JPH0781494B2 - Direction control device for shield machine - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION (Industrial field of application) The present invention, in shield excavation work, automatically controls the posture of the shield machine and controls the direction of the shield machine so that the shield machine can be placed on a predetermined planned route. Regarding the device.

(Prior Art) As one of the construction works for subways, sewers, waterworks, power cable pipes, etc. in the ground, there is a shield construction method. This is a method of excavating a horizontal hole with a shield machine, moving forward, and sequentially forming segments.

Conventionally, when controlling the attitude of such a shield machine along a planned route, a combination of a large number of shield jacks mounted along the circumferential direction of the shield machine,
The selection is performed by a program-controlled microcomputer or sequence circuit.

In addition, when controlling the direction of the shield machine, a specialized manager calculates the amount of deviation from the planned line based on the survey data of the shield machine, etc. Think about the expected curve to ride,
After calculating the pitching value and stroke value (azimuth angle) of the shield machine along this expected curve based on the experience and intuition of the administrator, the operator is instructed of the calculation result.

Then, the operator selects a combination of a large number of shield jacks from the indicated values based on experience and intuition, and controls the attitude of the shield machine while manually watching the measurement.

(Problems to be Solved by the Invention) However, in the conventional direction control method for the shield machine as described above, the shield machine is dug along the planned line based on the experience and intuition of the skilled manager and operator. However, there is a problem that the direction control has individual differences, the burden on the administrator and the operator increases, and a lot of manpower is required.

Also, when controlling the direction with a program, if the initial control method changes due to the habit of the shield machine, changes in the ground, etc., it is necessary to re-input the data each time, and a lot of manpower is required. I need. Furthermore, when the number of shield jacks increases, there is a problem that it is not possible to perform fine control according to the number.

The present invention has been made in view of the above point, without requiring human involvement such as an administrator and an operator, the posture control of the shield machine is fully automated, and an unmanned shield machine is possible. An object is to provide a direction control device.

(Means for Solving the Problems) The present invention will be described with reference to the drawings showing one embodiment.
The present invention is a knowledge base 11 that stores specialized knowledge about attitude control of the shield machine 20 in a systematic knowledge expression rule,
Looking at the database 12 that analyzes the collected excavation data and builds the relational data between the torque and the bending amount and makes it possible to estimate the habit of the shield machine 20 and the change situation of the ground, and the stored excavation data. By creating a prediction curve to put the excavation route of the shield machine 20 on the planned route by activating the rule in the knowledge base 11, the relational data of the database 12 is obtained in order to obtain the bending amount corresponding to this prediction curve. The best shield jack to search 28
The expert system 10 having an inference mechanism 13 for inferring the combination pattern of _{1-28 10,} the shield machine
20 shield jacks 28 _{1 to} 28 ₁₀ are controlled on the basis of the jack combination pattern data inferred by the expert system 10 and the shield machine 20 at the time of excavation
Of the position, attitude and jack status information of the local microcomputer 19 for transmitting to the expert system 10 side and transmitting and receiving data between the expert system 10 and the local microcomputer 19 and inferred by the expert system 10. Personal computer for sending the selection command of the jack combination pattern to the local microcomputer 19
It is achieved by configuring with 17 and.

(Operation) Expert system 10 is a personal computer 17
Detecting the amount of deviation from the current excavation data of the shield machine 20 and the planned route map input in advance, and when detecting the amount of deviation, activate the necessary rules of the knowledge base 11 based on this. The expected curve to be put on the planned route is created by, and the bending amount to be put on this expected curve is inferred. Then, in order to generate the calculated bending amount, the database 12 is referred to search for a required torque amount as a vector amount in the vertical and horizontal directions, and an optimum jack combination pattern for generating the required torque is selected. By transmitting this jack selection pattern to the local microcomputer 19 through the personal computer 17 and controlling the selected shield jack, the shield machine 20 is controlled in direction so as to be automatically placed on the planned route.

Therefore, the direction control of the shield machine is fully automated, enabling unmanned excavation.

(Example) Hereinafter, the Example of this invention is described based on drawing.

FIG. 1 is an overall configuration diagram showing an embodiment of a direction control device for a shield machine according to the present invention.

In the figure, an expert system 10 is a rational judgment, a knowledge base 11 that stores expertise in attitude control of a shield machine obtained from experience or experimental results in a knowledge representation format such as if-then rules, and an actual Database 12 that stores the relational data between the torque (force) and the amount of bending obtained empirically due to the habit of the shield machine during excavation, changes in the ground, etc., the current state of the shield machine and the knowledge base 11 An inference mechanism 13 that infers the optimum combination pattern of the expected curves and shield jacks necessary for the direction control of the shield machine using the stored rules and the relational data stored in the database 12.
And a user interface 14 connected to the inference mechanism 13
And a knowledge base management unit 15A for operating and managing the contents of the knowledge base 11 and the database 12, and a knowledge acquisition mechanism 15B for acquiring and updating the specialized knowledge necessary for attitude control of the shield machine.

A center personal computer 17 is connected to a user interface 14 of the expert system 10 via a serial transmission circuit 16. This personal computer 17 receives the expected curve data and the jack selection pattern data created by the expert system 10, captures the excavation data from the shield machine and sends it to the expert system 10, and the shield selection of the shield jack from the jack selection pattern. It transmits the combination selection command to the shield machine side, and CPU, ROM, RAM and I
The I / O port is equipped with a keyboard 17a as an input device, a CRT 17b as an output device, an external storage device (not shown), a printer, etc. are connected to the I / O port, and serial data transmission / reception with the shield machine side is performed. Transmission circuit 18
Are connected.

The expert system 10 and the personal computer 17 are installed in an office or the like at a shield construction site.

The local microcomputer 19 controls the direction of the shield machine 20 that digs in the mine and sends various digging data to the personal computer 17 of the center, and has a CPU, ROM, RAM and I / O ports. The I / O port has a gyro sensor 21 for detecting the current position coordinates of the shield machine 20, a yawing, pitching, and rolling direction inclination of the shield machine 20.
A level sensor 22 for detecting the posture of 20 and a situation detecting means 23 for detecting the operating state of each shield jack from the propulsive force of the jack and the propulsion speed, and respective electromagnetic valves 24 _{1 to} 24 ₁₀ corresponding to the shield jacks, respectively. A display device 25 for displaying instruction data and the like from the center and a serial transmission circuit 26 for signal transmission / reception are also connected. The serial transmission circuit 26 and the center-side serial transmission circuit 18 are connected by a bidirectional communication cable 27.

2 and 3 show a schematic view of the shield machine 20, 20a is a shield body, 20b is a cutter disk rotatably attached to the tip side of the shield body 20a, and 20c is a cutter disk inside the shield body 20a. Bulkhead (partition wall) provided at the rear, 20d is agitator (stirring material), 20e
Is a cutter driving electric motor for rotating the cutter disk 20b. Also, inside the shield body 20a, the cutter disk 2
A plurality of shield jacks 28 _{1 to} 28 ₁₀ for propelling the 0b side are arranged at equal intervals in the circumferential direction. The propulsive force of each of the shield jacks 28 _{1 to} 28 ₁₀ is controlled by the corresponding electromagnetic valve 24 _{1 to} 24 ₁₀ .

Next, the operation of this embodiment configured as described above will be described with reference to the flowchart shown in FIG.

First, the planned route map data input to the external storage device of the personal computer 17 on the center side is taken into the personal computer 17 (step S1).
Then, in the local microcomputer 19, propulsion data such as position and orientation information of the shield machine 20 detected by various sensors and operation status information of the shield jacks 28 _{1 to} 28 ₁₀ are serial transmission circuit 26, communication cable 27 and serial transmission circuit. It is transmitted to the personal computer 17 of the center through 18 (step S2).

The personal computer 17 detects the deviation amount from the planned route by comparing the excavation data including the received position, posture and jack operation status information with the planned route map data (step S3). In the next step S4,
If it is determined that there is a deviation amount, the detected deviation amount data is sent to the expert system 10 through the serial transmission circuit 16.
To transmit. In the expert system 10 that received the deviation amount data, the deviation amount is analyzed in the inference mechanism 13,
The necessary rule in the knowledge base 11 is activated by looking at the deviation amount, and an expected curve for smoothly placing the shield machine on the planned route is created (step S5). Also step
If it is determined in S4 that there is no deviation, step S6
Then, the desired prediction curve corresponding to the next one ring is determined. After the expected curve is created or determined, in step S7, the bending amount for putting the shield machine on the expected curve is calculated, and the pitching, yawing, and rolling of the shield machine 20 are activated by the necessary rules of the knowledge base 11. Reason.

In the next step S8, by referring to the relational data between the torque (force amount) and the bending amount stored in the database 12, the torque amount for producing the calculated bending amount is calculated as follows.
Both vertical and horizontal directions are searched and extracted as vector quantities. That is, the necessary torque for attitude control for propelling the shield machine 20 on the expected curve is inferred. afterwards,
In step S9, the database 12 is searched for the optimum combination pattern of the shield jacks for producing the required torque, and the optimum jack combination pattern is selected (step S10).

The expected curve and jack selection pattern data created in this way are transmitted to the personal computer 17 through the serial transmission circuit 16, and these data are displayed on the CRT 17b of the personal computer 17, and the serial transmission circuit 18, the communication cable 27 and It is transmitted to the local microcomputer 19 through the serial transmission circuit 26 (step S11).

In the local microcomputer 19 of the drilling site, and displays the received data on the display device 25, the electromagnetic Parubu 24 21 _to the corresponding decodes the jack selection pattern data
4 ₁₀ and controlling them according to the inferred values drives the selection jacks 24 _{1 to} 24 ₁₀ to drive the shield machine 20 along the expected curve (step
S12).

In addition, the position, posture, and jack status information detected by each sensor along with the excavation of the shield machine 20 is transmitted to the personal computer 17 of the center. If the deviation from the expected curve is caused by the habit of the shield machine, changes in the ground, etc., a new predicted curve is created according to the amount of deviation, and the torque vs. the amount of bending stored in the database 12 Related data will be updated.

In this embodiment, the expert system
With 10, create a predictive curve to put the excavation route of the shield machine 20 on the planned route, select an appropriate combination pattern of the shield jack based on this, transmit this pattern data to the local microcomputer 19, and transmit the shield jack. 28 _1-28 control the _10, this by since it is intended to directional control so that the shield machine 20 is automatically ride to the planned route, a professional administrator and operator attitude control of the shield machine without having to participate in the drilling site Can be fully automated and does not rely on the experience and intuition of specialized managers and operators, which enables accurate direction control without individual differences and labor saving.

Also, even if there is a habit of a shield machine, a change in the ground, etc.,
Corresponding direction control can be performed without requiring human labor, and fine direction control can be easily performed even if the number of shield jacks increases.

(Effects of the Invention) As described above, according to the present invention, a prediction curve to put the excavation route of the shield machine on the planned route is provided by the expert system while learning the situation change of the ground and the habit of the shield machine. Created, inferred and selected a proper shield jack combination pattern based on this,
Since the shield jack is controlled based on this pattern data to control the attitude of the shield machine,
It is possible to fully automate the direction control of the shield machine without human involvement, and collect and analyze excavation data to build a database, and by gaining experience, oneself learns and proliferates. The unmanned excavation of the tunnel becomes possible with the direction control system having a function close to the above.

[Brief description of drawings]

1 is an overall configuration diagram showing an embodiment of the present invention, FIG. 2 is a schematic sectional view of a shield machine applied to the present invention, and FIG. 3 is a schematic sectional view taken along line III-III of FIG. FIG. 4 and FIG. 4 are flowcharts showing the operation procedure in this embodiment. In the figure, 10 is an expert system, 11 is a knowledge base,
12 is a database, 13 is an inference mechanism, 14 is a user interface, 15A is a knowledge base management unit, 15B is a knowledge acquisition mechanism,
17 is a personal computer, 19 is a local microcomputer, 20 is a shield machine, 21 is a gyro sensor, 22 is a level sensor, 23 is a situation detection device, 24 _{1 to} 24 ₁₀
Is a solenoid valve and 28 _{1 to} 28 ₁₀ are shield jacks.

Claims (1)

[Claims] 1. A knowledge base for storing specialized knowledge about attitude control of a shield machine by a systematic knowledge expression rule, analyzing the collected excavation data to construct relational data between torque and bending amount, and a habit of the shield machine. A database that allows you to estimate the change situation of the ground and the ground, and creates an expected curve that should put the excavation route of the shield machine on the planned route by activating the rules in the knowledge base by looking at the stored excavation data In addition, in order to obtain the bending amount corresponding to this expected curve, an expert system having an inference mechanism that infers the optimum shield jack combination pattern by searching the relational data in the database, and each shield jack of the shield machine. Based on the jack combination pattern data inferred by the expert system And a local microcomputer that controls the position of the shield machine at the time of excavation, attitude and jack status information and sends the information to the expert system side, and transmits and receives data between the expert system and the local microcomputer. A direction control device for a shield machine, comprising: a personal computer for sending a jack combination pattern selection command inferred by an expert system to the local microcomputer.