JPH0696939B2 - Automatic direction control method for shield machine - Google Patents

Description

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

[Prior Art] As shown in FIG. 20, in the conventional method, the position and direction of the shield machine 1 are obtained using an automatic surveying device, and the difference between the position of the shield machine 1 and the planned line PL, that is, the displacement amount d. Is calculated, and a constant distance 1 to the target TP to put the shield machine 1 on the planned line PL and an angle θ to be controlled from the direction of the shield machine 1 are calculated for the displacement amount d.

Further, in the curved portion, as shown in FIG. 21, the intersections TP1 and TP2 between the lines other than the planned line PL called the virtual planned lines AL1 and AL2 and the planned line PL may be targeted.

From the angle θ to be controlled, a deflection moment for realizing the angle θ by the jack of the shield machine 1 and a jack pattern to be operated for realizing the deflection moment are calculated by a computer, and the calculated pattern is calculated. Is output to the jack drive circuit of the shield machine for automatic excavation.

[Problems to be Solved by the Invention] In the conventional method, a constant distance l (always) is taken into consideration without considering the excavation history such as the presence or absence of past meandering, the amount of meandering, and the size of the difference between the shield machine 1 and the planned line PL. Since the target point TP is a point on the planned line PL which is a distance of 10 rings ahead), the meandering is increased, and it is often unfavorable in terms of aesthetic appearance. In other words, the purpose is to get closer to the planned line, and no consideration is given to meandering and aesthetics.

An object of the present invention is to provide an automatic direction control method for a shield machine that reduces meandering and secures the finished appearance.

[Means for Solving the Problems] In the method according to the present invention, in the first procedure, when the shield machine is in a straight section and the current position of the shield machine deviates from the expected excavation area before the start of ring excavation. The declination angle between the straight line drawn by the least-squares method and the planning line is obtained as an index showing the increasing tendency of the change from the past segment survey values, and the variance of the declination increment is obtained from the past segment survey values in the second procedure. , In the 3rd procedure, the 1st and 2nd procedures and the current position and direction of the shield machine are followed by the 1st on the planned line.
The control target point is set by fuzzy inference, and in the fourth procedure, a curve is curved by the position and direction of the shield machine and the standard segment. A second control target point is set, the first and second control target points are compared in the fifth procedure, and the one farther than the current position of the shield machine is set as the third control target point. The sixth control target is set in the sixth procedure. A modified plan line is assumed by geometrically drawing between the point and the current position of the shield machine in the third procedure by the S-curve image, and in the seventh procedure, the current change of the shield machine, the declination with the plan line, Excessive fuzzy inference by inputting the distance to the 3rd control target point and the distance to this point and the next BC point (start point of the curve section) When it is determined whether or not the meandering does not occur, and when it is determined that the excessive meandering does not occur, it is determined that the third planning target point is used as the final control target point and the modified planning line is used to cause the excessive meandering. If so, in the first step, the modified planning line is adopted up to the maximum displacement point on the first curve, a straight line parallel to the planning line is drawn from the maximum displacement point, and in the second step, the planning line of the next straight line section Draw the same arc as the radius of the next curved work section so as to inscribe the extended line and the line obtained in the first step, and in the third step, the straight line parallel to the arc and the planned line of the next straight work section. The revised planned line will be adopted as the new BC point and the new EC point (end point of the curved section) as the contact point with the extension line of. Before the start of the ring excavation and at every constant interval (arbitrary), the direction correction angle to be placed on the correction plan line is obtained, and the deflection angle is deflected by the fuzzy inference from the history of the control angle amount and the history of the copy cutter. A characteristic angle is obtained, a control angle amount is obtained from the deflection characteristic angle, a direction correction angle, a tail clearance, etc., a jack pattern for realizing the control angle amount is obtained, and a jack operation signal of the obtained pattern is output, Excavation is performed in the same procedure below.

[Operation] In this method, a control target point and a correction plan line are set by fuzzy reasoning from the current position and direction of the shield machine and the excavation history, and the control target point and the current displacement and declination of the shield machine are set. From fuzzy reasoning, it is determined whether excessive meandering occurs. If excessive meandering occurs, the control target point and the correction plan line are corrected, and the control angle amount for the corrected correction plan line is set as the history of control angle amounts. The fuzzy inference is performed from the history of the copy cutter, the tail clearance, and the like, and the jack pattern for realizing the control angle amount is obtained to proceed.

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

1 and 2 show an apparatus implementing the invention. A cutting face chamber 3 is defined behind the cutter head 2 of the shield machine 1, and the chamber 3 is connected to a mud sending device and a mud discharging device on the ground through a mud sending pipe and a mud sending pipe (not shown). . And the skin plate of the shield machine 1
The plurality of shield jacks 4 attached to 1a are in contact with the front end surface of the segment S assembled in the tunnel T. Further, the various sensors 5 provided on the shield machine 1 for detecting the azimuth, pitching angle, roll angle, etc.
Is connected to the personal computer 10 via the shield machine control panel 6 and the multiplex transmission devices 7 and 8. A shield machine operation panel 9 is connected to the multiplex transmission device 8, and a cutter motor 11 and a jack 4 are connected to the control panel 6. A gyro compass 12 is connected to the computer 10 by a circuit L2 via a signal converter 13 and modems 14 and 15. Also, the total station in the tunnel T
The TS is provided with a camera 17 for capturing the target 16 provided on the shield machine 1, and the camera 17 is connected to a personal computer 19 having an image processing device 18. The computer 19 is connected to the terrestrial personal computer 10 through the modems 20 and 21 by the circuit L3. The circuits L1, L2, and L3 transmit jack patterns, gyro direction data, machine position, and attitude data, respectively, and the shield automatic direction control system SY
Determines the control amount of the shield machine from the information such as the position, attitude and gyro direction of the shield machine 1 obtained by the shield automatic survey system SY1 and the gyro compass 12, and selects the optimum jack pattern to control the excavation. . At that time, fuzzy reasoning is used to control various factors such as habit and soil quality of the shield machine and feed them back to the control.

Fig. 3 shows the hardware configuration of the system SY,
The personal computer 10 includes a known display 10
a, printer 10b, keyboard 10c, floppy disk 1
0d, a hard disk 10e and an interface 10f are provided.

FIG. 4 shows a software configuration of the system SY including a fuzzy target position inference sub (Suironm) and a fuzzy deflection characteristic inference sub (Suironh).

FIG. 5 shows a system configuration conceptual diagram.

FIG. 6 shows the overall function of the system. That is, data such as the current position and attitude of the shield machine 1 is collected (step I), displacement and inclination with respect to the planned line are obtained (step II), and a target position for placing on the planned line and an excavation route are determined ( Step III), selecting an optimum jack pattern (Step IV), outputting the selected jack pattern to the shield machine 1 and controlling it (Step V),
Steps I to V are automatically repeated.

The mode of control will be described below.

FIG. 7 shows the outline of the control flow. Initial setting is performed (step Sa), and the position and orientation of the shield machine 1 are measured (step Sb). Next, the target position and the excavation route are calculated by fuzzy inference (step Sc), measurement and calculation are performed (steps Sd, Se), the current position is grasped, and the deflection characteristic, that is, the bending goodness is calculated by fuzzy inference (step Sf). ). Based on the calculation result, a jack pattern is selected (step Sg), the jack pattern is output (step Sh) and displayed on the display 10a (step Si). Therefore, the ring excavation is started (step S
j), the same step SA as the steps Sd to Si is performed (step Sk). When the ring excavation is completed (step Sl), the jack pattern OFF is output (step S
m), processing for ending the ring excavation is performed (step Sn), and when the program ends (step So), final processing is performed (step Sp), and the control ends.

FIG. 8 shows details of main parts of the control flow.
After starting, the basic planning line, the boundary line, and each parameter are read from the file (step S1), and the excavation history is read from the file (step S2). Then, it is determined whether or not the excavation history exists (step S3). If NO, create a digging history file (step S4) and set the control target point to the next BC point (step S5). If YES, set an existing control target point (step S6), then step Move to S7. In step S7, after the data by the automatic survey is input, analog and digital data are output (step S8), and the data of the gyro compass 12 are input (step S9). Then, the position of the shielded first position is recognized by the automatic surveying and gyrocompass 12, the position calculation reference point is calculated, and the start point is set (step S10).
Therefore, in step S11, the variance of the increase amount of the angle and the declination angle, which is the straight line and the planned line drawn by the least squares method as an index showing the increasing tendency of the change from the segment measured value of the past ring, and these values are obtained. A first control target point TP1 is set on the planned line PL from the position direction of the shield machine 1 by fuzzy inference (shown by symbol F1 in FIG. 9). Specifically, as shown in FIGS. 10 and 11, from the change history of the change C with respect to the planned line of the shield machine 1 and the change history of the declination D (see FIG. 13), “substantially close VN” ~ Set point TP1 in the range of “Very far VF”. Furthermore, from the curve radius that bends depending on the position, direction, and segment of the shield machine 1, geometrically draw a curve-straight-curve so-called S-curve image (see FIG. 12) and draw a second control target on the planned line PL. Set point TP2, both points TP1,
TP2 is compared, and the one farther than the current position of the shield machine 1 is set as the third control target point TP3. Therefore, as shown in Fig. 12 between the point TP3 and the current position of the shield machine 1,
The modified planning line CL is assumed by geometrically drawing an S-curve image.

Next, in step S15, as shown in FIG. 13, the current displacement C of the shield machine 1, the deviation angle D from the planned line PL, the distance B between the shield machine 1 and the point TP3, and the point TP3.
The distance A to the BC point is input, and the meandering is determined by fuzzy reasoning (indicated by symbol F2 in FIG. 9). Specifically, the 14th
As shown in the figure, depending on the distances A and B, the displacement C of the shield machine 1 and the declination D, the size of the meandering can be set to "a considerably small SS".
~ Judge in the range of "quite large LL". Therefore, when it is determined that excessive meandering does not occur, the control target point TP3 is set as the final control target point, and the corrected planned line CL assumed in step S11 is directly adopted (step S1
6). On the other hand, if it is determined that excessive meandering occurs, as shown in FIG. 15 in step S16, the maximum displacement point of the corrected planned line CL (from Cmax to the parallel line a to the planned line PL
Then, a circular arc R having the same radius as the radius r of the next curved work section is drawn so as to inscribe the line b which is the extension of the planned line PL1 of the straight work section. Therefore, a contact point between the arc R and each of the straight lines a and b is set as a new modified planned line NCL as a new BC point NBC and a new EC point NEC, and the new BC point NBC is set as a new control target point TL4.

Next, the analog data and the digital data are input (step S12), the data of the gyro compass 12 is input (step S13), and the position by the gyro compass, pitching, rolling and stroke is recognized (step S14). Next, the direction correction angle Θc for placing the shield machine 1 on the correction planning line is calculated from the current position, attitude and the correction planning line of the shield machine 1 (step S17). Next, in step S18, as shown in FIGS. 16 and 17, the control angle amount Θcout until now (see step S19).
The current deflection characteristic angle Θk of the shield machine 1 is obtained by fuzzy reasoning from the actual results of the copy cutter and the direction correction angle Θc obtained in step S17. This corresponds to a correction angle for realizing control for the direction correction angle Θc. Specifically, the 18th
As shown in the figure, bend the copy cutter to the center,
Judgment is made in the range of "with habit" to "with considerable habit" for left and right. Next, the direction correction angle Θc, the deflection characteristic angle Θk, the tail clearance, etc. are comprehensively determined to calculate the control angle amount Θcout (step S19). Next, the control angle amount Θ set by analyzing the data obtained so far is set.
The force point is calculated from the relational expression between cout and the force point, and the control angle amount Θco
Set a jack pattern for realizing ut (step S20) and output the jack pattern (step S2).
1). Then, it is determined whether the excavation of one ring is completed (step S22). If NO, the process returns to step S12,
If YES, the pushing out of the jack 4 is stopped (step S23), and the control ends. In addition, the control target point TP of the shield machine 1 and the drawing setting of the correction plan line CL, NCL, etc.
As shown in FIG. 9, projection lines HP and VP of the trajectory of the shield machine 1 are performed for each of the XY plane (horizontal plane) and the horizontal excavation direction-Z plane (vertical plane).

[Effects of the Invention] As described above, according to the present invention, the behavior of the shield machine is predicted by fuzzy inference to determine the control amount, the control corresponding to the habit of the shield machine and the change of the soil layer is performed, and the meandering is performed. It is possible to reduce the number and ensure the finished aesthetics.

[Brief description of drawings]

FIG. 1 is a side sectional view for explaining an example of an apparatus for explaining the present invention, FIG. 2 is a schematic diagram of an automatic direction control system, FIG. 3 is a system configuration diagram, FIG. 4 is a software configuration diagram, and FIG. Figure is a conceptual diagram of system configuration, Figure 6 is a functional diagram of the entire system,
FIG. 7 is a schematic control flowchart, FIG. 8 is a detailed flowchart of essential parts, FIG. 9 is a schematic explanatory diagram of fuzzy inference, FIG. 10 is a rule table diagram of fuzzy inference for setting control target points, and FIG. Fig. 10 is an explanatory diagram of control target setting according to Fig. 10, Fig. 12 is an explanatory diagram of modified planning line, Fig. 13 is an explanatory diagram of fuzzy inference for meandering judgment, Fig. 14 is a rule table diagram of fuzzy inference for meandering judgment, Fig. 15 is an explanatory diagram of the procedure for correcting the correction plan line when excessive meandering occurs, Fig. 16 is an explanatory diagram of the main part of Fig. 7, Fig. 17 is an explanatory diagram of fuzzy inference of bendability, and Fig. 18 The figure is a rule table diagram of FIG. 17, FIG. 19 is a three-dimensional explanatory diagram of a control target point and a correction plan line, and FIGS. 20 and 21 are explanatory diagrams of a straight line portion and a curve in the conventional method. 2 ... Cutter head, CL ... Revised planning line, D ... Declination,
NBC: New BC point PL: Plan line, S: Segment, TB: Control target point, Θc: Direction correction angle, Θcout: Control angle amount, Θ
k: Deflection characteristic angle

 ─────────────────────────────────────────────────── ─── Continuation of the front page (56) Reference JP-A-2-221595 (JP, A) JP-A-1-94915 (JP, A) JP-A-54-131956 (JP, A)

Claims (1)

[Claims] 1. When the shield machine is in a straight section and the current position of the shield machine deviates from the expected excavation area before the start of the ring excavation, the increasing tendency of change from the past segment survey value in the first procedure. As an index indicating the declination formed by the straight line drawn by the least squares method and the planning line, the variance of the decrement of the declination is obtained from the past segment survey values in the second procedure, and the first and second in the third procedure. From the procedure and the current position and direction of the shield machine, the first control target point is set on the planned line by fuzzy reasoning, and in the fourth procedure, the curve radius is curved by the shield machine position and direction and the standard segment. A second control target point is set on the planned line by geometrically drawing a combination of S-curve images of curves, and in the fifth procedure, the first and second The target points are compared, and the one farther than the current position of the shield machine is set as the third control target point, and the S curve image is drawn between the third control target point and the current position of the shield machine in the third procedure in the sixth procedure. In the 7th procedure, the current shield machine changes, the deviation angle from the planning line,
When it is judged that excessive meandering does not occur by inputting the distance to the control target point and the distance between the point and the starting point of the next curve work section to determine whether excessive meandering occurs by fuzzy reasoning Adopts the modified planning line with the third control target point as the final control target point, and if it is determined that excessive meandering occurs, the modified planning line is set to the maximum displacement point on the first curve in the first step. Up to the maximum displacement point, draw a straight line parallel to the planned line, and in the second step, extend the planned line of the next straight line section and the next curve section so as to inscribe the line obtained in the first step. Draw a circular arc with the same radius as the above, and in the third step, modify the contact point between the circular arc and the parallel straight line and the extension line of the planned line of the next straight line work section as the start point of the new curve work section and the end point of the new curve work section. Total A line is adopted, and a directional correction angle to be placed on the correction plan line is obtained every time a predetermined interval (arbitrary) is excavated from the start of ring advancement, and the history of the correction angle and the control angle amount and the history of the copy cutter are obtained. Determining the deflection characteristic angle from the fuzzy inference from the deflection characteristic angle, the direction correction angle, the tail clearance, etc., to obtain the control angle amount, to obtain the jack pattern for realizing the control angle amount, and to the jack of the obtained pattern. An automatic direction control method for a shield machine, which comprises outputting an operation signal and then excavating in the same procedure.