jack number j is cut off, the control axis φc lies between the jacks of the numbers j and j + 1, and when rounded off, the closest jack number J ₀ is obtained.

There are multiple jack patterns that realize the same moment, but the smaller the number of punched holes, the easier it is to dig.
Therefore, the jacks with the largest moment per one are to be sequentially pulled out. And the maximum number of lines to be removed is J
N / 2.

First, a moment (a moment about an axis perpendicular to the axis αc) of each jack in the range of plus / minus JN / 4 with respect to the jack number J ₀ is obtained.

Next, it is determined whether to remove the even number or the odd number. That is, in FIG. 16, the axis αc has the numbers j and j +.
It is determined where the section between the jacks of 1 is divided into three equal parts. Then, when (1/3) · (360 ° / JN) <αc− (180 ° / JN) · (2 · j−1) <(2/3) · (360 ° / JN), that is, the axis αc Is within the range A, the even number is omitted.

(A) In the case where the number of even-numbered lines is omitted, the jack pattern is obtained by the following method.

The moments Mi obtained by the following equation are arranged in order from the largest by extracting one by one symmetrically about the axis αc.

Mi = M _{j- (i-1)} + M _{j + i} = cos [(180 ° / JN) · {2 · (j + i) −1} −αc] + cos [(180 ° / JN {2 (j−i + 1) −1 } -Αc] However, in the case of 1 ≦ i ≦ JN / 4, the jack numbers are circulated so as to be 1 to JN.

It is compared with M in descending order of Mi (i = 1 to JN / 4), and when M ≧ Mi, the jack corresponding to i is turned on.

Then, with M ⁻ = M−Mi, the following i with respect to M ⁻
To search i for which M ⁻ ≧ Mi. If i is present up to JN / 4, it is repeated in the same manner. If i is not present, a combination of the jacks turned on up to that point becomes the removal pattern.

(B) In the case of removing an odd number of pieces The pieces are symmetrically drawn out around the number J _0, and the moments Mi obtained by the following equation are arranged in descending order.

Mi = M _j-i + M _{j + i} = cos [(180 ° / JN) · {2 · (j + i) −1} −αc] + cos [(180 ° / JN) · {2 · (j−i) −1} -Αc] It is searched whether or not there is one substantially the same as M among these. That is, if there is i such that | M−Mi | <ΔM, then the pattern corresponding to i becomes the pattern of the extraction jack. ΔM is a width (constant) for determining the same.

When i satisfying the above does not exist, the moment M ₀ determined from the following equation number J ₀ Moment Mi addition, to determine the vent jack pattern as with the even number vent.

M ₀ = cos [(180 ° / JN) · {(2 · j−1) −αc}] (5) Feedback of effect (calculation of extra amount K ₁ ) When the control interval stroke (30 cm) advances in the above pattern In addition, when it is unlikely that the target deflection angle Qc or Pc can be achieved, the extra amount K ₁ is sequentially increased. That is, when θc ≧ 0 (actual deflection angle when the control interval advances) <
(Θc / 3) + dead zone K ₁ = K ₁ + Mδ where Mδ is the moment of one jack with the smallest moment Pc ≧ 0, and (actual deflection angle when the control interval advances) <
(Pc / 3) + dead zone K _p1 = K _p1 + M δ where M δ = sin (360 ° / JN) Note that the initial values of K ₁ and K _p1 (when the ring number is 1) are zero, and automatic digging is performed. It is updated by performing.

On the contrary, if the target deflection angle θc or Pc is likely to be exceeded when the control interval is advanced, the extra amount K ₁ is sequentially decreased.

When θc ≧ 0 and (θc / 3) −dead zone <(actual deflection angle when advancing control interval) K ₁ = K ₁ −Mδ Pc ≧ 0, (Pc / 3) −dead zone <(control interval) (Actual deflection angle when advanced) K _p1 = K _p1 −Mδ Here, when θc <0 and Pc <0, the increase and decrease are reversed. Then, when a certain section is dug and K ₁ and K _p1 converge to a certain value, it is used as a habit of the machine. That is, the habit is automatically found and the correction is simultaneously performed (learning function).

[Effects of the Invention] As described above, according to the present invention, automatic surveying is performed irrespective of the straight or curved excavation line, and the habit of the shield machine and the change of the soil layer are automatically detected and the corresponding control is performed. It is possible to improve excavation accuracy. In addition, we automate the excavation operation that relied on the experience and intuition of conventional operators,
It is possible to save labor.

[Brief description of drawings]

FIG. 1 is an overall configuration diagram of a control device for carrying out the present invention, and FIG.
FIG. 3 is a control flow chart showing an embodiment of the present invention, FIG. 3 is a plan view showing a relative position of a segment and a machine before excavation, FIG. 4 is a drawing corresponding to FIG. 3 after excavation, and FIG. Is a drawing corresponding to FIG. 3 for explaining the deflection angle, FIGS. 6 and 7 are drawings corresponding to FIG. 3 for explaining the lateral deviation amount, respectively, and FIGS. 8, 9, 10 and 11 The figures show the straight part, the curve entry part, and the
Plan views showing the state of the shield machine at the curved portion and the curved end portion, FIGS. 12 and 13 are drawings for explaining the coordinates of the required deflection angle and the required moment, respectively.
Figure is a drawing from the rear of the shield machine that explains the polarity of the moment. Figure 15 is a drawing from the rear of the shield machine that describes the determination of the jack pattern. This is the drawing I saw. 1 ... Shield machine, 2 ... Cutter head, 6 ... Shield jack, 7 ... Direction / Pitching angle / Roll angle detector, 8 ... Control panel, 11 ... Jack stroke meter,
12 ... Tail clearance meter, 13 ... Microcomputer

 ─────────────────────────────────────────────────── ─── Continuation of the front page (72) Inventor Yukihiko Hizawa 1-11-7 Tsubuhoncho, Nishi-ku, Osaka-shi, Osaka Prefecture Kashima Construction Co., Ltd. Osaka Branch (72) Inventor Katsuya Yamagishi 1-tatsumotocho, Nishi-ku, Osaka-shi, Osaka 11-7 Kashima Construction Co., Ltd. Osaka Branch (72) Inventor Hitoshi Naniwa 1-1-11-7 Tsutohoncho, Nishi-ku, Osaka City, Osaka Prefecture Kashima Construction Co., Ltd. Osaka Branch (56) Reference JP-A-58-53011 (JP, A) Japanese Unexamined Patent Publication No. 60-229134 (JP, A) Actual Development No. 60-190890 (JP, U) Japanese Patent Publication No. 50-1297 (JP, B2)

Claims (1)

[Claims] 1. A computer reads predetermined planning line position data from a file, inputs azimuth, pitching angle and roll angle from an azimuth / pitch angle / roll angle detector and inputs a jack stroke from a jack stroke meter, The tip position of the shield machine is calculated by integrating the azimuth and pitching angle with the jack stroke, then the deviation amount between the calculated tip position of the shield machine and the planned line position is calculated, and the required deflection is calculated from the deviation amount. A shield characterized by calculating an angle, obtaining a jack pattern to be operated from the calculated deflection angle, outputting an operation signal to the jack having the obtained pattern, and repeating the above-described operation to automatically advance Machine automatic direction control method.