JP2942149B2 - Propulsion control method - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a propulsion pipe which is propelled by receiving a pressing force from the rear and a propulsion direction which is connected to the tip side of the propulsion pipe and which receives a reaction force from the soil accompanying the underground propulsion. In propelling a propulsion body provided with a propulsion head having an inclined pressure-receiving surface, the position of the propulsion head in the soil is measured, and the position of the propulsion body with respect to a planning line is determined based on the measurement result. Is calculated, and when the positional shift amount is large,
The propulsion control pitch for propulsion to the next measurement position is reduced, and the propulsion control pitch is set so as to increase the propulsion control pitch when the displacement amount is small. The present invention relates to a propulsion control method for controlling the operation direction of the inclined pressure receiving surface and the amount of propulsion operation in the operation direction for each control pitch by a fuzzy rule.

[0002]

2. Description of the Related Art Conventionally, this type of propulsion control method includes:
A plurality of fuzzy rules are prepared in correspondence with a plurality of propulsion control pitches that are set to be large or small according to the displacement amount of the propulsion head (which is mainly affected by differences due to environmental conditions including soil conditions). Each time the set propulsion control pitch changes, the propulsion control is performed by re-tuning the control device to a fuzzy rule corresponding to the propulsion control pitch.

[0003]

According to the above-described conventional propulsion control method, a plurality of fuzzy rules must be prepared and used depending on the situation. However, there is a problem that this is easily complicated.

[0004] As a propulsion control method for solving this problem, it is conceivable to fix the fuzzy rules to one and avoid complication of the propulsion control. However, if one fuzzy rule is used, the corresponding propulsion control pitch must also be set to one value.If the set value of the propulsion control pitch in this case is set to, for example, a large pitch, There is a problem that the propulsion accuracy tends to be reduced in the ground having a large displacement amount. Further, if the setting of the propulsion control pitch is set to a small value contrary to the above, there is a risk that the number of times of position measurement of the propulsion head performed at the start point and the end point of the propulsion control pitch may be unnecessarily increased, There is a problem that the measurement is troublesome and the efficiency of the propulsion work is reduced.

Accordingly, it is an object of the present invention to provide a propulsion control method capable of solving the above-mentioned problems and reducing the complexity of the propulsion control while performing an accurate and efficient propulsion operation.

[0006]

A feature of the propulsion control method according to the present invention for achieving the above object is to provide an inclined pressure receiving surface for changing a propulsion direction by receiving a reaction force from the soil accompanying the underground propulsion. Measure the position of the propelled head in the soil and calculate the amount of deviation from the plan line based on the measurement result.If the amount of deviation is large, the next measurement position The propulsion control pitch to be propelled up to a small value, and when the displacement amount is small, the propulsion control pitch is set so as to increase the propulsion control pitch. In the implementation of the propulsion control in which the operation direction of the inclined pressure receiving surface and the propulsion operation amount in the operation direction are controlled by the fuzzy rule, the fuzzy rules used for the respective propulsion controls correspond to the minimum propulsion control pitch. Fixed to rule In advance, each time the minimum propulsion control pitch is propelled within the propulsion control pitch set based on the calculation of the positional deviation amount, a control propulsion reaching position based on the fuzzy rule is estimated, and the estimated position is used as a basis. Then, the next propulsion control is performed.

[0007]

According to the characteristic structure of the propulsion control method of the present invention, the fuzzy rules used for the respective propulsion controls are fixed to the rules corresponding to the minimum propulsion control pitch, and the fuzzy rules are determined based on the calculation of the position shift amount. Within the set propulsion control pitch, every time the minimum propulsion control pitch is propelled, the control propulsion reaching position based on the fuzzy rule is estimated, and the next propulsion control is performed based on the estimated position. Only one fuzzy rule needs to be used, control can be performed simply, and complicated operation can be prevented. Also, for example, when the displacement amount is small, the propulsion control pitch is set to be large, and within each of the propulsion control pitches, the control propulsion attainment based on the fuzzy rule is performed every time the minimum propulsion control pitch is propelled. Since the next propulsion control is performed by estimating the position, each time the minimum propulsion control pitch is propelled, the position can be provisionally determined by estimating the control propulsion reaching position instead of performing the position measurement work of the propulsion head. As a result, it is possible to prevent the efficiency of the propulsion work from being lowered due to the unnecessary increase in the number of position measurements as in the related art. On the other hand, for example, when the displacement amount is large, the propulsion control pitch is set to small, and the position is measured each time the propulsion control pitch is propelled. As described above, the propulsion control according to the value of the positional deviation amount (for example, a difference is caused by a change in the environmental condition including the soil condition), that is, the efficient propulsion control that matches the environmental condition is performed. It becomes possible.

[0008]

Therefore, according to the propulsion control method of the present invention, it is possible to carry out less wasteful propulsion control according to the on-site environmental conditions with a simple operation and more accurately.
The accuracy and work efficiency of the entire propulsion work can be improved.

[0009]

Embodiments of the present invention will be described below with reference to the drawings.

FIG. 2 shows a situation in which the propulsion body S is being propelled underground toward a predetermined position of an arrival pit (not shown) by the propulsion device 2 installed in the starting pit 1.

The starting pit 1 has four retaining walls 1a, and a support frame 1b provided on the inner side of the retaining walls 1a for receiving the earth pressure acting on the retaining walls 1a. is there.

The propulsion device 2 is a well-known device that is configured so that it can be propelled by pressing it toward the ground while holding the propulsion body S.

As shown in FIG. 3, the propulsion body S includes a plurality of propulsion tubes 3 and a propulsion head 4 connected to each other so as to be freely bent in the longitudinal direction. A plurality of hydraulic hoses 6 for circulating the pressure oil for driving the propulsion head are provided over the inner space of the nozzle 4.

The propulsion tube 3 is formed of a metal cylinder, and is connected to an adjacent propulsion tube 3 or a propulsion head 4 via a spherical joint J so as to be freely bent. As shown in the drawing, the propulsion head 4 is provided with a cylindrical head main body 4a, and is a fitting cylinder that is rotatable around the cylinder axis of the head body 4a and that can move back and forth along the cylinder axis. The member 4b is provided inside the head main body 4a in a state of being fitted inside, and the leading conductor 7 having the inclined pressure receiving surface 7a receiving the earth pressure accompanying the propulsion is fixed to the tip end of the fitting cylindrical member 4b, and the fitting is performed. A rotary drive mechanism R for rotatably driving the cylindrical member 4b and the leading conductor 7 fixed thereto around the cylindrical axis, and a rotatable driving mechanism for moving the fitting cylindrical member 4b and the leading conductor 7 back and forth in the cylindrical axis direction; The retracting drive mechanism T is provided inside the head main body 4a. Also,
The inclined pressure receiving surface 7a of the leading conductor 7 is formed so as to be inclined with respect to the cylinder axis of the head main body 4a, and in curved propulsion construction, the inclined pressure receiving surface 7a is directed outward of the propulsion curve. By rotating the tip conductor 7 around the axis of the cylinder by the rotation drive mechanism R, and by driving the tip conductor 7 to protrude forward by the retracting drive mechanism T in this state, the inclined pressure receiving surface 7a , The tip of the propulsion head 4 can be guided in the direction of the propulsion curve. The operation direction of the inclined pressure receiving surface 7a and the amount of propulsion operation in the operation direction are determined by fuzzy rules. The driving of the rotary drive mechanism R and the retractable drive mechanism T is performed by pressure oil sent from the ground via the hydraulic hose 6. On the other hand, a transmitting coil C1 for measuring the position of the propulsion head 4 is provided on the outer peripheral portion of the head main body 4a. 4 can be detected, and as a result, the propulsion head 4 with respect to the planning line K of the propulsion path can be detected.
Is obtained (see FIG. 5). Note that the positional deviation amount d refers to a deviation amount of the position between the plane including the inclined pressure receiving surface 7a, the intersection of the propulsion head 4, and the plan line K.

In the propulsion control method according to this embodiment, as shown in FIGS. 1 and 4, first, a first measurement position A set at a predetermined position is set.
In step (1), the position of the propulsion head 4 in the soil is measured using the transmission coil C1, and the amount of positional deviation d from the plan line K is calculated based on the measurement result.

When the positional deviation amount d is large, as shown in FIG. 4A, the distance to the next second measurement position (corresponding to the next measurement position according to the present invention) B is obtained. A certain propulsion control pitch L is set to a minimum value, that is, a minimum propulsion control pitch L1, and the propulsion body S is propelled by applying the fuzzy rule over the propulsion control pitch. The fuzzy rules are tuned in correspondence with the minimum propulsion control pitch L1. After propulsion, the second measurement position B is used to perform position measurement in the same manner as the first measurement position A, and the position deviation amount d is obtained, and the same control as described above is performed according to the value, or Is to be controlled.

In the case where the displacement d is small, FIG.
As shown in (b), the propulsion control pitch L is set to a large value, that is, a large propulsion control pitch L2, and every time the minimum propulsion control pitch L1 is propelled within the large propulsion control pitch L2. , The control propulsion reaching position is estimated, and the fuzzy rule is applied based on the estimated position to propell the next minimum propulsion control pitch L1. However, the minimum propulsion control pitch L1 is set to the length of the forward / backward stroke of the leading conductor 7, and the large propulsion control pitch L2 is correlated from a plurality of values based on the value of the displacement amount d. The pitch is set to an integral multiple of the minimum propulsion control pitch L1. The estimation of the control propulsion reaching position in the situation shown in FIG. 5 can be calculated by the following estimation formula.

Θ1 = θ0−L1 · p · sin θt d1 = d0 + L1 · sin {(θ0 + θ1) / 2} θ0: azimuth of the base of the propulsion head with respect to the planning line θ1: propulsion head after propulsion with respect to the planning line L1: Propulsion distance p: Rate of change of azimuth angle per unit propulsion distance θt: Rotation angle of tip conductor around propulsion head axis d0: Displacement amount of propulsion head base relative to plan line d1: Estimated displacement of propulsion head after propulsion with respect to plan line

According to the propulsion control method of this embodiment, the propulsion control using the fuzzy rule can be performed only by tuning the fuzzy rule corresponding to the minimum propulsion control pitch, and the propulsion is controlled according to the on-site environmental conditions. Propulsion work that maintains propulsion accuracy while reducing the number of measurements by using position estimation instead of head position measurement, thereby improving the accuracy and work efficiency of the propulsion work as a whole. it can.

[Another embodiment] Another embodiment will be described below.

The minimum propulsion control pitch is not limited to the stroke length of the leading conductor 7 described in the previous embodiment, but can be set arbitrarily. For example, it is possible to set the length to an integral multiple of the retracting stroke length, the propulsion stroke length of the propulsion device 2, or the integral multiple of the propulsion stroke length. By setting the length to an integral multiple of the length that can be the minimum unit stroke, complication of propulsion control can be avoided.

In the claims, reference numerals are provided for convenience of comparison with the drawings, but the present invention is not limited to the configuration shown in the attached drawings.

[Brief description of the drawings]

FIG. 1 is a flowchart illustrating a propulsion control method according to an embodiment.

FIG. 2 is a side sectional view showing the state of propulsion of the propulsion body of the embodiment.

FIG. 3 is a side view showing the propulsion body of the embodiment.

FIG. 4 is an explanatory diagram showing a propulsion control method according to the embodiment.

FIG. 5 is an explanatory diagram corresponding to the estimation formula of the embodiment.

[Explanation of symbols]

 Reference Signs List 3 propulsion pipe 4 propulsion head 7a inclined pressure receiving surface B measurement position d displacement amount K planning line L propulsion control pitch L1 minimum propulsion control pitch S propulsion body

──────────────────────────────────────────────────続 き Continuation of the front page (72) Inventor Kazunori Tsujimoto 1-1-1, Hama, Amagasaki City, Hyogo Prefecture Inside Kubota Technology Development Laboratory Co., Ltd. (56) References JP-A-4-336196 (JP, A) JP JP-A-4-83092 (JP, A) JP-A-2-115492 (JP, A) JP-A-4-68193 (JP, A) (58) Fields investigated (Int. Cl. ⁶ , DB name) E21D 9 / 06 311

Claims (1)

(57) [Claims] 1. A propulsion pipe (3) for propelling by receiving a pressing force from the rear, and a propulsion direction connected to the tip side of the propulsion pipe (3) and receiving a reaction force from the soil accompanying the underground propulsion. In propelling the propulsion body (S) provided with the propulsion head (4) having the inclined pressure receiving surface (7a) for changing the position, the position of the propulsion head (4) in the soil is measured, Based on the measurement result, the amount of displacement (d) from the plan line (K)
Is calculated, and when the positional deviation amount (d) is large, the propulsion control pitch (L) for propelling to the next measurement position (B) is calculated as follows:
When the displacement (d) is small,
The propulsion control pitch (L) is set so as to increase the propulsion control pitch (L), and for each of the propulsion control pitches (L), the operation direction of the inclined pressure receiving surface (7a); A propulsion control method for controlling the propulsion operation amount in the operation direction by a fuzzy rule, wherein a fuzzy rule used for each of the propulsion controls is fixed to a rule corresponding to a minimum propulsion control pitch (L1). Within the propulsion control pitch (L) set based on the calculation of the displacement amount (d), every time the minimum propulsion control pitch (L1) is propelled, the control propulsion reaching position based on the fuzzy rule is estimated. And a propulsion control method for performing the next propulsion control based on the estimated position.