JP7244315B2 - Soil layer investigation device, control device for soil layer investigation device, control method for soil layer investigation device, and soil layer investigation method - Google Patents

Description

The present invention relates to a soil layer investigation device, a soil layer investigation device control device, a soil layer investigation device control method, and a soil layer investigation method.

Investigation of soil layers has been conventionally carried out for evaluation of the ground of buildings and the like. A standard penetration test may be performed for investigation of the soil layer (see, for example, Non-Patent Document 1). The standard penetration test is a test to investigate the strength of the soil layer and the composition of the soil layer, and investigates the soil layer at the bottom of a test hole formed by excavating the ground to a predetermined depth. Specifically, the sampler was penetrated into the soil layer at the bottom of the test hole by hitting a hammer with a predetermined mass (63.5 kg ± 0.5 kg) free fall from a height of 76 cm ± 1 cm, and the specified penetration amount The number of hits (=N value) required to drive the sampler to a depth of 30 cm is obtained (see, for example, Patent Document 1). This N value is widely used as an index for evaluating the strength and hardness of soil layers.

In addition, the sampler has a hole for sampling the soil layer, and when the sampler penetrates the soil layer at the bottom of the test hole in the standard penetration test, the soil layer passes through the hole for sampling the soil layer of this sampler. A soil layer is collected as a sample by a sampler. In order to discriminate the composition of the soil layer, particle size distribution measurement, moisture content measurement, and the like are performed on the sampled soil layer.

JP 2017-166230 A

Japanese Industrial Standards, "Standard Penetration Test Method (JIS A 1219)", [online], [searched on February 15, 2016], Internet, <URL: http://www. jiban. or. jp/file/organi/bu/kijyunbu/jis_a_1219. pdf>

However, when analyzing a soil layer sampled by a sampler, the properties of the soil layer as it exists in the soil are not directly measured, so the soil layer may not always be measured accurately.

The present invention has been made in view of the above problems, and an object thereof is to measure soil layers more accurately.

In order to achieve the above object, a soil layer investigation device according to one aspect of the present invention includes:
a working member for excavating a soil layer;
a rotary drive unit that rotates the working member;
a propulsion drive unit that applies thrust to the working member;
a rotation control unit that controls the rotation speed of the working member by the rotation drive unit to a target rotation speed;
a propulsion control unit that controls the thrust of the working member by the propulsion drive unit to a target thrust;
a measurement result acquisition unit that acquires information about a reaction force input from a soil layer to the working member that is rotated at the target rotation speed and propelled by the target thrust;
characterized by comprising

ADVANTAGE OF THE INVENTION According to this invention, it becomes possible to measure a soil layer more correctly.

BRIEF DESCRIPTION OF THE DRAWINGS It is a figure which shows roughly the structure of the soil layer investigation apparatus which concerns on the 1st Embodiment of this invention. BRIEF DESCRIPTION OF THE DRAWINGS It is a block diagram which shows the functional structure of the soil layer investigation apparatus which concerns on the 1st Embodiment of this invention. 3 is a block diagram showing a detailed functional configuration of a rotation control section; FIG. It is a block diagram showing a detailed functional configuration of a propulsion control unit. 4 is a flow chart showing the flow of soil layer investigation processing executed by the control device of the soil layer investigation device according to the first embodiment of the present invention; FIG. 4 is a diagram for illustrating the relationship between rotational speed and rotational torque obtained by the soil layer survey method according to the embodiment of the present invention; FIG. 4 is a diagram for illustrating the relationship between thrust and rotational torque obtained by the soil layer survey method according to the embodiment of the present invention;

BEST MODE FOR CARRYING OUT THE INVENTION Hereinafter, embodiments of the present invention will be described with reference to the drawings.
[Basic concept of the present invention]
In the soil layer investigation device according to the present invention, a rotary resistor for excavating a soil layer is installed at the tip of a rod, and thrust is applied to the soil layer while rotating the rotary resistor around the rod as a rotation axis. , acquires the reaction force (rotational torque) that the rotary resistor receives from the soil layer during excavation of the soil layer.
At this time, a position/force control method capable of handling velocity or position energy and force energy independently (for example, the position/force control method described in Japanese Patent No. 6382203) is applied to reduce rotational resistance. By controlling the rotation (rotational speed, etc.) and thrust (pressing force against the soil layer, etc.) of the body, the rotation and thrust of the rotary resistor can be accurately controlled even in situations where the reaction force from the soil layer is applied. there is

Therefore, in the soil layer investigation device according to the present invention, the reaction force received by the rotary resistor from the soil layer during excavation of the soil layer can be obtained more accurately. properties can be more accurately grasped.
That is, according to the soil layer investigation device according to the present invention, it becomes possible to measure the soil layer more accurately.
Note that position and velocity (or acceleration) or angle and angular velocity (or angular acceleration) are parameters that can be replaced by calculus, so when performing processing related to position or angle, replace them with velocity or angular velocity as appropriate. is possible. In addition to acquiring the reaction force (rotational torque) received by the rotary resistor in order to measure the soil layer, other parameters (such as angular velocity or angular acceleration) that can grasp the properties of the soil layer are acquired. It is also possible to

[Position/force control method]
As described above, the soil layer survey apparatus according to the present invention measures soil layers using a position/force control method that can handle velocity or position energy and force energy independently.
The position/force control method used in the present invention will be specifically described below.

The specific significance of the position/force control method used in the present invention can be explained based on, for example, the following coordinate transformation described in Japanese Patent No. 6382203.
That is, as the coordinate transformation that is the basis of the position/force control method used in the present invention, a coordinate transformation that inputs a value (reference value) that serves as a reference for the function of the controlled system and the current position of the actuator to be controlled is performed. can be defined. In general, this coordinate transformation converts an input vector whose elements are a reference value and current velocity (position) into an output vector consisting of velocity (position) for calculating a control target value of velocity (position). and converts an input vector having the current force as an element into an output vector composed of force for calculating the force control target value. Specifically, the coordinate transformation that is the basis of the position/force control method used in the present invention is generalized as shown in the following equations (1) and (2).

However, in formula (1), x' ₁ to x' _n (n is an integer of 1 or more) are velocity vectors for deriving the state value of velocity, and x' _a to x' _m (m is 1 or more). ) is a vector whose elements are the reference value and the speed based on the action of the actuator (the speed of the slider of the actuator or the speed of the object moved by the actuator), h _1a to h _nm are the elements of the conversion matrix representing the function is. Further, in equation (2), f″ ₁ to f″ _n (n is an integer of 1 or more) are force vectors for deriving force state values, and f″ _a to f″ _m ( m is an integer equal to or greater than 1) is a vector whose elements are the force based on the reference value and the action of the actuator (the force of the mover of the actuator or the force of the object moved by the actuator).

Furthermore, when the coordinate transformations for position/force control represented by equations (1) and (2) are used for bilateral control between the master and slave, coordinate transformations represented by equations (3) and (4) can be expressed as Although the present invention does not require a master device and a slave device, here, for convenience of explanation, bilateral control between master and slave is assumed.

However, in equation (3), _x'p is the velocity for deriving the state value of velocity (position), and _x'f is the velocity related to the force state value. Also, _x'master is the velocity of the reference value (input from the master device) (differential value of the current position of the master device), and _x'slave is the current velocity of the slave device (differential value of the current position). In equation (4), f _p is a force related to the velocity (position) state value, and f _f is a force for deriving the force state value. Also, f _master is the reference value (input from the master device) force, and f _slave is the current force of the slave device.

In the soil layer investigation device according to the present invention, when controlling the rotation speed of the rotary resistor (rod) to a set value (eg, a constant speed or a speed that changes periodically), equations (3) and (4) By applying the coordinate transformation expressed by , it is possible to control the rotational speed more accurately.
Specifically, in equations (3) and (4), by validating the elements of the matrix related to speed control and invalidating (for example, setting to 0) the elements of the matrix related to force control, the rotational speed control can be realized. Then, by inputting the position information (angular velocity θ _m ' of the master) representing the set value of the rotational speed as the reference value, the rotational speed of the rotary resistor (rod) (angular velocity θ _s ' of the slave) is set to the set value. can be controlled.
In this case, the coordinate transformation for controlling the rotational speed can be represented by the following equation (5), for example.

Similarly, in the soil layer survey device according to the present invention, when controlling the thrust of the rotary resistor (rod) to a set value (for example, a constant thrust), it is expressed by equations (3) and (4). By applying the coordinate transformation that is performed, it is possible to control the thrust (pressing force) more accurately.
Specifically, in equations (3) and (4), by validating the elements of the matrix relating to force control and invalidating (for example, setting to 0) the elements of the matrix relating to speed control, force control can be performed. can be realized. Then, by inputting force information (torque τ _m of the master assumed for convenience) representing the set value of the thrust as a reference value, the thrust of the rotary resistor (rod) (torque of the slave assumed for convenience torque τ _s ) can be controlled to a set value.
In this case, the coordinate transformation for controlling thrust can be represented by the following equation (6), for example.

That is, by controlling the rotation and thrust of the rotary resistor based on the equations (5) and (6), the rotational speed and thrust of the rotary resistor can be accurately controlled while suppressing the influence of the reaction force received from the soil layer. It is possible to control
By acquiring the reaction force (resistance to rotation) input from the soil layer to the rotary resistor controlled in this way, parameters that accurately reflect the properties of the soil layer (particle size, viscosity, etc.) can be obtained. can be obtained.
That is, by analyzing the acquired parameters, it becomes possible to more accurately measure the properties of the soil layer.
A specific embodiment of the soil layer investigation device according to the present invention will be described below.

[First embodiment]
[Structure of Soil Layer Investigation Device]
FIG. 1 is a diagram schematically showing the configuration of a soil layer investigation device 1 according to a first embodiment of the present invention. FIG. 2 is a block diagram showing the functional configuration of the soil layer investigation device 1. As shown in FIG. Note that FIG. 2 shows the main functional configuration related to the present invention among the functional configurations of the soil layer investigation device 1 .

As shown in FIGS. 1 and 2, a soil layer investigation apparatus 1 according to a first embodiment of the present invention includes a working member 11 for excavating a soil layer, and a working member driving section 12 for driving the working member 11. and includes a work unit 10 that moves the work member 11 to work on the soil layer to be surveyed, a position detection unit 20 that detects the position of the work member 11, and an operation unit 30 that has operation information. there is The soil layer investigation device 1 also has a control device 50 that controls each part of the soil layer investigation device 1 .

The work member drive unit 12 has a torque generation unit 13 as a rotation drive unit that rotates the work member 11 and a thrust force generation unit 14 as a propulsion drive unit that applies thrust to the work member 11 . The torque generator 13 has an actuator such as an electric motor, and applies torque around the axis x to the working member 11 . The thrust generator 14 has an actuator such as an electric motor, and applies a thrust in the direction of the axis x to the working member 11 .

The operation unit 30 has operation information. The operation information is information for designating the work of the work unit 10 and information for defining the movement of the work member 11 . Specifically, the operation information includes information on a target thrust of the rotary resistor 16 and information on a target rotation speed of the rotary resistor 16, which will be described later.

The operation unit 30 is communicably connected to the control device 50 and can transmit and receive signals to and from the control device 50 . The operation unit 30 is also capable of inputting information such as operation information, and the investigator can input information such as operation information and values to the operation unit 30 by operating the operation unit 30 .

In the soil layer investigation device 1, the working member 11 rotates at a rotation speed corresponding to the operation information, and the working member 11 is pressed with a thrust corresponding to the operation information. The operation unit 30 is, for example, a terminal that can be operated by an investigator, more specifically a personal computer or the like. For example, when an investigator operates the operation unit 30 to input operation information, the controller 50 connected to the operation unit 30 outputs a target value for the thrust of the working member 11 and a target value for the rotation speed of the working member 11. is set.

As shown in FIG. 1, the working unit 10 has a working member 11 configured to be reciprocally movable in the direction of the axis x and rotatable about the axis x. It has a rod 15 extending in the direction of the axis x having a rotary resistor 16 at one end. The rod 15 is rotatable around the axis x, and is, for example, a rod-shaped member extending linearly. The rotary resistor 16 has, for example, a cylindrical base portion 16a as shown in FIG. At least one blade portion 16b having a surface facing the rotation direction of the rod 15 (rotational resistor 16) is provided on the side opposite to the connecting portion. In this way, when the rotary resistor 16 is pressed against the soil layer and the rod 15 is rotated, the blades 16b rotate and move in the soil layer so as to push through the soil layer, and the rotary resistor 16 rotates. It is designed to generate a resistance force (torque). The structure of the rod 15 is not limited to the structure described above, as long as it can rotate about the axis x. Also, the rotary resistor 16 is not limited to the structure described above, and may be any structure that receives resistance from the soil layer against the rotation of the rod 15 . For example, the rotary resistor 16 may not have the blade portion 16b.

The torque generator 13 has an actuator such as an electric motor, and in response to an input of a control value from the control device 50, applies torque around the axis x to the rod 15 to rotate the rod 15 around the axis x. making it possible. The torque generator 13 is provided, for example, on a later-described movable member 14a of the thrust generator 14, and its output shaft 13a is connected to the rear end 15b of the rod 15 via a connecting member 13b. The connecting member 13b is, for example, a socket, and is a member that connects the tip of the output shaft 13a of the torque generating portion 13 and the rear end 15b of the rod 15, and allows the output shaft 13a of the torque generating portion 13 and the rod 15 to rotate relative to each other. Connect immobile. Torque generator 13 transmits torque to rear end 15 b of rod 15 . In addition, the thrust generating section 14 has an actuator such as an electric motor, and according to the input of the control value from the control device 50, the rod 15 extends in its extending direction (from the rear end 15b to the tip 15a in the direction of the axis x). A force (thrust force) is applied in the direction toward which the rod 15 faces, allowing the rod 15 to reciprocate along the axis x. The thrust generator 14 has a movable member 14a and an actuator 14b that reciprocate along the axis x, as shown in FIG. 1, for example. In the thrust generating section 14, the movable member 14a reciprocates in the direction of the axis x by receiving the power of the actuator 14b. The actuator 14b is, for example, a linear motor actuator, and has a mover 14c fixed to the movable member 14a and a shaft 14d extending in the direction of the axis x fixed to a holding member 17 described later. In the actuator 14b, the mover 14c moves along the axis 14d according to the control value input from the control device 50. As shown in FIG. By driving the movable element 14c, the movable member 14a moves in the direction of the axis x. The actuator 14b is not limited to a linear motor actuator, and may be another actuator.

In addition, as shown in FIG. 1, the working section 10 has a holding member 17 that holds the working member 11 and the working member driving section 12 (the torque generating section 13 and the thrust generating section 14). The holding member 17 can be installed on a flat surface (ground plane), and is formed to hold the working member 11 and the working member drive unit 12 so that the axis x is perpendicular or substantially perpendicular to the ground plane. It is Further, the thrust generating portion 14 is held by the holding member 17 so that the rotary resistor 16 can be moved further below the position where the rotary resistor 16 contacts the ground surface. The downward direction is the direction from the rear end 15b of the rod 15 to the front end 15a in the direction of the axis x. Further, the holding member 17 prevents the thrust force generating portion 14 from moving upward due to the reaction force when the rotation resistor 16 is pressed against the ground surface by the thrust force generating portion 14 . For example, as shown in FIG. 1, the holding member 17 has a cover 17a for protecting the actuator 14b, and the actuator 14b is covered with the cover 17a. Through holes 17b for guiding the movement of the movable member 14a are formed in the left and right side surfaces of the cover 17a. In addition, the movable member 14a is formed in a cylindrical shape by members constituting a back surface, left and right side surfaces, and a front surface, and the torque generating section 13 is installed on the front surface. The back surface of the movable member 14a penetrates the cover 17a through the left and right through holes 17b, and surrounds the front side of the cover 17a in the depth direction together with the left and right side surfaces and the front surface of the movable member 14a. A mover 14c of an actuator 14b is fixed to the rear surface of the movable member 14a. That is, the movable member 14a is structured to enclose the front side of the cover 17a, and by driving the mover 14c of the actuator 14b, the movable member 14a moves in the direction of the axis x while being guided by the shape of the front side of the cover 17a. do. As a result, it is possible to suppress rattling between the movable member 14a and the cover 17a. ) can suppress the reaction occurring in the movable member 14a.

As shown in FIG. 2, the soil layer investigation device 1 has a position detection unit 20. The position detection unit 20 includes a propulsion position detection unit 21 for detecting the position of the work member 11 in the direction of the axis x, and a rotational position detector 22 for detecting the position (rotational position) of the member 11 about the axis x. Specifically, the propulsion position detector 21 is a position sensor and detects the position of the rod 15 or the rotary resistor 16 in the direction of the axis x. The propulsion position detection unit 21 is, for example, a position sensor that detects the position of the rotary resistor 16 in the direction of the axis x, and enables detection of the position relative to a predetermined reference position. Further, the rotational position detector 22 is specifically a position sensor, and detects the position of the rod 15 or the rotary resistor 16 around the axis x. The rotational position detector 22 is, for example, a rotational position sensor that detects the rotational position of the rotary resistor 16 in the rotational direction about the axis x, and can detect the rotational position (rotational angle) relative to a predetermined reference rotational position. do. The propulsion position detection unit 21 may be attached to the working unit 10 or may not be attached to the working unit 10 . Similarly, the rotational position detection unit 22 may be attached to the working unit 10 or may not be attached to the working unit 10 .

The control device 50 is communicably connected to the working member driving section 12 and the position detecting section 20 as shown in FIG. 2, and is attached to the working section 10 as shown in FIG. The control device 50 may not be attached to the working section 10 , may be incorporated in the operating section 30 , or may be configured separately from the working section 10 and the operating section 30 . The control device 50 may be connected to the working section 10, the position detecting section 20, and the operating section 30 so as to be able to communicate with each other.

Operation information set by an investigator's input operation to the operation unit 30 and information detected by the position detection unit 20 are input to the control device 50 . Information such as criteria for determining whether the state of the soil layer has changed may be input to the control device 50 .

[Functional configuration]
Next, the functional configuration of the soil layer investigation device 1 will be described.
As shown in FIG. 2, the soil layer investigation apparatus 1 includes a control device 50 including a rotation target setting unit 100, a propulsion target setting unit 200, a rotation control unit 300, a propulsion control unit 400, and a measurement result acquisition unit 500. , and a state determination unit 600 . These functional blocks, for example, cooperate with hardware resources such as the microcontroller, controller, and motor driver that make up the control device 50 described above, and programs (software resources) stored in the microcontroller and the controller. realized by working

The rotation target setting unit 100 sets the target rotation speed of the rotary resistor 16 according to the input operation of the researcher. The target rotation speed of the rotary resistor 16 is a setting value of the rotation speed used as a reference value when the rotation control unit 300 executes control based on the formula (5). In the present embodiment, the target rotation speed is set for each of the speed when the rotary resistor 16 is rotated at a constant speed and the speed when the speed of the rotary resistor 16 is periodically changed. The target rotation speed of the rotary resistor 16 can be set according to the input operation of the investigator, or can be set by reading a setting file describing the target rotation speed.

The propulsion target setting unit 200 sets the target thrust of the rotary resistor 16 according to the input operation of the researcher. The target thrust of the rotary resistor 16 is a set value of thrust used as a reference value when the propulsion control unit 400 executes control based on Expression (6). In the present embodiment, the target thrust is set to the thrust for propelling the rotary resistor 16 with a constant thrust. The target thrust of the rotary resistor 16 can be set according to the input operation of the investigator, or can be set by reading a setting file describing the target thrust.

The rotation control unit 300 receives the target rotation speed set by the rotation target setting unit 100 and the current angle (position) of the rotary resistor 16 as inputs, performs coordinate conversion based on the equation (5), and converts the rotation resistor 16 into The rotational motion of the rotary resistor 16 is controlled by successively calculating the angle and rotational torque. In this embodiment, the rotation control unit 300 keeps the rotation speed of the rotary resistor 16 constant in the standard control when measuring the soil layer, and periodically changes the rotation speed of the rotary resistor 16 from the state determination unit 600. When an instruction signal for change is input, the rotation speed of the rotary resistor 16 is temporarily changed periodically (for example, changed periodically only for a certain period of time or for a certain propulsion distance). A detailed functional configuration of the rotation control unit 300 will be described later.

The propulsion control unit 400 inputs the target thrust set by the propulsion target setting unit 200 and the current thrust of the rotary resistor 16 (current output torque of the actuator), performs coordinate transformation based on equation (5), and rotates The propulsion operation of the rotary resistor 16 is controlled by sequentially calculating the position (position in the excavation direction) and the thrust (output of the actuator) of the resistor 16 . A detailed functional configuration of the propulsion control unit 400 will be described later.

The measurement result acquisition unit 500 acquires the reaction force (or other parameters that can grasp the properties of the soil layer) that the rotary resistor 16 receives from the soil layer, and stores the acquired reaction force in a storage unit such as a semiconductor memory. . The measurement result acquisition unit 500 also calculates various parameters (viscosity, moisture characteristics, etc.) representing properties of the soil layer based on the stored reaction force, and stores the calculated parameters in the storage unit. The parameters calculated in this way represent the measurement results of the soil layer.

The state determination unit 600 determines whether or not there is a change in the state of the soil layer based on the reaction force (or calculated parameter) acquired by the measurement result acquisition unit 500 . Then, when the state determination unit 600 determines that there is a change in the state of the soil layer, the state determination unit 600 outputs an instruction signal to the rotation control unit 300 to change the target rotation speed to a rotation speed that changes periodically. In addition, when the state of the soil layer changes, such as when the grain size of sand or gravel contained in the soil layer changes significantly, even if the soil layer is measured with the rotation speed of the rotary resistor 16 constant, the appropriate measurement is not possible. Hard to get results. Therefore, in the present embodiment, by periodically changing the rotational speed of the rotary resistor 16, the soil layer can be measured more appropriately.

[Functional Configuration of Rotation Control Unit 300]
Next, a detailed functional configuration of the rotation control section 300 will be described.
FIG. 3 is a block diagram showing a detailed functional configuration of the rotation control section 300. As shown in FIG.
As shown in FIG. 3, the rotation control unit 300 includes a rotation position acquisition unit 301, a first coordinate transformation unit 302, a first force area calculation unit 303, a first position area calculation unit 304, and a first inverse transformation. 305 and a rotation actuator control unit 306 .

A rotational position acquisition unit 301 sequentially acquires information about the rotational position of the rotary resistor 16 . As the information about the rotational position of the rotary resistor 16, the current angle in the direction of rotation can be acquired, and the current angular velocity, the current angular acceleration, etc. in the direction of rotation can also be acquired.
The first coordinate transformation unit 302 receives the target rotation speed set by the rotation target setting unit 100 and the current angle (position) in the rotation direction of the rotary resistor 16, and executes coordinate transformation based on equation (5). .

The first force area calculation unit 303 performs calculation in the force area based on the result of the coordinate transformation in the first coordinate transformation unit 302 . In this embodiment, the rotational motion of the rotary resistor 16 is controlled to match the set rotational speed, so the rotational torque is made to match the target rotational speed within the range allowed by the system. An arbitrary value for is calculated.
The first position area calculation unit 304 performs calculation in the position area based on the result of coordinate conversion in the first coordinate conversion unit 302 . In this embodiment, the first position area calculation unit 304 calculates the value of the position area for the state value of the position area coordinate-transformed by Equation (5) to become the control target value (here, zero). . That is, the first position area calculator 304 calculates the value of the position area for matching the rotational position of the rotary resistor 16 with the position determined from the target rotational speed.

The first inverse transformation unit 305 converts the force calculated by the first force region calculation unit 303 and the value of the position region calculated by the first position region calculation unit 304 into the input region value (current command value, etc.).
The rotary actuator control unit 306 outputs a control signal for the rotary actuator based on the value of the region of the input to the rotary actuator converted by the first inverse conversion unit 305 .

[Functional Configuration of Propulsion Control Unit 400]
Next, a detailed functional configuration of the propulsion control unit 400 will be described.
FIG. 4 is a block diagram showing a detailed functional configuration of the propulsion control section 400. As shown in FIG.
As shown in FIG. 4, the propulsion control unit 400 includes a propulsion position acquisition unit 401, a second coordinate transformation unit 402, a second force area calculation unit 403, a second position area calculation unit 404, and a second inverse transformation. 405 and a propulsion actuator control unit 406 .

The propulsion position acquisition unit 401 sequentially acquires information on the propulsion position of the rotary resistor 16 . As the information about the propulsion position of the rotary resistor 16, the current position in the excavation direction can be acquired, and the current velocity, current acceleration, etc. in the excavation direction can also be acquired.
The second coordinate transformation unit 402 receives the target thrust set by the propulsion target setting unit 200 and the current position of the rotary resistor 16 in the excavation direction, and executes coordinate transformation based on Equation (6). The thrust of the rotary resistor (rod) 16 can be calculated from the current position ₍ acceleration) of the rotary resistor 16 in the excavation direction. are mutually convertible parameters, the rotational torque τ _s of the propulsion actuator is used as an input in equation (6).

The second force area calculation unit 403 performs calculation in the force area based on the result of the coordinate transformation in the second coordinate transformation unit 402 . In this embodiment, the second force region calculator 403 calculates the value of the force region so that the state value of the force region coordinate-transformed by Equation (6) becomes the control target value (here, zero). .
The second position area calculation unit 404 performs calculation in the position area based on the result of coordinate conversion in the second coordinate conversion unit 402 . In this embodiment, since the propulsion operation of the rotary resistor 16 is controlled to match the set thrust, the position in the excavation direction is set so that the thrust matches the target thrust within the range allowed by the system. Any value of is calculated.

The second inverse transformation unit 405 converts the force calculated by the second force region calculation unit 403 and the value of the position region calculated by the second position region calculation unit 404 into the input region value (current command value, etc.).
The propulsion actuator control unit 406 outputs a control signal for the propulsion actuator based on the region value of the input to the propulsion actuator converted by the second inverse conversion unit 405 .

[motion]
Next, the operation of the soil layer investigation device 1 will be described.
FIG. 5 is a flow chart showing the flow of soil layer investigation processing executed by the control device 50 of the soil layer investigation device 1 .
The soil layer investigation process is started in the soil layer investigation device 1 in response to an operation for instructing the execution of the soil layer investigation process.

In step S1, the rotation target setting unit 100 sets the target rotation speed of the rotary resistor 16 according to the input operation of the researcher. Further, the propulsion target setting unit 200 sets the target thrust of the rotary resistor 16 according to the input operation of the investigator.
In step S2, the rotation control unit 300 inputs the target rotation speed (constant rotation speed) set by the rotation target setting unit 100 and the current angle (position) of the rotation resistor 16, and based on equation (5) The rotation operation of the rotary resistor 16 is controlled by performing coordinate conversion and successively calculating the angle and rotational torque of the rotary resistor 16 . Further, the propulsion control unit 400 inputs the target thrust set by the propulsion target setting unit 200 and the current thrust of the rotary resistor 16 (the current output torque of the actuator), and performs coordinate transformation based on equation (5). , the position of the rotary resistor 16 (the position in the excavation direction) and the thrust (the output of the actuator) are sequentially calculated to control the propulsion operation of the rotary resistor 16 .

In step S3, the measurement result acquiring unit 500 acquires the reaction force (or other parameters that can grasp the properties of the soil layer) that the rotary resistor 16 receives from the soil layer, and stores the acquired reaction force in a semiconductor memory or the like. stored in the department. The measurement result acquisition unit 500 also calculates various parameters (viscosity, moisture characteristics, etc.) representing properties of the soil layer based on the stored reaction force, and stores the calculated parameters in the storage unit.

In step S<b>4 , the state determination unit 600 determines whether or not there is a change in the state of the soil layer based on the reaction force (or calculated parameter) acquired by the measurement result acquisition unit 500 .
If there is no change in the state of the soil layer, NO is determined in step S4, and the process proceeds to step S7.
On the other hand, if there is a change in the condition of the soil layer, YES is determined in step S4, and the process proceeds to step S5.

In step S5, the state determination unit 600 outputs an instruction signal to the rotation control unit 300 to change the target rotation speed to a rotation speed that changes periodically. As a result, the rotation control unit 300 temporarily changes the rotation speed of the rotary resistor 16 periodically.
In step S6, the measurement result acquisition unit 500 acquires the reaction force (or other parameter that can grasp the properties of the soil layer) that the rotary resistor 16 receives from the soil layer, and stores the acquired reaction force in a semiconductor memory or the like. stored in the department. The measurement result acquisition unit 500 also calculates various parameters (viscosity, moisture characteristics, etc.) representing properties of the soil layer based on the stored reaction force, and stores the calculated parameters in the storage unit.

In step S7, the control device 50 determines whether or not an instruction to end the soil layer investigation process has been given (whether or not a stop button has been operated, etc.).
If the termination of the soil layer investigation process has not been instructed, a determination of NO is made in step S7, and the process proceeds to step S2.
On the other hand, when the end of the soil layer investigation process is instructed, YES is determined in step S7, and the soil layer investigation process ends.

Through such processing, in the soil layer investigation device 1, the rotation (rotational speed, etc.) and thrust (pressing force against the soil layer, etc.) of the rotary resistor 16 are controlled, and even in a situation where a reaction force from the soil layer is applied, , the rotation and thrust of the rotary resistor 16 are accurately controlled.
Therefore, since the reaction force that the rotary resistor 16 receives from the soil layer during excavation of the soil layer can be obtained more accurately, the properties of the soil layer can be more accurately grasped by analyzing the obtained reaction force. .
That is, according to the soil layer investigation device 1 according to the present invention, it becomes possible to measure the soil layer more accurately.

The value of the torque for rotating the rod 15 is detected, for example, as shown in FIG. 6 by the main soil layer survey method. As shown in FIG. 6, the torque value that rotates the rod 15 at a constant rotational speed is not constant but fluctuates. It is conceivable that the manner in which the torque value fluctuates varies depending on the composition of the soil layer. Specifically, there is a correlation between the torque variation coefficient, which is the ratio between the maximum and minimum values of the detected torque, and the maximum grain size of the soil layer. It is believed that the coefficient of variation increases. For this reason, the maximum grain size of the soil layer can be predicted based on the torque variation coefficient by detecting variations in the torque value for rotating the rod 15 while the pressing force of the rod 15 against the soil layer is kept constant. It is possible to predict the composition of the soil layer from the predicted maximum grain size of the soil layer.

Further, the internal friction angle of the soil layer can be predicted from the relationship between the thrust value for pressing the rod 15 and the torque value for rotating the rod 15 by the main soil layer investigation method. In other words, by changing the magnitude of the thrust that presses the rod 15 and detecting the value of the torque that rotates the rod 15 at a predetermined constant rotational speed at each thrust value, as shown in FIG. It is possible to obtain the relationship between thrust and torque for each soil layer. The internal friction angle of the soil layer can be predicted from the obtained relationship between the thrust value and the torque value.

In the soil layer investigation device 1 according to the embodiment of the present invention, as described above, the force with which the rotary resistor 16 is pressed against the soil layer can be made constant by the control of the control device 50 . Therefore, it is possible to accurately detect the resistance torque that the rotary resistor 16 receives from the soil layer.

As described above, according to the soil layer investigation device 1, the control device 50 of the soil layer investigation device 1, the control method of the soil layer investigation device 1, and the soil layer investigation method according to the embodiment of the present invention, a test sample can be collected. A survey of the soil layer can be performed without needing it.

In the soil layer survey device 1 according to the embodiment of the present invention, the operation information set in the operation unit 30 is information for rotating the rod 15 at a constant rotation speed as a reference value for the rotation speed of the rod 15. However, the operation information is not limited to this. For example, the operation information may include, as a reference value for the rotation speed of the rod 15, information for rotating the rod 15 so that the rotation speed of the rod 15 changes at a predetermined cycle. For example, the operation unit 30 may have operation information for changing the rotational speed of the rod 15 with the cycle of the trigonometric function. Thus, by rotating the rod 15 so that the rotation speed of the rod 15 changes at a predetermined cycle, the clay of the soil layer to be investigated can be investigated.

Although the embodiments of the present invention have been described above, the present invention is not limited to the above-described embodiments of the present invention, and includes all aspects included in the concept of the present invention and the scope of claims. Moreover, each configuration may be selectively combined as appropriate so as to achieve at least part of the above-described problems and effects. For example, the form such as the shape of each component in the above-described embodiment may be appropriately changed according to the specific usage of the present invention.

Further, in the above-described embodiment, the case where control is performed by applying the position/force control method described in Japanese Patent No. 6382203 has been described as an example, but the control method is not limited to this. That is, when the present invention is carried out, it is possible to apply a necessary rotational torque while controlling the rotation speed of the rotary resistor 16 to the target rotation speed, and to control the thrust of the rotary resistor 16 to the target thrust, while controlling the required torque. Other control methods can be used as long as they can give a reasonable speed.

A soil layer investigation device, a soil layer investigation device control device, a soil layer investigation device control method, and a soil layer investigation method according to the present invention provide a soil layer investigation device according to the present invention as described above. It may be used by being attached to a machine as well as being installed on a machine for soil layer survey. INDUSTRIAL APPLICABILITY The soil layer investigation device, the control device for the soil layer investigation device, the control method for the soil layer investigation device, and the soil layer investigation method according to the present invention may be applied, for example, to a robot for investigating a soil layer, or to an excavator. may be applied. When applied to an excavator, for example, in order to detect the properties of the earth and sand in the shield chamber, the soil layer investigation device according to the present invention, the soil layer investigation device control device, the soil layer investigation device control method, and A soil survey method is used, and the detection results are used, for example, for the injection management of mud addition materials and air bubbles.

Further, the rotary resistor 16 may not have the base portion 16a and may have only the blade portion 16b. Further, the rotary resistor 16 may not have the blade portion 16b. In this case, the end surface of the base portion 16a on the side opposite to the connection portion with the rod 15 has a shape or shape that receives resistance from the soil layer. It is formed according to properties (surface roughness, etc.).

Also, the processing of the control device 50 in the above-described embodiment can be executed by either hardware or software. That is, it is sufficient that the control device 50 has a function capable of executing the above-described processing, and the functional configuration and hardware configuration for realizing this function are not limited to the above-described example. When executing the above-described processing by software, a program that constitutes the software is installed in the computer from a network or a storage medium.

A storage medium for storing the program is composed of a distributable removable medium, a storage medium pre-installed in the control device 50, or the like. Removable media are, for example, flash memories, magnetic disks, optical disks, or magneto-optical disks. Optical discs are composed of, for example, CD-ROMs (Compact Disk-Read Only Memory), DVDs (Digital Versatile Disks), Blu-ray Discs (registered trademark), and the like. The magneto-optical disk is composed of an MD (Mini-Disk) or the like. Further, the storage medium pre-installed in the main body of the control device 50 is composed of, for example, a ROM or a hard disk in which programs are stored.

DESCRIPTION OF SYMBOLS 1... Soil investigation apparatus, 10... Working part, 11... Working member, 12... Working member drive part, 13... Rotation drive part (torque generation part), 13a... Output shaft, 13b... Connection member, 14... Propulsion drive part (Thrust generating portion) 14a Movable member 14b Actuator 14c Mover 14d Shaft 15 Rod 15a Front end 15b Rear end 16 Rotary resistor 16a Base portion 16b Blade portion 17 Holding member 17a Cover 17b Through hole 20 Position detection unit 21 Propulsion position detection unit 22 Rotational position detection unit 30 Operation unit 50 Control device 100 Rotation Target setting unit 200 Propulsion target setting unit 300 Rotation control unit 301 Rotation position acquisition unit 302 First coordinate conversion unit 303 First force area calculation unit 304 First position area calculation unit 305... First inverse transformation unit, 306... Rotational actuator control unit, 400... Propulsion control unit, 401... Propulsion position acquisition unit, 402... Second coordinate conversion unit, 403... Second force region calculation unit, 404... Second Position area calculation unit 405 Second inverse transform unit 406 Propulsion actuator control unit 500 Measurement result acquisition unit 600 State determination unit.

Claims (12)

a working member for excavating a soil layer;
a rotary drive unit that rotates the working member;
a propulsion drive unit that applies thrust to the working member;
a rotation control unit that controls the rotation speed of the working member by the rotation drive unit to a target rotation speed;
a propulsion control unit that controls the thrust of the working member by the propulsion drive unit to a target thrust;
a measurement result acquisition unit that acquires information about a reaction force input from a soil layer to the working member that is rotated at the target rotation speed and propelled by the target thrust;
with
The rotation control unit is
a rotational position acquisition unit that acquires information about the rotational position of the working member in the rotational direction;
a first conversion unit that converts control energy into a position and force domain in controlling rotation of the working member based on the target rotational speed and the current rotational position in the direction of rotation of the working member;
a first position area calculation unit that performs calculation in a position area based on the conversion result of the first conversion unit;
a first force region calculator that calculates a value in a force region for rotating the working member at the target rotational speed;
a first inverse transforming unit that transforms into an input of the rotation driving unit based on the computation results of the first position area computing unit and the first force area computing unit;
A soil layer investigation device comprising: a working member for excavating a soil layer;
a rotary drive unit that rotates the working member;
a propulsion drive unit that applies thrust to the working member;
a rotation control unit that controls the rotation speed of the working member by the rotation drive unit to a target rotation speed;
a propulsion control unit that controls the thrust of the working member by the propulsion drive unit to a target thrust;
a measurement result acquisition unit that acquires information about a reaction force input from a soil layer to the working member that is rotated at the target rotation speed and propelled by the target thrust;
with
The propulsion control unit is
a propulsion position acquisition unit that acquires information about the propulsion position of the working member in the excavation direction;
a second conversion unit for converting control energy into a region of position and force in controlling propulsion of the work member based on the target thrust and the current position of the work member in the digging direction;
a second force region calculation unit that performs calculations in the force region based on the conversion result of the second conversion unit;
a second position area calculation unit that calculates a value in a position area for propelling the working member with the target thrust;
a second inverse transforming unit that transforms into the input of the propulsion drive unit based on the computation results of the second force area computing unit and the second position area computing unit;
A soil layer investigation device comprising : Further comprising a state determination unit that determines whether there is a change in the state of the soil layer based on the information about the reaction force acquired by the measurement result acquisition unit,
2. The rotation control unit sets the target rotation speed of the working member to a rotation speed that periodically changes when the state determination unit determines that the state of the soil layer has changed. 3. The soil layer investigation device according to 2 . the working member comprises an axially extending rod having a rotational resistance at one end;
4. The method according to any one of claims 1 to 3 , wherein the rotation drive section applies torque about the axis to the rod, and the propulsion drive section provides the rod with the thrust that presses the rotation resistor against the soil layer. The soil layer investigation device according to any one of the above items. 5. The soil layer investigation device according to claim 4 , wherein the rotary resistor has a cylindrical base portion. 6. The soil layer investigation device according to claim 4 , wherein the rotary resistor has at least one blade portion having a surface facing the rotation direction of the rod. A control device for a soil layer investigation device having a work member for excavating a soil layer, a rotation drive section for rotating the work member, and a propulsion drive section for applying thrust to the work member,
The control device is
a rotation control unit that controls the rotation speed of the working member by the rotation drive unit to a target rotation speed;
a propulsion control unit that controls the thrust of the working member by the propulsion drive unit to a target thrust;
a measurement result acquisition unit that acquires information about a reaction force input from the soil layer to the working member rotated at the target rotational speed and propelled by the target thrust ,
The rotation control unit is
a rotational position acquisition unit that acquires information about the rotational position of the working member in the rotational direction;
a first conversion unit that converts control energy into a position and force domain in controlling rotation of the working member based on the target rotational speed and the current rotational position in the direction of rotation of the working member;
a first position area calculation unit that performs calculation in a position area based on the conversion result of the first conversion unit;
a first force region calculator that calculates a value in a force region for rotating the working member at the target rotation speed;
a first inverse transforming unit that transforms into an input of the rotation driving unit based on the computation results of the first position area computing unit and the first force area computing unit;
A control device for a soil investigation device, comprising: A control device for a soil layer investigation device having a work member for excavating a soil layer, a rotation drive section for rotating the work member, and a propulsion drive section for applying thrust to the work member,
The control device is
a rotation control unit that controls the rotation speed of the working member by the rotation drive unit to a target rotation speed;
a propulsion control unit that controls the thrust of the working member by the propulsion drive unit to a target thrust;
a measurement result acquisition unit that acquires information about a reaction force input from the soil layer to the working member rotated at the target rotational speed and propelled by the target thrust,
The propulsion control unit is
a propulsion position acquisition unit that acquires information about the propulsion position of the working member in the excavation direction;
a second conversion unit for converting control energy into a region of position and force in controlling propulsion of the work member based on the target thrust and the current position of the work member in the digging direction;
a second force region calculation unit that performs calculations in the force region based on the conversion result of the second conversion unit;
a second position area calculation unit that calculates a value in a position area for propelling the working member with the target thrust;
a second inverse transforming unit that transforms into the input of the propulsion drive unit based on the computation results of the second force area computing unit and the second position area computing unit;
A control device for a soil investigation device, comprising: A work member for excavating a soil layer, a rotation drive section for rotating the work member, a propulsion drive section for applying thrust to the work member, a rotation control section, a propulsion control section, and a measurement result acquisition section. A control method for a soil investigation device comprising:
a step of controlling the rotation speed of the working member by the rotation drive unit to a target rotation speed by the rotation control unit;
a step of controlling the thrust of the working member by the propulsion drive unit to a target thrust by the propulsion control unit;
a step of acquiring, by the measurement result acquiring unit, information about a reaction force input from a soil layer to the working member rotated at the target rotational speed and propelled by the target thrust;
including
The step of controlling the rotation speed of the working member to a target rotation speed includes:
a rotational position obtaining step of obtaining information about the rotational position of the working member in the rotational direction;
a first transformation step of transforming control energy into the domain of position and force in controlling the rotation of the working member based on the target rotational speed and the current rotational position in the direction of rotation of the working member;
a first position area calculation step of performing calculation in the position area based on the conversion result of the first conversion step;
a first force region calculation step of calculating a value in a force region for rotating the working member at the target rotation speed;
a first inverse transformation step of performing transformation to the input of the rotary drive unit based on the computation results of the first position region computation step and the first force region computation step;
A control method for a soil investigation device, comprising : A work member for excavating a soil layer, a rotation drive section for rotating the work member, a propulsion drive section for applying thrust to the work member, a rotation control section, a propulsion control section, and a measurement result acquisition section. A control method for a soil investigation device comprising:
a step of controlling the rotation speed of the working member by the rotation drive unit to a target rotation speed by the rotation control unit;
a step of controlling the thrust of the working member by the propulsion drive unit to a target thrust by the propulsion control unit;
a step of acquiring, by the measurement result acquiring unit, information about a reaction force input from a soil layer to the working member rotated at the target rotational speed and propelled by the target thrust;
including
The step of controlling the thrust of the working member to a target thrust includes:
a propulsion position acquisition step of acquiring information about the propulsion position of the working member in the excavating direction;
a second transformation step of transforming control energy into a region of position and force in controlling propulsion of the work member based on the target thrust and the current position of the work member in the digging direction;
a second force region calculation step of performing calculations in the force region based on the conversion result of the second conversion step;
a second position area calculation step of calculating a value in a position area for the working member to be propelled with the target thrust;
a second inverse transformation step of performing transformation to the input of the propulsion drive unit based on the computation results of the second force region computation step and the second position region computation step;
A control method for a soil investigation device, comprising: A work member for excavating a soil layer, a rotation drive section for rotating the work member, a propulsion drive section for applying thrust to the work member, a rotation control section, a propulsion control section, and a measurement result acquisition section. A soil layer survey method executed by a soil layer survey device comprising:
controlling the rotation speed of the working member by the rotation drive unit to a target rotation speed by the rotation control unit;
controlling the thrust of the work member by the propulsion drive unit to a target thrust by the propulsion control unit;
Acquiring information about a reaction force input from the soil layer to the working member rotated at the target rotation speed and propelled with the target thrust by the measurement result acquisition unit;
In the step in which the rotation control unit controls the rotation speed of the working member to a target rotation speed,
obtaining information about the rotational position of the working member in the direction of rotation;
performing a first transformation of control energy into a field of position and force in controlling the rotation of the work member based on the target rotational speed and the current rotational position in the direction of rotation of the work member;
Performing a first position area calculation, which is an operation in the position area, based on the transformation result of the first transformation;
performing a first force region calculation, which is a calculation for calculating a value in a force region for the working member to rotate at the target rotational speed;
A soil layer survey method, wherein a first inverse transformation, which is a transformation to an input of the rotary drive unit, is performed based on the computation results of the first position region computation and the first force region computation. A work member for excavating a soil layer, a rotation drive section for rotating the work member, a propulsion drive section for applying thrust to the work member, a rotation control section, a propulsion control section, and a measurement result acquisition section. A soil layer survey method executed by a soil layer survey device comprising:
controlling the rotation speed of the working member by the rotation drive unit to a target rotation speed by the rotation control unit;
controlling the thrust of the work member by the propulsion drive unit to a target thrust by the propulsion control unit;
Acquiring information about a reaction force input from the soil layer to the working member rotated at the target rotation speed and propelled with the target thrust by the measurement result acquisition unit;
In the step in which the propulsion control unit controls the thrust of the working member to a target thrust,
obtaining information about the propulsion position of the working member in the digging direction;
performing a second transformation of control energy to a domain of position and force in controlling propulsion of the work member based on the target thrust and the current position of the work member in the digging direction;
performing a second force region calculation, which is a calculation in the force region, based on the transformation result of the second transformation;
performing a second position region calculation, which is a calculation for calculating a value in a position region for propelling the working member with the target thrust;
A soil layer survey method, wherein a second inverse transformation, which is a transformation to an input of the propulsion drive unit, is performed based on the computation results of the second force region computation and the second position region computation.

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