EP0598139A1 - Dispositif de regularion pour excavateurs - Google Patents

Dispositif de regularion pour excavateurs Download PDF

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Publication number
EP0598139A1
EP0598139A1 EP93913556A EP93913556A EP0598139A1 EP 0598139 A1 EP0598139 A1 EP 0598139A1 EP 93913556 A EP93913556 A EP 93913556A EP 93913556 A EP93913556 A EP 93913556A EP 0598139 A1 EP0598139 A1 EP 0598139A1
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EP
European Patent Office
Prior art keywords
excavator
advancing
cutter
actuator
controlling
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Withdrawn
Application number
EP93913556A
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German (de)
English (en)
Other versions
EP0598139A4 (fr
Inventor
Tadayuki K.K. Komatsu Hanamoto
Yutaka Kabushiki Kaisha Komatsu Kato
Norio Kabushiki Kaisha Komatsu Takahashi
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Komatsu Ltd
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Komatsu Ltd
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Publication date
Priority claimed from JP4163045A external-priority patent/JP2678706B2/ja
Application filed by Komatsu Ltd filed Critical Komatsu Ltd
Publication of EP0598139A1 publication Critical patent/EP0598139A1/fr
Publication of EP0598139A4 publication Critical patent/EP0598139A4/fr
Withdrawn legal-status Critical Current

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    • E—FIXED CONSTRUCTIONS
    • E21—EARTH OR ROCK DRILLING; MINING
    • E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
    • E21D9/00—Tunnels or galleries, with or without linings; Methods or apparatus for making thereof; Layout of tunnels or galleries
    • E21D9/12—Devices for removing or hauling away excavated material or spoil; Working or loading platforms
    • E21D9/124—Helical conveying means therefor
    • E—FIXED CONSTRUCTIONS
    • E21—EARTH OR ROCK DRILLING; MINING
    • E21B—EARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
    • E21B44/00—Automatic control systems specially adapted for drilling operations, i.e. self-operating systems which function to carry out or modify a drilling operation without intervention of a human operator, e.g. computer-controlled drilling systems; Systems specially adapted for monitoring a plurality of drilling variables or conditions
    • E21B44/02—Automatic control of the tool feed
    • E21B44/06—Automatic control of the tool feed in response to the flow or pressure of the motive fluid of the drive
    • E—FIXED CONSTRUCTIONS
    • E21—EARTH OR ROCK DRILLING; MINING
    • E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
    • E21D9/00—Tunnels or galleries, with or without linings; Methods or apparatus for making thereof; Layout of tunnels or galleries
    • E21D9/06—Making by using a driving shield, i.e. advanced by pushing means bearing against the already placed lining
    • E21D9/093—Control of the driving shield, e.g. of the hydraulic advancing cylinders

Definitions

  • the present invention relates to an apparatus for controlling an excavator such as a small-bore-pipe excavator (trade name: Iron Mole) for burying water pipes, gas pipes or the like.
  • an excavator such as a small-bore-pipe excavator (trade name: Iron Mole) for burying water pipes, gas pipes or the like.
  • controlling apparatuses In the field of underground excavators for performing tunnel excavation to bury underground water pipes, gas pipes or the like, various controlling apparatuses have been developed to automatically advance the excavation work in accordance with a planned line of execution.
  • controlling apparatuses of this type one disclosed in Japanese Patent Application No. 332891/1991 is known, wherein, in an auger-type excavator of a single-process construction method having actuators for direction correction, a soil condition is inputted in advance, and the actuators are controlled by means of fuzzy inference based on the inputted value and measured values of a positional offset, an offset angle, thrust, and the like of the excavator.
  • a first aspect of the present invention has this as an object.
  • An object of a second aspect of the present invention is to make it possible to display a self-diagnostic check for each stage of operation and the details of the check, and to perform the check appropriately and speedily, thereby remarkably improving the reliability.
  • a third aspect of the present invention is aimed at providing a method of storage which is suited to an auger-type excavator of a single-process construction method.
  • a controlling apparatus for an excavator having an excavating cutter at a distal end thereof for excavating in the ground by rotating the cutter by means of a cutter-rotating actuator and by advancing the excavator by means of an advancing actuator characterized by comprising: input means for inputting a soil condition at a place where the excavator advances; setting means for setting a reference number of revolutions of the cutter and a reference advancing speed of the excavator in correspondence with the soil condition inputted by the input means; load-detecting means for detecting a load applied to each of the actuators; number-of-revolutions controlling means for controlling the cutter-rotating actuator so as to obtain the reference number of revolutions set by the setting means; and speed-controlling means for controlling the advancing actuator so as to obtain the reference advancing speed set by the setting means if it is detected by the load-detecting means that the load on each of the actuators is within a predetermined range, and for controlling
  • a controlling apparatus for an excavator having input means for inputting data for operating the excavator, sensors for detecting states of various parts of the excavator, actuators for driving the various parts of the excavator, a controller for performing predetermined processing and controlling the driving of the actuators on the basis of the data inputted by the input means and values detected by the sensors so as to operate the excavator, and display means for displaying a result of processing by the controller, wherein the excavator, the input means, the sensors, the actuators, the controller, and the display means are connected by means of wire or radio transmission, characterized in that: if operation-stage data indicating a respective stage of operation is inputted by the input means, or if the stage of operation is detected by a predetermined one of the sensors, the controller conducts in correspondence with the inputted or detected stage of operation a check of functions of the input means and each part of the controller, an abnormality check of the values detected by the
  • the soil condition at the place where the excavator is advanced is inputted. Accordingly, a reference number of revolutions of the cutter and a reference advancing speed of the excavator are set in correspondence with the inputted soil condition.
  • a load applied to each actuator is detected.
  • the cutter-rotating actuator is controlled so as to allow the set reference number of revolutions to be obtained for the cutter. If it is detected that the load on each of the actuators is within a predetermined range, the advancing actuator is controlled so as to allow the set reference advancing speed to be obtained for the excavator.
  • the advancing actuator is controlled so as to decrease or increase the advancing speed more than the set reference advancing speed.
  • the advancing actuator is thus controlled in correspondence with the consecutively changing soil condition, it is possible to effect speed control capable of coping with the change of the soil condition.
  • operation-stage data indicating a respective stage of operation is inputted by the input means, or is detected by one of the sensors.
  • the controller conducts a check of functions of the input means and each part of the controller, an abnormality check of the values detected by the sensors on the basis of the values detected by the sensors, a check of states of operation of the actuators on the basis of the values detected by the sensors, or a check of a state of transmission of a signal in wire or radio transmission, and results of the checks are displayed on the display means.
  • checks are conducted appropriately and speedily.
  • the controller turns off the actuator and effects processing in which data on execution during the advance by one stroke on the basis of the values detected by the sensors is written in a storage medium.
  • the execution data for each stroke in the auger-type excavator of a single-process construction method is stored consecutively during re-setups during which advancing is not effected, so that the operating efficiency of the excavator is not impaired.
  • Fig. 1 shows a horizontal cross section of a small-bore underground excavator 1 (hereafter simply referred to as the "excavator 1") which is applied to the embodiment.
  • Fig. 2 shows a block diagram of a configuration of a controlling apparatus of the embodiment.
  • Fig. 3 shows a block diagram of a device for analyzing execution data. It should be noted that the excavator 1 functions as a leading pipe for a pipe to be buried, such as a gas pipe.
  • a laser theodolite 2 is disposed in a starting shaft HL, whereby the present position and the present attitude angle of the excavator 1 are detected in correspondence with an irradiating position of a laser beam L which is emitted toward a laser target 3 in the excavator 1.
  • a laser beam L which is emitted toward a laser target 3 in the excavator 1.
  • a cutter head 4 is disposed at a distal end of the excavator 1 in such a manner as to be capable of being swung by a direction-correcting cylinder 5 which is oriented to head toward upper and lower, and left and right directions, and its swinging angle is detected by a proximity sensor 6.
  • the angle detected by the proximity sensor 6 is fed back to a leading-pipe controller 7, which controls the driving of the direction-correcting cylinder 5 via a direction changeover valve 8 (see Fig. 2).
  • a cutter 9 is disposed at a distal end of the cutter head 4, and excavation is effected as this cutter 9 rotates.
  • the cutter 9 is formed integrally with a screw 10 (a so-called auger) arranged in the longitudinal direction of the excavator 1, and this screw 10 serves to discharge in the rear direction the earth and sand at a working face excavated by the cutter 9 as the screw 10 rotates together with the cutter 9.
  • a screw 10 a so-called auger
  • the screw 10 is covered with a casing 11, and the removed earth and sand passes through a passage 12 between the casing 11 and the screw 10.
  • a pinch valve 13 for changing the cross-sectional area of the passage 12 in correspondence with the pressure of air applied is disposed midway in the passage 12.
  • an unillustrated water injection port is provided in the passage 12 forwardly of the pinch valve 13, and a slurry material or water is injected into the passage 12 through this water injection port.
  • the slurry material or the like is fed to the water injection port by means of a water-injection changeover valve 14 (see Fig. 2) disposed on the ground, for instance.
  • a water-injection changeover valve 14 When the water-injection changeover valve 14 is operated and the slurry material is poured into the passage 12, the removed sandy soil is set in the form of a slurry, so that the removed soil can pass through the passage 12 without applying an excessively large load onto the screw 10.
  • a pressing plate 15 formed integrally with the excavator 1 is disposed in such a manner as to be movable in the longitudinal direction of a reaction-force bar 16.
  • the pressing plate 15 is driven by an advancing cylinder 17 in the leftward direction as viewed in the drawing so as to advance the excavator 1.
  • the process in which the advancing cylinder 17 moves as far as it can reach in the longitudinal direction of the reaction-force cover 16 is referred to as "one stroke.”
  • a predetermined re-setup is carried out in the starting shaft HL so as to advance the excavator 1 again by another stroke.
  • a hydraulic motor 18 is disposed in the starting shaft HL, and as this hydraulic motor 18 is driven, the screw 10 and the cutter 9 are rotated by means of a predetermined transmitting mechanism.
  • an inverter motor 19 is a driving source of a hydraulic pump 20, and pressure oil discharged from this hydraulic pump 20 is supplied to a group of hydraulic valves 21.
  • the group of hydraulic valves 21 is mainly comprised of an advancing-jack changeover valve 22 and a cutter-motor changeover valve 23. As the advancing-jack changeover valve 22 and the cutter-motor changeover valve 23 are respectively operated as required, the pressure oil is supplied to the advancing cylinder 17 and the hydraulic motor 18 for driving the cutter 9 and the screw 10, and they are driven.
  • an air compressor 24 is a driving source of a pneumatic circuit, and air discharged from this air compressor 24 is supplied to a group of pneumatic valves 25.
  • the group of pneumatic valves 25 is mainly comprised of a pinch-valve-pressure controlling valve 26, the aforementioned water-injection changeover valve 14, and a pin-withdrawing changeover valve 27.
  • a pinch-valve-pressure controlling valve 26 when the pinch-valve-pressure controlling valve 26 is operated, air of a predetermined pressure is applied to the pinch valve 13, thereby changing the cross-sectional area of the aforementioned passage 12.
  • water-injection changeover valve 14 when the water-injection changeover valve 14 is operated, water or the slurry material is supplied to the passage 12, as described above, by means of a pump 28 for water or a slurry material.
  • a cylinder 29 for a re-setup is driven, whereby a re-setup after completion of one stroke is effected.
  • a lubricant pump 30 is provided for supplying a lubricant to the surface of the excavator 1, and the lubricant is discharged to the surface of the excavator 1 through a lubricant discharging port 31 (see Fig. 1) during advancing, thereby allowing advancing to be effected smoothly.
  • Oil/air pressure sensors 32 are pressure sensors which are disposed in major portions of the hydraulic circuit and the pneumatic circuit described above.
  • An operation panel 33 is located at a place which facilitates operation by an operator in the starting shaft HL or on the ground, and is comprised of an operation panel controller 34 which is mainly composed of a CPU and a memory; an input device 35 constituted mainly by a keyboard; a display 36 such as a CRT having a display screen; an IC card reader/writer 38 for writing in and reading from an IC card 37; and a warning lamp 39 which informs the operator to the effect that the excavator is being advanced as the warning lamp 39 flashes.
  • an operation panel controller 34 which is mainly composed of a CPU and a memory
  • an input device 35 constituted mainly by a keyboard
  • a display 36 such as a CRT having a display screen
  • an IC card reader/writer 38 for writing in and reading from an IC card 37
  • a warning lamp 39 which informs the operator to the effect that the excavator is being advanced as the warning lamp 39 flashes.
  • the operation panel controller 34 has an input/output board 40, through which signals from the various sensors are inputted and control signals for the various actuators described above are outputted. Namely, detection signals from the oil/air pressure sensors 32, together with failure signals, are inputted to the controller 34; a control signal is outputted to the inverter motor 19; control signals are outputted to solenoids of the group of pneumatic valves 25 and the group of hydraulic valves 21; and detection signals concerning the position and attitude angle from the laser target 3, together with error signals, are inputted to the controller 34. Then, the leading-pipe controller 7 is controlled via the input/output board 40, and at the same time error signals are inputted to the controller 34. Further, a signal for flashing the warning lamp 39 is outputted via the input/output board 40, a control signal for writing is outputted to the IC card reader/writer 38, and the contents which have been read are inputted to the controller 34.
  • the input device 35 is for inputting data for operating the excavator 1 by means of the keyboard, and the data is fetched into the controller 34.
  • the controller then displays a predetermined result of processing on the display 36, thereby imparting necessary information to the operator.
  • processing which is executed by the CPU of the operation panel controller 34. It should be noted that it is assumed that a processing program is stored in the memory of the CPU, and is executed as the operator performs a keying operation on the keyboard, as required.
  • the operator is able to remove the IC card 37, carry it, and load it into an IC card reader/writer 41 installed in a building for analyzing the execution data, as shown in Fig. 3. Then, the operator is able to analyze the execution data by using a general purpose computer comprising a personal computer 42, a floppy disk 45, a floppy disk drive 44, and a printer 43.
  • the soil condition data referred to includes data which literally represents the type of soil, indicating that the soil at the working face is sand, sandy soil, clayish soil, or the like, and in a case where water is contained at the working face, the soil condition data includes at least data on the pressure of water acting on the front face of the excavator 1 (cutter 9), i.e., the so-called water pressure (Step 101).
  • the water-injection changeover valve 14 is operated, and the slurry material is supplied to the passage 12 to set the removed sandy soil in the form of a slurry, so that the removed soil can pass through the passage 12 without applying an excessively large load onto the screw 10 (Step 102).
  • this condition is classified as a soil condition (3). Then, a determination is made that the aforementioned pinch valve control is not to be executed, and a determination is made that control is to be executed for supplying water to the passage 12 by means of the water-injection changeover valve 14 (hereafter this control will be referred to as "water injection control"). As a result, the air pressure at the pinch valve 13 thereafter remains zero, so that the cross-sectional area of the passage 12 becomes maximum (Step 104).
  • a reference number of revolutions, n, of the cutter 9 is set in correspondence with the details of the inputted soil condition data. This is based on the fact that, if the soil differs, the relative difficulty of excavation differs, and the number of revolutions of the cutter 9 needs to be changed correspondingly.
  • the numbers of revolution, n, corresponding to the types of soil are stored in the memory in advance, and a corresponding n is read out. It should be noted that data representing the reference number of revolutions, n, corresponding to the soil at the site may be directly inputted from the input device 35 (Step 105).
  • the advancing speed v of the excavator 1 is similarly set in correspondence with the details of the soil condition data. This is also based on the fact that, if the soil differs, the relative difficulty of advancing differs, and the advancing speed v needs to be changed correspondingly.
  • the coefficient k is set as shown below in correspondence with the soil conditions (1), (2), and (3):
  • the coefficient set in Steps 106 to 108 is substituted in Formula (1) above to determine the reference advancing speed v.
  • a value corresponding to the type of soil at the site may be inputted directly from the input device 35.
  • the reference advancing speed v thus obtained changes in correspondence with the change at the working face as the excavator advances (Step 109).
  • Step 110 Advancing is subsequently started (Step 110), and in the case of the soil condition (1), i.e., if it is determined that the pinch valve control is to be executed, the reference pressure of the pinch valve 13 is set to a predetermined value p.
  • the pinch-valve reference pressure p is set by being classified into small groups in correspondence with the details of the inputted soil condition even in the same soil condition (1). It should be noted that the pinch-valve reference pressure p corresponding to the type of soil at the site may be inputted directly from the input device 35 (Step 111).
  • Step 112 measured values from various sensors are consecutively inputted (Step 112), and the various actuators are controlled.
  • the reference number of revolutions, n, set in Step 105 above is set as a targeted value of the number of revolutions of the cutter 9, and the hydraulic motor 18 is controlled in such a manner that the number of revolutions is maintained constantly at this targeted value.
  • the reference advancing speed v set in Step 109 above is set as a targeted value of the advancing speed, and the advancing cylinder 17 is controlled in such a manner that the advancing speed is maintained constantly at this targeted value (Step 113).
  • the reference pressure p set in Step 111 above is set as a targeted value of the pressure of the pinch valve 13, and the pinch valve 13 is controlled in such a manner that the pressure is maintained constantly at the reference pressure p (Step 114).
  • Fig. 8 illustrates the relationship between the time t and the torque T of the cutter 9.
  • the torque T rises from the start of rotation, and, in a steady state, the torque fluctuates with a predetermined width of torque fluctuation.
  • the sensor measures a mean value of the width of torque fluctuation.
  • a rotation stall occurs in the cutter 9 and the screw 10. This causes the torque T to reach the relief pressure, thereby making it impossible to excavate and remove the soil. Therefore, when the measured torque T reaches the predetermined threshold value or more, a determination is made that an rotation stall has occurred (Step 115).
  • Step 116 If it is determined that the torque T is equal to or greater than the aforementioned threshold value (YES in the determination in Step 115), the operation proceeds to the "blockage canceling routine" shown in Fig. 5 so as to avoid a situation in which excavation or removal of soil becomes impossible (Step 116).
  • control is first effected to completely stop the advancing of the excavator 1 and the rotation of the cutter 9, thereby preventing the aggravation of the situation (Step 201). Subsequently, in the case of the soil condition (1) in which the pinch valve control is effected, the pinch valve 13 is controlled in such a manner that the cross-sectional area of the passage 12 becomes minimum (Step 202). Then, the removal of the filled earth and sand is promoted by controlling the rotation of the screw 10 in the forward or reverse direction, as required (Step 203).
  • Step 204 the rotation of the screw 10 is set in the forward direction (Step 204), and a determination is made as to whether or not a rotation stall has occurred again (Step 205).
  • the pinch-valve reference pressure is reset in such a manner as to be greater than the reference pressure p set in Step 111, and control is effected such that the cross-sectional area of the passage 12 becomes smaller in correspondence with the reset pressure.
  • a measure is provided to ensure that the rotation stall will not occur again (Step 206).
  • Step 207 the stoppage of the advancing of the excavator 1 and of the rotation of the cutter 9 is canceled, and advancing is resumed (Step 207).
  • Step 117 determines whether or not one stroke has been completed, i.e., whether or not the pressing plate 15 has moved as far as it can reach in the longitudinal direction of the reaction-force bar 16.
  • the completion of one stroke may be detected by a predetermined sensor, and the determination may be made from a detection signal therefrom.
  • the operator may enter data representing the "completion of one stroke" by means of the keyboard, and the determination may be made from that input data.
  • Step 117 If one stroke is completed (YES in the determination in Step 117), advancing is stopped, and a re-setup such as the connection of a pipe to be buried to the rear of the leading pipe 1 is required, so that this processing which is required only during the execution of advancing ends.
  • Step 117 if it is determined that one stroke has not yet been completed (NO in the determination in Step 117), the operation returns to Step 112, and processing such as the inputting of measured values of the respective sensors is repeatedly executed.
  • Step 115 processing corresponding to the soil condition (1), (2) or (3) is executed without executing the "blockage canceling routine."
  • the advancing speed control In the case of the soil condition (2) in which neither the pinch valve control nor the water injection control is executed, only the control for varying the reference advancing speed v (hereafter this control will be referred to as the "advancing speed control") is carried out in correspondence with the situation at the working face which changes as the excavator advances. Namely, on the basis of a detection signal from a sensor for detecting the thrust F of the excavator 1 among the oil/air pressure sensors 32, a determination is made as to whether or not the thrust F is equal to or greater than a preset upper limit, or equal to or less than a preset lower limit. Meanwhile, a determination is made as to whether or not the detected torque T is equal to or greater than a preset upper limit, or equal to or less than a preset lower limit.
  • the reference advancing speed is reset to a value smaller than the reference advancing speed v set in Step 109 above, and the advancing speed of the excavator 1 is maintained constantly at this reset reference advancing speed v (Step 119). Then, the operation proceeds to a "direction correcting routine" which is shown in Fig. 6 and will be described later, so as to control the driving of the direction-correcting cylinder 5 to allow the excavator 1 to advance in a direction along a reference planned line (Step 120).
  • Step 121 if it is determined that the detected torque T has become equal to or less than the lower limit, or the detected thrust F has become equal to or less than the lower limit (YES in the determination in Step 121), this is the case where the load on the excavator 1 is small, and there is leeway in advancing.
  • the reference advancing speed is reset to a value greater than the reference advancing speed v set in Step 109 above, and the advancing speed of the excavator 1 is maintained constantly at this reset reference advancing speed v (Step 122). Then, the operation proceeds to the aforementioned "direction correcting routine" (Step 120).
  • Step 120 if it is determined that the detected torque T is in a range greater than the lower limit and smaller than the upper limit, and that the detected thrust F is in a range greater than the lower limit and smaller than the upper limit (NO in both determinations in Steps 118 and 121), this is the case where advancing is being effected smoothly at the reference advancing speed v set in Step 109 above. Hence, the set reference advancing speed v is kept as it is, and the operation proceeds to the aforementioned "direction correcting routine" (Step 120).
  • the "direction correcting routine" shown in Fig. 6 is basically similar to the direction control disclosed in Japanese Patent Application No. 179641/1990 filed by the present applicant, but technically differs from the same in that a targeted attitude angle is determined on the basis of the history of direction correction in the past.
  • the consecutive attitude angle of the excavator 1 from the advancing start to the present is detected, and is consecutively stored in the memory.
  • the consecutive position of the excavator 1 is also detected, a deviation of this consecutive position from a consecutive targeted position is determined, and a consecutive positional offset is stored. Further, an average value of the consecutively detected attitude angles is calculated. In addition, an amount of change of the consecutive positional offset is calculated (Step 301). Then, a counterbalancing attitude K (°) required for the straight advance of the excavator 1 is calculated on the basis of the details calculated in Step 301 (Step 302).
  • the present attitude angle of the excavator 1 is obtained from the output signal from the laser target 3, and an offset angle ⁇ n of the present attitude angle with respect to a present targeted advancing direction (planned line) is calculated (Step 305). Then, a deviation ⁇ m - ⁇ n of the targeted attitude angle ⁇ m obtained in Step 304 from the offset angle ⁇ n obtained in Step 305 is calculated (Step 306).
  • the targeted attitude angle ⁇ m calculated in Step 304 is consecutively stored in the memory from the advancing start to the previous time (m - 1).
  • the offset angle ⁇ n calculated in Step 305 is consecutively stored in the memory up to the present (n). Accordingly, deviations of the previous targeted attitude angle ⁇ m-1 from the present offset angle ⁇ n are added (integrated) up to the present as ⁇ ( ⁇ m-1 - ⁇ n ) .
  • the aforementioned integral value means a "direction-correcting speed" (Step 307).
  • an amount of driving the direction-correcting cylinder 5 is calculated from fuzzy inference based on the aforementioned deviation ⁇ m - ⁇ n and the direction-correcting speed ⁇ ( ⁇ m-1 - ⁇ n ) . It should be noted that this fuzzy inference itself is disclosed in the aforementioned Japanese Patent Application No. 179641/1990, and since it is not directly related to the main gist of the present invention, a description thereof will be omitted (Step 308).
  • Step 115 If it is determined in Step 115 that a rotation stall has not occurred, a determination is made as to whether or not the detected torque T is equal to or greater than the predetermined upper limit and the detected thrust F is equal to or less than the predetermined upper limit.
  • the upper limit of the detected torque T is a threshold value for determining whether or not water injection is to be carried out, the upper limit of the detected torque T is set to a value equal to or lower than the upper limit in Step 118 (Step 123).
  • Step 123 If YES is the answer in the determination in Step 123, this is the case where there is no problem in advancing itself and a load is being applied to the screw 10 due to the viscous soil, so that water injection control is executed to overcome this situation. As a result, the viscosity is eliminated, and the removal of soil is made smooth, thereby preventing an excessively large load from being applied onto the screw 10 (Step 124). Then, the operation proceeds to Step 118 to execute the above-described advancing speed control and direction correction control. Meanwhile, if NO is the answer in the determination in Step 123, an excessively large load is not being applied onto the screw 10, and it is unnecessary to inject water, so that the operation proceeds to Step 118 to execute the advancing speed control and the direction correction control.
  • Step 115 If it is determined in Step 115 that a rotation stall has not occurred, a determination is made as to whether or not the fluctuation of the detected torque T is within a predetermined range (Step 125), and a determination is made as to whether or not the value of ⁇ ( ⁇ m-1 - ⁇ n ) representing the direction-correcting speed described above is equal to or less than a predetermined value. It should be noted that, in order to determine the direction-correcting speed, a parameter other than that, such as the advancing speed, may also be incorporated (Step 126).
  • Step 125 and 126 If YES is the answer in either of the determinations in Step 125 and 126 above, it is determined that the excavator 1 is tending to slightly rise upward, and that the advance along the planned line is becoming difficult. Hence, to overcome this situation, the pinch-valve reference pressure is reset to a value greater than the pinch-valve reference pressure p set in Step 111, and the pinch valve 13 is controlled in such a manner as to be maintained at this reset value (Step 130). Then, the operation proceeds to Step 118 in which the above-described advancing speed control and direction correction control are executed.
  • Step 129 the operation proceeds to Step 118 in which the above-described advancing speed control and direction correction control are executed.
  • the advancing speed control, direction correction control, pinch-valve control, and water injection control are executed in a complex manner, these items of control may be implemented independently. For instance, only any one of the advancing speed control, direction correction control, pinch-valve control, and water injection control may be executed by omitting other items of control, or arbitrary ones of these items of control may be combined and implemented, as required.
  • the actuators are not controlled primarily on the basis of an initially set soil condition, but the situation at the working face which changes every moment is ascertained by the sensors, and the actuators are controlled while correcting the soil condition. Therefore, the excavation by the excavator 1 is performed with a high degree of precision, and the operating efficiency improves substantially.
  • the technology itself which, for the purpose of improving the reliability of a system, carries out self-diagnosis and issues a malfunctional warning by monitoring the system on the basis of outputs from various sensors, thereby improving the reliability of the system.
  • the details to be diagnosed and the details for which a warning is to be issued differ for each stage of operation, respectively. Accordingly, an embodiment which is described below is designed to effect only the necessary diagnosis and warning in correspondence with each stage of operation so as to attain speedy processing.
  • the respective devices are interconnected by signal lines, and a power supply is then turned on.
  • the transmission of signals between the devices may be effected by means of radio transmission, as required (Step 401).
  • the operation proceeds to a "start-up inspection routine.”
  • the operation may proceed to the "start-up inspection routine” as the operator enters data representing the "stage of starting the operation” by performing a keying operation on the keyboard of the input device 35.
  • start-up inspection routine self-diagnosis and malfunctional warning which are adapted for the stage of starting the operation are conducted.
  • Step 402 a check is made as to whether or not signals from the sensors are being properly inputted to and outputted from the operation panel controller 34 by means of the input/output board.
  • Step 403 if it is determined that there is an abnormality (YES in the determination in Step 403), the details of the error are displayed on the screen of the display 36 to give a warning to the operator (Step 404), and the operation of the system is stopped.
  • Step 401 Subsequently, required inspection is performed, the system is restarted, and the power supply is turned on again in Step 401.
  • Step 403 If there is no abnormality at the stage of starting the operation (NO in the determination in Step 403), preparation for an advancing start is made. If the operator enters data representing the "stage of starting advancing" by performing a keying operation on the keyboard of the input device 35 (YES in the determination in Step 405), the operation proceeds to a "swinging-motion confirming routine.” In this "swinging-motion confirming routine,” self-diagnosis and malfunctional warning which are adapted for the stage of starting advancing are conducted. As for the details of self-diagnosis, the operation of the actuators necessary for advancing is mainly checked.
  • a control signal for driving the direction-correcting cylinder 5 is outputted, as required, and a determination is made as to whether or not the swinging motion of the cutter head 4 is being performed properly on the basis of a detection signal from the proximity sensor 6 (Step 406). As a result, if it is determined that there is an abnormality (YES in the determination in Step 407), the operation returns to the aforementioned Step 404, and an error is displayed on the screen of the display 36.
  • Step 407 it is determined that the check of swinging motion is completed. Then, detected values from the various sensors such as the laser target 3 and failure signals from the oil/air pressure sensors 32 are inputted (Step 408), and a determination is made as to whether or not a failure has occurred (Step 409). If it is determined that a failure has occurred, a determination is made as to whether or not it is serious under a predetermined standard (Step 410). If it is serious, the operation returns to Step 404, and an error to that effect is displayed. On the other hand, if the failure is not serious, a failure flag is set (Step 411), and measured values of the various sensors are displayed (Step 412).
  • Step 409 if it is determined in Step 409 that a failure has not occurred, the failure flag is reset (Step 413), and the operation proceeds to Step 412 to display measured values of the various sensors.
  • Step 414 a menu key is checked (Step 414), and a determination is made as to whether or not a warning reference is to be made (Step 415). As a result, if a warning reference is to be made, advice on a countermeasure is displayed (Step 416), and after the end of displaying (YES in the determination in Step 417), the operation returns to Step 408.
  • Step 420 measured values of the various sensors are read out (Step 420), and if a failure has occurred (YES in the determination in Step 421) and if it is serious (YES in the determination in Step 422), the operation returns to Step 404 to display an error. Meanwhile, if the failure is not serious (NO in the determination in Step 422), a failure flag is set (Step 423), measured values are displayed, control signals are outputted to the actuators, and advancing is resumed (Step 424).
  • Step 425 If it is determined that trouble in execution has not occurred (NO in the determination in Step 425), the trouble flag is reset (Step 429), and the operation proceeds to Step 424 to resume advancing.
  • Step 430 if the completion of one stroke is detected by the sensor (YES in the determination in Step 430), a malfunctional warning which is adapted for the stage of completion of one stroke is issued.
  • Step 431 a determination is made as to whether or not the failure flag and/or the trouble flag is set (Step 431), and if either of the flags is set, there is a possibility of occurrence of a serious failure or serious trouble in execution during an ensuing stroke. Hence, a warning to that effect is displayed (Step 432), and the operation returns to Step 408. Meanwhile, if neither of the two flags is set (NO in the determination in Step 431), there is particularly no problem, so that the operation returns to Step 408 without displaying the aforementioned warning. It should be noted that the warning lamp 39 is made to flash for the purpose of safety during the execution of advancing.
  • Step 501 processing is started, and detection signals from various sensors are inputted (Step 501), and measured values are displayed (Step 502). Then, the key input is read out (Step 503), and a determination is made as to whether or not advancing has been actually started (Step 504). If advancing has not been started, a determination is made as to whether or not data reference is to be made (Step 505). As a result, if data reference is not to be made, the operation returns to Step 501 to input detection signals.
  • Step 505 If it is determined that data reference is to be made (YES in the determination in Step 505), the execution data is prepared, and the history of execution is displayed (Step 506). Then, key input is read out (Step 507), and a determination is made as to whether or not displaying has ended (Step 508). If the displaying has not ended, the operation returns to Step 506 to repeatedly execute the displaying of the execution data and the history. If the displaying has ended, the operation proceeds to Step 501 to conduct the inputting of detection signals again.
  • Step 504 If it is determined in Step 504 that advancing has been started by key input, control signals are outputted to the actuators to start advancing (Step 509). Thereafter, detection signals from the sensors are inputted during excavation (Step 510), and control signals are outputted to the actuators (Step 511). Then, execution data is prepared in the meantime on the basis of the detection signals from the sensors. Unless the stage of completion of one stroke is detected by the sensor for detecting the completion of one stroke (NO in the determination in Step 512), processing of Steps 510 and 511 is repeatedly executed. However, if the completion of one stroke is detected (YES in the determination in Step 512), the control signals for the actuators are turned off to stop advancing (Step 513).
  • the execution data prepared in the IC card 37 by means of the IC card reader/writer 38 is transferred (Step 514), and new execution data is recorded by being added to the execution data recorded up until now (Step 515).
  • advancing is stopped, and the execution data is transferred at a stage in which a re-setup is being executed. Accordingly, the actual excavation work is not affected by the transfer (the time required for it). In other words, the operating efficiency is not impaired.
  • the execution data in units of one stroke is consecutively recorded, data management suitable for the excavator of a single-process type can be effected.
  • Step 501 a determination is made as to whether or not the execution has ended. If the "end of execution" is instructed by, for instance, a keying operation, processing ends. Unless the "end of execution” is instructed, the operation returns to Step 501 to repeatedly execute similar processing.
  • the operator when the execution data is consecutively recorded in the IC card 37, the operator removes the IC card 37 from the IC card reader/writer 38, carries it, and sets it in the IC card reader/writer 41 in the building. Then, the operator is able to conduct analysis and the like of the record of execution in units of, for instance, one week, by means of the computer system shown in Fig. 3. It should be noted that a recording medium for recording the execution data is not confined to the IC card, and an arbitrary recording medium may be used insofar as it is portable and the contents of the record are not lost even when the power supply is turned off.
  • the present invention is not limited to the same, and may be applied to an arbitrary underground excavator such as a tunnel-boring machine and the like.

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  • Engineering & Computer Science (AREA)
  • Mining & Mineral Resources (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Geology (AREA)
  • Environmental & Geological Engineering (AREA)
  • General Life Sciences & Earth Sciences (AREA)
  • Geochemistry & Mineralogy (AREA)
  • Physics & Mathematics (AREA)
  • Fluid Mechanics (AREA)
  • Excavating Of Shafts Or Tunnels (AREA)

Abstract

Cet invention tend à améliorer la précision, l'efficacité et la fiabilité de fonctionnement d'un excavateur. L'état du sol du site sur lequel l'excavateur (1) doit intervenir est introduit sous forme de données, et le régime de référence de l'outil de coupe (9) ainsi que la vitesse de référence d'avance de l'excavateur sont déterminés en fonction de ces données concernant l'état du sol. Les charges s'appliquant aux mécanismes actionneurs (17, 18) sont mésurées. Le fonctionnement du mécanisme actionnant l'outil de coupe (18) est régulé de manière à obtenir le régime déterminé de l'outil de coupe (9). Lorsque les charges s'appliquant aux deux mécanismes actionneurs (17, 18) se révèlent dans les plages prédéterminées, le fonctionnement du mécanisme d'avance (17) est régulé de manière à ce que la vitesse de référence d'avance soit communiquée à l'excavateur (1). Par contre, lorsque la charge de l'un ou l'autre des mécanismes actionneurs (17, 18) se situe en dehors de la plage prédéterminée, le fonctionnement du mécanisme d'avance (17) est régulé de telle sorte que la vitesse effective d'avance devienne inférieure ou supérieure à la vitesse d'avance de référence déterminée.
EP93913556A 1992-06-22 1993-06-22 Dispositif de regularion pour excavateurs. Withdrawn EP0598139A4 (fr)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
JP4163045A JP2678706B2 (ja) 1992-06-22 1992-06-22 掘進機の制御装置
JP163045/92 1992-06-22
PCT/JP1993/000838 WO1994000673A1 (fr) 1992-06-22 1993-06-22 Dispositif de regularion pour excavateurs

Publications (2)

Publication Number Publication Date
EP0598139A1 true EP0598139A1 (fr) 1994-05-25
EP0598139A4 EP0598139A4 (fr) 1998-01-07

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Application Number Title Priority Date Filing Date
EP93913556A Withdrawn EP0598139A4 (fr) 1992-06-22 1993-06-22 Dispositif de regularion pour excavateurs.

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Country Link
EP (1) EP0598139A4 (fr)

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2000017487A1 (fr) * 1998-09-23 2000-03-30 Fraunhofer-Gesellschaft zur Förderung der angewandten Forschung e.V. Commande pour appareil de forage horizontal
WO2007034136A2 (fr) * 2005-09-21 2007-03-29 Bp Exploration Operating Company Limited Vanne de deploiement de subsurface
CN110325028A (zh) * 2017-03-24 2019-10-11 创科（澳门离岸商业服务）有限公司 挖掘装置
CN113917909A (zh) * 2021-10-22 2022-01-11 徐州徐工挖掘机械有限公司 一种适用于挖掘机的集中润滑系统、控制方法、装置以及存储介质

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN110486029B (zh) * 2019-09-09 2021-10-29 辽宁石油化工大学 盾构机土压平衡控制的优化方法及装置

Non-Patent Citations (2)

* Cited by examiner, † Cited by third party
Title
No further relevant documents disclosed *
See also references of WO9400673A1 *

Cited By (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2000017487A1 (fr) * 1998-09-23 2000-03-30 Fraunhofer-Gesellschaft zur Förderung der angewandten Forschung e.V. Commande pour appareil de forage horizontal
US6772134B1 (en) 1998-09-23 2004-08-03 Fraunhofer Gesellschaft Zur Forderung Der Angewandten Forschung, E.V. Control means for a horizontal boring tool
WO2007034136A2 (fr) * 2005-09-21 2007-03-29 Bp Exploration Operating Company Limited Vanne de deploiement de subsurface
WO2007034136A3 (fr) * 2005-09-21 2007-06-14 Bp Exploration Operating Vanne de deploiement de subsurface
CN110325028A (zh) * 2017-03-24 2019-10-11 创科（澳门离岸商业服务）有限公司 挖掘装置
CN110325028B (zh) * 2017-03-24 2022-06-10 创科（澳门离岸商业服务）有限公司 挖掘装置
CN113917909A (zh) * 2021-10-22 2022-01-11 徐州徐工挖掘机械有限公司 一种适用于挖掘机的集中润滑系统、控制方法、装置以及存储介质
CN113917909B (zh) * 2021-10-22 2024-05-10 徐州徐工挖掘机械有限公司 一种适用于挖掘机的集中润滑系统、控制方法、装置以及存储介质

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