JPH03286094A - Automatic direction control for shield machine - Google Patents

Abstract

PURPOSE:To automatically control direction by setting the aimed control point and corrected planned line from the position, direction and excavation hysteresis of a shield machine and carrying out corrected excavation according to the jack pattern obtained through the fuzzy estimation when an excessive meandering is generated. CONSTITUTION:A variety of sensors 5 which are installed on a shield machine 1 and detect direction, pitching angle, rolling angle, etc., are connected with a personal computer 10 through a control panel 16 and multiplex transmission devices 7 and 8 through a circuit L1, Then, an operating panel 9 is connected with the multiplex transmission device 8, and a cutter motor 11 and a jack 4 are connected with the control panel 6. Then, a gyrocompass 12 is connected with the computer 10, and a camera 17 is installed on a total station TS, and connected with a computer 109. A shield type automatic direction control system determines the control quantity of the shield machine 1, and the optimum jack pattern is selected through the utilization of the fuzzy estimation, and excavation is controlled.

Description

[Detailed description of the invention] [Industrial application field] The present invention relates to an automatic direction control method for a shield machine.

[Prior Art] As shown in FIG. 20, the conventional method uses an automatic surveying device to determine the position and direction of the shield machine 1.
Calculate the difference between the position of and the planned line PL, that is, the displacement d,
For the amount of displacement d, a certain distance l to the target TP to put the shield machine 1 on the planned line PL, and
The angle θ to be controlled is calculated from the direction of .

In addition, in the curved portion, as shown in FIG. 21, the intersection points TPI and TP2 of lines other than the planned line PL, called virtual planned lines ALL and A11, and the planned line PL may be targeted.

From the above angle θ to be controlled, a computer calculates the deflection moment to achieve the angle θ with the jack of the shield machine 1, and the pattern of the jack operated to achieve the deflection moment, and the calculated pattern is output to the jack drive circuit of the shield machine to perform automatic excavation.

[Problems to be Solved by the Invention] In the conventional method, the excavation history such as the presence or absence of meandering in the past, the amount of meandering, and the magnitude of the difference from the planned line PL of the shield machine 1 is not taken into account, and the excavation history is always fixed distance l ( Because the target point TP is set to a point on the planned line PL (for example, the distance to 10 rings ahead), meandering increases, which is often undesirable from the aesthetic point of view.

In other words, the purpose is to get the line close to the planned line, and no consideration is given to meandering or aesthetics.

SUMMARY OF THE INVENTION An object of the present invention is to provide an automatic direction control method for a shielding machine that reduces meandering and ensures the beautiful appearance of the finished product.

[Means for Solving the Problems] In the method according to the present invention, when the shield machine is in a straight section and the current position of the shield machine deviates from the expected excavation area before starting ring excavation, in the first step, The declination angle between the straight line drawn by the least squares method and the planned line is determined as an indicator of the increasing tendency of change from past segment survey values, and in the second step, the variance of the increase in declination angle is determined from the past segment survey values. , in the third step, from the first and second steps and the current position and direction of the shield machine, the first
The control target point is set by fuzzy reasoning, and in the fourth step, a curve is drawn geometrically using a combination of S-curve images of curves, straight lines, and curves based on the radius of the curve that can be bent based on the position and direction of the shield machine and the standard segment, and placed on the planned line. A second control target point is set, and in a fifth step, the first and second control target points are compared, and the one farther from the current position of the shield machine is set as a third control target point, and in a sixth step, the third control target point is set. A modified planned line is assumed by geometrically drawing the S-curve image between the point and the current position of the shield machine in the third step, and in the seventh step, the current displacement of the shield machine, the deviation angle from the planned line, Input the distance to the third control target point and the distance between this point and the next BC point (starting point of the curved section) and use fuzzy inference to determine whether excessive meandering will occur;
If it is determined that excessive meandering will not occur, the revised planned line is adopted as the third control target point as the final control target point, and if it is determined that excessive meandering will occur,
In the first step, the revised planned line is adopted up to the maximum displacement point on the first curve, and a straight line parallel to the planned line is drawn from the maximum displacement point, and in the second step, a line is drawn that is an extension of the planned line of the next straight section. Draw an arc with the same radius as the next curved section so that it is inscribed in the line obtained in the first step, and
In the step, the points of contact between the arc and the parallel straight line and the extension line of the planned line of the next straight section are set as the new BC point and the new EC point (
The revised planned line will be adopted as the end point of the curved section. Before the start of ring excavation and every time the ring is excavated at a fixed interval (arbitrary), the direction correction angle to be placed on the corrected planned line is determined, and the deflection is calculated using fuzzy inference from the correction angle, the history of the control angle amount, and the history of the copy cutter. Determine the characteristic angle, determine the control angle amount from the deflection characteristic angle, direction correction angle, tail clearance, etc., determine the jacking pattern to realize the control angle amount, and output an operating signal to the jacking of the determined pattern. Then, the same procedure is followed for excavation.

[Operation] In this method, a control target point and a revised planned line are set by fuzzy inference from the current position and direction of the shield machine and the excavation history, and the control target point and the current displacement and declination of the shield machine are calculated. Using fuzzy inference, it is determined whether or not excessive meandering occurs, and if excessive meandering occurs, the control target point and revised planned line are corrected, and the control angle amount for the revised revised planned line is calculated from the history of the control angle amount. This is determined by fuzzy inference from the history of the copy cutter and the tail clearance, etc., and a jacking pattern to achieve this control angle amount is determined and excavated.

[Example] The present invention will be described in detail below with reference to the drawings.

1 and 2, an apparatus for implementing the invention is shown. A face chamber 3 is defined behind the cutter head 2 of the shield machine 1, and the chamber 3 is connected to a mud feeding device and a mud draining device on the ground via a mud feeding pipe and a mud draining pipe (not shown). . A plurality of shield jacks 4 attached to the skin plate 1a of the shield machine 1 are in contact with the front end surface of the segment S assembled in the tunnel T. Further, various sensors 5 provided in the shield machine 1 to detect the azimuth, pitch angle, roll angle, etc. are connected to the personal computer 10 via the shield machine control panel 6 and the multiplex transmission device 7.8 by a circuit L1. There is.

A shield machine operation panel 9 is connected to the multiplex transmission device 8, and a cutter motor 11 and a jack 4 are connected to the control panel 6.

A gyro compass 12 is connected to the computer 10 via a signal converter 13 and a modem 14 through a circuit L2. Further, the total station TS in the tunnel T is provided with a camera 17 that captures the target 16 provided on the shield machine 1.
7 is connected to a personal computer 19 equipped with an image processing device 18 . The computer 19 is connected by a circuit L3 to a personal computer 10 on the ground via a modem 20.21. And each circuit L
1, L2, and L3 respectively transmit the jacking pattern, gyro azimuth data, machine position, and attitude data, and the shield automatic direction control system SY transmits the shield machine direction data obtained by the shield automatic survey system SY1 and the gyro compass 12. The control amount of the shield machine is determined from information such as the position, attitude, and gyro direction of the shield machine, and the optimum jacking pattern is selected to control excavation. that time,
Control is carried out by incorporating fuzzy reasoning to accurately understand various factors such as the habits of the shield machine and the soil quality and provide feedback to the control.

FIG. 3 shows the hardware configuration of the system SY, and the personal computer 10 is provided with a known display 10a, printer 10b, keyboard 10c, floppy disk 10d, hard disk 10e, and interface 10f.

FIG. 4 shows a software configuration including a fuzzy target position inference sub (Suironm) and a fizzy deflection characteristic inference sub (Suironh) of the system SY.

FIG. 5 shows a conceptual diagram of the system configuration.

FIG. 6 shows the overall system functionality.

That is, data such as the current position and attitude of the shield machine 1 are collected (Step I), displacement and inclination with respect to the planned line are determined (Step ■), and the target position and excavation route to be placed on the planned line are determined ( Step I [I), Select the optimal jacking pattern (Step ■), Shield machine 1
Outputting and controlling the selected jacking pattern (step ■), Steps ■ to ■ are automatically repeated.

The mode of control will be explained below.

FIG. 7 shows an outline of the control flow. Initial settings are performed (step Sa), and the position and attitude of the shield machine 1 are measured (step sb). Next, the target position and excavation route are calculated by fuzzy inference (step Sc), the current position is grasped by measurement and calculation (step Sa z S e+), and the deflection characteristic, that is, the ease of bending is calculated by fuzzy inference (step Sf). Based on this calculation result, a jacking pattern is selected (step Sg), the jacking pattern is output (step Sh), and displayed on the display 10a (step Si). Therefore, in order to start ring excavation, step Sj) and step 5d-
The same step SA as in step 8j is performed (step Sk). Then, when the ring excavation is completed (step S/), the jacking pattern is turned off (step Sm), the ring excavation completion process is performed (step Sn), and when the program is completed (step So), the final process is performed. (step Sp), and the control ends.

FIG. 8 shows details of the main parts of the control flow.

After startup, the basic plan line, boundary line, and each parameter are read from the file (step S1), and the excavation history is read from the file (step S2). Next, it is determined whether or not there is an excavation history (step S3). If NO,
Create an excavation history file (step S4), set the control target point to the next BC point (step S5), YE
If S, an existing control target point is set (step S6), and the process moves to step S7. In step S7, after inputting the data from the automatic survey, the analog
Digital data is input (step S8), and data from the gyro compass 12 is input (step 89). Next, the position of the shield machine 1 is recognized by automatic surveying and the gyro compass 12, a position calculation reference point is calculated, and a starting point is set (step 510). Therefore, step S
ll', find the variance of the increase in the angle and declination between the straight line drawn by the least squares method and the planned line as an indicator of an increasing tendency of change from the past ring segment survey values, and calculate these values and Planned line P from the position direction of shield machine 1
The first control target point TP1 is applied to L using fuzzy inference (9th
(indicated by symbol F1 in the figure). Specifically, the first
As shown in Figs. 0 and 11, from the change history of the displacement C with respect to the planned line of the shield machine 1 and the change history of the declination angle D (see Fig. 13), it can be seen that "Very close (VNJ)" to "Very far (VFJ)"
Set the point TPI within the range.

Furthermore, from the position and direction of the shield machine 1 and the radius of the curve bent by the segment, a curve is drawn geometrically by a combination of a curve, a straight line, and a so-called S-curve image (see Fig. 12), and a second control target is drawn on the planning line PL. Set point TP2, compare both points TP1 and TP2, and select the one farther from the current position of shield machine 1 as the third control target point TP.
3.

Therefore, as shown in FIG. 12, a modified plan line CL is assumed by geometrically drawing an S-curve image between the point TP3 and the current position of the shield machine 1.

Next, in step S15, as shown in FIG.
The distance B between the 1-shield machine 1 and point TP3 and the distance A between point TP3 and point BC are input, and meandering is determined by fuzzy inference (indicated by symbol F2 in FIG. 9). Specifically, as shown in Fig. 14, the magnitude of the meandering can be determined by the distance ASB and the displacement C1 of the shield machine 1.
Judgment is made in the range from "fairly small SS" to "fairly large LLJ. If it is determined that excessive meandering does not occur, control target point TP3 is set as the final control target point, and the correction plan assumed in step Sll is made. The line CL is adopted as is (step 816).If it is determined that excessive meandering will occur, in step 316, as shown in FIG. Draw a parallel line a to the line PL,
A circular arc R having the same radius as the radius r of the next curved section is drawn so that it is inscribed in the line stub that is an extension of the planned line PLI of the next straight section. Therefore, the arc R and each straight line a, b
The new BC point NBC1 is the new EC point NEC, and the new modified strain planning line NCL is set as the new BC point NBC, and the new BC point NBC is set as the disconnection control target point TP4.

Next, analog data and digital data are input (step 512), data from the gyro compass 12 is input (step 513), and positions based on the gyro compass, pitching, rolling, and stroke are recognized (step 512).
Step 514).

Next, a direction correction angle ec for placing the shield machine 1 on the corrected plan line is calculated from the current position, attitude, and corrected plan line of the shield machine 1 (step 517). Then, in step 818, as shown in FIGS. 16 and 17,
Control angle amount up to now ecout (see step S19)
, the current deflection characteristic angle ek of the shielding machine 1 is determined by fuzzy reasoning from the past performance of the copy cutter and the direction correction angle ec determined in step 817. This corresponds to a correction angle for realizing control for the direction correction angle ec. Specifically, as shown in FIG. 18, the bending by the copy cutter is determined in the range of "curved" to "quite curled" with respect to the center, left, and right directions.

Next, the control angle amount eCout is calculated by comprehensively determining the direction correction angle θC1, the deflection characteristic angle ek1, the tail clearance, etc. (step 519). Next, the force point is determined from the relational expression between the control angle amount ecout set by analyzing the data obtained so far and the force point, and a jacking pattern for realizing the control angle amount ecout is set (Step 5
20), output the jerking pattern (step 521)
).

Then, it is determined whether or not the digging of the first ring has been completed (step 522). If NO, the process returns to step S12; if YES, the extrusion of the jack 4 is stopped (
Step 523), the control ends. In addition, shield machine 1
The drawing settings for the control target point TP and corrected plan lines CL, NCL, etc. are as shown in FIG. This is done for the projection lines HP and VP of the locus.

[Effects of the Invention] As explained above, according to the present invention, the behavior of the shield machine is predicted by fuzzy inference, the control amount is determined, and the control is performed in response to the habits of the shield machine and changes in the soil layer, thereby preventing meandering. It is possible to maintain the beautiful appearance of the finished product by reducing the amount.

[Brief explanation of the drawing]

Fig. 1 is a side sectional view illustrating an example of a device for explaining the present invention, Fig. 2 is a schematic diagram of an automatic direction control system, Fig. 3 is a system configuration diagram, Fig. 4 is a software configuration diagram, and Fig. 5 is a system configuration conceptual diagram, Figure 6 is an overall system functional diagram,
Figure 7 is a schematic control flowchart, Figure 8 is a detailed flowchart of the main parts, Figure 9 is a schematic explanatory diagram of fuzzy inference, Figure 10 is a rule table diagram of fuzzy inference for setting control target points, and Figure 11. is an explanatory diagram of control target setting according to Fig. 10, Fig. 12 is an explanatory diagram of a revised plan line, and Fig. 13 is an explanatory diagram of control target setting.
Figure 14 is an explanatory diagram of fuzzy inference for meandering determination, Figure 14 is a rule table diagram for meandering determination fuzzy inference, Figure 15 is an explanatory diagram of the correction procedure for the revised planned line when excessive meandering occurs, and Figure 16 is Fig. 7 is an explanatory diagram of the main parts, Fig. 17 is an explanatory diagram of fuzzy inference of bendability, Fig. 18 is a diagram of the rule table of Fig. 17, and Fig. 19 is a three-dimensional diagram of control target points and modified plan lines. The explanatory diagrams, FIGS. 20 and 21, are explanatory diagrams of straight portions and curved lines in the conventional method. 2...Cutter head CL...Corrected plan line D
...Declination NBC...New BC point PL...Plan line S...Segment TB...Control target point
ec... Direction correction angle ecout... Control angle amount ek... Deflection characteristic angle Symbol explanation VN Two is close NN Two is close 1N: Slightly close E: Slightly far N': Far vF: Slightly far Explanation of symbols SS: Small LS S: Small MS: Slightly small LM S: Slightly large HI S: Thick SI = tJ゛ Large GO2 Figure 19 Z Figure 0 Figure 1 figure

Claims (1)

[Claims] If the current position of the shield machine deviates from the expected excavation area before the start of ring excavation when the shield machine is in a straight section, the minimum The declination angle formed by the straight line drawn by the square method and the planned line is determined, the variance of the increase in the declination angle is determined from the past segment survey values in the second step, and the third step
In the procedure, the first control target point is set on the planned line by fuzzy reasoning from the first and second steps and the current position and direction of the shield machine, and in the fourth step, it is possible to make a bend based on the position and direction of the shield machine and the standard segment. A second control target point is set on the planned line by geometrically drawing a combination of S-curve images of curves, straight lines, and curves from the curve radius, and in a fifth step, the first and second control target points are compared and shielded. The one farther from the current position of the shield machine is set as the third control target point, and in the sixth step, the distance between the third control target point and the current position of the shield machine in the third step is geometrically drawn and corrected using the S-curve image. Assuming a planned line, in the seventh step, enter the current displacement of the shield machine, the declination angle from the planned line, the distance to the third control target point, and the distance between this point and the start point of the next curved section and perform fuzzy processing. It is determined by inference whether or not excessive meandering will occur, and if it is determined that excessive meandering will not occur, the revised planned line is adopted as the third control target point as the final control target point, and excessive meandering is determined. If it is determined that this occurs, in the first step, the modified planned line is adopted up to the maximum displacement point on the first curve, and a straight line parallel to the planned line is drawn from the maximum displacement point, and in the second step, the next straight line is drawn. A circular arc with the same radius as the next curved construction section is drawn so as to be inscribed in the line obtained by extending the planned line of the construction section and the line obtained in the first step, and in the third step, draw a straight line parallel to the arc and the next straight line. The revised planned line is adopted as the point of contact with the extension line of the planned line of the construction section as the starting point of the new curved section and the end point of the new curved section. Find the direction correction angle for placing it on the line, find the deflection characteristic angle by fuzzy inference from the correction angle, the history of the control angle amount, and the history of the copy cutter,
A control angle amount is determined from the deflection characteristic angle, direction correction angle, tail clearance, etc., a jack pattern for realizing the control angle amount is determined, an operating signal is output to the jack of the determined pattern, and the same procedure is repeated thereafter. An automatic direction control method for a shield machine, which is characterized in that it excavates with