JP2573735B2 - Simulator for operator training of small-diameter tunnel robot - Google Patents

Description

Description: BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a simulator for training an operator of a small-diameter tunnel robot, which controls the head angle of a robot tip while pushing and propelling it with no earth removal and corrects the direction. Things.

[Conventional technology]

Training of operators of small-diameter tunnel robots, which control the head angle of the robot tip while pushing and propelling with no earth removal and correct the direction, is conducted by specialists using textbooks and practical training with actual systems. The training period was very long, several months.

[Problems to be solved by the invention]

The present invention has been made in view of the above circumstances, and a simulator for operator training of a small-diameter tunnel robot capable of shortening the long-term training that has been performed by classes and practical training using texts by conventional experts. The purpose is to provide.

[Means and actions for solving the problem]

In order to solve the above problems, the present invention controls the head angle of the tip of the robot while pushing and propelling with no earth removal type,
In a simulator for operator training of a small-diameter tunnel robot that performs direction correction, a personal computer explains the structure of the small-diameter tunnel robot, the direction correction method of the tunnel robot, and a dynamic model representing the relationship between the input head angle of the tunnel robot and the direction correction amount. Means for displaying the parameters of the dynamic model on the display of the personal computer; means for explaining the control rules of the directional control of the tunnel robot on the display of the personal computer; Apply the control law to the dynamic model to calculate the direction correction amount of the tunnel robot,
Means for displaying the trajectory of the tunnel robot on the display of the personal computer, an input unit for the operator to input the head angle of the next tunnel robot based on the trajectory of the tunnel robot, deviation from the plan line, and declination; Current, past position, attitude angle, deviation from the plan line, declination, and the estimated position one hour after calculated by the dynamic model input by the operator,
Means for displaying the estimated attitude angle, the estimated deviation, and the estimated argument on a display of a personal computer; a head angle calculated by a control law of a direction control; a head angle input by an operator; and a tunnel robot calculated by a dynamic model. Means for displaying the trajectory on a graph with the horizontal axis as the horizontal distance and the vertical axis as the position on the display of the personal computer, and the horizontal axis as the deviation and the vertical axis as the declination on the personal computer display. Means for displaying deviation-declination characteristics on the resulting graph, the structure of a small-diameter tunnel robot, a method of correcting the direction of the robot, a dynamic model,
You can learn the parameter estimation method of the dynamic model, the control law of the direction control, etc. on the display of the personal computer.
It has the feature that the operator can learn the direction correction method on the display of the personal computer by the simulator for the direction correction training as if the direction correction was performed by the actual tunnel robot system.

The difference from the prior art is that by using the operator training simulator of the present invention, it is possible to shorten and simplify long-term training, which has been conventionally performed by textbooks and learning by experts using textbooks. It is possible.

〔Example〕

FIG. 1 shows a system configuration of a tunnel robot to which an operator training simulator according to the present invention is applied.
This system comprises a tunnel robot main body 1 having a head angle correcting function, a buried pipe 2, a push pipe device 3 for pushing the buried pipe, a hydraulic device 4, and an operation panel 5. 6 is an operator and 7 is a ground surface. The buried pipes 2 are pushed one by one by a hydraulic pressure by a push pipe device 3. At this time, the operator 6 sequentially corrects the head angle and controls the direction so as to follow the plan line. This directional control currently relies on the experience and knowledge of the operator.

The outline of the simulator for operator training according to the present invention will be described below.

This section describes "Ace Small," a small-diameter tunnel robot developed by NTT.

FIG. 2 shows a subroutine program menu of the simulator. This menu first appears on the display when you run the simulator program. Select an item with the arrow keys and press the return key to run the program for that item. Trainees are free to select items and receive training. Hereinafter, each item will be described in order.

(1) Robot structure When this item is selected, a diagram showing the robot structure of FIG. 3 appears on the display. The trainee can learn the names, shapes, functions, and the like of each part of the tunnel robot by looking at this diagram. FIG. 3 is black and white, but is displayed in color on an actual display and is very clear and easy to see. The screens shown below are also displayed in color.

(2) Robot direction correction method In this item, the behavior of the robot going straight and correcting the direction can be learned by animation.

FIG. 4 shows one screen of an animation in the case of going straight.

FIG. 5 shows one screen of the animation in the case of the direction correction.

(3) Model parameter estimation A subroutine for explaining a dynamic model representing the relationship between the input head angle of the tunnel robot and the direction correction amount on the display, and a subroutine for estimating the dynamic model parameters on the display.
It consists of.

Hereinafter, the dynamic model will be described. Before describing the model, the head angle and pitching angle of the present tunnel robot used in the dynamic model are defined in FIG. Let the head angle at stroke k-1 be θ
_h (k) and the pitching angle are θ _p (k−1). Also, the pitching angle change amount Δθ from the stroke k-1 to the stroke k
_p (k) is Δθ _p (k) = θ _p (k) −θ _p (k−1)
Is defined as The dynamic model of the tunnel robot has a time series term and a probability distribution term e of the pitching angle change amount in which the direction correction angle approximately represents the head angle and the attitude of the robot.
It can be expressed by the probability model equation (1) that can be expressed by the sum of (k).

Next, regarding the parameter estimation, the model equation (1)
Parameters a _n, b _n are estimated by the least squares method.
(This model identification is described in detail in Japanese Patent Application No. 1-277200.) The state of this estimation is indicated by the parameter estimation of the model in FIG. FIG. 7 (a) shows the stroke estimation parameter characteristics, and it can be seen that the parameter values are sufficiently converged by using data up to 250 strokes. FIG. 7 (b) is obtained by substituting the convergence parameter of FIG. 7 (a) into the model of equation (1) to obtain an estimated pitching angle, and it can be seen that the pitching angle substantially matches the actual pitching angle.

Δθ _p (k) = a ₁ Δθ _p (k-1) +... + _An Δ
_{p (k-n) + b} 0 θ h (k) + b 1 θ h (k-1) + ··· + b n θ
_h (kn) + e (k) (1) (4) Control Law of Direction Control Various control laws can be considered. In the present embodiment, the position deviation of the robot body and the pitching angle deviation are respectively expressed as
Since a feedback control law that uses the product of the proportional gains ka and kp as the next input head angle is used, this control law is described in this section.

(5) Direction control simulation The simulation related to the direction correction is composed of a dynamic model [Equation (1)] and a formula for calculating the pitching angle and position of the robot [Equations (2) and (3)]. The simulation of the direction control is performed as follows. First, the head angle is obtained according to the control rule of equation (4). Next, the head angle is substituted into the dynamic model of equation (1), and the direction correction amount is calculated. Then, the pitching angle and the position of the robot are calculated using the equations (2) and (3).

Simulator Δθ _p (k) = a ₁ Δθ _p (k-1) +... + _An Δ
_{p (k-n) + b} 0 θ h (k) + b 1 θ h (k-1) + ··· + b n θ
_{h (k-n) + e} (k) (1) θ p (k) = θ p (k-1) + Δθ p (k) (2) Y (k) = Y (k-1) + Lsin (θ p ( k)) (3) control law _{θ h (k) = k p} (Y d (k) -Y (k-1)) + k a (θ d
(K) −θ _p (k−1)) (4) Each parameter used in the simulator is defined in FIG. The lower trajectory is the planning line, and the upper trajectory is the robot trajectory. _Let Y _{d be} the position of the planning line at stroke k.
(K), the inclination of the planning line is θ _d (k), the position of the robot is Y (k), the pitching angle of the robot is θ _p (k), and the pitching angle change is Δθ _p (k), the length of one stroke. Let L be L. In the dynamic model of the equation (2), e (k) is a residual, and n is an order of the model. A block diagram of the direction control is shown in FIG. FIG. 10 shows an example of the direction control simulation. The horizontal axis is the horizontal distance, and the vertical axis is the position of the tunnel robot.

(6) Simulator for operator training This simulator for operator training is an input unit where the operator inputs the head angle of the next tunnel robot considered from the trajectory of the tunnel robot, deviation from the planning line, and declination. A data display unit that displays the past position, posture angle, deviation from the planning line, declination, and the estimated position, estimated posture angle, estimated deviation, and declination after one hour calculated by the dynamic model input by the operator. A trajectory that displays the head angle calculated by the control law of the direction control, the head angle input by the operator, and the trajectory of the tunnel robot calculated by the dynamic model on a graph with the horizontal axis being the horizontal distance and the vertical axis being the position A display unit, and a display unit that displays the deviation-declination characteristics on a graph in which the horizontal axis is the deviation and the vertical axis is the deviation angle You have me.

FIG. 11 shows an example of the screen of the operator training simulator. This simulator is used as follows.

When you select an operator training simulator item,
11 In the comment section at the bottom right of the figure, select [PID control], [Training], or [End]. Here, the PID control refers to control using the control law of Expression (4). When the PID control is selected, the user is asked for a position deviation feedback gain and an angle deviation feedback gain, so input a numerical value. Then, the stroke value 250
The control is performed according to the PID control rule (Equation (4)), and the trajectory of the tunnel robot is displayed at the upper left of the screen in FIG. Changing the gain changes the trajectory. Thereby, the control law shown in Expression 4 is understood. In addition, since a gain that optimally follows the target trajectory is also presented, the optimum trajectory can be displayed by inputting this gain. At the same time, a deviation-deflection characteristic is also displayed on the upper right.

If [End] is selected, the screen returns to the menu screen.

If [Training] is selected, the operator will be asked how many times to start, so a stroke value of 2 or more and less than 250 is input. Then, up to the input numerical value, control is performed with the optimum numerical value by the PID.

Next, after the input number, the operator inputs the angle of the head angle in consideration of the past, current position, angle, deviation, and declination shown in the lower left of the figure. After inputting the angle, the next position, angle, deviation, and declination for the data are shown in green letters in the table.
o) or enter In the case of Yes, the data is input as it is, and the locus is shown in the graph of the distance-position characteristic in the upper left of the figure and the deviation-deviation characteristic in the upper right of the figure. These graphs have an automatic scale change function, and when the position falls below a certain value, the scale is changed to make it easier to see the trajectory. If No, another one
Degree angle input is performed. Since the trajectory described above includes both a trajectory based on the PID control and a trajectory based on the input angle of the operator, the two can be compared. Accordingly, the operator can learn when the past trajectory should be and how much the head angle should be, by this training.

Other functions include a back function for referring to previous position, angle, deviation, and declination data, or a step function for returning to the current stroke.

〔The invention's effect〕

As described above, according to the present invention, the structure of a small-diameter tunnel robot, a method of correcting the direction of the robot, a dynamic model, a method of estimating parameters of the dynamic model, a control law of direction control, and the like can be learned on a display of a personal computer. In order to learn how to correct the direction on the display of a personal computer using the simulator for operator direction correction training on a personal computer display, it is possible to learn the direction correction method as if the direction correction was performed by a real tunnel robot system. This has the effect of shortening and simplifying long-term training that has been conducted through lessons and learning.

[Brief description of the drawings]

1 to 11 show one embodiment of the present invention. FIG. 1 is an explanatory diagram showing a system configuration of a tunnel robot, FIG. 2 is an explanatory diagram showing a subroutine program menu, and FIG. 3 is a robot. FIG. 4 is an explanatory diagram showing one screen of an animation in the case of going straight, FIG. 5 is an explanatory diagram showing one screen of an animation in the case of direction correction, FIG. 6 is a head angle and pitching FIG. 7 (a) is a characteristic diagram showing stroke-estimated parameter characteristics, FIG. 7 (b) is an explanatory diagram showing an estimated pitching angle, and FIG. 8 is a diagram of each parameter used in the simulator. FIG. 9 is an explanatory diagram showing a block diagram of direction control, FIG. 10 is an explanatory diagram showing an example of a direction control simulation, and FIG. 11 is an example of a screen of a simulator for operator training. It is to illustration. 1 ... robot body, 2 ... buried pipe, 3 ... push tube device, 4 ... hydraulic device, 5 ... operation panel, 6 ... operator, 7 ... ground surface.

Continuation of front page (72) Inventor Keiichiro Teraka 1-27-1, Kichijoji Minamicho, Musashino-shi, Tokyo Inside NTT Advanced Technology Corporation (56) References JP-A-3-140599 (JP, A )

Claims (1)

(57) [Claims] An operator training simulator for a small-diameter tunnel robot that controls the head angle of the robot tip while pushing and propelling it in a non-discharge type to correct the direction. A method for displaying, on a display of a personal computer, a description of a dynamic model representing a relationship between an input head angle and a direction correction amount of a tunnel robot; a means for performing parameter estimation of the dynamic model on a display of a personal computer; Means for explaining the control law of the directional control of the robot on the display of the personal computer; and applying the control law of the directional control to the dynamic model to calculate the direction correction amount of the tunnel robot, and to trace the trajectory of the tunnel robot to the personal computer. Means for displaying on a computer display, an input unit for the operator to input the head angle of the next tunnel robot considering the trajectory of the tunnel robot, deviation from the planning line, and declination; and the current and past positions of the tunnel robot Display the position, posture angle, estimated deviation, estimated deviation, and estimated deviation after one hour calculated by the dynamic model input by the operator. Means for calculating the head angle calculated by the control law of the direction control, the head angle input by the operator, and the trajectory of the tunnel robot calculated by the dynamic model on a display of a personal computer. Means for displaying a trajectory on a graph having a position as a position, and a personal computer Means for displaying deviation-declination characteristics on a graph in which the horizontal axis is deviated and the vertical axis is declination on a display of the operator, a simulator for training an operator of a small-diameter tunnel robot, comprising: .