JP3921729B2 - Direction control method and direction control system for shield machine - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to a direction control system for a shield machine, and more particularly, to a direction control system for controlling the direction of a shield machine using a computer.
[0002]
[Prior art]
The shield machine is used as a drilling machine when excavating and forming a shield tunnel for ground with a lot of groundwater or soft ground, especially in urban civil engineering. For example, a segment is assembled as a lining body that covers the inner wall surface of the tunnel inside the outer shell body, and a shield jack is pressed against the tip end surface of the segment to obtain an excavation reaction force from this segment. The excavation work is performed sequentially while pushing out the back of the shell.
[0003]
Then, according to the shield method for excavating and forming such a shield tunnel, the shield machine will be advanced along the planned route with precision while controlling the direction. For example, a specialized administrator should calculate the amount of deviation from the planned line based on the survey data related to the shield machine, and use this result to smoothly place the course on the planned line several rings later. Considering the expected curve, calculate the pitching value and stroke value (azimuth angle) of the shield machine along this predicted curve based on the experience and intuition of the manager, and then instruct the operator of the calculation result and By selecting and driving a combination of numerous shield jacks based on experience and intuition, the shield machine Method of performing direction control has been adopted.
[0004]
With the development of computer technology in recent years, various methods for automatically controlling the direction of the shield machine using a computer have been developed. According to such an automatic direction control method, the position of the shield machine is improved. Is calculated by surveying or various measuring instruments, and the jack pattern is automatically selected by the computer so as to be rubbed to the planned alignment.
[0005]
That is, according to the control method of the direction of the shield machine using a conventional computer, when the amount of deviation from the planned route is detected, an expected curve to be placed on the planned route is created and further put on this predicted curve. In addition to inferring the bending amount, the thrust necessary for generating the calculated bending amount is searched as a vector amount in the vertical and horizontal directions, and the optimum jack combination pattern for generating the thrust is selected.
[0006]
By controlling the jack selected in this way, the direction of the shield machine is controlled so as to be placed on the planned route, and the direction control of such a shield machine is completely automated, so that unmanned excavation is performed. It becomes possible.
[0007]
[Problems to be solved by the invention]
However, according to the conventional method for automatically controlling the direction of the shield machine using the computer, the purpose was simply to rub the shield machine in a planned linear manner. In addition, there is a problem that it is not possible to take human judgment according to the work situation and to perform direction control flexibly.
[0008]
In other words, in the excavation work by the shield machine, in consideration of the conditions of the shield machine and conditions of the ground that are not known unless actually excavated, for example, the ease of assembling work of a specific type segment in the curved part and tail clearance In order to ensure the safety, it may be necessary to remove the shield machine from the planned alignment and perform the excavation work. However, according to the automatic direction control method using a conventional computer, it can be obtained during actual excavation. If various conditions are adopted, the number of parameters becomes too large and computer processing becomes difficult, so it is not possible to flexibly cope with this situation, which may hinder segment assembly work, etc. was there.
[0009]
Therefore, the present invention has been made by paying attention to such a conventional problem, and incorporates human judgment into what could not be covered by computer alone depending on the actual working situation at the time of excavation. An object of the present invention is to provide a direction control method and a direction control system for a shield machine capable of performing direction control using a computer while improving practicality.
[0010]
[Means for Solving the Problems]
The present invention has been made in order to achieve the above object, and the gist thereof is a method for controlling the digging direction of a shield machine using a computer, and digging a predetermined distance input by an operator. The actual target shield jack stroke difference is calculated from the difference between the subsequent target shield jack stroke difference and the current shield jack stroke difference, and the calculated actual target shield jack stroke difference is calculated as the actual target shield jack stroke difference and the shield jack center of gravity position. The actual target pitching is calculated from the difference between the current pitching and the target pitching after the excavation of the predetermined distance input by the operator and the step of obtaining the shield jack center of gravity position based on the actual target shieldjack stroke difference. And calculate the actual target pitching as the actual target pitch. And determining the position of the center of gravity of the shield jack based on the actual target pitching by applying the correlation between the position of the center of the shield jack and the center of the shield jack, and the position of the center of gravity of the shield jack based on the actual target jack jack stroke difference and the center of gravity of the shield jack based on the actual target pitching And a method of selecting and outputting a jack pattern corresponding to the synthesized shield jack center of gravity position from a jack pattern table prepared in advance. is there.
[0011]
Another aspect of the present invention is a system for controlling a direction of a shield machine using a computer, and a target shield jack stroke difference after a predetermined distance input by an operator and a current The actual target shield jack stroke difference calculating means for calculating the actual target shield jack stroke difference from the difference from the shield jack stroke difference, and the calculated actual target shield jack stroke difference between the actual target shield jack stroke difference and the shield jack center of gravity position. The first shield jack center of gravity position determination means for obtaining the shield jack center of gravity position based on the actual target shield jack stroke difference and the target pitching after excavation for a predetermined distance input by the operator and the current pitching Find the actual target pitching from the difference An actual target pitching calculating means, and a second shield jack center-of-gravity position determining means for obtaining the shield jack center-of-gravity position based on the actual target pitching by applying the calculated actual target pitching to the correlation between the actual target pitching and the shield jack center-of-gravity position; In addition to combining the shield jack center of gravity position based on the actual target shield jack stroke difference and the shield jack center of gravity position based on the actual target pitching, the jack pattern corresponding to the combined shield jack center of gravity position is prepared in advance. A direction control system for a shield machine comprising a jack pattern selection means for selecting and outputting from a pattern table.
[0012]
Here, in the above description, the shield jack stroke difference refers to the stroke difference between the shield jacks located at the left and right ends of the plurality of shield jacks provided along the inner peripheral surface of the shield machine, Pitching indicates the vertical inclination of the shield machine, and can be represented by the stroke difference between the shield jacks located at the upper and lower ends, or by the pitching angle measured by the inclination angle measuring means.
[0013]
And according to the direction control method or direction control system of the shield machine of the present invention, the shield for each predetermined distance determined by the manager or the staff is the same as the control by the conventional operator who does not employ the automatic direction control system. Direction control is performed by giving the stroke difference and pitching angle of the jack to the computer by an operator and outputting the shield jack pattern selected by the computer to the shield machine based on the indicated value.
[0014]
That is, for example, if the jack stroke difference or pitching angle set for each ring or for each predetermined digging length is input to a computer so that the shield segment of the curved portion can be easily assembled, this method and system of the present invention can be used. It is possible to easily control the direction of the shield machine according to the segment plan without linking with the automatic surveying system while selecting the shield jack pattern according to the specific demand.
[0015]
DETAILED DESCRIPTION OF THE INVENTION
Next, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings. As shown in the flowchart of FIG. 1, the direction control method of the shield machine according to this embodiment includes a step of obtaining a shield jack center of gravity position based on an actual target shield jack stroke difference, and a shield jack center of gravity position based on an actual target pitching angle. And a step of synthesizing these shield jack barycentric positions and selecting and outputting a jack pattern corresponding thereto.
[0016]
Then, to obtain the position of the center of gravity of the shield jack based on the actual target shield jack stroke difference, as shown in FIG. 2, the “current SJ (shield jack) stroke difference” at the start of excavation for a predetermined distance and the operator as the instruction value. As a difference between the “target SJ stroke difference” after excavation for a predetermined distance input by “A”, an “actual target SJ stroke difference” is obtained, and the obtained “actual target SJ stroke difference” is calculated per unit digging length (for example, 1 m). A “unit target SJ stroke difference” is calculated by converting the value to the value of the control, and this is a relational expression that indicates the correlation between the SJ stroke difference expressed by a linear expression and the SJ barycentric position, for example. By applying to a straight line, the “SJ barycentric position” based on the actual target SJ stroke difference is determined.
[0017]
Further, in order to obtain the SJ barycentric position based on the actual target pitching angle, as shown in FIG. 3, the “current pitching angle” at the start of excavation at a predetermined distance and the excavation at a predetermined distance input by an operator as an instruction value. As the difference of the “target pitching angle” later, the “actual target pitching angle” is obtained, and the obtained “actual target pitching angle” is converted into a value per unit digging length (for example, 1 m). Based on the actual target pitching angle by finding the "angle" and applying it to the control line, which is a relational expression indicating the correlation between the SJ stroke difference expressed by a linear expression and the SJ barycentric position, for example. “SJ centroid position” is determined.
[0018]
Here, the control relational expression for obtaining each SJ barycentric position is given by a linear expression (straight line), but the following three are prepared as the method of giving the straight line, and can be arbitrarily selected. To do.
[0019]
(1) “User-defined straight line”
In a two-dimensional graph, the intercept and inclination are set directly based on the manager's idea. Basically, they are used in the initial stage of excavation and in the situation where there is no excavation record data.
[0020]
(2) “Current learning line” (learning line based on control policy)
During actual excavation, the selected SJ barycentric position for a certain actual control SJ stroke difference (actual control pitching angle) is related to the control result (whether the target stroke difference or pitching angle could be secured). First, plotting on a graph and determining the intercept and slope of the control line by linear regression analysis. This function learns the operator's control operations when manual (jack pattern) control is performed by the operator. Is for.
[0021]
(3) “Learning straight line based on results” (learning straight line based on control results)
This is to learn the control result for the control operation at the time of actual shield excavation, which is close to the most general learning function. That is, with respect to the actual SJ barycentric position set during excavation, the amount of change in the SJ stroke difference and the amount of change in pitching angle, which are the control results, are obtained, and converted into per unit excavation length for actual control. While calculating | requiring a quantity, it plotted on the graph, and determined the intercept and inclination of the control straight line by the linear regression analysis. Note that it is preferable to set a reference range of control results in order to capture the influence of the excavation target ground (for example, the past 30 rings from the present).
[0022]
Then, according to this embodiment, the two shield jack centroid positions obtained as described above are combined to determine a combined SJ centroid position, and from among the jack pattern tables prepared in advance, The jack pattern having the closest center of gravity position to the obtained synthesized SJ center of gravity position is selected and output as a signal to the machine side sequencer, for example.
[0023]
Here, the following three types of jack pattern tables are prepared and can be arbitrarily selected.
[0024]
(1) Default definition jack pattern This is a jack pattern table prepared in advance before introducing the computer system for performing the control method as described above.
[0025]
(2) User-defined jack pattern This is a jack pattern table that is created by introducing the computer system that performs the above-mentioned control method to the site and listening to the opinions of the field staff and the operator in charge until the actual excavation starts. .
[0026]
(3) Learning jack pattern This is a jack pattern table created by automatically recording the jack pattern selected by the operator during manual excavation by the operator.
[0027]
5 and 6 show an example of a shield machine 10 whose direction is controlled by the direction control method of this embodiment. This shield machine 10 has a cylindrical outer surface with a cutter disk 25 on the tip surface. A segment 13 made of a shell 11 and covering the inner wall surface of the tunnel 12 is assembled inside the outer shell 11, and a number of shield jacks 14 provided in the circumferential direction along the inner circumferential surface of the outer shell 11 are assembled. 13, the excavation reaction force is obtained from the segment 13, and the excavation work is sequentially performed while pushing it out to the rear of the outer shell body 11.
[0028]
Moreover, according to this shield machine 10, the drive control of the shield machine 10 is performed by a shield control device 15 comprising a computer, for example, provided therein, and at the same time, the laser oscillator 16 and the light wave distance meter 17 are controlled. , Laser target 18, transmission method control device 19, etc. are provided for surveying and measurement devices, and these devices are connected to an excavation management / linear management computer 20 provided on the ground. / The linear management computer 20 monitors the operating status of the shield machine 10, collects and records various data during excavation, and performs linear management by grasping the position / posture of the shield machine 10 and deviations from the design plan line. Will be.
[0029]
Further, the excavation management / linear management computer 20 is connected to a direction control computer 21. The direction control computer 21 incorporates a direction control system for a shield excavator according to this embodiment, which will be described later, as described above. A simple excavation control method will be implemented.
[0030]
In FIG. 5, reference numeral 22 denotes a multiplex transmission apparatus master station, and reference numeral 23 denotes a multiplex transmission apparatus slave station, through which signals from the direction control system are output to the shield control apparatus 15.
[0031]
FIG. 4 is a system configuration diagram of a direction control system for carrying out the direction control method of the shield machine as described above.
[0032]
Here, according to the direction control system of this embodiment, first, upon receiving an instruction regarding the stroke difference of the shield jack for each predetermined distance determined by the administrator or the staff, the worker sends the computer to the computer from an input device such as a keyboard. Enter the target shield jack stroke difference.
[0033]
Further, the file device is provided with a survey file in which the current position of the shield machine 10 and the SJ stroke difference, etc., recorded from the excavation management / linear management computer 20 are recorded.
[0034]
The central processing unit receives the command of the control program in the main memory, and from the difference between the target shield jack stroke difference after excavation of the predetermined distance input by the worker and the current shield jack stroke difference read from the survey file. The actual target shield jack stroke difference is calculated, and the unit target SJ stroke difference is calculated by converting this to a value per meter.
[0035]
Next, the central processing unit receives an instruction from the control program in the main memory, reads out a learning straight line, for example, as a control relational expression from the control relational expression file in the file device, and stores the calculated unit target SJ stroke as described above. By applying the difference, the SJ barycentric position based on the actual target SJ stroke difference is obtained.
[0036]
On the other hand, according to the direction control system of this embodiment, an operator inputs an instruction pitching angle to a computer from an input device such as a keyboard in response to an instruction regarding a pitching angle for each predetermined distance determined by an administrator or staff. .
[0037]
Further, the file device is provided with a survey file that is sent from the excavation management / linear management computer 20 and records the current position of the shield excavator 10, the pitching angle, and the like.
[0038]
The central processing unit receives an instruction from the control program in the main memory, and determines the actual target pitching angle from the difference between the target pitching angle after excavation for a predetermined distance input by the worker and the current pitching angle read from the survey file. And a unit target pitching angle is calculated by converting this to a value per meter.
[0039]
Next, the central processing unit receives a command from the control program in the main memory, reads out a learning straight line, for example, as a control relational expression from the control relational expression file in the file device, and calculates the unit target pitching angle calculated above to this To obtain the SJ barycentric position based on the actual target pitching angle.
[0040]
Further, the central processing unit receives a command from the control program in the main memory, and synthesizes the SJ barycentric position based on the actual target SJ stroke difference and the SJ barycentric position based on the actual target pitching angle to obtain a combined SJ barycentric position. In addition, the learning jack pattern is read out from the jack pattern table file in the file device, and the jack pattern having the closest center of gravity position to the determined combined SJ center of gravity position is selected from among the learning jack patterns. A control signal is output to the shield control device 15 in the shield machine 10.
[0041]
Thereby, the shield machine 10 is controlled by the shield control device 15 so that the desired SJ stroke difference and pitching angle determined by the manager and staff are ensured after the excavation work for the predetermined excavation length is completed. The excavation will be controlled.
[0042]
That is, according to this embodiment, for example, if a jack stroke difference or a pitching angle set for each predetermined digging length is input to a computer so that a shield segment of a curved portion can be easily assembled, according to such a request. While selecting the shield jack pattern, it is possible to easily control the direction of the shield machine according to the segment plan without directly linking with an automatic surveying system or the like.
[0043]
Further, it is possible to dig with a jack pattern that is not different from that during manual operation, and this makes it possible to accurately control the direction of the shield machine.
[0044]
【The invention's effect】
As described above in detail, according to the direction control method and direction control system of the shield machine of the present invention, the position of the center of gravity of the shield jack based on the actual target shield jack stroke difference from the target shield jack stroke difference input by the operator. A jack pattern corresponding to the synthesized shield jack center of gravity position is obtained from the target pitching input by the operator, the shield jack center of gravity position based on the actual target pitching is obtained and synthesized. Since the output is selected from the table and the direction of the shield machine is controlled based on the output result, shield drilling using a computer is performed in a manner close to control by manual operation while incorporating human judgment according to work conditions. To control the direction of the machine It can be.
[Brief description of the drawings]
FIG. 1 is a flowchart for explaining a work process of a direction control method for a shield machine according to an embodiment of the present invention.
FIG. 2 is a flowchart for explaining a process of obtaining a shield jack center of gravity position based on an actual target shield jack stroke difference.
FIG. 3 is a flowchart illustrating a process of obtaining a shield jack barycentric position based on an actual target pitching angle.
FIG. 4 is a system configuration diagram of the direction control system according to the embodiment of the present invention.
FIG. 5 is an explanatory view showing an example of a shield machine that performs direction control by the direction control method of the present invention.
6 is a cross-sectional view taken along the line AA of FIG.
[Explanation of symbols]
DESCRIPTION OF SYMBOLS 10 Shield machine 11 Outer shell 12 Tunnel 13 Segment 14 Shield jack 15 Shield control apparatus 20 Digging management / linear management computer 21 Direction control computer

Claims (2)

This is a method for controlling the direction of the shield machine using a computer, and is based on the difference between the target shield jack stroke difference after excavation for a predetermined distance input by the operator and the current shield jack stroke difference. The shield jack stroke difference is calculated, and the calculated actual target shield jack stroke difference is applied to the correlation between the actual target shield jack stroke difference and the shield jack center of gravity position to determine the shield jack center of gravity position based on the actual target shield jack stroke difference. The actual target pitching is calculated from the difference between the step of obtaining and the target pitching after excavation for a predetermined distance input by the worker and the current pitching, and the calculated actual target pitching is calculated as the actual target pitching and the shield jack center of gravity position. Applied to the correlation of Synthesize the shield jack center of gravity position based on the actual target shield jack stroke difference, the step of obtaining the shield jack center of gravity position based on the actual target pitching, and the step of obtaining the shield jack center of gravity position based on the actual target shield jack stroke difference. And a method of selecting and outputting a corresponding jack pattern from a jack pattern table prepared in advance. A system for controlling the direction of the shield machine using a computer. The actual target is determined based on the difference between the target shield jack stroke after excavation for a predetermined distance input by the operator and the current shield jack stroke difference. The actual target shield jack stroke difference calculating means for calculating the shield jack stroke difference, and the actual target shield jack stroke difference applied to the correlation between the actual target shield jack stroke difference and the shield jack center of gravity position. The first shield jack center of gravity position determining means for determining the shield jack center of gravity position based on the stroke difference, and the actual target for calculating the actual target pitching from the difference between the target pitching after excavation for a predetermined distance input by the operator and the current pitching Pitching calculation means A second shield jack center-of-gravity position determining means for determining the position of the center of gravity of the shield jack based on the actual target pitching by applying the calculated actual target pitching to the correlation between the actual target pitching and the position of the center of gravity of the shield jack; and the actual target shield jack The shield jack center of gravity position based on the stroke difference and the shield jack center of gravity position based on the actual target pitching are combined, and the jack pattern corresponding to the combined shield jack center of gravity position is selected from a prepared jack pattern table. A direction control system for a shield machine, comprising a jack pattern selection means for outputting.

Images