JP2829671B2 - Automatic direction control method for excavator etc. - Google Patents

Description

The present invention relates to a propulsion method of a propulsion method often used for burying small and medium-diameter pipes for sewerage and other uses, or a shield method used for tunnel excavation work. The present invention relates to an automatic direction control method applied to, for example, correcting the direction of a shield machine.

2. Description of the Related Art Conventionally, an automatic direction control method for automatically correcting the direction of a shield machine, a propulsion machine, and the like (hereinafter, collectively referred to as an excavator) using a computer has already been widely known and implemented ( For example, refer to the direction control method described in JP-A-63-280195).

Problems to be Solved by the Present Invention Conventional automatic direction control method of a machine such as an excavator performed by using a computer is based on a measured value of a current position or attitude of a shield machine or a propulsion machine, a position when excavated as it is, In addition to predicting the attitude, the content of the calculation is such that the change rate before and after the excavation and before and after the excavation are calculated by a computer and the direction is controlled. Moreover, the above calculation is a numerical calculation, and is performed using various mathematical expressions. However, such numerical calculations are not necessarily suitable for all excavators and propulsion soils. Further, there is a problem that changing the formula when changing the arithmetic method is very complicated.

Further, in the conventional automatic direction control method, the difference between the current position of the propulsion device or the like and the planned line (separation amount) is set as shown in FIG. Since the directional control with an absolute value of ± 0 mm is always performed with respect to the plan line, there is a disadvantage that the propulsion trajectory is likely to meander or curve due to a sudden change.

Accordingly, it is an object of the present invention to firstly provide an automatic control method for performing direction control without using a numerical operation. In other words, an object of the present invention is to provide an automatic direction control method for performing direction control mainly by pattern matching, using an inference program language as a direction control program language.

A second object of the present invention is to roughly classify factors affecting directional control of a propulsion machine into four: excavation trajectory, attitude angle, separation (difference) from a planning line, and past control effects. An object of the present invention is to provide an automatic direction control method for performing direction control in consideration of an influence. In particular, with regard to the correction of the deviation from the planning line, a plurality of areas are provided as shown in FIG. 7 according to the magnitude of the distance, individual correction targets are set in each area, and moderate correction is gradually performed. Accordingly, it is possible to provide an automatic direction control method for preventing a large change in the excavation trajectory, and in other words, performing a direction control for smoothly and gently changing the movement in a manner similar to human control.

Means for Solving the Problems As means for solving the problems of the prior art described above, an automatic direction control method for an excavator or the like according to the present invention is as shown in the embodiment in FIGS. 1 to 9 of the drawings. An automatic surveying system 1 for measuring, calculating and recording the current position and attitude angle of the excavator 2 and the like, and a logical system based on data sent from the automatic surveying system 1 and knowledge data stored therein. A direction control calculator 7 for performing inference and calculating a correction direction and a correction amount of the excavator 2 and the like, and a corresponding direction correction jack 11 as specified by the direction control calculator 7 are selected, and the stroke amount is adjusted and the excavation is performed. In the automatic direction control method of the excavator and the like by the jack control arithmetic unit 9 for controlling the excavator 2 and the like, a) the past number of the excavator 2 and the like obtained by the automatic surveying system 1 which is retroactive to a predetermined distance from the current position Point Location data {in ~ or FIG. 5 in FIG. 4 (a) to
(D) Applying｝ to the basic pattern in FIG. 6, patterning the trajectory of the excavator 2 etc. as a combination of the basic pattern,
A step of selecting a locus pattern that matches the locus pattern from a large number of locus pattern data stored in the database to determine a control direction and a control amount; b) an excavator 2 or the like obtained by the automatic surveying system 1 Angle data of a point (for example, a position at a distance of 8 m in FIG. 8) which is a predetermined distance from the current position (for example, a position of 10 m in FIG. 8) of the excavator 2 and the change thereof Selecting a control direction and a control amount by selecting a pattern that matches the posture angle pattern from among many posture angle pattern data stored in a database by patterning according to the amount, and c) excavating machine 2 or the like. Dividing the distance between the current position and the planning line into several areas, setting individual correction targets in each area, and determining the correction amount (FIG. 7).

The automatic directional control method of the present invention also performs a comparison judgment by measuring whether or not the result of performing the directional control of the excavator 2 or the like has the position and orientation angle as predicted by the automatic surveying system 1, It is also characterized by including a step of reflecting the change in the next control amount.

Operation The position data of, for example, four points are taken out at equal intervals from the past position data (FIGS. 2 and 3) which are traced back, for example, about 9 m from the current position of the excavator 2 and the like, and shown in FIG. When the excavation trajectory is patterned as a combination of the indicated basic patterns, the necessity of the direction control is determined based on the trajectory pattern.

If it is determined that the direction control is necessary, then, for example, about four points of position data are extracted at equal intervals from the past position data that is traced back about 3 m from the current position (fifth point).
Figure), patterning the trajectory. That is, a matching pattern is selected from many basic patterns (FIG. 6) stored in the database in advance (pattern matching). Thus, a trajectory pattern is created as a combination of the selected basic patterns, and a basic correction direction and a correction amount can be determined by predicting a future behavior of the excavator 2 or the like based on the trajectory pattern. The operation of determining the correction direction and the correction amount by such pattern matching is performed in the direction control calculation unit 7.

Regarding the attitude angles (pitching angle, yawing angle) of the excavator 2 and the like, the correction direction and the correction amount are determined by the same patterning and pattern matching of the survey data as in the case of the excavation trajectory (No. 8).

Regarding the difference (difference) between the current position of the excavator 2 or the like and the planning line, a plurality of areas are provided in accordance with the amount of separation, individual correction targets are set in each area, and a correction amount capable of performing a gradual correction. (FIG. 7), a large change in the excavation locus is prevented. The above-described operation of determining the direction and amount of correction of the posture angle and setting of individual correction targets according to the amount of separation are also performed by the direction control calculation unit 7.

The automatic surveying system 1 determines whether or not the result of controlling the excavator 2 or the like has the predicted position and attitude angle.
Is determined on the basis of the survey result. The result of the determination is reflected in the next control as necessary, whereby the learning function operates. As a result of the accumulation of data, the accuracy of the control is steadily increased, and a better result is obtained.

Embodiment Next, the illustrated embodiment of the present invention will be described.

FIG. 1 shows an outline of an entire automatic directional control system of a propulsion device 2 in which an automatic directional control method of the present invention is implemented in construction management of a propulsion method. In the figure, reference numeral 1 denotes an automatic surveying system, which is a target 3 installed in a propulsion device 2.
And a measurement computer such as a personal computer 5 and a video tracker 6 installed in a monitoring room on the ground. The automatic surveying system 1 measures the current position and attitude angle of the propulsion device 2 in real time, and sends the measurement data to the next direction control calculation unit 7.

The direction control calculation unit 7 is composed of a personal computer 8 that receives data sent from the automatic surveying system 1 and performs an inference calculation, and separates the propulsion device 2 from a plan line (up and down, left and right deviation amounts). Logical inference (pattern matching) is performed on the basis of the position and the deviation amount of the attitude angle). When the necessity of the control of the propulsion unit 2 is determined by the inference operation, the correction direction and the propulsion amount are determined in the next process, and the control instruction is transferred to the next jack control operation unit 9. The direction control calculation unit 7 also determines a control result, and when it is determined that the control is valid, stores the inference result and reflects it in the next control.

The jack control operation unit 9 includes a jack controller 10. The jack controller 10 controls the solenoid valve of the jack hydraulic circuit while monitoring the current stroke of the direction correcting jack 11 with the stroke meter 12 based on the control instruction sent from the direction control calculation unit 7. is there. The control of the direction correcting jack 11 is terminated when the current stroke difference matches the control instruction amount, and a signal of the control termination is returned to the direction control calculation unit 7. If the control is still incomplete even though the control is continued for a certain period of time, a signal to that effect and the stroke amount of the direction correcting jack 11 of the propulsion device 2 are returned to the direction correction calculating unit 7. Further, in order to prevent loss of control data due to power failure or the like, the jack controller 10 has a function of storing initial data (initial values) such as set strokes in a memory.

Next, the propulsion device 2 using the above-described automatic direction control system
Will be described.

The trajectory of the propulsion device 2 is the most important as the construction management of the propulsion method. Based on the survey data obtained by the automatic survey system 1, the position, the propulsion direction, and the attitude angle (pitching angle and yawing angle) of the propulsion device 2 during propulsion are always grasped and recorded in real time. As a method of managing the past trajectory of the propulsion device 2, it is divided into two stages of determining the necessity of the direction correction for the propulsion device 2 from the accumulated data, and determining the correction direction and the correction amount. For example, every time the propulsion device 2 travels 1 m, a calculation is performed as to whether or not the direction needs to be corrected once. If it is determined that the direction needs to be corrected, the maximum duration of one control is set to 20 seconds. If the maximum duration is exceeded, the same control is repeated three times in total (60 seconds in total). When the control is incomplete all three times, the control is terminated.

By the way, according to the builder of the propulsion method, the range in which the rear fume pipe affects the direction control of the propulsion device 2 is 5 to 5.
It means about 10m (2-4 fume tubes). Therefore, the trajectory of the propulsion device 2 is patterned (FIG. 3) based on the position data (FIG. 2) in the range retroactive to 9 m from the current position of the propulsion device 2 sent from the automatic surveying system 1 (FIG. 2). . That is, four times at regular intervals from the position data
The position data of a point (for example, in FIG. 4) is extracted, and
The propulsion trajectory is patterned (FIG. 4). Then, it is determined whether or not the direction control is necessary based on the trajectory pattern and the deviation amount (distance) from the planning line.

If it is determined that the direction control of the propulsion unit 2 is necessary in the above-described process, the position data of the four points (-in FIG. 4) at the equal intervals described above can be selected from the range of- The position data up to (3 m before) is selected, and four points {(a) to (d) in FIG. 5) are extracted from the position data at equal intervals, and the details of the trajectory are patterned. The behavior of the propulsion device 2 in the future is predicted from this trajectory pattern, and the basic correction method and correction amount are determined.

As a method, models No. 1 to No. 8 of the basic pattern as shown in FIG. 6 are stored in advance in the database of the direction control calculation unit 7. Then, regarding the trajectory pattern (a) → (b) → (c) → (d) in FIG. 5, for example, the trajectory (a) from the current position (a) to the (b) point retroactively → Select the basic pattern that matches (b) as No. 1. Next, a basic pattern corresponding to the locus of point (b) → (c) is similarly selected as No. 1 from FIG. (C)
→ The basic pattern that matches the locus up to the point (d) is No. 5
Select

The trajectory pattern of the propulsion device 2 thus selected and determined is No. 5, No. 1, and No. 1 in order from the rear toward the current position as the basic pattern No. Based on the pattern, a control direction (correction direction) and a basic control amount (correction amount) for performing direction control by predicting the behavior of the propulsion device 2 ahead of the current position are determined.

However, regarding the final determination of the correction amount at this time, correction is not performed so that the absolute value is ± 0 mm with respect to the plan line. For example, as shown in FIG. 7, regarding the deviation amount (deviation amount) from the ± 0 mm planning line, the first area is from ± 0 mm to ± 20 mm, and the second area is from ± 20 mm to ± 50 mm.
Set ± 50mm or more as the third area. Thus ± 0mm
After setting three (or more) areas according to the amount of deviation from the planning line, set individual correction targets in each area, and consider that each area is optimal for the past trajectory pattern. The control amount for the correction target to be adjusted.

For example, as shown in the right half of FIG. 7, when the propulsion device 2 at the current position is located in the third area, the correction target is set at a position closer to the first area in the second area.
Also, as shown in the left half of FIG. 7, when the current position of the propulsion device 2 belongs to the first area, a correction target is set so as to keep the position as it is. In short, a sudden or large change in the trajectory of the propulsion device 2 is avoided as much as possible.

Next, the automatic surveying system 1 also measures the attitude angle of the propulsion device 2, that is, the pitching angle and the yawing angle. The pitching angle corresponds to the vertical (horizontal) movement (change) of the propulsion device 2, and as shown in FIG. 8, the attitude angle of the propulsion device 2 depends on the deviation amount (position data) from the planning line. Change ahead.
As the control method of the present invention, the current attitude angle, and the amount of change from the current position and the attitude angle retroactive to 1m from the pattern,
The operation of pattern matching with the basic pattern of the attitude angle also stored in the database is performed, and the future behavior of the propulsion device 2 is predicted. Then, the control direction and the control amount are determined by comprehensively determining the control amount obtained from the above-described propulsion trajectory.

The above operation is performed by the direction control operation unit 7, and the determined correction direction and correction amount are sent to the jack controller 10 of the jack control operation unit 9. The jack controller 10 selects a corresponding direction correction jack 11 according to the correction direction and correction amount specified by the direction control calculation unit 7, and adjusts the stroke amount.

When the direction correction of the propulsion device 2 is performed in this manner, the result is automatically measured by the automatic surveying system 1 in real time,
The survey data is sent again to the direction control calculation unit 7 to determine the control result, and if necessary, reflected in the next change in the control amount. This is the function of the learning function.

FIG. 9 shows a total block diagram of the automatic direction control method as described above.

Advantageous Effects of the Present Invention Since the automatic direction control method for an excavator and the like according to the present invention is a control method mainly based on arithmetic processing of inference and pattern matching, addition of a database (which basically becomes a knowledge base), Easy to change. Therefore, it is extremely easy to change the model of the shield machine or the propulsion machine and to cope with a change in conditions such as excavated soil quality.

In addition, the database itself can be updated by the software itself, and the appropriate control can be performed at an arbitrary timing under better conditions each time the results are accumulated, so that it is more like a human (skilled operator). Excellent directional control can be provided, which improves the quality and accuracy of construction of excavators and the like.

[Brief description of the drawings]

FIG. 1 is a schematic diagram of a system for implementing an automatic direction control method according to the present invention, and FIGS. 2 and 3 are examples of position data traced from a current position of a propulsion device to a predetermined distance and a trajectory pattern based thereon. FIG. 4 is an example diagram for determining the necessity of the direction control, FIG. 5 is a diagram for determining the control direction and the correction amount, FIG. 6 is a model diagram of the basic pattern, and FIG. FIG. 8 is an example diagram showing changes in position data and attitude angle, FIG. 9 is a block diagram showing an outline of an automatic direction control method according to the present invention, and FIG. Is a description of the current position of the propulsion unit and the correction target. 2 ... propulsion device, 1 ... automatic surveying system 12 ... stroke meter, 11 ... direction correction jack 7 ... direction control calculation unit, 9 ... jack control calculation unit

Continuation of the front page (72) Inventor Tsuneyasu Onishi 8-2-1-1, Ginza, Chuo-ku, Tokyo Co., Ltd. (72) Inventor Masanori Sugano 8-2-1, Ginza, Chuo-ku, Tokyo Co., Ltd. (56) References JP-A-3-228996 (JP, A) JP-B-1-52560 (JP, B2) (58) Fields investigated (Int. Cl. ⁶ , DB name) E21D 9/06 301

Claims (2)

(57) [Claims] An automatic surveying system for measuring, calculating and recording the current position and attitude angle of an excavator, etc., and a logical system based on data sent from the automatic surveying system and knowledge data stored therein. Directional control calculation unit for calculating the correction direction and correction amount of the excavator, etc., and selecting the corresponding direction correction jack as instructed by the direction control calculation unit, adjusting the stroke amount, and controlling the excavator. In the automatic direction control method of an excavator or the like by a jack control arithmetic unit to be controlled, a) The position data of several past points that have been traced back to a predetermined distance from the current position of the excavator or the like obtained by the automatic survey system are used as basic patterns. And the locus of an excavator etc. is patterned as a combination of basic patterns, and the locus pattern is selected from among many locus pattern data stored in a database. (B) determining a control direction and a control amount by selecting a coincident one; Patterned by attitude angle data and its change amount,
Selecting from the many attitude angle pattern data stored in the database in advance the one that matches the attitude angle pattern to determine the control direction and control amount; Dividing the amount of separation into several areas, setting individual correction targets in each area and determining the amount of correction, and an automatic direction control method for an excavator or the like. 2. A step of measuring whether or not the result of performing the direction control of the excavator or the like attains the position and attitude angle as predicted, making a comparison judgment, and reflecting the result in the next change of the control amount. An automatic direction control method for an excavator or the like according to claim 1, wherein the method includes: