JP2002106283A - Arc propulsion method and excavation method analyzer - Google Patents

Abstract

PROBLEM TO BE SOLVED: To control a propulsion direction precisely depending upon various soil properties irrespective of the skill of an operator. SOLUTION: Past execution data for each propulsion length in the same soil properties as those of an execution site are sequentially changed for corrective values including point positions and excavation correction directions of a drill head 7 in an actual excavation of the drill head 7. The changed execution data are used to provide expression using a statistical model and prepare a linear prediction expression, on the basis of which a plurality of excavation processes are analyzed for a plurality of subsequent sections from the latest point position of the drill head 7. An optimum excavation process is selected from the plurality of excavation processes.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an arc propulsion method for a small-diameter pipe for propelling a pipeline in an arc without cutting and an excavation method analyzing apparatus, and more particularly to an optimum correction of a tip position of a drill head excavating.

[0002]

2. Description of the Related Art There are two methods of laying a pipeline: an open-cutting method in which a pipe is laid in a digging trench excavated from the ground, and a non-open-cutting method in which a pipe is provided by digging underground from a pit and digging through the ground. ing. There are propulsion method and shield method in non-cutting method.Among them, the arc propulsion method that installs a drill unit on the ground and propells the pilot pipe in an arc and draws the main pipe using the propelled pilot pipe, There are advantages such as low construction costs and a short construction period because a full-scale shaft is not required, such as crossing roads, traversing roads, moving over obstacles, and obstacles such as rivers. It is often used for things underneath.

[0003] This arc-shaped propulsion method uses a drill unit installed on the ground on the starting side in order to excavate a smooth curve below an obstacle such as a river and lay various pipes such as gas pipes over a long distance. The pilot pipe is pierced to the side, the pilot hole is penetrated, the drill bit is connected to the tip of the pilot pipe that has reached the arrival side, and the pilot pipe is rotated while retracting to the starting side, and this rotation causes the drill bit to expand. Rotating the pilot hole to expand the pilot hole to a diameter larger than the main pipe, or a method of separating the hole expansion and the main pipe retraction process and expanding the hole before drawing the main pipe. .

When drilling a pilot pipe by this arc-shaped propulsion method, water, polymer-dissolved water or bentonite muddy water is jetted from the tip of a rotating drill unit to cut the soil, and a drill head for rotating the cut soil is laterally moved. Digging into a compact. When the drill head advances while drilling while rotating the drill head, the drill head goes straight, and as shown in FIG. 10A, when the jetting direction A of the drill head 7 is fixed upward and pushed in without rotating, The drill head 7 advances upward, and as shown in (b), when the jetting direction A of the drill head 7 is fixed downward and pushed in without rotating, the drill head 7 advances downward. By changing the jetting direction A of the drill head 7 in this manner, the excavation direction can be changed. Then, while drilling the drill head, a signal is sent from the magnetic transmitter incorporated in the drill head to the ground, the tip position and depth of the drill head are checked by the receiver on the ground, and The gap is corrected.

In order to control the drilling direction of the drill head, as shown in, for example, Japanese Patent Application Laid-Open No. H11-11773, when starting propulsion, soil condition data of a place where a pilot pipe is to be dug is inputted and soil condition is determined. The drilling is performed while controlling the rotation conditions of the drill head according to the conditions. While excavating, the excavation direction is corrected while sequentially detecting the tip position of the drill head.

[0006]

However, in order to carry out long-distance propulsion, it is difficult to input the soil conditions of all places to be excavated. Further, the control condition in the drilling direction of the drill head varies depending on the soil condition in the drilling direction of the drill head, and it is necessary to vary the control condition in the drilling direction of the drill head in accordance with the soil condition at the tip position of the drill head. When controlling this excavation direction,
The tip position of the drill head can be detected by a magnetic transmitter incorporated in the drill head and measuring means such as a receiver on the ground to detect the amount of deviation from the planned line. At present, the operator of the drill unit installed in the country has done with experience and feeling, and it was not easy to realize high-precision construction on various soils.

An object of the present invention is to provide an arc-shaped propulsion method and an excavation method analyzing apparatus capable of improving such disadvantages and controlling the propulsion direction with high accuracy for various soils regardless of the skill level of the operator. It is the purpose.

[0008]

An arc-shaped propulsion method according to the present invention obtains past construction data for soil corresponding to the soil at a construction site, and corrects the drill head tip position and the drilling correction direction for each propulsion length. Organize the amount into time series data,
By using the linear prediction formula expressing the past time series data with a statistical model, the analysis data including the past state quantity, the past operation amount, and the unknown reference parameter is created, and the reference parameter of the created linear prediction formula is determined. Analyze the plurality of digging methods from the determined reference parameters and the current tip position of the drill head to a plurality of sections ahead, select the optimum digging method for the next digging target position from among the analyzed digging methods, The time series data is corrected by the correction amount including the tip position of the drill head measured when excavating the section and the direction of excavation correction, and the corrected time series data is expressed by a statistical model to create a linear prediction formula and the drill head Analyzing a plurality of excavation methods from the current tip position to a plurality of sections ahead is repeated.

An excavation method analyzing apparatus according to the present invention has an input unit, a time series data creation unit, a basic parameter calculation unit, an excavation direction analysis unit, and an excavation method selection unit, and the input unit is similar to the soil at the construction site. Enter the construction data for each propulsion length when the pipe is laid in the past, the measurement data during construction indicating the tip position of the drill head, and the data of the amount of correction including the direction of excavation, and create time-series data. The part arranges the input past construction data as time series data and creates analysis data consisting of past state quantities, past operation quantities, and unknown reference parameters by linear prediction formulas expressed by statistical models,
When measurement data during construction indicating the tip position of the drill head and the amount of correction including the direction of excavation correction are input, the data for analysis is corrected using the input data using the sequential identification method, and the basic parameter calculation unit is linear. The reference parameters of the prediction formula are calculated, the excavation method analysis unit analyzes the calculated reference parameters and the plurality of excavation methods from the current tip position of the drill head to a plurality of sections ahead, and the excavation method selection unit performs a It is characterized in that an optimum excavation method for the next excavation target position is selected from the excavation methods.

[0010] It is desirable that the tip position and the excavation target position of the drill head are represented using relative coordinates which sequentially move for each propulsion length.

[0011]

BEST MODE FOR CARRYING OUT THE INVENTION
It has an input unit, a storage unit, a time-series data creation unit, a basic parameter calculation unit, a digging direction analysis unit, a digging method selection unit, and a display unit. The input unit has the same soil quality as the construction site, and receives the construction data for each propulsion length when the pipe was laid in the past and the signal from the magnetic transmitter incorporated in the drill head with the receiver on the ground Then, the measured data of the tip position of the drill head detected and the correction amount including the excavation correction direction are input and stored in the storage unit. The time series data creation unit organizes past construction data stored in the storage unit as time series data and uses the linear prediction formula expressed by the statistical model and consists of past state quantities, past operation quantities, and unknown reference parameters. The data for analysis is created and stored in the storage unit. In addition, when the measurement data during construction indicating the tip position of the drill head and the correction amount including the direction of excavation correction are input, the analysis data stored in the storage unit is corrected using the input data using the sequential identification method. And store it in the storage unit. The excavation method analyzing unit analyzes the calculated reference parameters and a plurality of excavation methods from the current tip position of the drill head to a plurality of sections ahead. The excavation method selection unit selects an optimal excavation method for the next excavation target position from among the excavation methods up to a plurality of sections, and displays the selected excavation method on the display unit. The data for analysis and the selection of the excavation method are repeated for each unit propulsion length, and the construction data for each past propulsion length having the same soil quality as the construction site is sequentially changed to construction data according to the soil quality at the construction site And select the most appropriate excavation method for the soil at the construction site.

[0012]

FIG. 1 is a process diagram showing a construction process according to an embodiment of the present invention. In the pilot excavation process when laying the main pipe in the ground, as shown in FIG. 1A, the drill unit 1 is installed on the ground on the starting side, and then the anchor 2 is driven in, and the anchor 2 is integrated with the drill unit 1. Become And a penetration 4 for propelling the pilot pipe 3 to the starting side
And the starting port 5 are provided, and the reaching port 6 is provided on the reaching side. Then, a drill head 7 is attached to the tip of the pilot pipe 3, and the pilot pipe 3 is tilted by the drill unit 1 so as to be dug from the penetration 4 to the starting port 5. Drill head 7 is the starting port 5
After excavation, the pilot pipe 3 is held horizontally at the starting port 5 and excavated to the destination port 6 by the drill unit 1.
When the leading end of the pilot pipe 3 reaches the arrival port 6, the process of drawing in the main pipe 8 is started.

In the process of drawing in the main pipe 8, FIG.
As shown in (b), a drilling bit 9 such as a reamer for excavating and expanding the surrounding earth and sand is attached to the leading end of the pilot pipe 3 at the arrival port 6, and is attached to the rear end of the drilling bit 9. A swivel mechanism 10 for preventing rotation of the main pipe 8 is attached, and the main pipe 8 is connected to a rear portion thereof. Then, the pilot tube 3 is pulled into the starting side while rotating the pilot tube 3 by the drill unit 1 on the starting side and rotating the hole expanding bit 9. Due to the rotation of the pilot pipe 3, the drilling bit 9 rotates and is pulled in while excavating the surrounding ground. The drilling bit 9 is connected to the drilling bit 9 by the swivel mechanism 10 and excavated by the main pipe 8 having a closed end. We push earth and sand around and compact.

The drill unit 1 for excavating the drill head 7 has the excavation method analyzer 20 for analyzing the excavation method of the drill head 7. Excavation method analyzer 20
As shown in the block diagram of FIG. 2, the input unit 21, the storage unit 22, the time-series data creation unit 23, the basic parameter calculation unit 24, the excavation direction analysis unit 25, the excavation method selection unit 26, the display unit 27, and the output It has a portion 28. For example, as shown in FIG. 3, the input unit 1 has the same soil quality as that of the construction site, and the construction data 3 for each propulsion length when a pipe was laid in the past.
0 and a drill head 7 which has been detected by receiving a signal from a magnetic transmitter incorporated in the drill head 7 with a receiver on the ground.
Input the measurement data of the tip position and the correction amount including the excavation correction direction. The storage unit 22 stores the input construction data 30 and measurement data, and functions as a work memory for performing various processes. The time-series data creation unit 23 arranges past construction data stored in the storage unit 22 as time-series data, and stores analysis data represented by a statistical model in the storage unit 22. For example, in order to analyze the construction data 30 shown in FIG.
As shown in FIG. 4, the past state quantity X (n), which is a value indicating the deviation of the vertical position of the tip of the drill unit 1 from the plan line, with the propulsion length as the reference value n, and the external including the drill unit correction direction Is expressed as time-series data 31. Here, a plus sign of the operation amount U (n) indicates an upward direction, and a minus sign indicates a downward direction. The data for analysis is created by using the linear prediction formula shown in the following equation (1), which is obtained by organizing the time-series data 31 and expressing the data by a statistical model.

[0015]

(Equation 1)

In the equation (1), k is an order, a1 to ak
Are the past values X (n−1) to X (n−) of the state quantity X (n).
k), and b1 to bk are past operation amounts U
The weights for (n-1) to U (nk) are shown. In equation (1), for example, if the order k is set to “2” in order to trace back to the past data two points ahead, a simultaneous equation represented by the following equation (2) is obtained. ), It can be represented by a matrix A indicating a past state quantity, a matrix B indicating a past manipulated variable, and an unknown reference parameter P.

[0017]

(Equation 2)

The time-series data generator 23 adds the propulsion length n and the vertical position X of the time-series data 31 to the matrices A and B in the equation (3).
Data for analysis is created by substituting the past values of (n) and the manipulated variable U (n). Further, the time-series data creation unit 23 corrects the analysis data using the sequential measurement method based on the input measurement data, and stores the corrected data in the storage unit 22. The basic parameter calculator 24 determines the reference parameter P of the linear prediction equation by calculating the following equation (4).

[0019]

(Equation 3)

In equation (4), T indicates a transposed matrix,
1 indicates an inverse matrix. The excavation method analyzer 25 analyzes the reference parameter P determined by the basic parameter calculator 24 and a plurality of excavation methods from the current tip position of the drill head 1 to a plurality of sections ahead. The excavation method selection unit 26 selects an optimum excavation method for the next excavation target position from among the excavation methods up to a plurality of sections analyzed by the excavation method analysis unit 25, and displays the selected excavation method on the display unit 27. The output unit 28 outputs construction data, analysis data, time-series data, a digging method, and the like to an external memory or the like.

The operation when the excavation method analyzing apparatus 20 configured as described above analyzes and determines, for example, a vertical excavation method will be described with reference to the flowchart of FIG.

In digging with the drill unit 1, the input unit 1 has the same soil quality as that of the construction site, for example, as shown in FIG. The data 30 is input and stored in the storage unit 22 (Step S1). The time-series data creation unit 23 is a storage unit 2
The past construction data 30 stored in No. 2 is arranged as time-series data 31 as shown in FIG. 4 (step S2). The time-series data 31 is substituted into the matrices A and B shown in the equation (3) to create, for example, the analysis data 32 shown in FIG. 6 and store it in the storage unit 22 (step S3). The basic parameter calculator 24 calculates a reference parameter P from the analysis data 32 stored in the storage 22 (step S
4). The excavation method analyzing unit 25 includes a basic parameter calculating unit 24.
Then, a plurality of excavation methods from the current tip position of the drill head 1 to a plurality of sections, for example, four sections ahead, are analyzed (step S5). At this time, when the excavation direction is set to three directions of "+1" which is an upward direction, "0" which is a horizontal direction, and "-1" which is a downward direction, there are 81 ways of excavation up to four sections ahead. . The excavation method selection unit 26 uses a plurality of, for example, 81 excavation methods up to a plurality of sections ahead analyzed by the excavation method analysis unit 25, and each of the vertical positions X (n + 1) to X from the reference line of the drill head 1 up to four sections ahead.
(N + 4) the calculated next vertical position following evaluation formula evaluation equation the target value set to "0" = {X (n + 1) -0} 2 + {X (n + 2) -0} 2 + {X (n + 3) -0｝
² + {X (n + 4) -0} ² and the excavation method is selected from the operation amount when the obtained value is the smallest and displayed on the display unit 27 (step S
6). The operator controls the operation of the drill unit 1 by the displayed excavation method and starts excavation with the drill head 7 (step S7). Then, for example, when the propulsion length n is excavated, for example, by 1 m, the tip position of the drill head 7 is measured,
The vertical position X (n + 1) indicating the deviation from the plan line and the operation amount U (n) are input from the input unit 21 and stored in the storage unit 22 (steps S8 and S9). Time series data creation unit 23
Is, as shown in FIG. 7, the input vertical position X (n +
1), X (n), X (n-1) and manipulated variable U (n) are stored in the storage unit 22.
, And the data X (i-1), X (i-2), U (i-
1), U (i-2) is deleted and new analysis data 3
2a and store it in the storage unit 22 (step S1).
0). The basic parameter calculation unit 24 calculates a reference parameter P from the corrected analysis data 32a stored in the storage unit 22.
Is calculated (step S4). The excavation method analysis unit 25 analyzes the reference parameter P determined by the basic parameter calculation unit 24 and a plurality of excavation methods from the current tip position of the drill head 1 to, for example, four sections ahead (step S5), and excavation method selection unit 26 Selects the most appropriate digging method for the next digging target position from among the digging methods up to four sections analyzed by the digging method analysis unit 25, and displays it on the display unit 27 (step S6). The operator excavates by controlling the operation of the drill unit 1 by the displayed excavation method (step S7).
This process is repeated until excavation is completed (step S
8). In this manner, the past construction data 30 for each propulsion length having the same soil quality as the construction site is sequentially changed to construction data according to the construction site soil quality, and an optimum excavation method for the construction site soil quality is changed. You can select and excavate.

In this excavation method, the tip position of the drill head 7 and the excavation target position are represented by relative coordinates Xr and Yr which sequentially move for each propulsion length as shown in FIG. When the order of the statistical model is k in the equation (1), the origin of the sequentially moving relative coordinates Xr, Yr is the tip position of the drill head 7 (k + 1) steps before the current position.

The reason why the relative coordinates Xr and Yr which sequentially move the tip position and the excavation target position of the drill head 7 will be described. Here, in order to simplify the description, if the order of the statistical model in equation (1) is k = 1, the statistical model can be expressed by the following equation (5). X (n) = a1.X (n-1) + b1.U (n-1) (5) Further, assuming that the basic parameters a1 and b1 to be determined are known, a1 = 0.5 and b1 = 0.3. . For this statistical model, the manipulated variable U (n) is represented by U (0) =-1, U
Assuming that (1) =-1, U (2) = + 1, the tip position of the drill head 7 at each time changes as shown in the following table.

[0025]

[Table 1]

Conversely, when the basic parameters a1 and b1 are unknown, if the basic parameters a1 and b1 are obtained according to the tip position and the operation amount of the drill head 7 given in the above table, a1 = 0.5 and b1 = 0.3 Is calculated.

Next, the drill head 7 at the propulsion length = 0
Let's consider a situation in which the same operation amount U (n) is given by setting the tip position of, that is, the initial value to -10. Also, assuming ideal soil properties, it is assumed that there is no change in soil properties in the horizontal direction and the depth direction. In this case, exactly the same operation amount U (n) is given except for the initial position, so that the tip position of the drill head 7 changes as shown in the following table.

[0028]

[Table 2]

Here, when the data at the propulsion length n = 0 and the propulsion length n = 1 in the above table are used to obtain the unknown parameters a1 and b1, the statistical model shown in the equation (5) is expressed by the following equation (6). It can be expressed by equation (7). -10.3 = a1 · (-10.0) + b1 · (-1) (6) -10.45 = a1 · (-10.3) + b1 · (-1) (7) From the equations (6) and (7), the basic parameter a1 is obtained. , B1
Is calculated, a1 = 0.5 and b1 = 0.3 are obtained. By applying the vertical displacement of the propulsion length n = 2 and the operation amount data to the basic parameters a1 and b1, the state amount X (3) is predicted. And the predicted position of the state quantity X (3) is calculated to be +0.075. The predicted position of the state quantity X (3) is significantly different from -9.925 which is the original position of the vertical displacement, and the model accuracy is deteriorated.

A physical interpretation of the cause of the deterioration of the model accuracy is as follows. In controlling the position of the tip of the drill head 7, excavating while correcting the direction to the left or right or up and down means only the left and right or up and down directions with reference to one past point. Therefore, when considering a model in which the drilling direction command is input and the tip position (result) of the drill head 7 is output, the coordinate system indicating the tip position is based on the tip position of the drill head 7 at the point one point before the origin ( Ideally, the relative coordinates are used as a reference. However, if the tip position of the drill head 7 at the point immediately before is set as the origin (reference), all the elements in the first column of the matrix A in equation (3) become “0”, and the equation (3) The solution of the simultaneous equations becomes indefinite. In order to avoid this, when the order of the statistical model is k, the relative coordinates Xr, Yr that sequentially move
Is the tip position of the drill head 7 (k + 1) steps before the current position.

Although the above description is merely an example, when the statistical model as described above is used, if the coordinates of the tip position of the drill head 7 are absolute coordinates fixed to the ground, the prediction accuracy is the current drill head. It is apparent that the value largely depends on the position of the tip 7. Therefore, the creation of the statistical model and the prediction of the future position are performed after the oldest vertical displacement data (initial position) required for the basic parameter calculation is shifted to the coordinate origin to eliminate the model accuracy dependency due to the drill tip position. That is, when the order of the statistical model is k, the origin of the sequentially moving relative coordinates Xr, Yr is predicted as the tip position of the drill head 7 which is (k + 1) steps before the current position, so that highly accurate prediction is performed. It can be carried out.

In the above embodiment, the case where the vertical excavation method is analyzed and determined is described. However, the horizontal excavation method can be similarly analyzed and determined.

In the above-described embodiment, the drilling method analyzing device 2 for analyzing the drilling method of the drill head 7 in the drill unit 1 is used.
Although the case where 0 is provided has been described, the analysis and determination program of the above-mentioned excavation method is stored in an external memory 41 such as a compact disk or a floppy disk, and as shown in the block diagram of FIG. At 48, read the analysis and decision program of the excavation method and RA
The data may be stored in M46 and may be processed by the CPU 44. In this case, the past construction data 3 for each propulsion length having the same soil quality as the soil of the construction location input by the input unit 43
0 is stored in the RAM 46, and the CPU 44 measures the past construction data 30 stored in the RAM 46 for each unit propulsion length and responds to the soil at the construction site by the tip position and the operation amount of the drill head 7 input from the input unit 43. By sequentially rewriting the construction data and performing arithmetic processing and displaying the data on the display unit 47, it is possible to obtain an excavation method most suitable for the soil properties of the construction site.

[0034]

As described above, according to the present invention, the tip position of the drill head when the drill data is actually excavated with the drill head and the excavation data for each of the past propulsion lengths having the same soil texture as the construction site. It changes sequentially with the correction amount including the correction direction, expresses it with a statistical model using the changed construction data, creates a linear prediction formula, and uses multiple drilling methods from the current tip position of the drill head to multiple sections ahead Analyzing and selecting the most appropriate digging method from multiple digging methods, it is possible to select the most appropriate digging method for the construction site's soil quality and dig it, regardless of the skill level of the operator. It is possible to control the propulsion direction with high accuracy for natural soil.

Further, the tip position of the drill head and the target position of the excavation are represented using relative coordinates which sequentially move for each propulsion length, so that highly accurate prediction can be performed.

[Brief description of the drawings]

FIG. 1 is a process chart showing a construction process according to an embodiment of the present invention.

FIG. 2 is a block diagram showing a configuration of a digging method analyzing apparatus according to the embodiment.

FIG. 3 is a configuration diagram of past construction data.

FIG. 4 is a configuration diagram of time-series data.

FIG. 5 is a flowchart showing the operation of the embodiment.

FIG. 6 is a configuration diagram of analysis data.

FIG. 7 is an explanatory diagram showing correction of analysis data.

FIG. 8 is a schematic diagram showing relative coordinates indicating a tip position of a drill head and a target position for excavation.

FIG. 9 is a block diagram showing another configuration of the excavation method analyzing apparatus.

FIG. 10 is an explanatory diagram showing a direction correcting operation of the drill head.

[Explanation of symbols]

Reference Signs List 1; Drill unit, 3; Pilot tube, 7; Drill head, 20; Drilling method analyzer, 21; Input unit, 22;
Storage unit, 23; time-series data creation unit, 24; basic parameter calculation unit, 25; excavation direction analysis unit, 26; excavation method selection unit, 27; display unit, 28; output unit, 30; construction data, 31; Series data, 32; data for analysis.

 ──────────────────────────────────────────────────続 き Continued on the front page (72) Inventor Hiroyuki Unishi 1-1-2 Marunouchi, Chiyoda-ku, Tokyo Inside Nihon Kokan Co., Ltd. (72) Inventor Haru Tsuda 1-1-2 Marunouchi, Chiyoda-ku, Tokyo No. Nippon Kokan Co., Ltd. (72) Inventor Toshiaki Uramoto 88, Onocho, Tsurumi-ku, Yokohama-shi, Kanagawa Prefecture Japan Steel Pipe Construction Co., Ltd. (72) Inventor Naoto Kobayashi 5-25-11 Jindaiji Kitamachi, Chofu City, Tokyo F-term (reference) 2D054 AA02 AC18 BA16 GA04 GA25 GA46 GA62 GA65 GA92

Claims (4)

[Claims] The present invention obtains past construction data for soil corresponding to the construction site, and arranges the correction amount including the drill head tip position and the drilling correction direction for each propulsion length into time-series data. Analytical data consisting of past state quantities, past manipulated variables, and unknown reference parameters is created using a linear prediction equation that expresses the data using a statistical model, and the reference parameters of the created linear prediction equation are determined. Analyzed multiple excavation methods from the current tip position of the drill head to multiple sections ahead, selected the optimal excavation method for the next excavation target position from among the analyzed multiple excavation methods, and excavated the next section The time series data is corrected by the correction amount including the drill head tip position and the excavation correction direction measured at times, and the corrected time series data is represented by a statistical model to perform linear prediction. An arc-shaped propulsion method characterized by formulating a formula, analyzing a plurality of digging methods from a current tip position of a drill head to a plurality of sections ahead, and selecting an optimum digging method for a next digging target position, which is repeated. . 2. The arc-shaped propulsion method according to claim 1, wherein the tip position and the excavation target position of the drill head are represented using relative coordinates that sequentially move for each propulsion length. 3. An input unit, a time-series data creating unit, a basic parameter calculating unit, a digging direction analyzing unit, and a digging method selecting unit. Enter the construction data for each propulsion length when laying, the measurement data during construction indicating the tip position of the drill head, and the data of the correction amount including the drilling correction direction, and the time series data creation unit inputs the past construction data The analysis data consisting of past state quantities, past operation quantities, and unknown reference parameters is created using linear prediction formulas that are organized as time-series data and represented by a statistical model, and measurement during construction that indicates the tip position of the drill head When the data and the correction amount including the direction of the excavation correction are input, the analysis data is corrected using the input data using the sequential identification method. The excavation method analysis unit analyzes the calculated reference parameters and the plurality of excavation methods from the current tip position of the drill head to a plurality of sections ahead, and the excavation method selection unit analyzes the excavation method up to the plurality of sections ahead. A digging method analyzing apparatus for selecting an optimum digging method for a next digging target position from the digging method. 4. The excavation method analyzing apparatus according to claim 3, wherein the tip position and the excavation target position of the drill head are represented using relative coordinates that sequentially move for each propulsion length.