JP2690564B2 - Automatic direction control method for shield machine - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION [Industrial field of application] The present invention is directed to a shield boring machine in a direction that minimizes the amount of deviation of the posture and position of the shield boring machine from the tunnel planning line during the tunnel boring. The present invention relates to an automatic direction control method for a shield trench machine, in which the attitude is controlled.

[Prior Art] The attitude control of the shield trench machine is performed by giving a rotational moment to the shield trench machine in the propulsion direction by a plurality of propulsion jacks. In order to automatically control the direction of the shield trench machine, in order to know how much rotation moment should be given to the shield trench machine in order to change the posture required for the shield trench machine, It is necessary to collect the jack operation data at the shield site in advance and set the relationship between the posture change angle of the shield mower and the rotation moment as the angle-moment conversion characteristic.

FIG. 2 is a system diagram showing a conventional automatic direction control method for a shield trench machine using such angle-moment conversion characteristics, where 1 is a shield trench machine.
2 shows an automatic posture / position measuring device. The automatic attitude / position measuring device 2 includes a detector that detects an attitude deviation angle or a position deviation amount of the shield boring machine 1 from a true north and a horizontal plane or a measured known direction line in a plane and a longitudinal section, A device that calculates the posture deviation angle and the amount of positional deviation from the tunnel planning line 3 in real time from the detection value from this detector and the detection value of the digging distance of the shield digging machine using the lightwave distance meter or the stroke meter of the propulsion jack. The detector system includes a gyro compass system, a laser system, or a combination thereof. Any method may be used, and the posture deviation angle 4 from the tunnel plan line 3 of the shield trench machine 1 from this device 2
Is output to the arithmetic circuit 16. In the arithmetic circuit 16, for example,
The planned line change angle 5 after a unit distance such as 10 cm is added to the posture deviation angle 4, and further calculated from the situation such as the positional deviation amount when the posture is correct but the position is displaced, the clearance between the segment and the tail, etc. The target change angle 7 is set by adding the arbitrarily set change angle 6 shown in FIG. More generally, shield moat machine 1
Since a rapid posture change of the target change angle 9 is not preferable, a command change angle 9
Is output.

Next, the angle of change is converted into a rotational moment in order to obtain the required rotational moment that causes the angle of change in shield moat machine 1. M: rotational moment θ: attitude change angle A: proportional coefficient (gain) When B is a constant, the angle-moment conversion characteristic is obtained by M = Aθ + B ... Formula (1).

The angle-moment conversion characteristics are separately set in advance in the azimuth direction (X axis) from true north in the horizontal cross section and in the vertical direction (Y axis) from the horizontal in the vertical cross section. Then, the posture change angle θ is converted into the rotational moment M separately for the X axis and the Y axis, and after the conversion, the moments in the X and Y directions are combined, and as shown in FIG.
And the combined command change angle 11 are calculated, and the combined moment is calculated from the jack pattern table 14 stored in advance.
A jack operation pattern that produces a value that is the same as or close to 10 and the composite command change angle 11 is selected and output, and the selection signal 15 is output to the operation panel of the shield excavator 1, and the control circuit in the operation panel (both are The selected propulsion jack is operated through (not shown) which is equipped on the shield trench machine 1 side.

As a result, the posture of shield moat machine 1 changes and X
The posture in the direction Y and the posture in the Y direction are detected by the automatic posture / position measuring device 2, and in response to this, the actual result change angle for each unit distance 18
Is calculated. The actual change angle 18 for each unit distance (generally 5 to 10 cm) and the actual moment 19 data obtained from the jack operation pattern 15 and the jack operation hydraulic pressure 17 are collected, and offline after each excavation of one shield ring. Then, statistically analyze the data of the past several rings or dozens of rings by a method such as linear correlation to calculate the update angle-moment conversion characteristic 20 and compare it with the angle-moment conversion characteristic 12 that has been used up to that point. If there is a change beyond the limit, the angle-moment conversion characteristics used up to that point 12
Angle-moment conversion characteristics for update that newly created
Update to 20. The driver appropriately determines the setting of the limit or the criterion of judgment, depending on the situation of the actual result change angle 18 with respect to the command change angle 9.

[Problems to be Solved by the Invention] In the above-described conventional automatic direction control method for the shield trench machine 1, the angle-moment conversion characteristic 12 is reduced by the influence of changes in the soil quality of the excavation site, the degree of the curve of the traveling route, and the like. However, it was difficult to set the proper characteristics. Therefore, in the short section, there is a possibility that the actual result change angle 18 may be excessive or insufficient with respect to the command change angle 9.

Also, updating the angle-moment conversion characteristic 12 with data in a short section makes the directional control inaccurate, and especially in the section where the command change angle 9 is small and the actual moment 19 is small, therefore, it is more peripheral than the posture change due to the rotation moment. Since the influence of external factors such as the friction of the ground is large, and the gain (proportionality coefficient) of the characteristic changes greatly, the direction control may be inaccurate even in the short section even if the averaging process is performed. Therefore, it is necessary to set and update the update angle-moment conversion characteristic 20 by the actual characteristic of another similar site or the statistical analysis of the data in the long section between several tens of rings.

As described above, the conventionally set characteristic is rough as a result, and when the posture change that does not match the characteristic is made in a short section, the meandering width may increase and the control accuracy may deteriorate. Sometimes the error does not converge to the change angle 9 but the error increases.

The present invention solves the above-mentioned conventional problems, and performs a proper control with respect to the change of the angle-moment conversion characteristics in a short section to improve the control accuracy. It is an object of the present invention to provide an automatic direction control method of

[Means for Solving the Problems] An automatic direction control method for a shield trench machine according to the present invention is to excavate a tunnel while propelling the shield trench machine with a plurality of jacks, and to perform tunnel planning from an automatic attitude / position measuring device. Input the angle of posture deviation between the line and the shield trench machine, the angle of change of the planned line after a unit distance, and the angle of arbitrary setting based on the amount of position deviation into the arithmetic circuit to calculate the command angle of change, and set and create in advance. According to the angle-moment conversion characteristic and the jack pattern table that have been set, a jack operation pattern that generates a rotation moment necessary to obtain the command change angle is selected, the selected jack is operated, and the shield trench machine is selected. In the automatic direction control method of the shield mower, which applies a rotational moment to the propulsion direction to correct the propulsion direction of the shield mower, The actual change angle of the field moat machine is compared with the actual command change angle converted from the actual jacking pattern into the moment-angle conversion characteristic in use as the control characteristic, and the actual change angle and the actual command are compared. The comparison value with the change angle is fixed for each unit propulsion distance and a plurality of comparison values are sequentially averaged by an averaging element to obtain a moving average value, which is input before a new moving average value is input from the averaging element. Holds the moving average value and continues to output, and when a new moving average value is input, the previously input moving average value is erased and the new moving average value is held and output is continued. , A comparison value between the actual change angle and the actual command change angle input to the averaging element by adding the output value from the hold element as a correction angle to the command change angle and inputting to the angle-moment conversion characteristic , The moving average value output from the hold element is compared by a discriminant element, and when the comparison value in the discriminant element is smaller than a set allowable value, the input from the averaging element to the hold element is blocked and the discriminant element is used. When the comparison value of is larger than the set allowable value, the moving average value of the averaging element is input to the hold element.

[Action] The correction angle is not the difference between the actual change angle and the actual command change angle 1 data, but the moving average value is calculated by sequentially averaging a plurality of latest constant data within the excavation distance 1 ring width. The correction angle of the first unit distance of the ring uses the final correction angle of the previous ring, and the number of data of the moving average is within 1 ring, but the initial of the next ring is combined with the data of the previous ring,
The number of data is the same, and averaged continuously.

[Example] Hereinafter, an example of the present invention will be described with reference to the drawings.

FIG. 1 is a system diagram of an embodiment of the present invention, in which the same parts as those in FIG. 2 are designated by the same reference numerals.

In the present invention, the command change angle correction calculation unit 21 is provided to perform the calculation described below.

From the actual jacking pattern 15, the actual command change angle 22 obtained by inputting the actual moment 19 to the used moment-angle conversion characteristic 12 'as the control characteristic and the actual change angle 18 are compared by the comparison element 23. Then, the comparison value 24 is calculated and input to the averaging element 25 and the discriminating element 26.

The averaging element 25 takes a comparison value 24 for each unit propulsion distance at intervals within one ring, and sequentially averages a plurality of constant comparison values 24, for example, four, to obtain a moving average value 27, and a switch 28.
To enter into the hold element 29 via. The switch 28 is adapted to be opened and closed by the discriminating element 26 as described below, and when the switch 28 is open, the hold element 29 holds the moving average value 27 previously inputted from the averaging element 25. And add this as the correction angle 30
When the switch 28 is closed and a new moving average value 27 is input from the averaging element 25 to the hold element 29, the hold element 29 erases the previous moving average value 27. The new moving average value 27 is held and is continuously output as the correction angle 30 to the addition element 31 and the discrimination element 26.

The discriminating element 26 compares the latest comparison value 24 input to the averaging element 25 with the correction angle 30 output from the hold element 29, that is, the moving average value 27, and determines whether the comparison value is larger than the set allowable value. If it is small, the switch 28 is opened, and if it is large, the switch 28 is closed. Therefore, the hold element 29 is input from the averaging element 25 before, and the moving average value 27 that is being held and continuously output and the comparison value 24 that is output from the comparison element 23.
If the difference between
The moving average value 27, which is held and output by the device, that is, the correction angle 30, is updated. The correction angle 30 is added to the command change angle 9 from the limiter element 8 in the addition element and input to the angle-moment conversion characteristic 12.

[Effects of the Invention] The present invention has the following effects.

(I) The ground excavated by the shield boring machine has few soils of uniform soil quality, and the frictional resistance between the shield boring machine and the ground is not constant, and it suddenly changes and the posture of the shield boring machine changes. However, it is possible to quickly and reasonably perform a highly accurate correction operation against such characteristic changes in a short section.

(Ii) Since it is a method of correcting the constant B instead of changing the comparison coefficient A of the equation (1), it does not result in a sudden correction, and there is no difficulty.

(Iii) A moving average can be used to suppress abrupt changes, and correction can be made using the latest data.

(Iv) It is very important to optimally set the angle-moment conversion characteristics, but it is usually difficult because the excavation environment is not uniform. According to the present invention, the set value may be rough.

[Brief description of the drawings]

FIG. 1 is a system diagram of an embodiment of the present invention, FIG. 2 is a system diagram of a conventional method, and FIG. 3 is a graph showing moment composition. In the figure, 1 is a shield boring machine, 2 is an automatic posture / position measuring device, 3 is a tunnel planning line, 4 is a posture deviation angle, 5 is a planning line change angle after a unit distance, and 6 is an arbitrary amount based on a positional deviation amount. Setting change angle, 9 command change angle, 12 angle-moment conversion characteristic, 12 'moment-angle conversion characteristic, 14 jack pattern table, 15 jack operation pattern, 16 arithmetic circuit, 18 actual change angle, 22 is the actual command change angle, 23 is a comparison element, 24 is a comparison value, 25 is an averaging element, 26 is a discrimination element, 27
Is a moving average value, 29 is a hold element, 30 is a correction angle, and 31 is an addition element.

Front page continuation (72) Inventor Shigeka Takata 13, Showa-cho, Minato-ku, Nagoya, Aichi Ishikawa Shima Harima Heavy Industries, Ltd. Nagoya factory (72) Inventor Koichi Umeno 2-16-46, Minami Kamata, Ota-ku, Tokyo No. Co., Ltd. Tokyo Keiki Co., Ltd. (56) References JP-A-61-266797 (JP, A)

Claims (1)

(57) [Claims] 1. A tunnel excavation is carried out while propelling a shield trench machine with a plurality of jacks, and a posture deviation angle between the tunnel plan line from the automatic posture / position measuring device and the shield trench machine, and a unit distance after a unit distance. The planned line change angle and the arbitrarily set change angle based on the amount of positional deviation are input to the arithmetic circuit to calculate the command change angle, and the command change is made by the angle-moment conversion characteristic and the jack pattern table which are set and created in advance. Select a jack operation pattern that generates the rotation moment necessary to obtain the angle, operate the selected jack, and apply a rotation moment to the shield excavator in the propulsion direction to propel the shield excavator. In the shield digging machine automatic direction control method that corrects the direction, from the actual change angle of the shield digging machine and the actual jacking pattern As a control characteristic, the actual command change angle converted by substituting the used moment-angle conversion characteristic is compared, and the comparison value between the actual change angle and the actual command change angle is fixed for each unit propulsion distance. The moving average values are sequentially averaged by the averaging element to obtain a moving average value, and until the new moving average value is input from the averaging element, the previously input moving average value is retained and output, and a new moving average value is stored. When a value is input, the previously input moving average value is removed and a new moving average value is held and continues to be output, and the output value from the hold element is used as a correction angle to change the command change angle. Is input to the angle-moment conversion characteristic, and the comparison value between the actual change angle and the actual command change angle input to the averaging element and the moving average value output from the hold element are discriminant elements. so When the comparison value of the discriminant element is smaller than the set allowable value, the input from the averaging element to the hold element is blocked, and when the comparison value of the discriminant element is larger than the set allowable value, the averaging element is moved. An automatic direction control method for a shield trench machine, characterized in that an average value is input to a hold element.