JPH0489998A - Instruction device of propelling direction of small bore pipe - Google Patents

Abstract

PURPOSE:To operate properly the correction amount of a direction correcting mechanism by determining the correction amount obtained by actual operation of the mechanism by reference to a higher probability direction correcting mechanism correction amount which is presented by a small bore pipe propelling direction indicating device. CONSTITUTION:The i'th measuring information about the position and attitude angle of a frontier device obtained by various measuring instruments for a small bore pipe propelling machine is received through an input interface part 11 and transformed into the input data form for a neural circuit network 40 by a data normalization part 21, and the result is entered in a shift register 31. The direction correcting amount obtained by actual operation of a direction correcting mechanism for the small bore pipe propelling machine is transformed into the input data form for the neural circuit network 40 by another data normalization part 22 through an input interface part 12, and the result is entered into a shift register 32. The neural circuit network 40 is fed with information at different stages of shift registers 31, 32, and the amount corresponding to the i'th direction correction is emitted. The outputting result is converted by a data matching part 50 into the form of operation amount of the direction correcting mechanism, and the result from converting is presented as output of a small bore pipe propelling direction indicating device to the executor of pipe burying works by an appropriate data indicating device through an output interface part 60.

Description

DETAILED DESCRIPTION OF THE INVENTION [Field of Industrial Application] The present invention relates to a small-diameter tube propulsion device for constructing a tunnel without excavating and burying a tube body underground.

[Prior art] Pipe burying work using a small-diameter pipe propulsion machine to bury the pipe in a trenchless tunnel method involves repeating the basic small-diameter pipe propulsion operation, as shown in the operating procedure in Figure 3. will be implemented. In this basic operation of small-diameter tube propulsion, the propulsion direction of the small-diameter tube propulsion device is corrected based on the attitude angle such as the inclination angle and azimuth angle of the tip device, and the position information such as the vertical position and horizontal position. . Information on the attitude angle and position of the tip device can be obtained directly by various measuring instruments installed in the small diameter tube propulsion machine, or indirectly by calculation from the measurement results of the relative bending angle with the tube body following the tip device. can be obtained. The positional information obtained from such measurement results is compared with the construction plan line indicating the planned position of the buried pipe, and the propulsion direction is determined so that there is no relative deviation, and the attitude angle of the tip device is determined. This is carried out by controlling the amount of correction of the direction correction mechanism in consideration of the above (see Japanese Patent Application No. 58-91088).

The above direction correction results are based on - times of small-diameter pipe propulsion, which consists of press-fitting the drilling head attached to the tip device into the soil and push-pipe propulsion by the main push device installed in the starting shaft. This is reflected in the position and attitude angle information of the tip device obtained by measuring it again after the operation is completed. Pipe burying work using a small-diameter pipe propulsion machine requires such measurement, direction correction,
The unit of operation is a series of basic small-diameter pipe propulsion operations, which are repeated to propel the pipe into the soil in sequence, and as a result, the pipe is buried in accordance with the construction plan line. In order to bury the pipe along the construction plan line, an important point is determining the direction correction amount of the direction correction mechanism based on measurements.

On the other hand, the basic movement of this small diameter pipe is to propel the pipe body and drilling head into the soil and is affected by Tonosho, so -
The direction correction effect will not ideally appear in the small-diameter tube propulsion basic operation once, and multiple small-diameter tube propulsion basic operations are required. Previously, if the direction correction was performed continuously over multiple small-diameter tube propulsion basic operations until the direction correction effect clearly appeared, excessive direction correction would be performed. As a result, the pipe body may be laid in a large meandering direction with respect to the construction plan line, or in the worst case, the pipe body may be pushed out of the pushing range by the main pushing device, making it impossible to continue the construction work. Something happened.

Furthermore, depending on the soil quality in which the pipe is laid, the weight of the tip device itself tends to cause the tip device to always sink deeper into the ground, and it was necessary to take this into consideration when adjusting the direction.

[Problems to be Solved by the Invention] As explained above, the propulsion direction of a conventional small-diameter tube propulsion machine can be corrected by controlling the correction amount of the direction correction mechanism based on the measurement results of the position and attitude angle of the tip device. In this method, the person carrying out the pipe burying work predicts the direction correction effect based on his/her knowledge and experience as an expert, so there is a difference between the pipe burying work by an inexperienced person and the pipe burying work by an experienced person. There was a drawback that there was a large difference in the quality of the work compared to underground construction.

In addition, as is clear from the above, those who carry out pipe burying work using a small-diameter pipe propulsion machine need a certain level of knowledge and experience as an expert. Expert training is an important issue for the dissemination of the technology.

The purpose of the present invention is to enable even an inexperienced person to appropriately operate the amount of correction of the direction correction mechanism, and therefore, regardless of whether or not he or she has experience in pipe burying work, the quality of the work using a small-diameter pipe propulsion machine can be improved. An object of the present invention is to provide a small-diameter pipe propulsion direction indicating device capable of carrying out high-pitched pipe burying work.

[Means for Solving the Problems] In order to achieve the above object, the small diameter tube propulsion direction indicating device of the present invention includes a holding means that sequentially holds measurement information measured by the measuring means and operation information of the direction correction mechanism. The relationship between the history of the measurement information and the history of the operation information is learned in advance from past successful cases in pipe burying work, which consists of a series of repeated operations, and the measurement information is held by the holding means. and the history of the operation information, and from the history of the measurement information of the pipe burial work in progress and the history of the operation information, the next operation instruction amount of the direction correction mechanism is made to correspond to the learning result. It has a neural network that outputs

[Function] The present invention uses a small-diameter pipe propulsion direction indicating device equipped with a neural network that has learned from successful cases of pipe burying work using small-diameter pipe propulsion machines by skilled workers to adjust the amount of correction of the direction correction mechanism. This is to be presented to the person carrying out the pipe burying work. This neural network uses as training data the amount of correction of the direction correction mechanism in a successful case of pipe burying work using a small-diameter pipe propulsion machine by an experienced worker, and uses the position and posture of the tip device involved in the direction correction operation as training data. The measurement information of the corner, the history of the past several measurements prior to the operation, and the history of the operation information of the direction correction mechanism are used as case study inputs, and this is useful for pipe burial work using a small-diameter pipe propulsion machine. ) outputs the amount of direction correction equivalent to a successful example by a skilled practitioner.

Therefore, according to the present invention, a person carrying out pipe burying work using a small diameter pipe propulsion device can refer to the direction correction amount of the highly reliable direction correction mechanism presented by the small diameter pipe propulsion direction indicating device. Since the amount of correction of the direction correction mechanism to be actually operated can be determined, advanced knowledge and deep experience as an expert is not required.

[Example] Next, an example of the present invention will be described with reference to the drawings.

FIG. 1 is a block diagram of a small diameter tube propulsion direction indicating device showing a first embodiment of the present invention.

This small diameter tube propulsion direction indicating device includes an input interface section 11 that receives measurement information of the position and attitude angle of the tip device obtained by various measuring instruments of the small diameter tube propulsion device, and a direction indicating device for the small diameter tube propulsion device. an input interface section 12 that receives operation information that is the amount of correction of the correction mechanism; and data normalization sections 21 and 22 that normalize the measurement information and operation information received at the input interface sections 11 and 12, respectively;
Shift registers 31 and 32 hold measurement information and operation information normalized by data normalization units 21 and 22, respectively, and a history of the measurement information from past successful cases in pipe burial work that consists of repeating a series of operations. The relationship between the measurement information and the history of the operation information is learned in advance, and the history of the measurement information and the history of the operation information held in the shift registers 31 and 32, respectively, are input, A neural network 40 outputs the next operation instruction amount of the direction correction mechanism based on the history of the measurement information of the construction work and the history of the operation information, and outputs the output result of the neural network 40 with a small diameter. A data matching section 50 that converts the correction amount of the direction correction mechanism of the tube propulsion device into a data format, and a display device that presents the output result of the neural network 40, which is the output of the data matching section 50, to the person carrying out the pipe burying work. and an output interface section 60 for transmitting data to, etc. Here, the neural network 40 includes an input layer 401, an output layer 403
It has a multilayer structure including one or more intermediate layers 402 and one or more intermediate layers 402 . Each unit 400 of the input layer 401 is connected to each stage of the shift registers 31 and 32.

In addition, the shift registers 31 and 32 are each (n+1)
It has an n-stage configuration.

The process of presenting the correction amount of the direction correction mechanism of a small diameter pipe propulsion machine to the person carrying out the pipe burying work using the small diameter pipe propulsion direction indicating device shown in Fig. 1 will be explained based on the operating procedure shown in Fig. 3. .

Let us now assume that we have begun to carry out the first small-diameter tube propulsion basic operation. The small diameter tube propulsion direction indicating device receives first measurement information of the position and attitude angle of the tip device obtained by various measuring instruments of the small diameter tube propulsion device via the input interface section 11. This first measurement information is transformed into an input data format for the neural network 40 by the data normalization unit 21 and input to the shift register 31. As mentioned above, this shift register 31 has an (n+1) film configuration, and when the first measurement information, which is the latest measurement information, is manually input, it sequentially shifts the held information and (n
The oldest (i-n-1)th measurement information overflowing from the +1) stage is discarded, and as a result, the past (n+1) measurement information is sequentially held. At this point, the amount of direction correction by actually operating the direction correction mechanism of the small-diameter tube propulsion device is determined by the direction correction amount obtained by actually operating the direction correction mechanism of the small-diameter tube propulsion device through the input interface section 12 in the previous (i-1)th small-diameter tube propulsion basic operation. The data is received by the propulsion direction indicating device, transformed into an input data format for the neural network 40 by the data normalization unit 22, and input to the shift register 32. As described above, the shift register 32 has an n-stage configuration, and similarly to the operation of the shift register 31, it sequentially holds information on the past n operations up to the previous one. In this way, in determining the amount of direction correction for the i-th small-diameter tube propulsion basic operation, the neural network 40 contains information on each stage of the shift registers 31 and 32;
That is, the latest i-th measurement information and the (i-1
) Measurement information and operation information for the past n times are input. The neural network 40 receives this information as input,
Based on the learning performed in advance, the amount corresponding to the i-th direction correction is output. This output result is converted by the data matching unit 50 into the format of the operation amount of the direction correction mechanism, and is displayed as the output of the small diameter pipe propulsion direction indicating device via the output interface unit 6o by an appropriate data display device etc. buried in the pipe body. Presented to the person implementing the construction work. The person carrying out the pipe burying work can refer to the presented output value to determine the actual amount of direction correction.

In the above description, the shift register 3132 is a method for importing past history into the neural network 40,
For example, by accumulating about 6 stages of data, it becomes possible to sufficiently import past operation history and measurement results accompanied by reactions into the neural network 40. The basic propulsion operation for small-diameter pipes propels the pipe body and drilling head into the soil and is affected by earth pressure, but this upper pressure depends on the soil quality at the location where the pipe body burying work is being carried out. It varies depending on the Therefore, it is necessary for the neural network 40 to learn past successful cases in locations where the soil quality is similar to that of the location where the pipe burying work is actually being performed.

Note that by directly transmitting output data from the output interface section 6o to the direction correction mechanism of the small diameter tube propulsion device, it is also possible to realize automatic direction correction of the small diameter tube propulsion device.

The input interface unit 11 may also receive information on the position and attitude angle of the tip device, which are calculated from the measurement results of the relative bending angle with the tube body that follows the tip device.

FIG. 2 is a block diagram of a small diameter tube propulsion direction indicating device showing a second embodiment of the present invention.

This embodiment is an example in which a plurality (n) of neural networks are prepared which are trained to correspond to the soil quality of a place where pipe burying work is performed. N data matching units and n output interface units are also provided for each neural network. In FIG. 2, for convenience, only the neural network, data matching unit, and output interface unit corresponding to the first soil type and the n-th soil type are shown.

The neural network 41 corresponds to the first soil type and is composed of an input layer 411 including a unit 410, an intermediate layer 412, and an output layer 413. The neural network 4n corresponds to the n-th soil type, and includes an input layer 4n1 including a unit 4nO,
It is composed of an intermediate layer/14n2 and an intermediate layer 4n3.

The data matching section 51 and the output interface section 61 correspond to the first soil type, and are connected to the neural network 41 in order. The data matching section 5n and the output interface section 6n correspond to the n-th soil type, and are connected to the neural circuits 1 to 14n in order.

In this embodiment, successful examples of pipe burying work carried out in clay, sandy, or loamy soils are divided into sections corresponding to each soil type, and neural networks 41 to 4n are trained. The circuit networks 41 to 4n are connected in parallel. The small diameter pipe propulsion direction indicating device outputs direction correction amounts corresponding to clay, sandy soil, loamy soil, etc., in response to input data of measurement information and operation information, respectively. The person carrying out the pipe burying work can determine the amount of direction correction by selecting the most appropriate value from these outputs. In the example shown in Fig. 1, it was necessary to select a learned neural network corresponding to the soil type and install it in the small diameter pipe propulsion direction indicating device each time pipe burying work was carried out. In this embodiment, such replacement work is unnecessary. The operation of each part of the apparatus shown in FIG. 2 is the same as that described in FIG. 1, so a description thereof will be omitted.

[Effects of the Invention] As explained above, the present invention provides a small diameter pipe propulsion direction indicating device equipped with a neural network that has learned from successful cases of pipe burying work using small diameter pipe propulsion machines by skilled workers. By presenting the amount of correction of the direction correction mechanism to the person carrying out the pipe burying work, the person carrying out the pipe burying work can compare the past work done by a skilled person when operating the direction correction mechanism of a small-diameter pipe propulsion machine. Since it is possible to obtain the proposed direction correction amount based on the results learned from successful cases, even an inexperienced person can easily adjust the direction correction mechanism by referring to this value and proceeding with the pipe burying work. It makes it possible to appropriately control the amount of correction, and it also makes it possible to carry out high-quality pipe burying work using a small-diameter pipe propulsion machine, regardless of the lack of experience. This has the effect of promoting the spread of small diameter tube propulsion machines.

[Brief explanation of the drawing]

Figures 1 and 2 are block diagrams of a small diameter pipe propulsion direction indicating device showing the first and second embodiments of the present invention, respectively, and Figure 3 is a block diagram of a pipe burying work using a small diameter pipe propulsion machine. It is an operation procedure diagram. 11...Measurement information input interface section 12...
Operation information input interface section 21... Measurement information data normalization section 22... Operation information data normalization section 31... Measurement information shift register 32... Operation information shift register 40... Neural network 41...Neural network 4n corresponding to the first soil quality...
Neural network 50 corresponding to the n-th soil quality...Data matching section 51...Data matching section 5n corresponding to the first soil quality...
- Data matching section 60 corresponding to the n-th soil quality...Output interface section 61...Output interface section 6n corresponding to the first soil quality...Output interface section 400, 410, corresponding to the n-th soil quality. 4nO...unit 401.4]1
．． 4nl ・-Manpower layer 402, 4] 2.4n2...Middle layer 403, 413.4n3...Output layer

Claims (1)

[Scope of Claims] 1. A small-diameter pipe propulsion machine that constructs a tunnel without excavation and buries the pipe body underground, comprising a direction correction mechanism that corrects the propulsion direction of the small-diameter pipe propulsion machine; a measuring means for measuring the position and attitude angle of the tip device which is a part of the small diameter tube propulsion device or the relative bending angle between the tip device and the following tube body; Based on the measurement information of the position and attitude angle of the tip device obtained by calculation from the measured position and attitude angle or the relative bending angle, the direction correction mechanism is operated to determine the propulsion direction and one small diameter tube propulsion is performed. Direction of small-diameter pipe propulsion in a small-diameter pipe thruster that performs pipe burying work by repeating a series of operations, such as performing the operation and then obtaining new measurement information using the measurement means to determine the next propulsion direction. The apparatus comprises: a holding means for sequentially holding measurement information measured by the measuring means and operation information of the direction correction mechanism; The relationship between the history of the information and the history of the operation information is learned in advance, and the history of the measurement information and the history of the operation information held by the holding means are used as input, and the pipe embedding during the current operation is performed. A small diameter pipe propulsion direction indicating device having a neural network that outputs the next operation instruction amount of the direction correction mechanism based on the history of the measurement information of construction and the history of the operation information in accordance with the learning result. 2. Having a plurality of neural networks, each neural network having:
The past successful cases in the pipe burying work are divided into soil types to which the pipe burying work was applied, and learning is applied to each successful case, and each output value of these multiple neural networks is used for the next promotion. 2. The small-diameter pipe propulsion direction indicating device according to claim 1, wherein the small diameter tube propulsion direction indicating device is used as a candidate for the operation instruction amount of the direction correction mechanism for determining the direction.