JP2003253986A - Method and system for estimating condition of embedding pipe jacking machine - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To enable highly accurate grasp of condition of a highly accurate embedding pipe jacking machine irrespective of skillfulness of operators. <P>SOLUTION: A crease angle ϕ expressing a horizontal relative angle of the front cylinder of a leading body of an embedding jacking machine and the rear cylinder of the leading body, a horizontal correction value ηH expressing a horizontal relative angle of the cutter head and the front cylinder of the leading body, and a horizontal displacement X<SB>t</SB>of a laser photodetector installed at the rear end of the rear cylinder of the leading body to a planning line are input in a variable vector estimation instrument 407 of successive condition of a horizontal condition estimation instrument 402. A horizontal position posture parameter of the leading body 101 to the horizontal planning line and a parameter of an ARMAX model are online-estimated on the basis of the leading body horizontal revolving model 404 and the leading body horizontal propelling direction model 405. <P>COPYRIGHT: (C)2003,JPO

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a front conductor front cylinder, a front conductor rear cylinder connected to the front conductor front cylinder through a middle bent portion,
And a leading conductor composed of a cutter head provided at the tip of the leading conductor front cylinder, and starting this leading conductor and an embedded pipe successively added to the rear of the leading conductor while excavating the surrounding ground with the cutter head. It relates to a buried pipe propulsion device that forms a pipeline by propelling it with a vertical shaft pushing device, and in particular it is possible to successively estimate the position and orientation of the buried pipe propulsion device and predict the behavior beyond the present The present invention relates to a state estimation method and a state estimation device.

[0002]

2. Description of the Related Art Conventionally, in a buried pipe propulsion device, a displacement amount from a planned line obtained from signals from various sensors such as a laser receiving device and a pitching meter built in a lead conductor is placed on a control panel installed on the ground. The operator determines the direction correction amount of the cutter head based on this displacement amount and operates the hydraulic jack for tilting the cutter head.

[0003]

However, it is not possible to obtain the correct position / orientation of the buried pipe propulsion machine only with the obtained sensor information, and the operator's experience and skill are required to grasp the state of the buried pipe propulsion machine and correct the direction. There was a problem that it relied heavily on.

An object of the present invention is to reduce the dependence of the operator on the technology as much as possible to enable the operator to grasp the state of the buried pipe propulsion device with high accuracy regardless of whether the operator is skilled or unskilled. It is in.

[0005]

According to the present invention, a front conductor front cylinder (104 in FIG. 1), a front conductor front cylinder and a middle bent portion (10) are provided.
6) and a cutter head (10) provided at the tip of the front conductor rear cylinder (105) and the front conductor front cylinder.
In a buried pipe propulsion device for propelling a front conductor (101) composed of 2) and a buried pipe (108) sequentially added to the rear of the front conductor in the direction of a predetermined horizontal planning line, A state estimation method for estimating a position / orientation, wherein a center bending angle (φ) which is a horizontal relative angle between the front conductor front cylinder and the front conductor rear cylinder is used as an output variable, and the cutter head and the front conductor front When the horizontal correction amount (ηH), which is the horizontal relative angle with the cylinder, is used as an input variable, the unit propulsion length (L
p), the procedure of presetting a horizontal turning model equation (Equation (1)) describing the relationship between the input variable and the output variable obtained as an ARX model, and the horizontal turning curvature (ρH) of the front conductor front cylinder. ) Multiplied by the length (Lf) of the front conductor front cylinder, and a term obtained by multiplying the horizontal turning curvature (ρHr) of the front conductor rear cylinder by the length (Lr) of the front conductor rear cylinder, The sum of the horizontal displacement (Xt) of the laser receiving device (202) provided at the rear end of the front conductor rear cylinder with respect to the horizontal plan line with respect to the propulsion distance (L) and the term of the differential value is calculated. The procedure for presetting a horizontal propulsion direction model formula (formula (6)) to be the propulsion direction, the horizontal displacement, the center bending angle, and the horizontal correction amount are input, and the horizontal turning model formula and the horizontal propulsion model are input. Based on the directional model formula, Position / attitude parameter (θH
[k], Xh [k]) and the parameters of the ARX model (aH
, ..., aHna, bH1, ..., bHnb) are executed simultaneously with the propulsion of the buried pipe propulsion unit, and a state variable vector estimation procedure is executed. In the present invention, the state is estimated online from various observation signals based on the state change model of the lead conductor of the buried pipe excavator.

Further, in one configuration example of the method of estimating the state of the buried pipe propulsion device of the present invention, the state variable vector estimating procedure is such that, in the horizontal turning model formula and the horizontal propulsion direction model formula, Based on the state equations (Equations (1) and (11)) obtained by assuming that the horizontal inclination angle of the back tube is equal to the value obtained by delaying the horizontal inclination angle of the front conductor front tube by a certain distance, The horizontal position / orientation parameter of the leading conductor with respect to the horizontal planning line and the AR
The parameters of the X model are estimated at the same time. Further, in one configuration example of the state estimation method for the buried pipe propulsion device of the present invention, in the state variable vector estimation procedure, a differential value obtained by differentiating a horizontal displacement of the laser light receiving device with respect to a horizontal planning line with respect to a propulsion distance is the leading conductor. A state equation (Equation (1), Equation (11), obtained by assuming that the horizontal tilt angle of the front cylinder is equal to a value delayed by a certain distance.
Based on the equation (12), the horizontal position / orientation parameter of the leading conductor with respect to the horizontal planning line and the parameter of the ARX model are simultaneously estimated. Further, in one configuration example of the method of estimating the state of the buried pipe propulsion device of the present invention, instead of the horizontal displacement of the laser receiving device with respect to the horizontal planned line, the horizontal direction of the induction magnetic field generating device (301) provided in the leading conductor is set. A value obtained by interpolating the horizontal displacement (XD) with respect to the planned line is used.

Further, the present invention comprises a front conductor front cylinder, a front conductor rear cylinder connected to the front conductor front cylinder via an intermediate bent portion, and a cutter head provided at the tip of the front conductor front cylinder. This is a state estimation method for estimating the vertical position / posture of a buried pipe propulsion machine in a buried pipe propulsion machine that propels a front conductor and a buried pipe that are sequentially added to the rear of the front conductor in the direction of a predetermined vertical planning line. Then, when the vertical turning curvature (ρV) of the front conductor front cylinder is used as an output variable and the vertical correction amount (ηV) which is a vertical relative angle between the cutter head and the front conductor front cylinder is used as an input variable, a unit The relation between the input variable and the output variable obtained for each propulsion length (Lp) is AR
The vertical turning model formula (Formula (2
2)) is preset, and a term obtained by multiplying the vertical turning curvature of the front conductor front cylinder by the length (Lf) of the front conductor front cylinder,
A term obtained by multiplying the vertical turning curvature (ρVr) of the front conductor rear cylinder by the length (Lr) of the front conductor rear cylinder, and the vertical of the laser receiving device (202) provided at the rear end of the front conductor rear cylinder. A vertical propulsion direction model equation (equation (23)) is set in advance, in which the sum of the vertical displacement (Yt) with respect to the planned line and the term of the differential value obtained by differentiating with respect to the propulsion distance (L) is the vertical propulsion direction of the preceding conductor. The procedure, the pitching angle (p or θV) that is the inclination angle of the front conductor front cylinder with respect to the vertical planning line, the vertical displacement, and the vertical direction correction amount are input, and the vertical turning model formula and the vertical propulsion direction model are input. The vertical position / orientation parameter (θ
V [k], Yh [k]) and the parameters of the ARX model (aV
, ..., aVna, bV1, ..., bVnb) are executed simultaneously with the propulsion of the buried pipe propulsion unit, and a state variable vector estimation procedure is executed. In the present invention, the state is estimated online from various observation signals based on the state change model of the lead conductor of the buried pipe excavator.

Further, in one configuration example of the method of estimating the state of the buried pipe propulsion device of the present invention, the state variable vector estimating procedure is such that, in the vertical turning model formula and the vertical propulsion direction model formula, Based on the state equations (Equations (24) and (27)) obtained by assuming that the vertical inclination angle of the back tube is equal to the value obtained by delaying the vertical inclination angle of the front conductor front tube by a certain distance, The vertical position / orientation parameter of the leading conductor with respect to the vertical planning line and the A
The parameters of the RX model are estimated at the same time. Further, in one configuration example of the state estimation method of the buried pipe propulsion device of the present invention, in the state variable vector estimation procedure, a differential value obtained by differentiating a vertical displacement of the laser light receiving device with respect to a vertical planning line with respect to a propulsion distance is the leading conductor. A state equation (equation (24), equation (2) obtained by assuming that the vertical inclination angle of the front cylinder is equal to the value obtained by delaying the vertical distance by a certain distance.
7) and the equation (28)) are used to simultaneously estimate the vertical position / orientation parameters of the leading conductor with respect to the vertical planning line and the parameters of the ARX model. Further, in one configuration example of the method of estimating the state of the buried pipe propulsion device of the present invention, instead of the vertical displacement with respect to the vertical planning line of the laser light receiving device, the vertical planning line of the induction magnetic field generating device provided in the lead conductor is used. The value obtained by interpolating the vertical displacement (Ys) is used.

Further, in the state estimating apparatus for a buried pipe propulsion device of the present invention, the middle bending angle, which is a horizontal relative angle between the front conductor front cylinder and the front conductor rear cylinder, is used as an output variable, and the cutter head and the leader are used. A horizontal turning model in which the relationship between the input variable and the output variable obtained for each unit propulsion length is described as an ARX model when a horizontal correction amount which is a horizontal relative angle with the front cylinder is used as an input variable (FIG. 4). 404), the horizontal swirl curvature of the front conductor front cylinder multiplied by the length of the front conductor front cylinder, and the horizontal swirl curvature of the front conductor rear cylinder multiplied by the length of the front conductor rear cylinder. And the term of the differential value obtained by differentiating the horizontal displacement of the laser receiving device provided at the rear end of the front conductor rear cylinder with respect to the horizontal plan line with respect to the propulsion distance, as the horizontal propulsion direction of the front conductor. Propulsion direction model (405)
And the horizontal displacement, the center bending angle, and the horizontal correction amount as inputs, and based on the horizontal turning model formula and the horizontal propulsion direction model formula, the horizontal position / posture of the leading conductor with respect to a horizontal planning line. And a sequential state variable vector estimator (407) for estimating the parameters and the parameters of the ARX model simultaneously with the propulsion of the buried pipe propulsion machine.

In addition, in one configuration example of the state estimating apparatus for a buried pipe propulsion device of the present invention, the sequential state variable vector estimator is the horizontal turning model formula and the horizontal propulsion direction model formula, and Based on the equation of state obtained by assuming that the horizontal inclination angle of the front conductor rear cylinder is equal to the value obtained by delaying the horizontal inclination angle of the front conductor front cylinder by a certain distance, the horizontal position of the front conductor with respect to the horizontal planning line. The posture parameter and the parameter of the ARX model are estimated at the same time. Further, in one configuration example of the state estimating device for a buried pipe propulsion device of the present invention, the sequential state variable vector estimator is configured such that a differential value obtained by differentiating a horizontal displacement of the laser receiving device with respect to a horizontal planning line with respect to a propulsion distance is the lead. Based on the equation of state obtained by assuming that the horizontal tilt angle of the front cylinder is equal to the value obtained by delaying the horizontal distance by a certain distance, the horizontal position / posture parameter of the leading conductor with respect to the horizontal planning line and the parameter of the ARX model are calculated. It is estimated at the same time. In addition, in one configuration example of the state estimating device for a buried pipe propulsion device of the present invention, the sequential state variable vector estimator is provided in the leading conductor instead of the horizontal displacement of the laser receiving device with respect to the horizontal planning line. A value obtained by interpolating the horizontal displacement with respect to the horizontal planning line of the induction magnetic field generator is used.

The state estimating apparatus for a buried pipe propulsion apparatus according to the present invention uses the vertical turning curvature of the front conductor front cylinder as an output variable,
When a vertical correction amount which is a vertical relative angle between the cutter head and the front conductor front cylinder is used as an input variable, the relationship between the input variable and the output variable obtained for each unit propulsion length is represented by A
Vertical turning model described as RX model (50 in FIG. 7)
4), a term obtained by multiplying the vertical turning curvature of the leading conductor front cylinder by the length of the leading conductor front tube, and a term obtained by multiplying the vertical turning curvature of the leading conductor rear tube by the length of the leading conductor rear tube. And a term of a differential value obtained by differentiating the vertical displacement of the laser receiving device provided at the rear end of the front conductor from the vertical planning line with respect to the propulsion distance, the sum of the term and the term of the differential value is the vertical propulsion direction of the front conductor. The vertical turning model formula and the vertical propulsion direction model formula are input by inputting the direction model (505), the pitching angle that is the inclination angle of the front conductor front cylinder with respect to the vertical planning line, the vertical displacement, and the vertical direction correction amount. The vertical position / orientation parameter of the leading conductor with respect to the vertical planning line and the AR
And a sequential state variable vector estimator (507) for estimating the parameters of the X model and the propulsion of the buried pipe propulsion machine at the same time.

Further, in one configuration example of the state estimating device for a buried pipe propulsion device of the present invention, the sequential state variable vector estimator is characterized in that, in the vertical turning model formula and the vertical propulsion direction model formula, Based on the equation of state obtained by assuming that the vertical inclination angle of the front conductor rear cylinder is equal to the value obtained by delaying the vertical inclination angle of the front conductor front cylinder by a certain distance, the vertical position of the front conductor with respect to the vertical planning line. The posture parameter and the parameter of the ARX model are estimated at the same time. Further, in one configuration example of the state estimating device for a buried pipe propulsion device of the present invention, the sequential state variable vector estimator is configured such that a differential value obtained by differentiating a vertical displacement of the laser receiving device with respect to a vertical planning line with respect to a propulsion distance is the lead. Based on the equation of state obtained by assuming that the vertical inclination angle of the front cylinder is equal to a value obtained by delaying the vertical distance by a certain distance, the vertical position / posture parameter of the leading conductor with respect to the vertical planning line and the parameter of the ARX model are calculated. It is estimated at the same time. Further, in one configuration example of the state estimating device for a buried pipe propulsion device of the present invention, the sequential state variable vector estimator is provided on the leading conductor instead of the vertical displacement of the laser receiving device with respect to the vertical planning line. A value obtained by interpolating vertical displacement with respect to the vertical planning line of the induction magnetic field generator is used.

[0013]

BEST MODE FOR CARRYING OUT THE INVENTION Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings. FIG. 1 is a side view showing an overall configuration of an excavation-type buried pipe propulsion machine which is a control target of the direction control device of the present invention. The buried pipe propulsion machine shown in FIG. 1 moves forward while excavating the surrounding ground 109 by a cutter head 102 provided at the tip of a leading conductor 101, and successively adds buried pipes 108 of a certain length to form a pipeline. Form.

The lead conductor 101 includes a cutter head 102 for excavating the ground 109, a direction correction portion 103 having the tip end attached with the cutter head 102, and a front conductor front cylinder 104 having the direction correction portion 103 attached at the tip end. It is composed of a front conductor front cylinder 104 and a front conductor rear cylinder 105 connected via a middle bent portion 106.

The propulsive force for advancing the front conductor 101 and the buried pipe 108 is the starting standing force 1 formed perpendicularly to the ground 109.
It is generated by the former pushing device 107 in 10. The propulsion direction of the buried pipe propulsion unit can be controlled by tilting the direction correcting unit 103 (cutter head 102) vertically and horizontally by a direction correcting jack incorporated in the direction correcting unit 103, which will be described later.

FIG. 2 shows a horizontal position detection system and a vertical position detection system by the laser target method during straight line construction. When the laser light emitted by the laser theodolite 201 provided in the launching stand 110 is irradiated to the target surface of the laser light receiving device 202 arranged in the front conductor rear cylinder 105, the laser light (reference line, that is, the reference line, from the irradiation position) is irradiated. The displacement of the laser light receiving device 202 with respect to a planning line described later) can be obtained.

On the other hand, the front conductor rear cylinder 105 for the laser light
Since the inclination angle of is not directly obtained, the current displacement of the laser light receiving device 202 with respect to the laser light and the buried pipe propulsion machine are several tens of
The inclination angles in the horizontal and vertical directions are approximately obtained from the variation when compared with the same displacement after propelling by cm.

However, the inclination angle at this time is not necessarily an accurate value because it is based on the assumption that the lead conductor 101 does not make a rotational motion while the buried pipe propulsion machine is propelling for several tens of centimeters. The horizontal displacement and the vertical displacement of the center bent portion 106 can be obtained from this inclination angle.

Further, the front conductor front cylinder 104 and the front conductor rear cylinder 1
Bending angle sensor 20 for detecting the horizontal relative angle of 05
By using the value of 4, the horizontal position of the direction correction unit 103 can be obtained. Also, the vertical position of the front conductor front cylinder 104 is obtained by the pitching meter 203 installed in the front conductor front cylinder 104, and the rolling conductor 205 is used by the rolling meter 205.
The rotation angle of is obtained. Further, as described above, the direction correcting unit 103 has the direction correcting jack 111 built therein.

FIG. 3 shows a horizontal position detection system by an electromagnetic method and a vertical position detection system by a hydraulic pressure difference method when a curve is constructed. Regarding the horizontal direction, the induced magnetic field generated by the induced magnetic field generator 301 built in the lead conductor 101 is detected by the induced magnetic field detector 302 installed on the ground, so that the propulsion reference line (planned line) of the buried pipe propulsion machine (planned line) is detected. ) From the horizontal displacement.

In the vertical direction, it is necessary to detect the difference between the hydraulic pressure measured by the pressure sensor 303 built in the lead conductor 101 and the reference hydraulic pressure measured by the reference hydraulic pressure measuring device 304 installed on the ground. Thus, the depth of the buried pipe propulsion device can be obtained. 2 and 3 are separately shown in order to clearly describe the configuration of the buried pipe propulsion device, but the buried pipe propulsion device and the outside of the buried pipe propulsion device are shown in FIGS. 2 and 3. Each configuration is installed at the same time.

[First Embodiment] A horizontal state estimating device for estimating the horizontal position / orientation of a buried pipe propulsion device will be described below. FIG. 4 is a block diagram showing a configuration of the horizontal direction state estimation device according to the first embodiment of the present invention. In order to describe the concrete configuration method of each element in FIG. 4, first, the lead conductor 10 with respect to the horizontal correction amount of the buried pipe propulsion machine is described.
A method of designing a machine state change model representing the turning characteristic of No. 1 will be described. Then, the online estimation method of the state change model parameter regarding the horizontal direction of the buried pipe propulsion device by the respective observation means of the laser target method during straight line construction and the induction magnetic field detection method during curved construction will be described.

FIG. 5 shows the definition of the position and angle of each part for representing the horizontal movement of the buried pipe propulsion device. The horizontal displacement of the tip portion of the cutter head 102 as seen from the horizontal planning line (base line) is Xc, and the direction correcting unit 10 as seen from the horizontal planning line.
Xh is the horizontal displacement of 3 and the center folding part 10 is seen from the horizontal planning line.
The horizontal displacement of 6 is Xm, and the horizontal displacement of the laser light receiving device 202 seen from the horizontal planning line is Xt.

Further, the front conductor front cylinder 10 with respect to the horizontal planning line
The inclination angle (yaw angle) of 4 is θH, the inclination angle of the front conductor rear cylinder 105 with respect to the horizontal planning line is θHr, and the front conductor front cylinder 104.
Η H is the horizontal correction amount, which is the inclination angle (head angle) of the direction correction portion 103 with reference to, and the inclination angle (center bending angle) of the front cylinder 104 with respect to the front conductor rear cylinder 105 is φ. . Further, the length of the front conductor front cylinder 104 is Lf, the length of the direction correcting portion 103 including the cutter head 102 is Lh, and the length of the front conductor rear cylinder 105 is Lr.

The turning motion of the leading conductor 101 is caused by the original pushing device 10.
7 is greatly affected by the propulsive force generated by the rotor 7 and the reaction force received by the direction correction unit 103 including the cutter head 102 from the surrounding ground. The direction of the buried pipe propulsion machine is corrected by the relative angle between the front conductor front cylinder 104 and the direction correction unit 103. It is considered to be realized by controlling a certain direction correction amount and adjusting the influence of the reaction force from the ground.

Further, as is clear from the structure of the buried pipe propulsion device, the steep turning of the front conductor 101 is impossible, and a certain propulsion distance is required after the direction correction to change the inclination angle with respect to the horizontal planning line. To do. If a certain amount of direction correction is given and the propulsion is continued, the front conductor front cylinder 104 begins to incline in the same direction and a middle bending angle occurs, and assuming that the property of the ground thereafter is constant, the front conductor 101 is ideal. Tries to turn with a certain curvature while maintaining a constant bending angle.

Therefore, the central bending angle φ which is closely related to the horizontal turning curvature of the lead conductor 101 and can be measured by the internal sensor is used as an output variable, and the horizontal correction amount ηH is used as an input variable. The time-series data sampled for each ARX (Auto-Regre
Consider describing the motion model of a buried pipe propulsion machine by introducing the ssive eXogenous model. φ [k + 1] + aH1φ [k] + ・ ・ ・ + aHnaφ [k-na + 1] = bH1ηH [k] + ・ ・ ・ + bHnb ηH [k-nb + 1] + wH [k] (1)

Regarding the ARX model, for example, reference "I.
D. Landau, “System Identification and Control Desig
n ”, Prentice Hall (1990)”, Reference “Shuichi Adachi,“ System Identification Theory for Users ”, The Society of Instrument and Control Engineers (199
3) ”. Taking into account the autoregressive component of the bending angle, the rigidity of the direction correcting unit 103 is extremely high, while
This is because it is considered that the middle bent portion 106 has compliance for facilitating the turning of the buried pipe propulsion device. In Expression (1), k is the number of times machine data is sampled, aHi (i = 1, ..., Na), bHj (j =
1, ..., Nb) is a parameter relating to the turning characteristics of the buried pipe propulsion machine, which varies depending on the properties of the surrounding ground, w [k]
Means white system noise acting on the above dynamics.

Next, modeling regarding the propulsion direction of the leading conductor 101 will be considered. FIG. 6 shows a leading conductor 101 being propelled.
3 shows the movement vector of each part of. As described above, since the rigidity of the direction correcting portion 103 is very large, the instantaneous center of rotation associated with the swiveling motion of the buried pipe propulsion unit is C from the cutter head 102 to the front conductor front cylinder 104 as a unit.
f, the front conductor rear cylinder 10 connected through the middle bent portion 106
Let Cr be the instantaneous center of rotation for 5.

Further, from the instantaneous center of rotation Cf to the front conductor front cylinder 1
Df is the distance from the foot of the perpendicular dropped to 04 to the direction correcting portion 103, and the cutter head 102 to the front conductor front cylinder 104.
Is 1 / ρH, the distance from the foot of the perpendicular drawn from the instantaneous center of rotation Cr to the front conductor rear cylinder 105 to the middle bent portion 106 is Dr, and the front conductor rear cylinder 10
The radius of curvature of the turning motion of 5 is 1 / ρHr. However, ρ
H is the horizontal turning curvature of the front conductor front cylinder 104, ρHr is the horizontal turning curvature of the front conductor rear cylinder 105, and these curvatures ρH and ρHr
Is defined as positive when turning to the right.

Since the front conductor front cylinder 104 and the front conductor rear cylinder 105 share the middle bent portion 106, the movement vector of the middle bent portion 106 defined in the front conductor front cylinder 104 is the same as that of the front conductor rear cylinder 105. Must match what is defined. At this time, the middle folding portion 106, the instantaneous rotation center Cf, and the instantaneous rotation center Cr are aligned on a straight line, and the following equation is established. θH + β = θHr + βr (2)

As shown in FIG. 6, β is the front conductor front cylinder 104.
The inclination of the movement vector of the center-folded portion 106 with respect to
r is the inclination of the movement vector of the middle bent portion 106 with respect to the front conductor rear cylinder 105. Equation (2) can be expressed as follows using each radius of curvature. θH- (Lf-Df) ρH = θHr + DrρHr (3)

On the other hand, as shown in FIG. 6, the front conductor rear cylinder 105
Where γ = − (Lr−Dr) ρHr, where γ is the inclination of the movement vector of the laser light receiving device 202 with reference to, the horizontal gradient ∂Xt / ∂L of the movement vector of the laser light receiving device 202. (<< 1) gives the following boundary conditions regarding the rotation center and the radius of curvature of the front conductor rear cylinder 105. θHr− (Lr−Dr) ρHr = ∂Xt / ∂L (4)

In equation (4), L represents the cumulative distance of the buried pipe propulsion unit. Now, the propelling direction of the front conductor 101 can be expressed by the following equation if it is represented by the horizontal gradient ∂Xh / ∂L (<< 1) of the movement vector of the direction correcting unit 103. ∂Xh / ∂L = θH + α = θH + DfρH (5) In equation (5), α is the front conductor front cylinder 1 as shown in FIG.
This is the inclination of the movement vector of the direction correction unit 103 with reference to 04.

Here, by substituting the equations (3) and (4) into the equation (5) and rearranging the equations, the following equation is finally derived with respect to the propulsion direction of the leading conductor 101. ∂Xh / ∂L = LfρH + LrρHr + ∂Xt / ∂L (6) With the above, a basic motion model of the horizontal swiveling and propulsion direction of the front conductor 101 was introduced.

On the other hand, the center bending angle φ is linked to each turning curvature, and the position / posture of the leading conductor 101 with respect to the horizontal planning line and A
Additional conditions need to be introduced to simultaneously estimate the RX model coefficients. <Assumption A> Regarding the movement of the front conductor rear cylinder 105, the behavior of the angle of the front conductor front cylinder 104 with respect to the horizontal planning line is traced with a delay of a certain distance.

That is, when the angle of the front conductor front cylinder 104 with respect to the horizontal planning line at a certain point is θH, the center position of the front conductor front cylinder 104 at this time is followed by the front conductor rear cylinder 10
When the center of 5 passes, the inclination angle θ of the front conductor rear cylinder 105
Hr shall correspond to θH. Now, (Lf + Lr) /
Assuming that md is an integer obtained by rounding the first decimal place of (2Lp), the above assumption A can be expressed by the following equation.

[0038]

[Equation 1]

If equation (7) is used, the front conductor front cylinder 1
The center bending angle φ of 04 can be expressed as follows.

[0040]

[Equation 2]

By substituting equation (8) into equation (1), a state change model relating to the inclination angle of the front conductor 101 with respect to the horizontal planning line is given by the following equation.

[0042]

[Equation 3]

Further, the direction correction unit 1 in which the gradient ∂Xh / ∂L of the movement vector of the direction correction unit 103 is viewed from the horizontal plan line.
When the first-order approximation is performed by the backward difference of the horizontal displacement Xh of 03, the following equation is obtained.

[0044]

[Equation 4]

Then, the horizontal displacement Xh of the direction correction unit 103
The following state change model for is derived.

[0046]

[Equation 5]

At this time, if the equations (1) and (11) are combined, a leading edge is formed by constructing a Kalman filter using the horizontal gradient ∂Xt / ∂L of the movement vector of the laser light receiving device 202 as an external input. Parameters (aH1, ..., aHna, bH1, ..., b) of the ARX model relating to the position and orientation (θH [k], Xh [k]) of the body 101 and the turning motion.
It is possible to configure the sequential state variable vector estimator 407 that estimates Hnb) online.

On the other hand, in the above estimation method, it is rare that the gradient ∂Xt / ∂L of the movement vector of the laser receiving device 202 can be directly observed. When the differential value of the horizontal displacement Xt of the laser receiving device 202 as viewed from the horizontal plan line cannot be obtained directly, it is conceivable to apply an appropriate curve to the data of Xt and perform the differential operation. It is difficult to obtain an accurate approximate value due to the influence of.

Therefore, Xt is a linear shape drawn by the front conductor 101, and the gradient at a certain point is the front conductor rear cylinder 1 immediately before that.
Considering that the horizontal tilt angle with respect to the horizontal planning line of 05 appears with a delay, the following assumption is made regarding the differential value of Xt. <Assumption B> The horizontal gradient ∂Xt / ∂L of the movement vector of the laser light receiving device 202 changes so as to trace the trajectory of the horizontal inclination angle of the front conductor rear cylinder 105 with respect to the horizontal planning line with a certain distance delay.

That is, assuming that the inclination angle of the front conductor rear cylinder 105 with respect to the horizontal planning line at a certain point is θHr, the laser receiver 202 moves after the center position of the front conductor rear cylinder 105 at this time. Vector gradient ∂Xt /
∂L matches θHr. When combined with Assumption A, the horizontal gradient ∂Xt / ∂L of the movement vector of the laser light receiving device 202 should be traced with a certain distance behind the trajectory of the horizontal inclination angle of the front conductor front cylinder 104 with respect to the horizontal planning line. become. When combined with Assumption A,
Assuming that an integer obtained by rounding off the first decimal point of (Lf + 2Lr) / (2Lp) is nd, the above assumption B can be expressed by the following equation.

[0051]

[Equation 6]

Combining equation (12) with the state change models of equations (1) and (11), a Kalman filter having no external input term is used to determine the position / posture of the leading conductor 101 and each of the ARX models relating to horizontal rotation. The coefficient is obtained, and further, the state equation expression for predicting the subsequent motion and the feedback control law for the direction correction control based on this can be immediately derived. The method of constructing the sequential state variable vector estimator 407 using the Kalman filter in this case will be described below.

Firstly, following the state variable vector to be estimated as ^{XH ∈R (nd + 2 + na} + nb) defining a × ^1.

[0054]

[Equation 7]

At this time, the expressions (1) and (11) are changed to the expression (1
It can be represented by the following equation of state under 2).

[0056]

[Equation 8]

In the equation (14), O _i × _j and I k respectively represent a zero matrix of row i and column j and a k-dimensional unit matrix.
ωH [k] is E (ωH) = 0, E (ωH [k] ω T H [k ']) = ΣωHδ
It represents the system noise of kk '. Here, E (•) means an expected value, and δkk 'means Kronecker δ.

On the other hand, the horizontal displacement Xt of the laser light receiving device 202 when viewed from the horizontal planning line is the horizontal displacement Xh of the direction correcting portion 103 when viewed from the horizontal planning line and the horizontal inclination angle θH of the front conductor front cylinder 104 with respect to the horizontal planning line. If the horizontal inclination angle θHr of the front conductor rear cylinder 105 with respect to the planned line is used, it is expressed by the following equation. Xt = Xh-LfθH-LrθHr (15)

By combining the equation (15), the equation (8) regarding the center bending angle φ of the front conductor front cylinder 104, and the hypothetical equation (12) regarding the differential value of the displacement of the laser receiving device 202, the following observation equation is obtained. Be guided.

[0060]

[Equation 9]

In equation (16), υH [k] is E (υH) =
0, E (υH [k] υ T H [k '] represents the observation noise) = ΣυHδkk'. Now E (ωH [k] υ ^T H [k ']) ＝ O
Assuming _{(nd + 2 + na + nb)} × ₃ , the following Kalman filter is configured, and the estimated value hat XH [k] of the unknown variable vector XH [k] can be obtained. Hereinafter, the “∧” added above the letters is called a hat.

[0062]

[Equation 10]

[0063]

[Equation 11]

[0064]

[Equation 12]

[0065]

[Equation 13]

[0066]

[Equation 14]

Equations (17) and (18) are filter equations, Equation (19) is a Kalman gain, Equations (20) and (2)
1) is the error covariance matrix equation.

On the other hand, the horizontal position detection of the buried pipe propulsion machine at the time of curved construction where the laser target method cannot be used is performed by the induction magnetic field generator 3 built in the buried pipe propulsion machine as shown in FIG.
By detecting the magnetic field generated by 01 with the induction magnetic field detection device 302, the displacement XD (position of the induction magnetic field generation device 301) with respect to the horizontal planning line is obtained.

At this time, if the coil position XD detected for each length of about one buried pipe is corrected based on the rolling information of the leading conductor 101 and then interpolated by an appropriate curve, it corresponds to a laser receiving portion. The horizontal displacement of the position and its differential value can be sequentially obtained. If these are provided as the data vector of Expression (16), the state estimation can be performed by the above-mentioned Kalman filter.

Next, the configuration of the horizontal state estimating device 402 shown in FIG. 4 will be described. The horizontal state estimation device 402 includes a machine state equation generation unit 403, a laser light receiving unit horizontal displacement differentiator 406, and a sequential state variable vector estimator 407. The machine state equation generation unit 403 includes a leading conductor horizontal turning model 404 and a leading conductor horizontal propulsion direction model 405.

The direction control device for propelling the lead conductor 101 and the buried pipe 108 in the direction of the horizontal planning line based on the horizontal correction amount η H is the horizontal state estimation device 40 described above.
2, an observation signal switch 401, and a horizontal controller (not shown).

The horizontal planning line information indicating the direction of the horizontal planning line is set by the operator and is input to the horizontal state estimating device 402 and a horizontal controller (not shown). The laser light receiving device 202 provided in the buried pipe propulsion device outputs an observation signal indicating the horizontal displacement Xt of its own device with respect to the laser light (planned line). The induction magnetic field detection device 302 installed on the ground outputs an observation signal indicating the horizontal displacement XD with respect to the planned line of the induction magnetic field generation device 301 provided in the buried pipe propulsion device.

The observation signal switch 401 selectively outputs the horizontal displacement observation signal output from the laser light receiving device 202 in the case of straight line construction, and the horizontal displacement output from the induced magnetic field detection device 302 in the case of curved construction. Selectively output the observation signal.

The horizontal direction state estimating device 402 detects the output signal of the observation signal switch 401 and the horizontal direction of the front conductor front cylinder 104 and the front conductor rear cylinder 105 output from the center bending angle sensor 204 of the buried pipe propulsion machine. An input signal is a center bending angle signal indicating a relative angle (center bending angle) φ, a horizontal correction amount ηH output from a horizontal controller at the present time, and the horizontal planned line information.

The laser light receiving section horizontal displacement differentiator 406 determines, based on the output of the observation signal switching device 401, in the case of straight line construction.
The differential value ∂Xt / ∂L obtained by differentiating the horizontal displacement Xt of the laser receiving device with respect to the horizontal planning line with respect to the propulsion distance L is obtained. Further, the laser light receiving unit horizontal displacement differentiator 406 corrects the output of the observation signal switch 401 (horizontal displacement XD with respect to the planned line of the induction magnetic field generator 301) based on the rolling information of the leading conductor 101 in the case of curve construction. And then interpolate,
A displacement corresponding to the horizontal displacement Xt is obtained, and the obtained displacement is differentiated with respect to the propulsion distance L to obtain a differential value.

Then, the sequential state variable vector estimator 407 of the horizontal direction state estimating device 402 has an input obtained for each unit propulsion length Lp when the middle bending angle φ is an output variable and the horizontal direction correction amount ηH is an input variable. Lead conductor horizontal turning model 4 in which the relationship between variables and output variables is described as an ARX model
04 (equation (1)), a term obtained by multiplying the horizontal turning curvature ρH of the front conductor front cylinder 104 by the length Lf of the front conductor front cylinder 104, and the horizontal turning curvature ρHr of the front conductor rear cylinder 105 to the front conductor rear cylinder. The sum of the term multiplied by the length Lr of 105 and the term of the differential value obtained by differentiating the horizontal displacement Xt of the laser light receiving device 202 with respect to the horizontal planning line with respect to the propulsion distance L is the horizontal propulsion direction of the front conductor 101. Horizontal propulsion direction model 405 (equation (6))
And the output of the laser light receiving unit horizontal displacement differentiator 406 and the input signal, the front conductor 10 for the horizontal planning line.
1 horizontal position / posture parameters θH [k], Xh [k] and ARX
Model parameters aH1, ..., aHna, bH1, ...
., BHnb and online estimation (that is, at the same time as the propulsion of the buried pipe propulsion machine).

The horizontal controller (not shown) uses the horizontal state variable vector estimation value estimated by the sequential state variable vector estimator 407 to calculate the next horizontal correction amount η.
Calculate H. The horizontal correction amount ηH calculated by the horizontal controller is input to the buried pipe propulsion device, and the direction correction jack 111 is driven based on the horizontal correction amount ηH. In this way, direction control is performed so that the leading conductor 101 advances in the direction of the horizontal planning line.

The horizontal state estimating device 402 can be realized by a computer having an arithmetic unit, a storage device and an interface, and a program for controlling these hardware resources. In such a computer, the machine state equation generation unit 403 is stored in the storage device. As described above, the state estimation of the buried pipe propulsion device can be realized with high accuracy and without depending on the skill level of the operator.

[Second Embodiment] Next, a vertical direction estimation device for estimating the vertical position / orientation of the buried pipe propulsion device will be described. FIG. 7 is a block diagram showing the configuration of the vertical direction state estimation device according to the second embodiment of the present invention. In order to describe a concrete configuration method of each element of FIG. 7, first, the front conductor 10 with respect to the vertical correction amount of the buried pipe propulsion machine is described.
A method of designing a machine state change model representing the turning characteristic of No. 1 will be described. After that, the online estimation method of the state change model parameter in the vertical direction of the buried pipe propulsion device by each of the laser target method during straight line construction and the induced magnetic field detection method during curved construction will be described.

FIG. 8 shows the definition of the position and angle of each part for expressing the vertical motion of the buried pipe propulsion device. The vertical displacement of the tip of the cutter head 102 as seen from the vertical planning line (base line) is Yc, and the direction correction unit 10 as seen from the vertical planning line
The vertical displacement of 3 is Yh, and the middle bent part 10 is seen from the vertical planning line.
The vertical displacement of 6 is Ym, and the vertical displacement of the laser receiving device 202 seen from the vertical planning line is Yt.

The front conductor front cylinder 10 for the vertical planning line
The inclination angle (pitching angle) of 4 is θV, the inclination angle of the front conductor rear cylinder 105 with respect to the vertical planning line is θVr, and the front conductor front cylinder 104.
Let .eta.V be the vertical correction amount that is the tilt angle (head angle) of the direction correction unit 103 with reference to.

With respect to the vertical turning motion of the front conductor 101, the above-described behavior at the time of horizontal turning applies as it is. However, for the vertical movement, since the vertical turning curvature ρV can be calculated by the pitching meter built in the front conductor front cylinder 104, the ARX model as the following equation relating to this can be used. ρV [k + 1] + aV1ρV [k] + ・ ・ ・ + aVnaρV [k-na + 1] = bV1ηV [k] + ・ ・ ・ + bVnbηV [k-nb + 1] + wV [k] ・ ・ ・ (22)

In the equation (22), aVi (i = 1, ...
, Na), bVj (j = 1, ..., Nb) are parameters relating to the turning characteristics of the buried pipe propulsion machine that change depending on the properties of the surrounding ground, and wV [k] is the white system noise that acts on the above dynamics. I mean.

For the modeling of the propulsion direction of the leading conductor 101, the same idea as the method of calculating the movement vector of each part associated with the horizontal turning motion in FIG. 6 can be used.
After all, the following equation is derived for the propulsion direction in the vertical movement of the leading conductor 101. ∂Yh / ∂L = LfρV + LrρVr + ∂Yt / ∂L (23)

Here, ρV and ρVr are vertical turning curvatures of the front conductor front cylinder 104 and the front conductor rear cylinder 105, respectively, and Yh and Yt are vertical displacements of the direction correcting portion 103 and the laser receiving device 202 with respect to the vertical planned line. With the above, the leading conductor 10
A basic motion model for vertical swivel motion and propulsion direction of 1 was introduced.

Since the pitching data is directly obtained for the movement in the vertical direction, the posture of the leading conductor 101 with respect to the vertical planning line and the estimated value of the coefficient of the ARX model can be immediately obtained. Actually, if the first term on the left side of the equation (22) is linearly approximated by the backward difference with respect to the inclination angle θV of the front conductor front cylinder 104, the following state change model regarding the vertical inclination angle of the front conductor 101 with respect to the vertical planning line is obtained. Is guided.

[0087]

[Equation 15]

However, in order to simultaneously estimate the vertical displacement and the like of the direction correcting unit 103 and the like, it is necessary to introduce a further condition as in the horizontal movement. That is, it is assumed that the same assumption as <Assumption A> described above holds for the vertical motion. <Assumption A '> Regarding the vertical movement of the front conductor rear cylinder 105,
It behaves so that the trajectory of the angle of the front conductor front cylinder 104 with respect to the vertical planning line is traced with a delay of a certain distance.

That is, if the vertical angle of the front conductor front cylinder 104 with respect to the vertical planning line at a certain point is θV,
When the center position of the front conductor front cylinder 104 at this time then passes through the center position of the front conductor rear cylinder 105, the front conductor rear cylinder 1
The inclination angle θVr of 05 corresponds to θV. Similarly to the above, if the integer rounded to the first decimal place of (Lf + Lr) / (2Lp) is m d, the above assumption A ′ can be expressed by the following equation.

[0090]

[Equation 16]

At this time, the following equation is considered.

[0092]

[Equation 17]

By considering the equation (26), the following state change model regarding the vertical displacement Yh of the direction correcting unit 103 can be obtained.

[0094]

[Equation 18]

Here, if the equations (24) and (27) are combined, a leading edge is formed by constructing a Kalman filter having the vertical gradient ∂Yt / ∂L of the movement vector of the laser receiving device 202 as an external input. Parameters (aV1, ..., aVna, bV1, ..., b) of the ARX model relating to the position and orientation (θV [k], Yh [k]) of the body 101 and the turning motion.
It is possible to configure the sequential state variable vector estimator 507 that estimates Vnb) online.

On the other hand, the same assumption is made for the vertical gradient ∂Yt / ∂L of the movement vector of the laser receiving device 202 as in the horizontal direction. <Assumption B ′> The vertical gradient ∂Yt / ∂L of the movement vector of the laser light receiving device 202 changes so as to trace the locus of the vertical inclination angle of the front conductor rear cylinder 105 with respect to the vertical planning line with a certain delay. .

That is, assuming that the inclination angle of the front conductor rear cylinder 105 with respect to the vertical planning line at a certain point is θVr, the laser receiver 202 moves at the center position of the front conductor rear cylinder 105 at this time. The vertical gradient ∂Yt / ∂L of the vector is assumed to coincide with θVr. When combined with the assumption A ′, the vertical gradient ∂Yt / ∂L of the movement vector of the laser light receiving device 202 traces the locus of the vertical inclination angle of the front conductor front cylinder 104 with respect to the vertical planning line with a certain delay. It will be. When combined with the assumption A ', the above assumption B'can be expressed by the following equation, where nd is an integer obtained by rounding off the first decimal place of (Lf + 2Lr) / (2Lp).

[0098]

[Formula 19]

Combining equation (28) with the state change models of equations (24) and (27), a Kalman filter having no external input term is used to determine the position / posture of the lead conductor 101 and each of the ARX models relating to vertical turning. The coefficient is obtained, and further, the state equation expression for predicting the subsequent motion and the feedback control law for the direction correction control based on this can be immediately derived. The method of constructing the sequential state variable vector estimator 507 using the Kalman filter in this case will be described below.

First, the state variable vector XH ∈ R ^{(nd + 2 + na + nb + 1)} × ¹ to be estimated is defined as follows.

[0101]

[Equation 20]

At this time, the equations (24) and (27) can be expressed by the following state equations under the equation (28).

[0103]

[Equation 21]

The state variable vector expressed by the equation (29) includes an unknown amount of pitch meter offset p0. In addition, ωV [k] is E (ωV) = 0, E (ωV [k] ω T V
[k ']) = system noise of ΣωVδkk'.

On the other hand, the vertical displacement Yt of the laser receiving device 202 as viewed from the vertical planning line is perpendicular to the vertical displacement Yh of the direction correcting portion 103 as viewed from the vertical planning line and the vertical inclination angle θV of the front conductor front cylinder 104 with respect to the vertical planning line. If the vertical inclination angle θVr of the front conductor rear cylinder 105 with respect to the planned line is used, it is expressed by the following equation. Yt = Yh-LfθV-LrθVr (31)

Formula (31) and pitching meter output p (= θV
By combining + p0) with the hypothetical expression (28) regarding the differential value of the displacement of the laser light receiving device 202, the following observation expression is derived.

[0107]

[Equation 22]

In the equation (32), υV [k] is E (υV) =
0, E (υV [k] υ^TV [k ']) = ΣυVδkk'
It represents. Now, E (ωV [k] υ^TV [k ']) = O
_{(nd + 2 + na + nb + 1)}× ₃Assuming that
Of the unknown variable vector XV [k]
It becomes possible to obtain the value hat XV [k].

[0109]

[Equation 23]

[0110]

[Equation 24]

[0111]

[Equation 25]

[0112]

[Equation 26]

[0113]

[Equation 27]

Equations (33) and (34) are filter equations, Equation (35) is a Kalman gain, Equations (36) and (3)
7) is the error covariance matrix equation.

On the other hand, in detecting the vertical position of the buried pipe propulsion machine at the time of curved construction where the laser target method cannot be used, as shown in FIG. 3, the pressure sensor 303 built into the buried pipe propulsion machine detects a vertical displacement ( Depth data) Ys is required.

At this time, the depth data Ys detected by the pressure sensor 303 for each unit propulsion length Lp is obtained as the front conductor 101.
After the correction is performed based on the rolling information of 1, the vertical displacement of the position corresponding to the laser light receiving portion and its differential value can be sequentially obtained by interpolating with an appropriate curve. If these are provided as the data vector of Expression (32), the state estimation can be performed by the above-mentioned Kalman filter.

Next, the configuration of the vertical direction state estimation device 502 shown in FIG. 7 will be described. The vertical direction state estimation device 502 includes a machine state equation generation unit 503, a laser light receiving unit vertical displacement differentiator 506, and a sequential state variable vector estimator 507. The machine state equation generation unit 503 includes a leading conductor vertical turning model 504 and a leading conductor vertical propulsion direction model 505.

The direction control device for propelling the lead conductor 101 and the buried pipe 108 in the direction of the vertical planned line based on the vertical correction amount ηV is the vertical state estimation device 50 described above.
2, an observation signal switch 501 and a vertical controller (not shown).

The vertical planning line information indicating the direction of the vertical planning line is set by the operator and input to the vertical direction state estimating device 502 and a vertical direction controller (not shown). The laser light receiving device 202 provided in the buried pipe propulsion device outputs an observation signal indicating the vertical displacement Yt of the device itself with respect to the laser light (planned line). The pressure sensor 303 provided in the buried pipe propulsion device is based on the difference between the reference hydraulic pressure measured by the reference hydraulic pressure measuring device 304 on the ground and the hydraulic pressure measured by the own sensor, and is perpendicular to the planned line of the own sensor. An observation signal indicating the displacement Ys is output.

The observation signal switch 501 selectively outputs the vertical displacement observation signal output from the laser light receiving device 202 in the case of straight line construction, and the pressure sensor 30 in the case of curved construction.
The vertical displacement observation signal output from 3 is selectively output.

The vertical direction state estimating device 502 has an output signal from the observation signal switching device 501 and an inclination angle (pitching angle) of the front conductor front cylinder 104 with respect to the vertical planning line output from the pitching meter 203 of the buried pipe propulsion device. The pitching angle signal indicating p (= θV + p0), the current vertical correction amount ηv output from the vertical controller, and the vertical planned line information are used as input signals.

The laser light receiving unit vertical displacement differentiator 506, based on the output of the observation signal switch 501, in the case of straight line construction,
A differential value ∂Yt / ∂L obtained by differentiating the vertical displacement Yt of the laser receiving device with respect to the vertical planning line with respect to the propulsion distance L is obtained. In addition, the laser light receiving unit vertical displacement differentiator 506 outputs the output of the observation signal switch 401 (vertical displacement Ys with respect to the planned line of the pressure sensor 303) to the front conductor 10 in the case of curve construction.
After making a correction based on the rolling information of 1, the displacement corresponding to the vertical displacement Yt is obtained, and the obtained displacement is the propulsion distance L.
Differentiate with respect to.

Then, the sequential state variable vector estimator 507 of the vertical direction state estimation device 502 uses the front conductor front cylinder 104.
The vertical turning curvature ρV of
Is the input variable, the front conductor vertical turning model 504 (equation (22)) describing the relationship between the input variable and the output variable obtained for each unit propulsion length Lp as the ARX model, and the front conductor front cylinder 104 vertical A term obtained by multiplying the turning curvature ρV by the length Lf of the front conductor front tube 104, a term obtained by multiplying the vertical turning curvature ρVr of the front conductor rear tube 105 by the length Lr of the front conductor rear tube 105, and a term of the laser receiving device 202. Vertical displacement Yt with respect to the vertical planning line
Is differentiated with respect to the driving distance L by the term of the differential value,
Based on the front conductor vertical propulsion direction model 505 (equation (23)) which is the vertical propulsion direction of the front conductor 101, the output of the laser light receiving unit vertical displacement differentiator 506, and the input signal, the front conductor for the vertical planning line 101 vertical position / orientation parameters θV [k], Yh [k] and ARX model parameter aV1,
..., aVna, bV1, ..., bVnb are estimated online.

The vertical controller (not shown) uses the vertical state variable vector estimated value estimated by the sequential state variable vector estimator 507 to calculate the next vertical correction amount η.
Calculate V. The vertical correction amount ηV calculated by the vertical controller is input to the buried pipe propulsion device, and the direction correction jack 111 is driven based on the vertical correction amount ηV. In this way, direction control is performed so that the leading conductor 101 advances in the direction of the vertical planning line.

The vertical state estimating device 502 can be realized by a computer having an arithmetic unit, a storage device and an interface, and a program for controlling these hardware resources. In such a computer, the machine state equation generation unit 503 is stored in the storage device. As described above, the state estimation of the buried pipe propulsion device can be realized with high accuracy and without depending on the skill level of the operator.

[0126]

According to the present invention, the horizontal displacement, the center bending angle, and the horizontal correction amount are input, and the horizontal of the front conductor with respect to the horizontal planning line is set based on the horizontal turning model formula and the horizontal propulsion direction model formula. By estimating the position / orientation parameters and the parameters of the ARX model at the same time as the propulsion of the buried pipe propulsion machine, the state is estimated online from various observation signals based on the state change model of the lead conductor of the buried pipe excavator. Since it is possible to obtain the turning characteristics of the buried pipe propulsion machine that matches the position and posture of the conductor with respect to the horizontal planning line and the properties of the surrounding ground, it is possible to determine whether the operator is skilled or unskilled. In addition, it is possible to perform a homogeneous and highly accurate state estimation of the buried pipe propulsion device, and it is possible to provide prediction information ahead of the present.

In the horizontal turning model formula and the horizontal propulsion direction model formula, it is assumed that the horizontal tilt angle of the front conductor rear cylinder with respect to the horizontal planning line is equal to a value obtained by delaying the horizontal tilt angle of the front conductor front cylinder by a certain distance. The horizontal position / orientation parameter of the front conductor with respect to the horizontal planning line and the parameter of the ARX model can be estimated at the same time based on the state equation obtained by

Further, the state equation obtained by assuming that the differential value obtained by differentiating the horizontal displacement of the laser light receiving device with respect to the horizontal planning line with respect to the propulsion distance is equal to the value obtained by delaying the horizontal tilt angle of the front conductor front cylinder by a certain distance. Based on this, it is possible to simultaneously estimate the horizontal position / orientation parameter of the leading conductor with respect to the horizontal planning line and the parameter of the ARX model.

Further, the laser target method is used by using a value obtained by interpolating the horizontal displacement with respect to the horizontal planning line of the induction magnetic field generator provided in the leading conductor, instead of the horizontal displacement with respect to the horizontal planning line of the laser receiving device. Even when a curved line cannot be constructed, it is possible to simultaneously estimate the horizontal position / orientation parameter of the conductor and the parameter of the ARX model.

Further, the pitching angle, the vertical displacement, and the vertical direction correction amount are input, and based on the vertical turning model formula and the vertical propulsion direction model formula, the vertical position / posture parameters of the front conductor with respect to the vertical planning line and the ARX model. By estimating the parameters of and at the same time as the propulsion of the buried pipe propulsion machine, the state is estimated online from various observation signals based on the state change model of the lead conductor of the buried pipe excavator. It is possible to obtain the swivel characteristics of the buried pipe propulsion machine that match the position and orientation of the conductor to the vertical planning line and the properties of the surrounding ground, regardless of whether the operator is an expert or an unskilled operator. A homogeneous and highly accurate state estimation can be performed, and the prediction information ahead of the present can be provided.

In the vertical turning model formula and the vertical propulsion direction model formula, it is assumed that the vertical inclination angle of the front conductor rear cylinder with respect to the vertical planning line is equal to a value obtained by delaying the vertical inclination angle of the front conductor front cylinder by a certain distance. The vertical position / orientation parameter of the front conductor with respect to the vertical planning line and the parameter of the ARX model can be simultaneously estimated based on the equation of state obtained by

A state equation obtained by assuming that the differential value obtained by differentiating the vertical displacement of the laser receiving device with respect to the vertical planning line with respect to the driving distance is equal to the value obtained by delaying the vertical inclination angle of the front conductor rear cylinder by a certain distance. Based on this, it is possible to simultaneously estimate the vertical position / orientation parameter of the leading conductor with respect to the vertical planning line and the parameter of the ARX model.

The laser target method is used by using the value obtained by interpolating the vertical displacement with respect to the vertical planning line of the induction magnetic field generator provided in the leading conductor, instead of the vertical displacement with respect to the vertical planning line of the laser receiving device. The vertical position / orientation parameters of the leading conductor and the parameters of the ARX model can be estimated at the same time even when the curve cannot be constructed.

[Brief description of drawings]

FIG. 1 is a side view showing an overall configuration of an excavation-type buried pipe propulsion machine that is a control target of a direction control device of the present invention.

FIG. 2 is a block diagram showing a configuration of a position detection system by a laser target method, which is a position detection system at the time of straight-line construction of an excavation-type buried pipe propulsion machine.

FIG. 3 is a block diagram showing configurations of a horizontal position detection system by an induction magnetic field detection device and a vertical position detection system by a hydraulic pressure difference method, which are position detection systems at the time of curve construction of an excavation-type buried pipe propulsion machine.

FIG. 4 is a block diagram showing a configuration of a horizontal state estimation device according to the first embodiment of the present invention.

FIG. 5 is an explanatory diagram showing a method of defining a coordinate system for describing a horizontal state change model of a buried pipe propulsion device.

FIG. 6 is a diagram showing a movement vector of each part of the leading conductor associated with the turning motion of the buried pipe propulsion device.

FIG. 7 is a block diagram showing a configuration of a vertical direction state estimation device according to a second embodiment of the present invention.

FIG. 8 is an explanatory diagram showing a method of defining a coordinate system for describing a vertical state change model of a buried pipe propulsion device.

[Explanation of symbols]

101 ... Lead conductor, 102 ... Cutter head, 103 ... Direction correction part, 104 ... Lead conductor front cylinder, 105 ... Lead conductor rear cylinder,
Reference numeral 106 ... Middle bent portion, 107 ... Original pushing device, 108 ... Buried pipe, 109 ... Ground, 110 ... Start resisting, 111 ... Direction correction jack, 201 ... Laser theodolite, 202 ... Laser receiving device, 203 ... Pitching meter, 204 ... Middle bending angle sensor, 205 ... Rolling gauge, 301 ... Induction magnetic field generation device, 302 ... Induction magnetic field detection device, 303 ... Pressure sensor, 304 ... Reference hydraulic pressure measurement device, 401 ... Observation signal switch, 402 ... Horizontal direction Estimating device, 403 ... Machine state equation generation unit, 404 ... Lead conductor horizontal turning model, 40
5 ... Leading conductor horizontal propulsion direction model, 406 ... Laser light receiving unit horizontal displacement differentiator, 407 ... Sequential state variable vector estimator, 501 ... Observation signal switcher, 502 ... Vertical direction state estimating device, 503 ... Machine state equation generating unit , 504 ... Lead conductor vertical turning model, 505 ... Lead conductor vertical propulsion direction model, 506 ... Laser light receiving unit vertical displacement differentiator, 507 ... Sequential state variable vector estimator.

Claims (16)

[Claims] 1. A front conductor comprising a front conductor front cylinder, a front conductor rear cylinder connected to the front conductor front cylinder via an intermediate bent portion, and a cutter head provided at a tip of the front conductor front cylinder. A state estimation method for estimating a horizontal position / posture of a buried pipe propulsion device in a buried pipe propulsion device for propelling a buried pipe successively added to the rear of the leading conductor in a direction of a predetermined horizontal planning line, When the output variable is the center bending angle which is the horizontal relative angle between the front cylinder and the front conductor rear cylinder, and the input variable is the horizontal correction amount which is the horizontal relative angle between the cutter head and the front conductor front cylinder. , A procedure of presetting a horizontal turning model expression that describes the relationship between the input variable and the output variable obtained for each unit propulsion length as an ARX model, and the horizontal turning curvature of the front conductor front tube to the front conductor front tube. The term multiplied by the length of Differentiate the term obtained by multiplying the horizontal turning curvature of the front conductor rear cylinder by the length of the front conductor rear cylinder and the horizontal displacement of the laser receiving device provided at the rear end of the front conductor rear cylinder with respect to the horizontal plan line with respect to the propulsion distance. The sum of the derivative value term and
A procedure for presetting a horizontal propulsion direction model expression that is the horizontal propulsion direction of the lead conductor, and the horizontal displacement model expression and the horizontal propulsion direction using the horizontal displacement, the center bending angle, and the horizontal correction amount as inputs. Executing a state variable vector estimation procedure for estimating the horizontal position / orientation parameter of the leading conductor with respect to a horizontal planning line and the parameter of the ARX model simultaneously with the propulsion of the buried pipe propulsion machine based on the model equation. A method for estimating the condition of a buried pipe propulsion device. 2. The method for estimating the state of a buried pipe propulsion device according to claim 1, wherein the state variable vector estimation procedure is performed in the horizontal turning model equation and the horizontal propulsion direction model equation after the front conductor with respect to a horizontal planning line. Based on the equation of state obtained by assuming that the horizontal tilt angle of the cylinder is equal to a value obtained by delaying the horizontal tilt angle of the front conductor front cylinder by a certain distance, the horizontal position / orientation parameter of the front conductor with respect to the horizontal planning line. And the above A
A method for estimating the state of a buried pipe propulsion device, which comprises simultaneously estimating the parameters of an RX model. 3. The embedded pipe propulsion machine state estimation method according to claim 2, wherein in the state variable vector estimation procedure, a differential value obtained by differentiating a horizontal displacement of the laser light receiving device with respect to a horizontal planning line with respect to a propulsion distance is used as the lead. Based on the equation of state obtained by assuming that the horizontal tilt angle of the front cylinder is equal to the value obtained by delaying the horizontal distance by a certain distance, the horizontal position / posture parameter of the leading conductor with respect to the horizontal planning line and the parameter of the ARX model are calculated. A method for estimating the state of a buried pipe propulsion device, which is characterized by simultaneous estimation. 4. The method for estimating the state of a buried pipe propulsion device according to claim 1, wherein instead of the horizontal displacement of the laser receiving device with respect to the horizontal planning line, the horizontal planning line of the induction magnetic field generating device provided in the leading conductor. A method for estimating the state of a buried pipe propulsion device, which uses a value obtained by interpolating the horizontal displacement of 5. A front conductor comprising a front conductor front cylinder, a front conductor rear cylinder connected to the front conductor front cylinder via an intermediate bent portion, and a cutter head provided at a tip of the front conductor front cylinder. A state estimation method for estimating a vertical position / posture of a buried pipe propulsion device in a buried pipe propulsion device for propelling a buried pipe successively added to the rear of the leading conductor in a direction of a predetermined vertical planning line, When the vertical turning curvature of the body front cylinder is used as an output variable and the vertical direction correction amount that is the vertical relative angle between the cutter head and the front conductor front cylinder is used as an input variable, the input variable obtained for each unit propulsion length A step of presetting a vertical turning model expression in which a relationship with the output variable is described as an ARX model; a term obtained by multiplying a vertical turning curvature of the front conductor front cylinder by a length of the front conductor front cylinder; Before the vertical turning curvature of the rear cylinder A term obtained by multiplying the length of the lead body after barrel, the sum of the term of the differential value obtained by differentiating with respect to promote distance vertical displacement relative to the vertical plan line of the laser light receiving device provided at the rear end of the leading body after pipe,
Input a procedure for presetting a vertical propulsion direction model formula that is the vertical propulsion direction of the lead conductor, and a pitching angle, which is an inclination angle of the front conductor front cylinder with respect to a vertical plan line, the vertical displacement, and the vertical correction amount. Based on the vertical turning model formula and the vertical propulsion direction model formula, the vertical position / attitude parameter of the leading conductor with respect to the vertical planning line and the parameter of the ARX model are estimated simultaneously with the propulsion of the buried pipe propulsion machine. And a state variable vector estimating procedure for performing a state estimating method for a buried pipe propulsion machine. 6. The state estimation method for a buried pipe propulsion device according to claim 5, wherein the state variable vector estimation procedure is performed in the vertical turning model equation and the vertical propulsion direction model equation after the front conductor after the front planning line. Based on the equation of state obtained by assuming that the vertical inclination angle of the cylinder is equal to the value obtained by delaying the vertical inclination angle of the front conductor front cylinder by a certain distance, the vertical position / orientation parameter of the front conductor with respect to the vertical planning line. And the above A
A method for estimating the state of a buried pipe propulsion device, which comprises simultaneously estimating the parameters of an RX model. 7. The buried pipe propulsion machine state estimation method according to claim 6, wherein in the state variable vector estimation procedure, a differential value obtained by differentiating a vertical displacement of the laser light receiving device with respect to a vertical planning line with respect to a propulsion distance is used as the lead. Based on the equation of state obtained by assuming that the vertical inclination angle of the front cylinder is equal to a value obtained by delaying the vertical distance by a certain distance, the vertical position / posture parameter of the leading conductor with respect to the vertical planning line and the parameter of the ARX model are calculated. A method for estimating the state of a buried pipe propulsion device, which is characterized by simultaneous estimation. 8. The method of estimating the state of a buried pipe propulsion device according to claim 5, wherein instead of the vertical displacement with respect to the vertical planning line of the laser receiving device, the vertical planning line of the induction magnetic field generating device provided in the leading conductor. A method for estimating the state of a buried pipe propulsion machine, which uses a value obtained by interpolating the vertical displacement of 9. A front conductor comprising a front conductor front cylinder, a front conductor rear cylinder connected to the front conductor front cylinder through an intermediate bent portion, and a cutter head provided at a tip of the front conductor front cylinder. A state estimation device for estimating the horizontal position / posture of the embedded pipe propulsion device, in the embedded pipe propulsion device for propelling the embedded pipe sequentially added to the rear of the leading conductor in the direction of a predetermined horizontal planning line, When the output variable is the center bending angle which is the horizontal relative angle between the front cylinder and the front conductor rear cylinder, and the input variable is the horizontal correction amount which is the horizontal relative angle between the cutter head and the front conductor front cylinder. A horizontal turning model describing the relationship between the input variable and the output variable obtained for each unit propulsion length as an ARX model; and the horizontal turning curvature of the front conductor front cylinder multiplied by the length of the front conductor front cylinder. And the horizontal rotation of the front conductor rear cylinder Between a term obtained by multiplying the curvature by the length of the front conductor rear cylinder, and a term of a differential value obtained by differentiating the horizontal displacement with respect to the horizontal plan line of the laser receiving device provided at the rear end of the front conductor rear cylinder with respect to the propulsion distance. Total
Based on the horizontal turning model formula and the horizontal propulsion direction model formula, with the horizontal propulsion direction model as the horizontal propulsion direction of the lead conductor, the horizontal displacement, the center bending angle, and the horizontal direction correction amount being input. And a sequential state variable vector estimator for estimating the horizontal position / posture parameters of the preceding conductor with respect to a horizontal planning line and the parameters of the ARX model at the same time as the propulsion of the embedded pipe propulsion machine. State estimation device. 10. The buried pipe propulsion machine state estimating apparatus according to claim 9, wherein the sequential state variable vector estimator is the forward conductor with respect to a horizontal planning line in the horizontal turning model equation and the horizontal propulsion direction model equation. Based on the equation of state obtained by assuming that the horizontal inclination angle of the rear cylinder is equal to the value obtained by delaying the horizontal inclination angle of the front conductor by a certain distance, the horizontal position / posture of the front conductor with respect to the horizontal planning line. A state estimation device for a buried pipe propulsion device, which simultaneously estimates a parameter and a parameter of the ARX model. 11. The buried pipe propulsion machine state estimating apparatus according to claim 10, wherein the sequential state variable vector estimator differentiates a horizontal displacement of the laser receiving apparatus with respect to a horizontal planning line with respect to a propulsion distance. Based on the equation of state obtained by assuming that the horizontal inclination angle of the front conductor front cylinder is equal to a value delayed by a certain distance, the horizontal position / orientation parameter of the front conductor with respect to a horizontal planning line and the parameters of the ARX model. A state estimation device for a buried pipe propulsion device, which is characterized by simultaneously estimating 12. The buried pipe propulsion machine state estimating apparatus according to claim 9, wherein the sequential state variable vector estimator is provided on the leading conductor instead of a horizontal displacement of the laser receiving apparatus with respect to a horizontal planning line. A state estimation device for a buried pipe propulsion device, which uses a value obtained by interpolating a horizontal displacement of the induction magnetic field generator with respect to a horizontal planning line. 13. A front conductor comprising a front conductor front cylinder, a front conductor rear cylinder connected to the front conductor front cylinder via an intermediate bent portion, and a cutter head provided at the tip of the front conductor front cylinder. A state estimation device for estimating a vertical position / posture of a buried pipe propulsion device in a buried pipe propulsion device for propelling a buried pipe successively added to the rear of the leading conductor in a direction of a predetermined vertical planning line, When the vertical turning curvature of the body front cylinder is used as an output variable and the vertical direction correction amount that is the vertical relative angle between the cutter head and the front conductor front cylinder is used as an input variable, the input variable obtained for each unit propulsion length A vertical swirl model describing the relationship with the output variable as an ARX model, a term obtained by multiplying the vertical swirl curvature of the front conductor front cylinder by the length of the front conductor front cylinder, and the vertical swirl curvature of the front conductor rear cylinder. The length of the front conductor rear cylinder A term obtained by multiplying the sum of the term of the differential value obtained by differentiating with respect to promote distance vertical displacement relative to the vertical plan line of the laser light receiving device provided at the rear end of the leading body after pipe,
A vertical propulsion direction model that is the vertical propulsion direction of the lead conductor, a pitching angle that is an inclination angle of the front conductor front cylinder with respect to a vertical plan line, the vertical displacement, and the vertical direction correction amount, and the vertical turning model. Sequential state variable vector estimation for estimating vertical position / posture parameters of the leading conductor with respect to a vertical planning line and parameters of the ARX model simultaneously with the propulsion of the buried pipe propulsion machine based on the equation and the vertical propulsion direction model equation. State estimating device for a buried pipe propulsion device, comprising: 14. The state estimating apparatus for a buried pipe propulsion device according to claim 13, wherein the sequential state variable vector estimator is the front conductor with respect to a vertical planning line in the vertical turning model formula and the vertical propulsion direction model formula. Based on the equation of state obtained by assuming that the vertical inclination angle of the rear cylinder is equal to the value obtained by delaying the vertical inclination angle of the front conductor front cylinder by a certain distance, the vertical position / posture of the front conductor with respect to the vertical planning line. A state estimation device for a buried pipe propulsion device, which simultaneously estimates a parameter and a parameter of the ARX model. 15. The buried pipe propulsion machine state estimation apparatus according to claim 14, wherein the sequential state variable vector estimator is a differential value obtained by differentiating a vertical displacement of the laser receiving apparatus with respect to a vertical planning line with respect to a propulsion distance. Based on the equation of state obtained by assuming that the vertical inclination angle of the front conductor front cylinder is equal to a value obtained by delaying the vertical distance by a certain distance, the vertical position / orientation parameter of the front conductor with respect to the vertical planning line and the parameter of the ARX model A state estimation device for a buried pipe propulsion device, which is characterized by simultaneously estimating 16. The buried pipe propulsion machine state estimating apparatus according to claim 13, wherein the sequential state variable vector estimator is provided in the leading conductor instead of a vertical displacement of the laser receiving apparatus with respect to a vertical planning line. A state estimation device for a buried pipe propulsion device, which uses a value obtained by interpolating a vertical displacement of the induction magnetic field generator with respect to a vertical planning line.