JPH0696938B2 - Method and device for controlling direction of shield machine - Google Patents

Description

FIELD OF THE INVENTION The present invention relates to a method and apparatus for controlling the direction of excavation of a shield machine.

2. Description of the Related Art Conventionally, in order to control the excavating direction of a shield machine, a plurality of jacks are provided at intervals in the circumferential direction, and the jacks are used to fix the inner peripheral surface of the drill hole. The direction of excavation changes when the segment receives a reaction force.

It is said that ambiguous things such as soil excavated by this shield machine work as disturbances, and by selecting a predetermined number of jacks, the amount of change in direction can be uniquely obtained. There is no established mathematical model. In addition, even if the propulsion is carried out according to the selected jerk pattern decided before the excavation, the desired excavation result cannot be obtained.

As a certain prior art for solving such a problem, the Japan Society of Civil Engineers, Proceedings No. 391 VI-8, March 1988 "Application of Fuzzy theory to shield excavation control" is known. In this prior art, the amount of deviation from the planned route of the shield machine is grasped, the shield jerk to be used is selected so as to reduce the amount of deviation, and the posture of the shield machine is corrected by the fuzzy theory. Apply.

Problems to be Solved by the Invention In such a prior art, although it is possible to control the direction of the shield machine using the Fuzzy theory, it is not possible to automatically respond to changes in soil quality. Soil quality,
As the digging process progresses, the easiness of bending of the shield machine changes depending on the position of the shield machine even with the same jerk pattern. Also, if the soil quality changes suddenly, it is necessary to correct the jerk pattern during excavation.

The purpose of the present invention is, even if the soil quality changes as the digging progresses,
It is an object of the present invention to provide a method and device for controlling the direction of a shield machine, which enables highly accurate direction control along a desired planned route.

Means for Solving the Problems The present invention compares the current position and direction of a shield machine with the position and direction of a predetermined planned route, and inputs the amount of deviation, and the deviation based on fuzzy reasoning. For a fuzzy control device that finds the amount of one-sided push variation that reduces the amount, the fuzzy control is performed based on the amount of displacement in the position and direction before the excavation and the amount of movement in the direction and the position after excavation that is controlled based on it. In addition to judging the quality of the control result by inference, when it is judged that the result is bad, it has a learning function to modify the member function that represents the amount of one-sided depression degree so as to improve the control accuracy of the position and direction. Based on the amount of change in the degree of one-sided pressing obtained from the modified membership function, excavation of soil, etc. is performed by selecting the jerk to be thrust-driven from among a plurality of jerks provided in the circumferential direction. It is a direction control method for a shield machine, which is characterized by obtaining a control output with a small amount of movement in each of the position and direction without intervention of a builder even when the condition changes.

Further, according to the present invention, the first fuzzy rule based on the deviation amount of the current position of the shield machine and the movement amount of the position is set in advance, and the deviation amount of the current angle of the shield machine and the movement amount of the angle. The second fuzzy rule is defined in advance, and the first fuzzy rule and the second fuzzy rule are combined to obtain a value related to the membership function of the output variables ΔEh1 and ΔEv, and a displacement amount of the past position. Dh, Dv and current position movement amount ΔDh, Δ
The third fuzzy rule based on Dv and the fourth fuzzy rule based on the past angle deviation amounts θ and P and the current angle movement amounts Δθ and ΔP are set to the third fuzzy rule. Combining with the 4th fuzzy rule, output variable Δ
Learning means for obtaining the correction amounts Δph, Δpv of Eh1, ΔEv, and the correction amounts Δph, Δp in response to the outputs of the computing means and the learning means.
Correcting means for correcting the membership function of the output variables ΔEh1, ΔEv using v as a parameter, and the outputs ΔEh1, ΔEv of the correcting means are set to the past one-side depression degree Eh (r−
1), Ev (r-1) are added to obtain the target value Ehr, Evr of the current one-sided depression degree, and the target value Ehr, Ev of the one-sided depression degree in response to the output of the addition means.
A drive calculation means for selecting a jerk pattern that minimizes the evaluation function g so as to obtain r, and a plurality of circumferentially responsive to the output of the drive calculation means corresponding to the selected jerk pattern. A shield excavator characterized by including a drive means for selectively driving the provided jack, and obtaining the control amounts of both the position and the direction deviation amount with respect to the planned line with one operation amount. It is a direction control device.

Further, the present invention is directed to the projection amount Cpst of the copy cutter and the rotation angle Cp of the cutter disk in which the copy cutter is in the projected state.
A fuzzy rule based on an and a is defined in advance, and means for adding the correction value ΔCp obtained by this to the output ΔEh1 of the correction means is provided.

Effect According to the present invention, the fuzzy reasoning is used to determine the amount of one-sided push change so that the current position and direction of the shield machine are along the predetermined planned route, and control is performed by the amount of one-sided push change thus obtained. Then, depending on the position and direction before the excavation at that time and those positions after the excavation, and the amount of movement of the direction, modify the member function that represents the amount of one-sided depression degree so as to increase the accuracy of direction control, In other words, I decided to study,
Even if the soil quality changes as the digging progresses, the position and direction of the shield machine can be controlled along the planned route regardless of the change in the soil quality.

Further, according to the present invention, the first fuzzy rule based on the deviation amounts Dh, Dv of the current position of the shield machine and the movement amounts ΔDh, ΔDv of the position is predetermined, and the current angle of the shield machine is also determined. Deviation amount θ, P and movement amount Δθ of that angle,
The second fuzzy rule based on ΔP is set in advance, and the first
The fuzzy rule and the second fuzzy rule are combined and the values related to the membership functions of the output variables ΔEh1 and ΔEv are calculated, and the past positional deviation amounts Dh and Dv and the current position movement amounts ΔDh and ΔDv are calculated. And the fourth fuzzy rule based on the past angle deviation amounts θ, P and the current angle movement amounts Δθ, ΔP are defined in advance, and the third fuzzy rule and the third fuzzy rule Since the learning is performed by synthesizing with the 4 fuzzy rule and obtaining the correction amounts Δph and Δpv of the output variables ΔEh1 and ΔEv, even if the soil quality during excavation changes as described above, the shield It is possible to control the position and direction of the excavator along the planned route.

Example The present direction control is for selecting a jacking drive pattern before starting the excavation and correcting the jacking drive pattern during the excavation.

FIG. 1 is an overall block diagram of an embodiment of the present invention. The position and direction of the shield machine are measured by the measuring means 1. The state of the shield machine in the excavation state as seen from the horizontal plane is shown in FIG. 2, and the state as seen from the vertical plane is shown in FIG. The shield machine is indicated by reference numeral S, the current state is indicated by the subscript r, and the previous shield machine is indicated by the subscript (r-1). The previous time means that before the start of the excavation, a plurality of jacks JK1 to JK1 are provided in the rear end portion of the shield machine S (that is, the end portion on the upstream side in the excavation direction) in the circumferential direction (12 in this embodiment). JK12
The state is one segment before that is arranged in a ring shape to receive the reaction force by. Also, during excavation, it means a state of several tens of centimeters ago. The predetermined planned route is set to 1, and the direction of the tip 2 of the rotary axis of the cutaway face of the shield machine S is l2.
Indicate. In the horizontal plane of FIG. 2, Dh is the amount of displacement of the shield machine S from the planned route, ΔDh is the amount of movement of the shield machine S, θ is the direction of the shield machine S and the planned route 1 The deviation amount from the direction, Δθ, is the movement amount of the deviation amount. In the vertical plane in Fig. 3, Dv
Is the shift amount of the position of the shield machine S, ΔDv is the movement amount of the position of the shield machine S, P is the pitch of the shield machine S, and ΔP is the movement amount of the pitching. Measuring means 1
Are the measured values Dh, ΔDh, θ, Δθ, Dv, ΔDv, P, ΔP
Is output to the virtual planning line deriving circuit 3. When the planned route 1 is a curved portion, the virtual planned line deriving circuit 3 is different depending on the position and direction of the shield machine S, and when the shield machine S is inside the planned route 1. The tip 2 of the shield machine S
And a line or curve connecting the ring center ahead by the amount of A ring as a virtual planning line, and when the shield machine S exists outside the planning route 1, the ring center of the current planning route A straight line or a curve connecting the center of the ring and the center of the B ring ahead is defined as a virtual planning line. The A and B are parameters. The correction of the measured value for the virtual planned line based on the measured value of the planned route 1 can be obtained by performing a geometrical calculation. In this way, when the position and direction of the shield machine are deviated from the planned line 1, the virtual planned line is calculated so that the measured value for the virtual planned line can be calculated so that the planned line 1 can be smoothly approached. It is performed and is derived from the derivation circuit 3. In the following description, the measured value from the measuring means 1 and the corrected value derived from the deriving circuit 3 will be described using the same reference numerals.

Fig. 4 shows the jack JK seen from the front of the shield machine S.
It is a figure which shows arrangement | positioning of 1-JK12. Horizontal line l3 and vertical line l
The crossing position 4 of 4 is the axis of the shield machine S, and the jack JK is provided around the axis 4 at equal intervals in the circumferential direction.
1 to JK12 are placed. The position and direction of the shield machine S are controlled by selectively driving the jacks JK1 to JK12. In FIG. 4, the jacks JK1, JK3, JK5, JK7, and JK10 that are selected to perform thrust drive are shown with diagonal lines. A plurality of patterns of such selected jacks are stored in advance in the drive operation circuit 5 shown in FIG.

In the calculation circuit 6 of the horizontal fuzzy rule in FIG. 1, how much the horizontal one-sided pushing degree is changed by the displacement amount Dh of the position of the shield machine S from the planned route which is the current position and its movement amount ΔDh The horizontal 1st fuzzy rule that summarizes whether or not to perform is set in advance. Further, the arithmetic circuit 6 summarizes how much the horizontal one-sided pushing degree is changed by the angle θ between the current direction of the shield machine S and the planned route direction and the movement amount Δθ of the direction deviation amount. The second horizontal fuzzy rule is set in advance.

In Table 1, RB is large to the right, RS is small to the right, LB is large to the left, LS is small to the left, and ZO is unchanged.

Here, the one-sided pressing degree is represented by the first expression.

Here, the longest distance is the longest distance from the center line among the jacks provided on the shield machine.

For example, in Fig. 4, jacks JK1, JK3, JK5, JK7, JK
The degree of one-sided push in the horizontal direction and the degree of one-sided push in the vertical direction when 10 is selectively used are as shown in the second and third equations, respectively.

Here, a, b, and c indicate distances, h is a horizontal direction, and v is a subscript indicating a vertical direction.

With respect to the vertical direction, the vertical direction fuzzy rule calculation circuit 7 shows how much the vertical one-sided pushing degree is changed from the relationship between the positional deviation amount Dv and the positional movement amount ΔDv in the shield machine S. Preliminary fuzzy rules. Further, the vertical second fuzzy rule summarizing how much the vertical push degree is changed from the angle between the direction of the shield machine S and the direction of the level line, that is, the relationship between the pitch P and the movement amount ΔP of the pitch. Is determined in advance.

In this way, the horizontal fuzzy rule calculation circuit 6 synthesizes the horizontal first fuzzy rule and the horizontal second fuzzy rule to obtain a value related to the membership function of the output variable ΔEh1. Similarly, the vertical fuzzy rule calculation circuit 7 synthesizes the vertical first fuzzy rule and the vertical second fuzzy rule to obtain a value related to the membership function of the output variable ΔEv. The related value here means the center of gravity or the peak value of the membership function.

The arithmetic circuit 8 operates only before the start of excavation, and stores and outputs the value Dh, θ from the circuit 3 last time, that is, one ring before. The learning circuit 9 also operates before the start of excavation,
The correction amount Δph is obtained by using the movement amounts ΔDh and Δθ from the arithmetic circuit 8 and the circuit 3. In this learning circuit 9, the value Dh
The horizontal third fuzzy rule is predetermined based on the value one ring before and the current ΔDh, and the horizontal fourth fuzzy rule based on the value one ring before the value θ and the current movement amount Δθ is set. Set in advance. The horizontal third fuzzy rule and the horizontal fourth fuzzy rule are combined to obtain the correction amount Δph of the output variable ΔEh1. Thus, from the relationship between the amount of displacement of the position before the front ring excavation in the horizontal direction and the amount of movement of the position in the ring, and the relationship between the amount of displacement in the direction before the front ring excavation and the amount of direction movement in the front ring, When the control result is judged and the controllability is judged to be poor, the above-mentioned horizontal third fuzzy rule and horizontal fourth fuzzy rule for determining the correction width of the one-push degree change amount are set in advance.

In the learning circuit 9, the correction amount Δph is traced back N times (N is a parameter), that is, the correction amount Δph is added up to N rings before to obtain the average value ▲ ▼.

Now, enter the horizontal displacement of the front ring before excavation and the position movement on the front ring, and the horizontal displacement of the front ring before excavation and the displacement on the front ring. A correction amount Δph for improving the change amount is fuzzy inferred and output. Moving average for each N ring of the correction amount Δph of the membership function representing the amount of one-sided push change ▼
Is calculated, and the membership function is enlarged or reduced using this value. That is, the right and left portions of the member function are enlarged or reduced at the ratios of the following expressions according to the sign of the amount of one-sided push change in the front ring (+ changes to the right, − changes to the left).

1 + ▲ ▼ / ΔEh (r−1) (4) Similarly, an arithmetic circuit 10 and a learning circuit 11 are provided. The arithmetic circuit 10 obtains the previous values of the values Dv and P and gives them to the learning circuit 11 before the start of excavation.
Dv, ΔP is given. In the learning circuit 11, the vertical third fuzzy rule based on the amount of deviation Dv of the previous position and the amount of movement ΔDv of the current position is set in advance, and the past pitching P
And a vertical fourth fuzzy rule based on the current movement amount ΔP of pitching are defined in advance, and these vertical third fuzzy rule and vertical fourth fuzzy rule are combined to output variable Δ.
The correction amount Δpv of Ev is calculated, the average thereof is calculated and given to the vertical direction fuzzy rule 7. In this way, the calculation shown in the fifth equation is performed.

1 + ▲ ▼ / ΔEv (r−1) (5) In the fifth expression, + represents upward change and − represents downward change. In this way, the position and direction of the shield machine S can be controlled in response to changes in soil quality and the like. In the following description, the output variables after being corrected based on the outputs of the learning circuits 9 and 11 will be indicated by the above-mentioned reference symbols ΔEh1 and ΔEv for convenience.

The shield machine S is provided with a copy cutter. This copy cutter projects radially outward at a predetermined rotational angle position in the circumferential direction of the cutter disk, and thereby excavates the inside of the curve to facilitate bending of the shield machine S. The protrusion amount Cpst of the copy cutter and the rotation angle Cpan of the cutter disc in which the copy cutter is in the protruded state are measured by the measuring means 1 and given to the fuzzy rule operation circuit 12 of the copy cutter. In this fuzzy rule calculation circuit 12, the protrusion amount Cpst and the rotation angle are
The fuzzy rule based on Cpan is defined in advance, and the correction value ΔCp obtained by this is output variable ΔEh1 from the circuit 6.
Then, the addition circuit 13 performs addition to correct the influence of the copy cutter. The output ΔEh of the adder circuit 13 is obtained by calculation as in the sixth equation.

ΔEh = ΔEh1 + ΔCp (6) This horizontal direction one-sided push degree change amount ΔEh is given to the adder circuit 14 and is added to the previous value ΔEh (r−1) in the arithmetic circuit 15 to perform the arithmetic operation of the seventh formula. . By this, the one-sided push degree Eh of this time is obtained.

Eh = EH (r−1) + ΔEh (7) Similarly, the vertical one-sided push degree change amount ΔEv from the vertical fuzzy rule calculation circuit 7 is given to the addition circuit 16. The output of the adder circuit 16 is calculated by the arithmetic circuit 17 as the previous value.
Ev (r-1) is obtained and given to the adder circuit 16. Therefore, the output Ev of the adder circuit 16 is as shown by the equation 8, and this is the one-sided push degree this time.

Ev = Ev (r-1) + ΔEv (8) In this way, the degree of one-sided pressing of the front ring Eh (r-1), Ev
The one-sided pushing degree Eh, Ev at this time is obtained by adding the one-sided pushing degree change amounts ΔEh, ΔEv output by the fuzzy reasoning to (r-1).

The drive arithmetic circuit 5 obtains the evaluation function q shown by the ninth equation.

As described above, a jacking pattern that satisfies the one-sided push degree Eh, Ev obtained by adding the one-sided push degree change amounts ΔEh, ΔEv output by the fuzzy inference is selected. In reality, since the degree of one-sided pressing is in two directions, horizontal and vertical, and the degree of one-sided pressing by the jack is a discrete value, there is generally no completely satisfactory jacking pattern. Therefore, a jacking pattern that minimizes the evaluation function of the ninth equation is selected.

Here, Ehj represents the horizontal one-sided push degree in a certain jack pattern, Evj represents the vertical one-side push degree in the certain jack pattern, and j represents the number of the jack pattern.

When the driving arithmetic circuit 5 determines the jerk pattern, a signal representing the jerk pattern j is given to the jerk drive circuit 18, whereby the jerks JK1 to JK12 are selectively driven to the shield machine. Thrust is applied.

When changing the jerk pattern during excavation, a maximum of C lines (C is a parameter) from the jerk pattern selected before excavation
The jacking pattern that minimizes the evaluation function of the ninth expression is selected under the restriction that the jacking up to and including the above is removed.

As described above, according to the present invention, it is possible to continue the excavation operation while changing the position and the direction of the shield machine along the planned route regardless of the change in the soil quality or the like that accompanies the excavation. It will be possible.

Further, according to the present invention, when the result of the fuzzy control becomes worse, the learning function for correcting the membership function representing the amount of one-sided pushing degree change is provided, so that automatic excavation according to changes in excavation conditions can be performed without the intervention of the builder. It is possible.

Further, according to the present invention, since the amount of deviation between the position and the direction with respect to the planned line can be controlled with one operation amount, it is possible to quickly and easily respond to changes in soil conditions.

[Brief description of drawings]

FIG. 1 is a block diagram of an embodiment of the present invention, FIG. 2 is a diagram showing the excavation state of the shield machine S seen from a horizontal plane, and FIG.
The figure shows the excavation state of the shield machine S as seen from the vertical plane, and FIG. 4 shows the arrangement of the jacks JK1 to JK12. 1 ... Measuring means, 3 ... Virtual planning line deriving circuit, 5 ... Driving arithmetic circuit, 6 ... Horizontal fuzzy rule arithmetic circuit, 7
…… Vertical fuzzy fuzzy rule circuit, 8,10 …… Z conversion arithmetic circuit, 9,11 …… Learning circuit, 12 …… Copy cutting fuzzy fuzzy rule arithmetic circuit, 13,14,16 …… Adding circuit, 15,17… … Delay circuit, 18 …… Jacky drive circuit, JK1 to JK12 …… Jacky

 ─────────────────────────────────────────────────── ─── Continuation of the front page (72) Inventor Shigeru Anbara 3-1-1 Higashikawasaki-cho, Chuo-ku, Kobe-shi, Hyogo Kawasaki Heavy Industries, Ltd. Kobe factory (72) Inventor Yoshio Tanaka Higashi-kawasaki-cho, Chuo-ku, Kobe-shi, Hyogo 3-1, 1-1 Kawasaki Heavy Industries, Ltd. Kobe factory (56) Reference JP-A-2-183087 (JP, A) JP-A-2-115492 (JP, A)

Claims (3)

[Claims] 1. A method for comparing the current position and direction of a shield machine with a predetermined planned line position and direction, inputting the deviation amount, and reducing the deviation amount by fuzzy reasoning. For the fuzzy control device that calculates the amount of change in the degree of one-sided pushing, the fuzzy reasoning is used to control the result based on the amount of deviation in the position and direction before excavation, and the position after excavation controlled based on that and the amount of movement in each direction. In addition to determining the quality of, and when it is determined that the result is bad, a learning function is provided to correct the membership function that indicates the amount of one-sided depression degree change so as to improve the position and direction control accuracy. Based on the amount of change in the one-sided push degree, it is possible to adjust the excavation conditions such as soil quality by selecting the one that should be driven by thrust from among the multiple jacks that are provided in the circumferential direction. Without intervening person, location, direction control method of shield machine, characterized in that each amount of movement direction to obtain a small control output. 2. A displacement amount of the current position of the shield machine,
The first fuzzy rule based on the amount of movement of the position is predetermined, and the second fuzzy rule based on the current amount of deviation of the shield machine and the amount of movement of the angle is predetermined. An arithmetic means for synthesizing the second fuzzy rule to obtain a value related to the membership function of the output variables ΔEh1, ΔEv, and a displacement amount Dh, Dv of the past position and a movement amount ΔDh, Δ of the current position.
The third fuzzy rule based on Dv and the fourth fuzzy rule based on the past angle deviation amounts θ and P and the current angle movement amounts Δθ and ΔP are set to the third fuzzy rule. Combining with the 4th fuzzy rule, output variable Δ
Learning means for obtaining the correction amounts Δph, Δpv of Eh1, ΔEv, and the correction amounts Δph, Δp in response to the outputs of the computing means and the learning means.
Correcting means for correcting the membership function of the output variables ΔEh1, ΔEv using v as a parameter, and the outputs ΔEh1, ΔEv of the correcting means are set to the past one-side depression degree Eh (r−
1), Ev (r-1) are added to obtain the target value Ehr, Evr of the current one-sided depression degree, and the target value Ehr, Ev of the one-sided depression degree in response to the output of the addition means.
A drive calculation means for selecting a jerk pattern that minimizes the evaluation function g so as to obtain r, and a plurality of circumferentially responsive to the output of the drive calculation means corresponding to the selected jerk pattern. A shield excavator characterized by including a drive means for selectively driving the provided jack, and obtaining the control amounts of both the position and the direction deviation amount with respect to the planned line with one operation amount. Direction control device. 3. The projection amount Cpst of the copy cutter and the rotation angle Cpan of the cutter disk in which the copy cutter is in the projected state.
The fuzzy rule according to is defined in advance, and means for adding the correction value ΔCp obtained by this to the output ΔEh1 of the correction means is provided.
A direction control device for the shield machine according to the item.