JPH0492081A - Automatic direction control method of shield excavator - Google Patents

Abstract

PURPOSE:To make it possible to realize directional control with high accuracy while anticipating the displacement of an excavator by measuring the displacement characteristic of a land in front of the shield excavator to control the drive of a driving jack. CONSTITUTION:A receiver 30 for detecting a self-position, a pitching meter 31 for detecting an attitude angle, a gyro 32 for detecting a vectorial angle, a sensor 34 for detecting a load of each driving jack 16, an earth pressure gauge 36 for detecting 3 axial earth pressure applied to a cutter head, and the like are mounted on an excavator. Earth pressure vector applied to the front of the shield excavator from a facing side is measured, and a correction coefficient is derived from actural displacement against the past earth pressure vector. After that, the measured earth pressure vector is corrected in accordance with the coefficient to correct a target direction. Successively, or independently, after the displacement characteristic of the front land of the shield excavator is obtained, the land displacement caused by the displacement characteristic and the present load distribution of the driving jack is obtained to calculate anticipated load distribution. In addition, the directional control in the case of excavation is made based on the anticipated load distribution. Accordingly, directional control with high accuracy can be realized.

Description

[Detailed description of the invention] [Industrial application field]

The present invention relates to an automatic direction control method for a shield excavator, and more particularly to a direction control force method suitable for automatically performing direction control with respect to a tunnel excavation target value.

[Conventional technology]

In general, a shield excavator is propelled by a propulsion jack using segments and the like as reaction force support to perform excavation work along a planned route. When performing curved excavation with such an excavator,
The shield body has a center-fold structure, and multiple propulsion jacks are placed on the circumference of the center-fold part, and by selecting the operating jack and adjusting the load distribution, the pressing force on the front of the shield can be adjusted to allow digging. I'm trying to control the direction. Conventional direction control manages the propulsion jacks in patterns, divides them into a group of propulsion jacks that apply pressure and a group of propulsion jacks that do not, and supplies hydraulic pressure to the group of propulsion jacks determined by the propulsion direction. Normally, while measuring the position of the excavator, if the excavator deviates from the marked excavation line, the pattern should be managed by manual operation. ni(, are.

[Problems to be solved and attempted by the invention] However, in the conventional directional control force method, the propulsion jack pattern for the excavation direction is determined by manual operation, which is insufficient. In addition to the problem of not being able to control the direction, even if you point the cutter head from the current position of the shield excavator to the next excavation target, the ground will always be displaced (7 also due to the thrust of the jack). 2, a deviation occurs in the excavation direction.For this reason, the deviation/amount has traditionally been adjusted by old-fashioned (-) feedback control, but since correction excavation is performed after an error has occurred, the excavation viscosity cannot be adjusted. The fixed position cannot be set high.In addition, the resultant force of the earth pressure acting on the cutter head from the ground is necessarily (also propelled by 7), and since it does not coincide with the direction of
The excavator flows in the direction of the resultant force of the pressure vector and the shield excavator's excavation vector (Y, C, Ma-). As a result, even if the target direction is set to 1 and the T cutter head is directed in the direction of distortion, it is undeniable that the actual position reached at 7 will be equal to the vector resultant force, or a gap will occur. was. In any case, the ['' mark is exactly the old play 5 jE 1
．． , <Even if the excavation is carried out, the displacement characteristics of the ground will cause a deviation from the target, and the shield excavator will drift due to the combined vector effect of the earth pressure, making it impossible to excavate with high precision. 'C was there. Especially continuous 1. When the curvature of a shield excavator changes along the excavation plan line, it becomes difficult to control its direction. Measuring the displacement characteristics of the ground on the 011 surface] By controlling the propulsion of the 7ζ'111 shirt, the load distribution on the excavation surface was controlled, and the excavator was propelled while measuring the displacement of the excavator. The purpose of the present invention is to provide automatic direction for a shield excavator that can realize highly accurate direction control. In addition, by measuring the force vector applied to the front of the excavator and considering the correlation with the past flow rate of the excavator, it is possible to achieve even more precise excavation by controlling the flow rate to reduce the future flow rate. An object of the present invention is to provide an automatic direction control method for a shield excavator according to the present invention. [Means for Solving the Problems] In order to achieve the above object, an automatic direction control method for a shield excavator according to the present invention is First, the displacement characteristics of the ground in front of the shield excavator are determined, and the predicted load distribution is calculated by determining the ground displacement using this displacement characteristic and the current load distribution of the propulsion jack, and the direction control during excavation is based on this predicted load distribution. In addition, the earth pressure vector applied to the front of the shield excavator from the face side was measured 2, and a correction coefficient 4 was calculated from the actual displacement relative to the past earth pressure vector. 5. The measured earth pressure vector was supplemented according to this coefficient, and the target direction was corrected (2. Measure the earth pressure vector 2, calculate a correction coefficient from the actual displacement with respect to the past earth pressure vector, and correct the measured earth pressure vector according to this coefficient to correct the target direction. After 5, the displacement characteristics of the ground in front of the shield excavator are determined, and the ground displacement is calculated based on this displacement characteristic and the current load distribution of the propulsion jack, and the predicted load distribution is determined by WIiiL,
It is configured to perform directional control during excavation. [Operation] According to the configuration of the first invention, the pressure of the propulsion jack is set so that the current load distribution of the shield excavator directs the shield excavator to the target position and direction. Find the displacement characteristics. Since this indicates the amount of ground resistance caused by the pressing force of the propulsion jack, displacement can be predicted by applying the target load distribution to be changed from the current load distribution to the target position to this. This predicted Yu position distribution is actually! Since this is quite similar to the load distribution to be achieved, this is output to the propulsion cylinder at 1 degree from the set load distribution. When propelled with this output load of 4'', the ground displacement characteristics are taken into account in advance, so
This control becomes feedforward control, which provides directional control with an extremely high product load. I can waze. In addition, according to the second invention configuration, the actual displacement from the target can be determined from the past performance due to the action of the earth pressure vector, and based on this, the shield excavator reaches the 11" target position. The rate of displacement of is detected. Therefore, by multiplying this by the correction coefficient of [ ] mark, the current direction angle is corrected.
Set a supplementary target and determine the direction of the propulsion force. [Supplementary] Reached the moon marker [At the 5th point, a shield excavator using the earth pressure vector. Since the current is taken into consideration, there are 11 marker positions of 1 scale. Furthermore, according to the second invention, the target value is corrected by the invention configuration of the first invention, and the load distribution is obtained by changing the ground displacement characteristic P1 to "J*" by the first invention configuration. fee
Since the excavation is controlled forward and forward, it is possible to perform curved excavation with very high precision.

【Example】

The embodiments of the automatic direction control method for a shield excavator according to the present invention will now be described in detail with reference to the drawings. Figure 1 is a block diagram of the automatic direction control device of a shield excavator, Figure 2 is a diagram for direction control, and Figure 1 is a chart. First, a seal excavator equipped with an automatic direction control device 13 has a front shield 12 equipped with a cutter head at the tip, and a rear shield 14 fitted to the rear end.
Both shields 12 and 14 are linked by a plurality of propulsion jacks 16 arranged along the circumferential direction of the shield in order to control the direction of the cutter head J80, and a rear shield 14fl; The end face of the constructed segment) 18 is used as the thrust reaction force support surface, and the Rudji Totsuki 20 has been investigated. A front gripper 22 and a rear gripper 24 are provided so as to be able to extend over the earth mine wall, and the front gripper 22 and the rear gripper 24 are protruded when the rear shield 14 is advanced and the rear gripper 24 is protruded and fixedly held when the front shield 12 is advanced, respectively. Such an excavator includes a receiver 30 for detecting its own position, a pitching 131 for detecting the attitude angle, a gyro 32 for detecting the direction angle, and a sensor 34 for detecting the load of each propulsion jack 16. and an earth pressure gauge 36 for detecting earth pressure in three axial directions applied to the cutter head 10. From the relationship between these detection signals and the predetermined planned route, the following is determined. directional control,
I'm here. That is, as shown in Fig. 2, first, the current position and attitude of the shield excavator are measured (steps i, oo), and then the position and attitude of the shield excavator at the target point are calculated (steps i, oo). Step 110). The current position is detected by a receiver 30 mounted on the excavator receiving a signal from a known oscillation source, and a gyro 32
['1] The position and orientation of the landmark can be easily determined by reading the coordinates of the planned route from the memory. Next, after calculating the current value and target value, the direction angle of the earth pressure vector currently acting on the shield excavator is measured (step 120), and the flow of the shield excavator due to the earth pressure vector is taken into account (step 5). L to correct the target value
2 (Step 13o) As shown in Figure 3, the shield excavator moves from its previous position (dashed line in the figure) to the current position (solid line in the figure) to the target position (dashed line in the figure). However, since the earth pressure vector (arrow) is acting, the resultant force with the excavation vector does not correctly match the target position (displacement angle G). For this reason, step 110
If the target value set in is not corrected, the excavator will similarly be displaced by one target value due to the earth pressure vector. Therefore, if the target value is reached with the flow of the excavator occurring in advance, the target value is corrected by [-4. do. If the shield excavator's progress] direction is the Z-axis (, then the current position is (X a = y-1Z -) and the attitude is (
α. β. ) (where, α is the bitbung angle and β is the yaw angle) and

It can be expressed as [5]. C) When σ) The angle of action of the earth pressure vector is γ. shall be. Similarly, the values up to the current position are (Xi, yl+zl), (α
t, βl), 71%, and the edge of the target point is (x,,i'5'
n+1+ Z n11), (α, or 7.βn+1
), γ. . , and [, can be expressed as. If we look at the actual pitch angle displacement in the process of moving from the past to the present, we find that Σ((3'+++-V' l)/(Z
l+l Z +)l...(1). However, 1
．． ．． i=o~n bow. ) is the displacement coefficient K per unit vector angle. is K, =: Σf(y +++−y +)/(z 1+
1-z i)l/Σt, a nγ...(2
) and 1. You can get the two you want. Therefore, our [181 standard pitching angle is αゎ+1, and the repair target pitching angle considering the flow of the excavator is α7,1.
”, then α, , = α, y1 knγ. It can be obtained as (3) and 7. This process is also performed in the horizontal direction to find the corrected yawing angle. In this series of processing, as shown in FIG. 1, the target correction coefficient calculator 38 calculates the above equation (2), and the corrected target value calculator 40 inputting the calculation result calculates the above (3).
When the correction of the target value is completed, the process proceeds to Step 12 to correct the target value of the load distribution (step 140). This is because even if the load distribution of the propulsion jack 16 is set according to the target value (2), it will not reach the target point accurately due to the displacement characteristics of the ground. Calculate (step 150)
). This principle will be explained based on FIG. As shown in FIG. 4 (1), from the current position to the t-1 mark 0.
) Move each thrust so that it faces the posture and position.
The pressure 11 target value is set, and the pitching angle Δα and yawing angle Δβ to be adjusted with respect to the target are determined by the following equation. Δα；−”αゎ、−1−α7 ・・・・・・(4) Δβ
-・β14. −β. , ...(5) Now consider the case where Δα is calculated by considering only the vertical force direction. Then, the pressure distribution is as shown in Figure 4 (2)! -1, but if this is calculated directly from the target value, it will be displaced from the target due to the ground displacement characteristics as mentioned above. Therefore, in advance, the load distribution f1 of the propulsion jack 16 is
f, as shown in (3) of the same figure, and the characteristics of the penetration stress σ and displacement ε as shown in (3) B of the same figure are determined for each jack 16 using a penetration tester installed in the shield excavator. Calculate accordingly. Then, for this characteristic diagram, from the load distribution f, ~f, and the action area, the displacement ε for each load,
~C5 is calculated ((3)C in the same figure). This displacement ε, ~ε
Since the distribution of , corresponds to the load distribution that should be maintained with respect to the ground displacement characteristics, the slope of this distribution is calculated using the following equation. tanΔα= (1/(n-1,)l ・Σ+(ε+-
E 1)/111+”'”' (6) However, i=2
n. Note that 1. and 1 indicate the distance between the penetration test positions. (Also, by outputting the result calculated in (6) as a load distribution to the propulsion jack 16, control that takes into account the ground displacement characteristics can be performed.Such processing can also be performed in the horizontal direction.) Δβ can be determined by performing the same procedure even if the As shown in FIG.
outputting the signal from the displacement characteristic calculator 44 for calculating the displacement characteristic obtained in step 2 to the set load distribution calculator 46;
Here, calculations are performed based on equation (6). In addition, a signal from the corrected target value calculator 40 based on the earth pressure vector is also input to the set load distribution calculator 46, and the target value is corrected in consideration of the flow of the excavator. It is assumed that the load distribution of all parts is calculated. stop. The output of the pre-setting weight 41 calculator 46 is output to the controller 48 of the propulsion jack 16, and each propulsion jack 16 is adjusted so that the propulsion pressure and stroke are based on the output signal ( Step 160). After that, the load distribution of the propulsion jack 16 is determined in step 170), and this is used to set the target value of the load distribution in step 14, and the process is returned to step 100, where it is used to determine the current position and attitude. be. In this way, the propulsion jack 16 is driven according to the set load, and the shield excavator excavates (Z).
This allows for highly accurate propulsion work. In the above embodiment, the load distribution is set in consideration of ground displacement after the target value is corrected for the flow of the excavator due to the action of the earth pressure vector. In the case of hard strata, the flow of the shield excavator is not a problem, so the distribution of the propulsion load may be directly set for excavation. Of course, it is also possible for both companies to take into account the flow of the excavator and perform control to correct the target value. [Effects of the Invention] - As explained above, according to the automatic directional control force method for a shield excavator according to the present invention, the earth pressure vector applied to the front of the shield excavator from the face side is measured, and the past earth pressure vector is measured. Calculate the correction coefficient from the actual displacement with respect to the pressure vector (2. Correct the measured pressure vector according to this coefficient to correct the target direction). The displacement characteristics of the ground are determined, and the predicted load distribution is calculated by determining the ground displacement based on this displacement characteristic and the current weight of the propulsion jack, and the direction control during excavation is performed based on this predicted load distribution. Therefore, by measuring the force vector applied to the front of the excavator and considering the correlation with the past flow rate of the excavator, we can reduce the future flow rate, and also predict the displacement of the excavator and increase the speed of propulsion. By doing so, it is possible to achieve the effect of making the shield excavator automatically oriented, which can realize highly accurate directional control.

[Brief Description of the Drawings] Figure 1 is a schematic diagram of the configuration of an apparatus for implementing the J-power direction control force method according to the embodiment, and Figure 2 is a flowchart 1 of the automatic direction control force method according to the embodiment.・Figure 3 is an explanatory diagram of the flow by the two-pressure vector of the shield excavator, and Figure 4 is an explanatory diagram of the calculation method of the propulsion load distribution. 10...
...Cutter head, 12...Front shield, 14...Rear shield, 16...
Propulsion jack. Figure 2

Claims (1)

[Claims] 1) Determine the displacement characteristics of the ground in front of the shield excavator, determine the ground displacement based on this displacement characteristic and the current load distribution of the propulsion jack, calculate the predicted load distribution, and calculate the predicted load distribution based on this predicted load distribution. 1. An automatic direction control method for a shield excavator, characterized in that the direction is controlled during excavation using a shield excavator. 2) Measure the earth pressure vector applied to the front of the shield excavator from the face side, calculate a correction coefficient from the actual displacement with respect to the past earth pressure vector, and correct the measured earth pressure vector according to this coefficient. An automatic direction control method for a shield excavator, characterized by correcting a target direction. 3) Measure the earth pressure vector applied to the front of the shield excavator from the face side in advance, calculate a correction coefficient from the actual displacement with respect to the past earth pressure vector, and correct the measured earth pressure vector according to this coefficient. After correcting the target direction using An automatic direction control method for a shield excavator, characterized in that: