JP2520032B2 - How to operate an underground machine for small diameter pipes - Google Patents

Description

TECHNICAL FIELD The present invention relates to a method of operating an underground excavator for a small diameter pipe.

[Conventional technology]

Control of the excavation direction of the tunnel excavator including the conventional underground excavator for small diameter pipes depends on the intuition and experience of the operator,
It is the present situation that the construction accuracy is influenced by the skill of the operator, and there was no system in which a system for deciding the operating method of the above-mentioned underground excavator for a small diameter pipe is decided on behalf of the operator.

However, as an example of incorporating fuzzy reasoning into the control of a tunnel excavator, there is an example of using fuzzy reasoning for face control and direction control in shield excavation of Tokyo Electric Power Company.

In the conventional direction control using this fuzzy inference, the deviation A of the shield machine with respect to the construction planning line, its change amount B, and the inclination angle (or azimuth angle) C and its change amount D are input variables. Then, a control rule and a membership function based on fuzzy inference for determining the control amount of the actuator are set from the deviation A and its change amount B, and the inclination angle C and its change amount D, respectively. Also, by adjusting the above two control amounts,
Finally, a control rule and a membership function to be combined into one control quantity are set.

In this way, the control rules can be significantly reduced by dividing the four input variables into two stages and performing fuzzy inference.

[Problems to be Solved by the Invention]

The above-mentioned conventional method of operating an excavator using fuzzy inference is a case where the excavator is a large-diameter shield machine and a person can enter the excavator to make measurements and judge the situation. It could not be applied to the underground excavator for small-diameter pipes that cannot enter.

The present invention has been conceived in view of the above, and an operating method of an underground excavator for a small diameter pipe, which can be performed by an unskilled operator using a fuzzy inference even if it is for a small diameter pipe. It is intended to provide.

[Means for solving the problem]

In order to achieve the above object, an operating method of a small-diameter pipe underground excavator according to the present invention is a small-diameter pipe underground excavator equipped with a direction control actuator, with respect to a planned line at the tip of the excavator. The amount of deviation, deviation angle, propulsion force, etc. are measured by the sensor, and the measured values are processed by A / D conversion and imported into the controller, and the data such as soil characteristics and excavator model are input to the controller by the input device. After inputting, the controller determines the operation amount by fuzzy reasoning that incorporates the operation method of the skilled operator based on the above measured value and data, displays this operation amount on the display device, and controls these by the expert system of the controller unit. Department

Further, the direction controlling actuator may be operated by the operation amount determined by the fuzzy inference of the controller.

[Work]

The expert system of the controller arranges the measured value from the sensor and the data from the input device to determine the control law and membership function of the fuzzy inference unit, and it becomes possible to operate according to the soil characteristics and the excavator type. So, set up the fuzzy inference part. From the input of the arranged measured values, the fuzzy inference unit outputs the manipulated variable, which is displayed on the display output device for the expert system to instruct the operator.

Further, the operation amount output from the fuzzy inference unit is displayed on the display output device, and the expert system unit instructs the operation amount to the automatic control unit, and the automatic control unit operates the direction control actuator by this operation amount. To do.

〔Example〕

 Examples of the present invention will be described below.

FIGS. 5 (A) and 5 (B) show the excavation state of the underground excavator for small diameter pipes, in which 1 is a pilot head including a pilot jack 2 and 3 is a pilot following the pilot head 1. Pipes 4 are rear propulsion jacks that push the rear end of the pilot pipe 3. The rear propulsion jack 4 is placed on the rail 6 in the starting shaft 5 and
The reaction force plate 7 supports the reaction force. 8 is a reach pit.

In this structure, the pilot jack 2 is extended in the pilot head 1 so that the pilot hole is dug, and the pilot pipe 2 is pushed in by the rear propulsion jack 4 while the pilot jack 2 is contracted to form a small-diameter hole in the ground. Being dug up.

FIG. 1 is a block diagram for operating the above-mentioned underground excavator for small diameter pipes (hereinafter simply referred to as excavator). Reference numeral 9 in the figure denotes a sensor group provided in the pilot head 1 part, which includes pilot jack thrust (PJ thrust), propulsion jack thrust and vertical and horizontal swings as shown in FIGS. 7 and 8. It is composed of sensors that measure angles, inclination angles, deviations in the vertical and horizontal directions, yawing angles, pitching angles, and the like. The swing angle is the swing angle of the tip of the directional control actuator installed in the pilot head 1, and the jack thrust is detected as the jack pressure.

Reference numeral 10 denotes a controller, which includes an automatic measurement unit 11 that receives signals from the sensor group 9 and performs A / D conversion, a detection value from the automatic measurement unit 11, and data from an input device (keyboard) 12. It comprises a fuzzy reasoning section 13 for determining an operation method similar to that of a skilled operator, and an expert system section 14 for controlling each of these devices and for giving instructions and judgment in construction.

Reference numeral 15 is a display output device having a display unit 16 and a recording unit 17 for displaying the contents determined by the expert system unit 14.

The data input from the input device 12 is soil quality,
Soil characteristics such as N value and drainage pressure, and pilot jack 2
There are various types of machine such as head shape and diameter.

 Next, the operation of the above configuration will be described.

The sensors in the sensor group 9 measure the inclination angle, the pinching angle, and the vertical deviation of the pilot head 1 in the vertical direction shown in FIG. Similarly, the yawing angle in the horizontal direction and the deviation in the horizontal direction shown in FIG. 8 are measured. If the excavation by the pilot jack 2 is a consolidation type,
The jack pressure of the pilot jack 2 at the time of digging is measured, and in the case of the digging type, the rear propulsion jack pressure is measured. Further, the swing angle of the swing portion at the tip of the pilot jack 2 is measured by the direction control actuator.

On the other hand, the input device 12 is used to input soil characteristics such as soil quality and N-value, which are clarified by a boring survey before construction, and excavator type (consolidation type, excavation type, pipe diameter, etc.).

The measurement values from the sensors of the sensor group 9 are sent to the automatic measurement unit 11 under construction for each channel, and the controller 10
Is taken in. At this time, the measured value that is an analog signal is converted into a digital signal.

The above measured values taken in the controller 10 are sent to the expert system section 14 where they are respectively arranged,
Input to the fuzzy inference unit 13.

The expert system section 14 uses the fuzzy inference section based on the data input from the input device 12 before construction.
The control law and membership function of 13 are determined, and the fuzzy inference unit 13 is set so that the operation according to the soil characteristics and the excavator model can be performed. Then, the fuzzy inference unit 13 outputs the operation amount by the input of the arranged measured values, and the expert system unit 14 displays the operation amount on the display unit 16 of the display output device 15 for instructing the operator.

The operator operates the excavator while watching the operation amount displayed on the display unit 16.

 Specific examples of the present invention will be described below.

FIG. 3 shows the system flow. The soil characteristics, the excavator model, etc. are input by the input device 12. At this time, the excavator type is a consolidation type. In this case, FIG. 6 (a)-
Pilot head adapters 18a, -18d shown in (d)
Select one of them according to the soil quality. 18a is for standard consolidation, 18b is for soft soil consolidation, 18c is for ultra-soft soil consolidation,
18d indicates a pilot head adapter for extremely soft ground consolidation. In the figure, 1 indicates the head length.

This pilot head adapter 18a, ~ 18d is selected
As shown in Table 1, it is determined by inputting N values of soils such as sand, sandy soil, and viscosity. Further, the membership function of the fuzzy inference unit 13, which will be described later, is determined from the N value at this time as shown in Table 2.

Now, only in the horizontal direction, the fuzzy inference unit
The 13 control rules and membership functions are determined as shown in Table 3 and FIG. The control law in Table 3 can be expressed as IF D _H = α AND θ _H = β THEN ΔE _H = γ (1). Note that α, β, and γ are the membership functions of NB, NM, ZO, PM, and PB. However, D _H : horizontal deviation (mm) θ _M : yawing angle (degree) ΔE _H : manipulated variable (degree) Membership functions <A>, <B determined in Table 2
>, <C>, and <D> are the fourth, a, b, c, d, and e in FIG.
Shown in the table.

In this way, the membership function is set by inputting data from the input device 12.

The pilot head adapter determined above is mounted and propulsion is started. After the start of the propulsion, the thrust by the pilot jack 2 (PJ thrust) becomes clear. Based on this value, the expert system unit 14 reexamines whether the previously determined pilot head adapter is appropriate. Table 1 shows the details of selecting the pilot head adapter based on the PJ thrust. If there is no relationship between the PJ thrust and the pilot head adapter as shown in Table 1, instruct the operator to pull back this and change to an appropriate pilot head adapter. Also, the membership function will be reexamined by PJ thrust. The relationship is shown in Table 2. At this time, if PJ
If the relationship between the thrust and the mentality function is not as shown in Table 2, the membership function that matches the PJ thrust will be re-selected.

Next, as an example, PJ thrust is 13 tons, D _H is −10 mm, θ _H
The calculation method of ΔE _H when is 0.4 degrees will be described with reference to FIGS. 12 to 15.

First, from Table 2, the membership function is <C>. Therefore, the above equation (1) is calculated as follows: IF D _H = NM AND θ _H = PM THEN ΔE _H = ZO IF D _H = NM AND θ _H = PB THEN ΔE _H = ZO IF _DH = ZO AND θ _H = PM THEN ΔE _H = NM IF D _H = ZO AND θ _H = PB THEN ΔE _H = NM 4 formulas are established. When the min-max method of fuzzy inference and the final output are obtained by the centroid method for each of these equations as shown in Fig. 16, it is determined that ΔE _H = -0.5 degree.

That is, the first of the above four equations is as shown in FIGS. 12 (A), (B), and (C), and D _H is 0.5,
θ _H is 0.67, and ΔE _H is 0.5 by taking the smaller one (min).

The second equation is as shown in FIGS. 13 (A), (B), and (C), and D _H is 0.5, θ _H is 0.33, and ΔE _H is 0.33.

The third equation is as shown in FIGS. 14 (A), (B), and (C), and D _H is 0.5, θ _H is 0.67, and ΔE _H is 0.5.

The fourth equation is as shown in FIGS. 15 (A), (B), and (C), and D _H is 0.5, θ _H is 0.33, and ΔE _H is 0.33.

Or four take max of Delta] E _H, a Delta] E _H = -0.5 ° When obtaining the final output of the Delta] E _H in FIG. 16 by a gravity method.

As described above, the same operation amount as that determined by the expert can be determined by the fuzzy inference. Since this operation amount is displayed on the display unit 16 of the display output device 15, the operator operates while watching this display.

Even in the vertical direction, the deviation in the vertical direction to D _H is
If the pitching angle is input to _H , the same can be obtained.

Although the excavation using the consolidation type pilot jack has been described above, as shown in FIGS. 9 and 10, the excavation type using the rear propulsion force is the same as that shown in FIGS. 5 and 6 described above. To the rear propulsion force, and letting it be F ₁ , it is easy to subtract the friction resistance F ₂ of the pipe and soil and the resistance F ₃ of the hydraulic oil from F ₁ to select the propulsion resistance of the tunnel excavator, that is, the thrust. Since F (= F ₁ − (F ₂ + F ₃ )) is required, this system can be applied similarly.

In FIGS. 9 and 10, 19 is a swinging jack, and 19a is a target which is detected by a transsit from the rear.

In the above embodiment, while the operator is watching the operation amount displayed on the display unit 16 of the display output device 15, an example in which the excavator is operated according to this operation amount is shown.
The directional control actuator may be automatically operated by the automatic control unit so as to be moved by the operation amount.

The embodiment will be described below with reference to FIGS. 2 and 4. In this embodiment, the same parts as those shown in the embodiment by the operator's operation are shown in the same manner, and the explanations thereof are omitted.

FIG. 2 is a block diagram for the operation, and the controller 10 is provided with an automatic control unit 20 to which the operation amount is instructed by the expert system unit 14. Then, the automatic control unit 20 controls the opening and closing of the solenoid valve 22 through the electric controller 21 to expand and contract the rocking cylinder 23 by the designated amount to rock the rocking jack. The displacement of the pilot head 1 at this time is fed back from the sensor group 9 to the automatic control unit 20. 24 is a hydraulic unit.

The system flow of this embodiment is as shown in FIG. 4, in which the automatic control unit 20 is located between the fuzzy inference unit 13 and the automatic measuring unit 11, and the fuzzy inference unit 13 determines the swing operation panel. According to the instruction, the difference between the swing operation amount and the current swing amount is calculated, a swing signal is output according to the difference, and when the difference is zero, the swing is stopped.

When this operation is specifically shown, the operation amount (ΔE _H = −0.5 degree) obtained in FIGS. 12 to 15 is instructed to the automatic control unit 20 as the operation target value. The automatic control unit 20 calculates the difference between the operation target value and the current cylinder length detected by the sensor,
The solenoid valve 22 is opened and closed and controlled through the swing cylinder 23 electric controller 21 so that the difference becomes zero.

At this time, if a malfunction such as inoperability occurs, a warning is issued by a siren or the like.

It is also possible to switch to manual mode at all times.

[Advantages of the Invention] According to the present invention, in the operation of a small-diameter pipe underground excavator, it is possible to deal with soil characteristics such as soil quality and N value, and excavator type, and detect changes in soil condition from thrust during propulsion. Then
At the same time, the operation of fuzzy inference that determines the manipulated variable can be changed quickly.

Therefore, the operation amount closer to that of a more skilled operator is displayed, and even an unskilled operator can perform the work as an expert.

In the above operation, along with the change in the soil condition,
From the relationship between the swing operation amount and the direction correction amount, it is possible to change the operation method of fuzzy inference that detects the change in the swing (steering) characteristics and determines the operation amount accordingly.
Direction correction can be automatically achieved by utilizing the know-how of a skilled operator, and highly accurate construction can be stably realized.

[Brief description of drawings]

The drawings show an embodiment of the present invention. FIGS. 1 and 2 are block diagrams of different embodiments, and FIGS. 3 and 4 are system flow diagrams of different embodiments. 5 (A) and 5 (B) are configuration explanatory views showing an excavation state of an underground excavator for a small diameter pipe, and FIGS. 6 (A) and 6 (B).
(C) and (D) are perspective views showing different types of pilot head adapters, FIGS. 7 and 8 are explanatory views showing the posture of the pilot head, and FIGS. 9 and 10 are rear propulsion type implementations. A cross-sectional view showing an example, FIG. 11 is a membership function diagram, and FIGS. 12 (A), (B), and (C) to FIG. 15 (A),
(B), (C) and FIG. 16 are explanatory views of the operation method by fuzzy inference. 1 is a pilot head, 2 is a pilot jack, 3 is a pilot pipe, 9 is a sensor group, 10 is a controller, 11 is an automatic measuring unit, 12 is an input device, 13 is a fuzzy inference unit, 14 is an expert system, and 15 is a display output. Oshichi, 20 is an automatic control unit.

Claims (2)

(57) [Claims] 1. An underground excavator for a small diameter pipe equipped with a direction control actuator, wherein a displacement amount, displacement angle, propulsive force, etc. of a tip portion of the excavator with respect to a planned line is measured by a sensor, and the measured value is measured. After processing such as A / D conversion and importing it into the controller, input data such as soil characteristics and excavator model into the controller using the input device. Underground excavator for small diameter pipe characterized in that the operation amount is determined by the fuzzy inference woven in, the operation amount is displayed on the display device, and the control is performed by the expert system unit of the controller unit. How to operate. 2. The operation amount output from the fuzzy inference unit is displayed on the display output device, and the expert system unit instructs the operation amount to the automatic control unit so that the automatic control unit controls the direction by this operation amount. A method of operating an underground excavator for a small diameter pipe, characterized in that an actuator is operated.