JP3081328B2 - Automatic operation control method for earth pressure shield machine - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an automatic operation control method of an earth pressure shield machine by a computer, and more particularly to an operation of automatically controlling an earth pressure in a cutter chamber and an operation control of various devices based on measurement data. For the method.

[0002]

2. Description of the Related Art In general, in an earth pressure shield machine, for example, various measuring devices are installed in order to appropriately maintain the earth pressure in a cutter chamber, and the operation of a cutter and a screw conveyor is controlled, or In order to set the direction of the shield machine, it is necessary to manage and control the operation of various devices based on the measured data while constantly measuring various data during the excavation operation, such as controlling the operation of the shield jack.

Conventionally, a system for centrally managing each measurement data in such a shield excavation work using a personal computer has been adopted, but this data is exclusively stored and analyzed by displaying it on a screen or paper. Since the excavation operation was manually controlled while judging this analysis value based on human experience, an analysis method based on theoretical support was not established.

Therefore, the applicants first input each measurement data in the shield excavation work to a personal computer, analyze the data by an analysis method based on multivariate analysis, and transmit the analysis data to a shield machine as a control signal. A method for output has been developed and already filed (Japanese Patent Application No. 2-1)
No. 41920).

[0005]

However, in the method of outputting the analysis data to the shield machine as a control signal, the control signal has a constant value, and therefore, there is a problem in stable control and coping with changes in natural conditions (soil conditions). Has occurred.

[0006]

SUMMARY OF THE INVENTION In order to solve the above-mentioned conventional problems, the present invention provides an earth pressure, a speed and a stroke of a shield jack, a rotation speed and a rotation load of a discharging screw, a cutter rotation speed and a rotation load, and the like. Input various measurement data necessary for shield excavation work into a computer,
Multivariate analysis of the input measurement data to calculate the control value of the required control item of the shield machine, output this value as a control value signal to the operating equipment of the shield machine, and automatically start the operation of the shield machine At the same time, the standard deviation value of each control item is calculated from the analysis result, the control width of each control item is set, and a control signal is transmitted so as to operate within the control width to automatically start the shield machine. An object of the present invention is to provide an automatic operation control method for an earth pressure shield machine that is controlled and operated.

[0007]

[Function] Centralized management and display of each measurement data in shield excavation work using a personal computer, and a statistical method (multivariate analysis) of the measured data.
Analyze theoretically using.

The control value is set based on the analysis result, the control width is calculated from the standard deviation of the data, and the stepwise control width is set in several steps (for example, two steps of the upper and lower limits and the upper and lower limits). ), A control signal corresponding to the control width is automatically transmitted from the analysis result to the shield machine to perform automatic operation according to the operation state.

[0009] Various measurement data of each auxiliary equipment of the shield machine is transmitted in real time to a personal computer in a central control room,
From this data, only high-quality data in a section (analysis data collection section) set in an initial excavation section (for example, about 30 m) is extracted, and items for controlling earth pressure and operation are determined by multivariate analysis. At the same time, the control value and range of the item for controlling the earth pressure and operation are calculated by the inverse function, and the result is output as a control signal in a section (control section) set in various devices of the shield machine, thereby forming the shield machine. Is automatically operated (unmanned).

[0010]

DESCRIPTION OF THE PREFERRED EMBODIMENTS The present invention will be described below with reference to embodiments shown in the drawings. The earth pressure in the cutter chamber of the earth pressure shield machine 1, the speed and stroke of the shield jack, the number of rotations and the rotation load of the screw conveyor for earth discharging,
Various measurement data required for shield excavation, such as the rotation speed of the cutter, the rotation load, and the opening of the discharge gate of the screw conveyor, are input to the computer 2, and the input measurement data is displayed on a display and stored.

On the other hand, based on the input measurement data, the computer 2 sets a digging section (analysis data collection section) in an initial digging section (for example, about 30 m) and judges the quality. Multivariate analysis is performed based on the deviation.As a result of the determination based on the contribution ratio, the necessary control items of the shield machine are set and calculated.The control value is set by the inverse function calculation and the control range is numerically weighted and set. Is output to the operating device of the shield machine 1 as a control signal, whereby the shield machine 1 is automatically operated (unmanned).

The above control items include, for example, the speed of the shield jack, the number of rotations of the screw conveyor, the rotation speed of the cutter, the opening of the discharge gate of the screw conveyor, the flow rate of mud, and the amount of backfilling.

On the other hand, the standard deviation σ of each control item is calculated by the above data analysis, and the standard deviation σ is multiplied by a required coefficient to set a stepwise control width in several steps (for example, upper and lower limits and upper and lower limits). -Two lower and lower limit values are set and input to the computer 2.

The stepwise control width is set by changing the control amount of the control signal in accordance with the magnitude of the difference between the management value and the numerical value of the item to be managed, thereby achieving more precise control. This is because it is possible to perform various controls.

This control width can be arbitrarily set as long as it is within a controllable range for each control item, and a coefficient for the standard deviation σ can be arbitrarily set. The selection is automatically determined by the correlation between the control item and the item to be managed by data analysis.

For example, the upper and lower limits are set to ± 1.0 × σ, and the upper and lower limits are set to ± 2.0 × σ.

When the quality of the data is improved or the management state is good, the control width can be set arbitrarily by using the previous data, and the change of the items to be controlled can be changed by the multivariate analysis at the analysis stage. It is possible to adopt not only the earth pressure type shield machine but also the mechanical shield method and the case where the earth pressure can be ignored.

Then, the management value of each control item among these numerical values is first transmitted to the shield machine, and the operation is automatically started.

The computer 2 sets in advance control sections in which the excavation process is divided into an arbitrary number by an arbitrary time or an excavation length according to each control item.

In these control sections, the preceding control section is defined as a monitoring section (B time), and control is performed in the next control section (A time) using the numerical value of the item to be controlled obtained in this section, and at the same time, The control section (A time) is a monitoring section (B time) for the next control section. In short, every time the control section sequentially shifts as shown in FIG. The A1 time to be controlled based on the measurement data in the section 0 is the B2 time for monitoring the necessity of control in the next control section.

As described above, in the monitoring section (B time) which is the preceding control section, the next control section (A time) depends on the management width of the item to be controlled.
A control signal corresponding to the numerical value of the item to be managed is transmitted.

That is, in the monitoring section (B time) which is the preceding control section, even if the numerical value of the item to be controlled falls outside the management value to the upper (lower) limit, the same value is used based on the numerical value at that time. The control is not performed within the B time of the section, but is performed in the next control section (A time).

On the other hand, in this monitoring section (B time), the numerical value of the item to be controlled (here, earth pressure) is from the control value to the control value.
If the value is within the upper (lower) limit value, no control signal is transmitted to the control item in the next control section (A time), and conversely, the item to be managed is out of the management value to the upper (lower) limit value. In this case, if the vehicle does not return even during the B time of the monitoring section, a control signal is transmitted in the next control section (A time), and the upper (lower) limit value of the control item is transmitted to the shield machine, and automatically. Control is performed.

The items to be controlled are upper (lower) limit values
In the case where the upper limit (lower lower limit) is within the upper limit (lower lower limit) and the control does not return even during the B time of the monitoring section and the control is further continued, the upper limit (lower lower limit) limit value is transmitted and the control signal is transmitted. Is performed.

In any of these cases, if the vehicle does not return to the upper / lower (lower / lower) limit, the excavation work is automatically stopped, the automatic operation is stopped, and the items to be managed are upper / lower (lower / lower). If the value or the upper or lower limit is exceeded, an alarm signal is issued.

Next, a specific control method according to the present invention will be described with reference to FIG. 2 for the case of earth pressure as a control item in the specific operation state of the shield machine exemplified in this example (the upper part of FIG. 2).

In each of the control sections (1) to (4), since the items to be controlled are all within the control value to the upper limit value, no control is performed, and even if the upper limit value is temporarily exceeded in the middle of the control section (1). , And no control is performed in that section and the next control section.

In the following control section, since the item to be controlled exceeds the upper limit value and does not return to the upper limit value even at the end of the section, the upper limit value is transmitted as a control signal in the next control section, and control is performed. Will be implemented.

In the control section of the above,
The control is performed in the same manner as in the section.

Since the items to be controlled exceed the upper limit value in the control section of the circle 10 and exceed the upper limit value at the end of the section, the upper limit value in the control section of the next circle 10 to the circle 11 Is transmitted and the control is performed.

Since the items to be controlled continue to exceed the upper limit value in the control section between the circle 10 and the circle 11, the next circle
In the control section from 11 to 12, a control signal of the upper upper limit is transmitted to perform control. Although the control signal continues to be transmitted after that, the value of the item to be controlled still exceeds the upper limit, so in this case, the computer judges that the control limit has been exceeded and automatically A signal to stop the excavation work is sent to suspend the automatic operation.

[0032]

As described above, according to the present invention, it is possible to achieve unmanned shield excavation control by computer control using measurement data, thereby achieving labor saving and improvement of excavation efficiency. Operational errors can be prevented and the quality of shield construction can be improved.

Also, the operation control is automatically performed based on the analyzed numerical values under the theoretical support of the excavation management close to the human, without depending on the experience and judgment of the human. Since the equipment such as the stop device is easy, even a beginner can operate without requiring a skilled person, and the operation can be performed only by monitoring the control system.

[Brief description of the drawings]

FIG. 1 is a flowchart illustrating a control method according to the present invention.

FIG. 2 is a diagram showing the progress of an operating situation according to the control method of the present invention.

[Explanation of symbols]

 1 shield machine 2 computer

Continuation of the front page (58) Field surveyed (Int.Cl. ⁷ , DB name) E21D 9/06 301

Claims (2)

(57) [Claims] 1. Various kinds of measurement data necessary for shield excavation work, such as earth pressure, speed and stroke of a shield jack, rotation speed and rotation load of a discharging screw, cutter rotation speed and rotation load, are input to a computer and input. Multi-variate analysis of the measured data to calculate the control value of the required control item of the shield machine, output this value as a control value signal to the operating equipment of the shield machine, and automatically start the operation of the shield machine. Calculate the standard deviation value of each control item from the analysis result, set the control width of each control item, and send a control signal to operate within the control width to automatically control the operation of the shield machine. An automatic operation control method for an earth pressure shield machine. 2. A control section in which a digging process is divided by an arbitrary time or a digging length is set in a computer, a preceding control section is measured as a monitoring time, and a control signal is transmitted as a control time in a succeeding control section. The automatic operation control method for an earth-pressure shield machine according to claim 1, wherein the shield machine is controlled in such a manner that the monitoring time and the control time are alternately and repeatedly controlled.