JP7272847B2 - Operation guidance device and operation guidance method - Google Patents

Description

The present invention relates to an operation guidance device and an operation guidance method for a shield excavator.

2. Description of the Related Art Conventionally, a shield excavator for excavating a natural ground is used for constructing a tunnel or the like. The operator who operates the shield excavator operates the direction of excavation while monitoring the construction environment (soil quality, water pressure, etc.) of the site where the shield excavator excavates according to the excavation instructions that show the instructions for excavation planned in advance. are doing.

In shield excavators, a plurality of shield jacks are provided along the inner circumference of a cylindrical skin plate. All or part of the plurality of shield jacks are propelled (extended) by hydraulic operation to push the surface of the skin plate, thereby controlling the excavation direction of the shield excavator. The operator selects which of the plurality of shield jacks to extend to adjust the position of the point of force acting on the shield excavator, thereby controlling the direction in which the shield excavator excavates.

By constructing tunnels at various sites, operators have gained experience in controlling shield excavators in response to changes in the construction environment, and have improved their proficiency. A skilled operator with improved skills will be able to apply controls that correspond to the current construction environment at the construction site when controlling the shield excavator at the construction site during excavation, and apply knowledge of control in similar construction environments in the past. are doing. However, in the case of an operator who has worked in a small number of construction sites, he/she has insufficient experience and operational knowledge in an unexperienced construction environment, and cannot appropriately control the shield excavator in that construction environment.

That is, there is a problem that the accuracy and safety of the design of the tunnel to be excavated varies depending on the operator's skill in controlling the shield excavator. In order to solve this problem, there is a configuration in which the shield excavator is automatically operated based on measurement data indicating the rotation state of the cutter of the shield excavator and the propulsion state of the propulsion jack during excavation (see, for example, Patent Document 1).

In addition, artificial intelligence (AI) is generally used to analyze human emotions. In a method using AI, for example, a learned model is created by executing machine learning using training data that associates human facial expressions (input) with emotions (output) corresponding to the facial expressions. . By inputting human facial expressions into this trained model, it is possible to estimate the emotions that the facial expressions mean, and to perform human emotion analysis.

JP-A-07-71189

In Patent Literature 1 described above, the operation of the shield excavator by a skilled operator cannot be sufficiently reproduced. That is, since the control is performed by comparing the measured data with the set value, unlike the control based on the experience of a skilled operator, the control corresponding to the ever-changing construction environment at the site is appropriately performed. However, it was difficult to say that the accuracy and safety of the design of excavated tunnels would improve.

On the other hand, it is conceivable to apply the AI method described above to the operation of a shield excavator. For example, a trained model can be created by executing machine learning using training data that associates the excavation conditions (input) obtained from a shield excavator with the operations (output) of a skilled operator corresponding to the excavation conditions. create. By inputting data indicating the current excavation situation into this learned model, it is possible to estimate the details of the desired operation of the shield excavator. For example, by performing an operation to select a shield jack so that the force point of the shield excavator comes to the point of force estimated by the learned model, even an inexperienced operator can perform an operation close to that of a skilled operator. is considered possible.

However, many shield jacks can only be operated either on or off. Therefore, the force points that can be manipulated in propelling the shield excavator are discrete. On the other hand, the force position estimated by the learned model is arbitrary and continuous. For this reason, even if the operator selects any one of the plurality of shield jacks, it may not be possible to match the force point position estimated by the learned model. If the learned model presents the position of the point of effort that cannot actually be matched, the operator may be confused and useless operations may increase.

SUMMARY OF THE INVENTION The present invention has been made in view of such circumstances, and an object of the present invention is to provide an operation guidance device and an operation guidance method capable of providing guidance (guidance) that is easy for an operator to operate in operation of a shield excavator. is to provide

In order to solve the above-described problems, an operation guidance device according to an embodiment of the present invention includes an acquisition unit that acquires measurement data obtained by measuring the excavation conditions of a shield excavator, an estimating unit for estimating a force target, which is a target position of the force applied to the shield excavator, by inputting the measured data into a learned model that has learned a correspondence relationship with the position of the shield excavator; a generation unit that generates a force operation target, which is a force target that can be applied to the shield excavator, based on the estimated force target; and a position of the current force that is applied to the shield excavator. and an output unit for outputting the information indicating the current force position and the force operation target generated by the generating unit so as to be displayed in a coordinate system indicating the force point position as a guidance image that guides the operator's operation. It is characterized by having

Further, in the operation guidance device described above, the estimating unit estimates the position of the force applied to the shield excavator as the effort target, and the generation unit estimates the current force position and the force point as the force operation target. It is characterized by generating information indicating a range according to the relationship with the target.

Further, in the operation guidance device described above, the estimating unit estimates the position of the force applied to the shield excavator as the force target, and the generating unit includes the position indicated by the force target as the force operation target. Information for contour-displaying a predetermined range according to the position of the effort target is generated.

Further, in the operation guidance device described above, the estimating unit estimates the position of the force applied to the shield excavator as the force target, and the generating unit calculates the force operation target from the current force point position as the force operation target. It is characterized by generating information indicating the direction to the position indicated by the effort target.

Further, in the operation guidance device described above, the estimating unit estimates the position of the force applied to the shield excavator as the force target, and the generating unit calculates the force operation target from the current force point position as the force operation target. It is characterized by generating information indicating a distance to the position of the effort indicated by the effort target.

Further, an operation guidance method according to an embodiment of the present invention includes an acquisition step in which an acquisition unit acquires measurement data obtained by measuring the condition of the natural ground excavated by the shield excavator, and an estimating unit in which the condition of the natural ground and the shield an estimating step of estimating a force target, which is a target of the force applied to the shield excavator, by inputting the measurement data into a trained model that has learned the correspondence relationship between the position of the force applied to the excavator and generating a generation step in which a unit generates a force operation target, which is a force target that can be applied to the shield excavator, based on the force target estimated by the estimation unit; and an output unit generates the shield excavation target. The information indicating the current force position, which is the position of the current force applied to the machine, and the force operation target generated by the generating unit are converted into a coordinate system indicating the force force position as a guidance image that guides the operator's operation. and an output step of outputting for display .

As described above, according to the present invention, it is possible to provide guidance that is easy for the operator to operate.

1 is a block diagram showing a configuration example of an operation guidance system 1 to which an operation guidance device 10 of an embodiment is applied; FIG. It is a figure which shows the example of the screen displayed on the terminal device 20 of embodiment. It is a figure which shows the example of the screen displayed on the terminal device 20 of embodiment. It is a figure which shows the example of the screen displayed on the terminal device 20 of embodiment. 4 is a flowchart showing an operation example of the operation guidance device 10 of the embodiment;

An operation guidance device according to an embodiment will be described below with reference to the drawings.

FIG. 1 is a block diagram showing a configuration example of an operation guidance system 1 to which an operation guidance device 10 of the embodiment is applied. The operation guidance system 1 includes an operation guidance device 10 and a terminal device 20 . The operation guidance device 10 and the terminal device 20 are communicably connected.

In the operation guidance system 1 , guidance information generated by the operation guidance device 10 is output to the terminal device 20 . The guidance information is information that guides the operation of the shield excavator operator, and is, for example, information that indicates the position of the force applied to the shield excavator (hereinafter simply referred to as the force point position on the shield excavator). be. By controlling the position of the point of force in the shield excavator, the direction in which the shield excavator is propelled (propulsion direction) is controlled.

In addition, in the operation guidance system 1 , the terminal device 20 displays guidance images based on the guidance information acquired from the operation guidance device 10 . The guidance image is an image that assists the operation of the shield excavator by the operator, and is an image that indicates the position of the force point in the shield excavator. By operating the position of the point of force in the shield excavator according to the guidance information, the operator can propel the shield excavator in a predetermined direction.

The operation guidance device 10 includes, for example, a measurement data acquisition unit 11, a current effort position acquisition unit 12, a target effort estimation unit 13, an effort target generation unit 14, a guidance information output unit 15, and a measurement data storage unit 16. , an effort position information storage unit 17 , and a trained model generation unit 18 .

The measurement data acquisition unit 11 acquires measurement data. The measurement data is data obtained by measuring the excavation conditions of the shield excavator, and is data obtained by measuring, for example, horizontal deviation, vertical deviation, rolling, pitching, actual left-right stroke difference, and vertical actual stroke difference. Horizontal deviation indicates the horizontal deviation between the position indicated in the drilling instructions and the position of the shield excavator. The vertical deviation indicates the vertical deviation between the position indicated in the drilling instructions and the position of the shield excavator. Roll indicates the horizontal orientation of the shield excavator's current attitude. Pitching indicates the vertical orientation of the attitude of the shield excavator. The left-right actual stroke difference indicates the difference in the horizontal direction (left-right difference) of the driving force for propelling the shield excavator. The vertical actual stroke difference indicates the difference in the vertical direction (vertical difference) of the propulsive force that propels the shield excavator. Of course, the measurement data may be data obtained by measuring at least the excavation situation of the shield excavator, and may be data obtained by measuring the total driving force of the shield jack, the ground pressure of the ground or excavated soil, the water pressure, and the like. .

The current effort position acquisition unit 12 acquires the current effort position, and causes the effort position information storage unit 17 to store information indicating the acquired effort position. The current power point position is the power point position in the shield excavator, and is detected based on the installation position on the surface of the skin plate of the shield jack that is currently on. For example, if all the shield jacks surrounding the inner circumference of the skin plate are in the ON state, the position of the force point will be the center of the surface of the skin plate. When the shield jack installed on the right side of the skin plate plane is in the ON state, the power point is on the right side of the skin plate plane.

The effort target estimator 13 estimates the effort target using a machine learning technique. As a machine learning method, any of commonly used techniques such as decision tree learning, neural network, genetic programming, and support vector machine may be used. In the following, a case where the effort target estimating unit 13 estimates the effort target using a learned model will be described as an example. A trained model is, for example, a model stored in the trained model generation unit 18 .

The learned model is a model that has learned the corresponding relationship between the excavation situation and the position of the force in the shield excavator. The excavation status is information about excavation, for example, measurement data acquired by the measurement data acquisition unit 11 during excavation. A trained model is generated by machine learning learning data that associates the excavation situation (input in the learning data) and the position of the force (output in the learning data) collected in various excavation works, for example. be done. When data indicating unlearned excavation situations is input to the learned model, the learned model extracts similar learned excavation situations from the learned data. Then, the learned model estimates the force point position associated with the extracted excavation situation as the force point position corresponding to the unlearned excavation situation.

The effort target estimated by the effort target estimating unit 13 is information indicating a target position of the effort in the shield excavator, for example, information indicating any position on the surface of the skin plate. The target-of-effort estimator 13 inputs the measured data acquired by the measured-data acquirer 11 into the trained model, and uses the output obtained as the target of effort to be estimated for the measured data. The effort target estimation unit 13 outputs information indicating the estimated effort target to the effort operation target generation unit 14 .

The effort target generation unit 14 processes the effort target estimated by the effort target estimation unit 13 to generate the effort target. Effort control target is the target of effort on the shield excavator operated by the operator.

The force operation target is, for example, information indicating a range having a certain area instead of a position. In other words, the effort target estimator 13 generates, as the effort operation target, information indicating the position of the effort that is the target of the operator's operation in an area including the position of the effort indicated by the effort target. As a result, even if the effort target estimating unit 13 estimates the position of the effort that cannot be matched by the on-off combination of the shield jack, it is possible to indicate the operable range including the combination of the shield jack. It is possible to avoid confusing the operator.

When the effort operation target is indicated by an area, the effort operation target generator 14 may display the area as a contour. A contour display is a display that shows an area according to a certain amount or degree by a contour, such as a contour line on a map or an isobar line on a weather chart.

The effort target generation unit 14, for example, contour-displays the area of the effort target according to the distance to reach the position of the effort target. In this case, the area of the effort target is a concentric area centered on the position of the effort target. Alternatively, the effort operation target generation unit 14 may perform contour display according to the relationship between the current effort position and the effort target position in the shield excavator. In this case, the effort operation target area is a fan-shaped area formed in the direction of the effort target with the current effort position as the center. Further, the effort operation target generation unit 14 may perform contour display according to the relationship between the position of the effort that can be operated by combining the shield jacks and the position of the effort target. In this case, the effort operation target area is an area including the effort position and the effort target position that can be operated by combining the shield jacks.

In addition, when the effort target is a direction toward the effort target, the effort target generation unit 14 may display the distance to reach the effort target position. The effort target generating unit 14 generates information in which, for example, the size, such as the length and thickness, or the color of the arrow is changed according to the distance to reach the position of the effort target. This allows the operator to intuitively recognize the direction and distance in which the force position should be manipulated from the current force position.

The guidance information output unit 15 outputs information indicating the effort target generated by the effort target operation target generation unit 14 to the terminal device 20 as guidance information for guiding the operator's operation. A case where the guidance information is image information to be displayed on the terminal device 20 will be described below as an example. There may be.

The terminal device 20 includes a communication unit 21, a display unit 22, and a control unit 23, for example. The communication unit 21 communicates with the operation guidance device 10 and acquires guidance information from the operation guidance device 10 . The display unit 22 displays guidance information acquired by the communication unit 21 . The control unit 23 comprehensively controls the terminal device 20 and causes the display unit 22 to output, for example, the guidance information acquired by the communication unit 21 .

Here, images displayed as guidance information will be described with reference to FIGS. 2 to 4. FIG. 2 to 4 are diagrams showing examples of screens displayed on the terminal device 20 of the embodiment. FIG. 2 is a conventional display, and FIGS. 3 and 4 are displays of the present embodiment. 2 shows an example in which the force position estimated by the force target estimation unit 13 is displayed as it is, and FIGS. 3 and 4 show examples in which the estimated force position is processed and displayed. showing.

As shown in FIGS. 2 to 4, the image 220 displayed on the display unit 22 is composed of images 221 to 225. FIG. The image 221 is an image showing the ring number (ring No.), propulsion mode, and the like. An image 222 is an image showing time-series changes in the force point in the horizontal direction (X-axis direction) and the vertical direction (Y-axis direction) using actual values (set values) and estimated values (AI predicted values). An image 223 is an image showing horizontal deviation, vertical deviation, rolling, pitching, left-right actual stroke difference, and vertical actual stroke difference. The image 224 is an image showing the coordinates of the position of the force point by the current actual value (set value) and the estimated value (AI predicted value). The image 225 is an image showing a coordinate system imitating the surface of the skin plate and shield jacks displayed so as to surround the surface of the skin plate. Image 225 also shows the on/off state of each of the shield jacks.

As shown in FIG. 2, in the conventional display, an image 225 shows a current actual value (set value) P1 and an estimated value (AI predicted value) P2 in a coordinate system. In this case, the operator may be confused if the AI predicted value P2 is not a power point position that can be operated by combining shield jacks.

On the other hand, in the present embodiment, as shown in FIG. 3, in the image 225, the current performance value (set value) P1 and the areas E1 and E2 as the effort point operation targets are contour-displayed. Alternatively, in the present embodiment, as shown in FIG. 4, an image 225 displays a current performance value (set value) P1 and an arrow G1 as an effort point operation target. In this embodiment, the force point estimated value (AI predicted value) P2 is processed and displayed in areas E1 and E2 or in a format such as an arrow G1, thereby facilitating operation by the operator.

FIG. 5 is a flow chart showing an operation example of the operation guidance device 10 of the embodiment.
First, the operation guidance device 10 acquires measurement data by the measurement data acquisition unit 11 (step S10). The measurement data is data that is measured regarding excavation and is data that is input to the trained model when estimating the effort target.

Next, the operation guidance device 10 estimates the effort target by the effort target estimator 13 (step S11). The target-of-effort estimator 13 uses the output obtained by inputting the measured data into the trained model as the estimated target of effort. The learned model is a model that has learned the corresponding relationship between the excavation situation corresponding to the measurement data and the position of the force.

Next, the manipulation guidance device 10 generates the effort target by the effort target generator 14 (step S12). The effort target generation unit 14 processes the effort target so that the operator can easily operate the effort target to generate the effort target. The effort target generating unit 14 sets, for example, a certain range including the position of the effort estimated by the effort target estimating unit 13 as the effort target. Alternatively, the force operation target generation unit 14 sets the direction and distance that the operator moves the force point position as the force operation target.

Then, the operation guidance device 10 outputs guidance information from the guidance information output section 15 (step S13). The guidance information output unit 15 outputs information indicating the effort target generated by the effort target operation target generation unit 14 as guidance information.

As described above, in the manipulation guidance device 10 of the embodiment, the effort target generation unit 14 outputs information obtained by processing the effort target estimated using AI (learned model), and the guidance information output unit 15 outputs the guidance information. output as As a result, in the operation guidance device 10 of the embodiment, even if the effort target estimated using AI is content that cannot be directly operated in practice, the operation guidance device 10 can process it so that the operator can easily operate it. Therefore, it is possible to provide guidance that is easy for the operator to operate.

Further, in the operation guidance device 10 of the embodiment, the force target estimating unit 13 estimates the position of the force point in the shield excavator as the force target, and the force operation target generating unit 14 estimates the position indicated by the force target as the force operation target. Generate information indicating a predetermined range including. As a result, in the operation guidance device 10 of the embodiment, when the estimated force point position is a position that cannot be operated with the combination of the shield jack, the force point operation target is indicated within a predetermined range, thereby making it easier for the operator to operate. Can provide guidance.

Further, in the operation guidance device 10 of the embodiment, the force target estimating unit 13 estimates the position of the force point in the shield excavator as the force target, and the force operation target generating unit 14 estimates the position indicated by the force target as the force operation target. Generates information that contours a predetermined range including. As a result, in the operation guidance device 10 of the embodiment, when the estimated power point position is a position that cannot be operated with the combination of the shield jack, the predetermined range as the power point operation target is indicated by the contour display. can be indicated by color coding, etc., making it easier for the operator to operate intuitively.

In addition, in the operation guidance device 10 of the embodiment, the force target estimating unit 13 estimates the position of the force on the shield excavator as the force target, and the force operation target generating unit 14 estimates the current force position as the force operation target. , to generate information indicating the direction to the position indicated by the effort target. As a result, in the operation guidance device 10 of the embodiment, when the estimated force point position is a position that cannot be operated by combining the shield jacks, the direction can be indicated as the force point operation target. can be made easier to operate.

In addition, in the operation guidance device 10 of the embodiment, the force target estimating unit 13 estimates the position of the force on the shield excavator as the force target, and the force operation target generating unit 14 estimates the current force position as the force operation target. , to generate information indicating the distance to the position indicated by the effort target. As a result, in the operation guidance device 10 of the embodiment, when the estimated position of the point of effort is a position that cannot be operated with the combination of the shield jack, the distance to move the point of effort can be indicated as the target of the point of effort operation. , which makes it easier for the operator to operate intuitively.

In the above-described embodiment, a case where a range or an arrow indicating a certain area is generated as an effort target has been described as an example, but the present invention is not limited to this. The power point operation target may be the position of the power point that can be operated by the on/off operation of the shield jack. In this case, the force operation target generating unit 14 selects the position closest to the force position estimated as the effort target by the effort target estimating unit 13 among the force positions that can be operated by the on/off operation of the shield jack as the effort operation target. do.

Further, in the above-described embodiment, the case where the force position is estimated as the force target has been exemplified and explained, but the present invention is not limited to this. The effort target may be the thrust of each shield jack. In this case, if the actual shield jack can only be turned on or off, the operator may be confused because the propulsive force of the shield jack cannot be individually controlled. In such a case, the power point operation target generation unit 14 may process the estimated propulsive force of each shield jack to generate on/off information for each shield jack.

All or part of the processing performed by the operation guidance device 10 in the above-described embodiment may be realized by a computer. In that case, a program for realizing this function may be recorded in a computer-readable recording medium, and the program recorded in this recording medium may be read into a computer system and executed. It should be noted that the "computer system" referred to here includes hardware such as an OS and peripheral devices. The term "computer-readable recording medium" refers to portable media such as flexible discs, magneto-optical discs, ROMs and CD-ROMs, and storage devices such as hard discs incorporated in computer systems. Furthermore, "computer-readable recording medium" means a medium that dynamically retains a program for a short period of time, like a communication line when transmitting a program via a network such as the Internet or a communication line such as a telephone line. It may also include something that holds the program for a certain period of time, such as a volatile memory inside a computer system that serves as a server or client in that case. Further, the program may be for realizing a part of the functions described above, or may be capable of realizing the functions described above in combination with a program already recorded in the computer system. It may be implemented using a programmable logic device such as FPGA.

Although the embodiment of the present invention has been described in detail with reference to the drawings, the specific configuration is not limited to this embodiment, and design and the like are included within the scope of the gist of the present invention.

Reference Signs List 1 operation guidance system 10 operation guidance device 11 measurement data acquisition unit 12 current effort position acquisition unit 13 effort target estimation unit 14 effort operation target generation unit 15 guidance information output unit 16 Measured data storage unit 17 Effort position information storage unit 18 Learned model generation unit 20 Terminal device 22 Display unit

Claims (6)

an acquisition unit that acquires measurement data obtained by measuring an excavation situation of the shield excavator;
By inputting the measurement data into a trained model that has learned the corresponding relationship between the excavation situation and the position of the force applied to the shield excavator, a force target, which is the target position of the force applied to the shield excavator, is obtained. an estimating unit for estimating
a generation unit that generates a force operation target, which is a force target that can be applied to the shield excavator, based on the force target estimated by the estimation unit;
Information indicating the current force position, which is the position of the current force applied to the shield excavator, and the force operation target generated by the generation unit is used as a guidance image for guiding the operator's operation to indicate the force force position. an output unit that outputs to display in a coordinate system ;
An operation guidance device comprising: The estimating unit estimates the position of the force applied to the shield excavator as the force target,
The generating unit generates, as the effort target, information indicating a range corresponding to a relationship between the current effort position and the effort target.
The operation guidance device according to claim 1, characterized in that: The estimating unit estimates the position of the force applied to the shield excavator as the force target,
The generation unit generates information for contour-displaying a predetermined range including a position indicated by the effort target as the effort target according to the position of the effort target.
The operation guidance device according to claim 1 or 2, characterized in that: The estimating unit estimates the position of the force applied to the shield excavator as the force target,
The generation unit generates, as the effort target , information indicating a direction from the current effort position to a position indicated by the effort target.
The operation guidance device according to any one of claims 1 to 3, characterized in that: The estimating unit estimates the position of the force applied to the shield excavator as the force target,
The generation unit generates, as the effort target , information indicating a distance from the current effort position to the effort position indicated by the effort target.
The operation guidance device according to any one of claims 1 to 4, characterized in that: an acquisition step in which the acquisition unit acquires measurement data obtained by measuring the condition of the ground excavated by the shield excavator;
The estimating unit inputs the measured data to a learned model that has learned the correspondence relationship between the state of the ground and the position of the force applied to the shield excavator, thereby obtaining the target of the force applied to the shield excavator. an estimation step of estimating an effort target;
a generating step in which a generation unit generates a force operation target, which is a force target that can be applied to the shield excavator, based on the force target estimated by the estimation unit;
The output unit uses information indicating the current force position, which is the position of the current force applied to the shield excavator, and the force operation target generated by the generation unit as a guidance image that guides the operator's operation. an output step of outputting for display in a coordinate system indicating the force position ;
An operation guidance method characterized by comprising:

Images