JPH055396A - Automatic shield excavation system by fuzzy control - Google Patents

Abstract

PURPOSE:To make it possible to automatically carry out the same excavation as that carried out by a skilled operator by storing actual data for past several rings to set a membership function, and fuzzing up displacement to make fuzzy inference. CONSTITUTION:A taget line is set from a designing base line of driving and a current position of a shield machine by a position analysis section 1, and variations in the target line are obtained. After that, jack selection actual data against variations in past several rings is stored by an actual result storing section 2. Then, a membership function is set from actual data by function setting sections 3 and 4. Successively, the fuzziness of displacement obtained by the position analysis section 1 is made to make fuzzy inference by a fuzzy controller 5, and a pulsing signal of a jack 9 is made. The actual data is renewed for every ring to repeat the setting of the membership function, and the jack 9 is selectively driven by a jack driver 6 to cerry out excavation.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a shield machine for carrying out a shield construction, and more particularly to a shield automatic excavation system by fuzzy control which incorporates a shield jack automatic selection function and realizes an automatic drive for shield excavation.

[0002]

2. Description of the Related Art FIG. 7 is a diagram showing a schematic construction of a mud pressure type shield machine. The shield machine is widely used for excavation work for tunnels and the like, and FIG. 7 shows an example of its configuration. In the figure, the cutter head 51
Is driven by a cutter motor 52, and is provided with a cutter (not shown) for excavation and is attached to the tip of the shield machine 50. Normally, the cutter motor 52 can be rotated forward and backward to control the rolling of the shield machine 50.

A level meter 56 and an azimuth meter 57 are for confirming the current position, and a pitching / rolling meter 58 is for detecting a pitching state and a rolling state of the shield machine 50, and a stroke meter. 59
Is for measuring the stroke of each jack. The data from these instruments is captured and processed by control equipment inside or outside the mine, where the left and right jack strokes, the actual stroke showing the average stroke, and the left and right jack stroke difference, current bearing, pitching and rolling. State, bearing deviation, and pitching deviation are obtained.

The outline of the shield work is as follows. First of all, in the shield construction by the shield machine,
When excavated by the cutter for excavating the cutter head 51, water, bentonite, etc. are added to the excavated earth and sand inside the partition wall 53. Then, the mud or clay-like earth and sand to which water, bentonite, etc. are added is carried out to the outside by the screw conveyor 54 and a belt conveyor (not shown).

When the shield machine 50 completes excavation of a predetermined distance in this way, the operation of the shield machine 50 is stopped, and a segment (ring) 60 made of steel or concrete is assembled on the outer periphery of the excavation, and the hatched portion in the figure is shown. 61
Mortar or the like is backfilled in the gap between the excavation pit and the segment 60 indicated by. Then, as shown in the figure, the next excavation is performed by pushing the segment 60 with the jack 55. The shield work is performed by repeating such a process. As the segment 60, for example, a straight part having a length of about 90 cm and a curved part having a length of about 50 cm are used.

The shield work as described above is carried out along a predetermined design base line, but it often deviates from the design base line due to the nature (habit) of the shield machine and the soil quality.
Therefore, the deviation from the design baseline is recognized, the stroke of the jack at which position can be determined and the stroke of the jack is controlled, and the stroke of the jack is controlled.

However, as shown in FIG. 8, when the deviation from the current position of the shield machine and the target is only displayed on the display device, jack selection is made from these data so as to maintain the target stroke difference and pitching. Since it has to be performed, it cannot be said that the system can be easily operated by anyone, because they have to rely on experienced experts.

Further, in the conventional shield machine, the target stroke difference or pitching is determined by the experience of the operator. Therefore, even if the screen display of FIG. Also occurs.

Therefore, the applicant calculates and displays the direction and level of the shield machine, so that the same excavation can be performed regardless of the operator, and a person who has knowledge of the shield machine can easily set the design baseline. Proposed a shield machine that can dig along (for example, Japanese Unexamined Patent Publication No. Hei 2-140393)
Issue). FIG. 9 shows the configuration of the control system.

In FIG. 9, the control means 71 is arranged outside the mine and, via the interface 75, operation ON / OFF information, azimuth information from the compass, level information from the level meter, rolling information from the rolling meter. , The pitching information from the pitching meter, the stroke amount information of each jack and the stroke difference information of the jacks are taken in, and the arithmetic processing described later is performed.
It also controls the interface 75 and saves data.
Note that data necessary for performing the arithmetic processing, such as a later-described arithmetic processing program, design baseline trajectory data, and segment length data, are given in advance. Further, each measuring device such as an azimuth meter is provided in the shield machine main body as shown in FIG.

The first display device 72 is arranged outside the mine as well as the control means 71, and displays the calculation result by the control means 71 and the like. The printer 73 is provided to output data as a hard copy as needed. The second display device 74 is provided in the mine and gives necessary information to the operator, and a relay device is provided as necessary when connecting with the control means 71.

The interface 75 converts the analog data input from each measuring device into digital data and supplies it to the control means 71. The converter 76 corrects the level value obtained by the level meter based on the rolling amount obtained by the rolling meter and obtains the level of the center of the shield machine. The level value is obtained by the level meter according to the rolling amount. The level value at the center of the shield machine is constantly supplied to the interface 75 by correcting the value to be provided.

FIG. 10 is a diagram for explaining the flow of processing by the control means 71. In the control means 71, first, in step S1, it is judged from the operation ON / OFF information of FIG. 9 whether or not the shield machine is currently in operation. If it is determined that the operation is off, the processing from step S2 onward is not performed, and the previously obtained excavation instruction is retained. When the operation is off, the erector used to attach the segment is made operable, and the segment is attached. If the operation is on, the control means 71 fetches data in step S2. The horizontal position and direction of the shield machine are measured by the compass, the vertical position, that is, the altitude (level) where the shield machine is positioned is measured by the level meter, and the vertical direction is measured by the pitching meter. Is calculated by a stroke meter, and for example, the stroke difference between the left and right jacks is obtained by a stroke difference meter.

Next, the target line is set in step S3, and the target of the next excavation is set and the direction of the next excavation. This is necessary both when excavating on the design baseline and when deviating from the design baseline, but when deviating from the design baseline, the target point is a certain distance ahead on the design baseline. As set between the current position of the shield machine. By setting the target line in this manner, it is possible to smoothly proceed to approach the design base line even when the target line deviates from the design base line.

When the target line is set, the target deviation is calculated in step S4. The target deviation indicates how much the orientation of the shield machine should be corrected in the horizontal and vertical directions. The target deviation in the horizontal direction is obtained as the difference between the current bearing of the shield machine and the target bearing, that is, the direction indicated by the target line.If a curve is being dug, the current bearing of the shield machine and the current bearing The angle formed by the tangent line of the target line at the position is the target deviation. The target deviation in the vertical direction is obtained, for example, by the angle between the current pitching of the shield machine and the direction of the target line, and the difference between the target level and the current level of the shield machine is the target deviation. The target level is the level at the time when the current excavation is completed, for example, the level of a point on the target line at a distance when the excavation is started for 1 to 2 segments from the excavation start position.

When the target deviation is obtained, the next step S
The target stroke difference and the target pitching of No. 5 are obtained based on past performance data. The target stroke difference is a stroke difference between the left and right jacks required to achieve the horizontal target deviation, and the target pitching is a pitching adjustment amount required to achieve the vertical target deviation.

When the target stroke difference and the target pitching are obtained, the information is displayed in the first display device 7 in step S6.
2, displayed on the second display device 74. This is the digging instruction.

As described above, in addition to simply displaying the position of the shield machine, the current position and orientation of the shield machine on the horizontal and vertical planes obtained by various sensors and the predetermined design base line are displayed. Based on the target stroke difference and the target pitching, the digging instruction of the target pitching is determined, and how to set the jack stroke difference in order to approach the target position by the data, and how much the pitching should be applied are displayed on the display device. It is displayed on the screen. This allows the operator to visually grasp the trends of the shield machine accurately and set the jack stroke according to the displayed excavation instructions, so that not only experienced personnel but also those who have knowledge of shield machines can do it. It can be easily operated.

Although the operator has set the selection of the jack, the target stroke difference and the target pitching can be given to an appropriate jack driving device so that the jack can be automatically operated.

[0020]

As described above, in the conventional system, the digging direction is determined based on the current position and azimuth of the shield machine and the design base line and displayed on the screen of the display device. Can accurately judge the movement of the shield machine, and even an unskilled person can easily set or confirm the selection of the jack. Further, not only the obtained digging instruction is displayed on the screen of the display device, but also the digging instruction is given to the jack through an appropriate driving device, whereby the automatic digging can be performed. However, in the conventional system as described above, the calculation process is complicated to determine the digging instruction, and it is not possible for the skilled operator to think and carry out the digging similar to the jack selection, which is a delicate situation. There is a problem that it cannot follow the change of.

The present invention is to solve the above-mentioned problems, and to provide a shield automatic excavation system by fuzzy control, which allows a skilled operator to select and jack the same jack as he or she thinks. The purpose is.

[0022]

The shield automatic excavation system by fuzzy control of the present invention is a shield excavation system for excavating while pushing rings by a plurality of jacks using a shield machine that sequentially assembles rings of a predetermined length on the outer periphery of excavation. In, the position analysis means for determining a target line from the design base line of the excavation and the current position of the shield machine to obtain the deviation from the target line, the performance accumulating means for accumulating the jack selection performance data for the deviation of the past several rings, the accumulating means Function setting means for setting a membership function from actual data, fuzzy control for fuzzy inference based on fuzzy rules by fuzzyizing the displacement obtained by the position analyzing means by the set membership function, and generating fuzzy control. Means for controlling and driving the jack selectively controlled by the fuzzy control means It includes a key driving means and is characterized by being configured so as to set the membership functions according Update function setting means actual data of actual storage means for each ring.

[0023]

In the shield automatic excavation system by the fuzzy control of the present invention, the jack selection record data for the deviation of the past several rings is accumulated and the membership function is set.
The displacement obtained by the position analysis means is fuzzy, and fuzzy inference based on fuzzy rules is performed to generate the jack selection signal.Therefore, even if there are differences in construction method, model, soil quality, and other various differences, It is possible to perform the excavation control in consideration of these as in the case of the operator. Moreover,
Since the performance data of the performance storage means is updated for each ring and the membership function is set by the function setting means,
Even a sudden change can be dealt with by excavating a few rings. Further, by generating a jack selection signal every time a ring is dug further for a predetermined length, it is possible to quickly correct the deviation from the target line.

[0024]

Embodiments will be described below with reference to the drawings.
FIG. 1 is a diagram showing an embodiment of an automatic shield excavation system by fuzzy control according to the present invention. In FIG.
The position analysis unit 1 obtains horizontal deviation and vertical deviation based on the current position and azimuth of the shield machine and the design baseline, and outputs a unit excavation signal every time a constant distance, for example, 40 mm is excavated, and one ring. A ring excavation signal is output every time the excavation is performed, and the conventional position analysis method and system described above can be used. The performance data storage unit 2 stores the deviation and the jack address in the past several rings (for example, about 10 rings) as performance data, and the performance data stored by the dig-progress signal every time the digging of one ring is performed. Will be updated. The correlation calculation unit 3 calculates the correlation between the deviation and the jack address from the past number ring actual data accumulated in the actual data accumulation unit 2, and the actual data accumulation unit 2
Is calculated for each excavation of one ring in which is updated. As a result, it is possible to correct the data corresponding to the change in soil quality in the past several rings excavated including the habit of the shield machine.

FIG. 2 is a diagram showing an example of the correlation between the shield jack address and the displacement of one ring. A shows each shield jack address from 1 to 20, B shows an example of the correlation between the displacement in the plus direction and the jack address, and C. Shows an example of the correlation between the displacement in the negative direction and the jack address. The jack address used according to the displacement is selected so as to increase as the displacement increases from the center side. That is, when viewed from the left and right displacements, on the right side, as is apparent from FIGS. 2A and 2B, first, jack addresses of “10” and “1” are used with a small displacement, and as the displacement increases, "9", "2", ... Jack addresses are increasing, and so on. When the maximum displacement is reached, jack addresses of all right halves from "10", "1" to "6", "5" are used. The same applies to the left side and the top and bottom. When the displacement for each ring in the past several rings is plotted on the ordinate and the jack address used at that time is plotted on the abscissa, data is accumulated, and a substantially linear relationship is obtained as shown in B and C of FIG. This slope changes with changes in soil quality, such as whether the soil is hard or soft. In other words, if the soil quality changes to softer, less jacks will be used for the same displacement.

The function conversion unit 4 converts the membership function used by the fuzzy controller 5 in accordance with the change in soil quality based on the correlation between the deviation calculated by the correlation calculation unit 3 and the jack address. Fuzzy controller 5
Is composed of a fuzzy section, a fuzzy inference section and a defuzzification section, which generates a jack selection control signal every time a certain distance, for example, 40 mm is dug, and controls the jack driver 6. The horizontal displacement and vertical displacement values input from the position analysis unit 1 are fuzzy converted into an ambiguous language by the converted membership function, and then fuzzy inference based on fuzzy rules is performed to generate a selection control signal for the jack 9. ..

The area determination unit 7 sets a displacement area within an allowable range from the target line each time a constant distance of, for example, about 40 mm is dug, and the horizontal deviation and the vertical deviation during that time do not deviate from the displacement area within this allowable range. It is to determine whether or not. That is, it is monitored whether or not the control by the fuzzy controller 5 is normally performed. Forced control unit 8
Is the fuzzy controller 5 when the horizontal deviation and the vertical deviation deviate from the displacement range within the allowable range, that is, when the control by the fuzzy controller 5 fails to operate normally.
The jack driver 6 is forcibly controlled with priority over the control by. Here, the fuzzy control section, the fuzzy inference section, and the defuzzification section may perform fuzzy control according to the degree of deviation from the area.

The jack driver 6 drives the jack 9 based on the control signals from the fuzzy controller 5 and the compulsory control unit 8. When there is a control signal from the compulsory control unit 8, the control signal of the fuzzy controller 5 is sent. May be disabled, but may be added to it.

Next, the operation of the above system will be described. First, it is assumed that the correlation calculation unit 3 obtains the correlation from the past 10 rings of actual data stored in the actual data storage unit 2, and the function conversion unit 4 converts the membership function. Further, it is assumed that the position analysis unit 1 sets a target line and obtains the horizontal deviation and vertical deviation of the position of the shield machine with respect to the target line.

When the horizontal deviation and the vertical deviation are input as described above, the fuzzy controller 5 fuzzy-izes the membership function into an ambiguous language such as plus, minus, or straight, and then based on the fuzzy rule. Fuzzy inference is performed to generate a selection control signal for the jack 9,
Control the jack driver 6.

When the jack 9 is selectively driven by the jack driver 6 in accordance with a predetermined jack address to excavate a predetermined distance (for example, 40 mm), the fuzzy controller 5 receives a unit excavation signal from the position analysis section 1. Fuzzy controller 5 by this unit excavation signal
Is again jack 9 from the horizontal deviation and vertical deviation at that time.
To generate a selection control signal for controlling the jack driver 6.

On the other hand, in the area determining section 7, the horizontal deviation is always
It is determined whether or not the vertical deviation is out of the allowable displacement range. Then, for example, when excavating a certain distance, when changing the displacement area of the allowable range together with the excavation distance, the displacement area of the allowable range is reset for every constant distance (unit excavation signal). When the position of the shield machine deviates from the displacement range within the permissible range with respect to the target line due to an abnormality in the fuzzy controller 5, the jack driver 6, the jack 9, an abnormal change in the excavation situation, or the like, the compulsory control unit 8 based on the determination signal. However, the jack driver 6 is controlled by a control amount larger than the normal control amount by the fuzzy controller 5. However, in the case of an abnormality in the jack driver 6 or the jack 9, even if such forced control is performed, the amount of deviation from the displacement range within the allowable range may further increase without converging to the target line. In such a case, the excavation is stopped.

When the excavation is repeatedly performed at a constant distance as described above and the excavation of one ring is completed, the position analysis unit 1 outputs a ring excavation signal, and the actual result data storage unit 2 updates the actual result data and the correlation calculation unit. The correlation calculation by 3 and the conversion of the membership function by the function conversion unit 4 are performed. Then, the operation of the shield machine is stopped, the segment is attached, and the next excavation is started.

Next, the fuzzyization section, fuzzy inference section, and defuzzification section of the fuzzy controller 5 will be described. FIG. 3 is a diagram showing an example of a membership function when crossing the area from the target line, FIG. 4 is a diagram showing an example of a membership function relating to the direction of the machine, and FIG. 5 is a diagram showing fuzzy relations corresponding to each fuzzy rule. FIG. 6 is a diagram showing an example, and FIG. 6 is a diagram for explaining an output example of the membership function.

The fuzzification section is a section for passing an input value and an ambiguous natural language such as "plus" or "minus" possessed by a human being, and the function for passing is a membership function. The membership function is subjectively determined by the experience and intuition of the operator. The fuzzy reasoning section
Fuzzy inference is performed based on fuzzy rules.
For example, in terms of jack selection by horizontal deviation and vertical deviation, if you express it in words, "If you cross the area to the right (upper) than the target line, turn the machine to the left (lower)""Over the area to the left (lower) than the target line" Turn the machine to the right (top). "" If it is straight, leave the machine as it is. " Therefore, if the value exceeds the target line area, X,
If you change the direction of the machine to Y and change it to a fuzzy rule, fuzzy rule 1 "If X is positive, Y is left (bottom)
Go to "" Fuzzy rule 2 "If X is negative, turn Y to the right (up)" Fuzzy rule 3 "If X is straight, leave Y as it is."

In the above fuzzy rule, which is represented by a fuzzy set, whether the direction of the machine crosses the area to the right (upper), the area to the left (lower), straight, or the direction of the machine There are six choices: right (up) direction, left (down) direction, or no change. This is represented by a membership function in FIGS. 3 and 4, where A, B, and C in FIG. 3 are the membership functions when the area exceeds the target line, and D is the displacement within the allowable range from the target line. Area, Figure 4
A, B, and C are membership functions related to the machine direction. Here, the selected jack has a hydraulic pressure of zero.

As shown in the figure, the set of deviations from the target line is +5
Let -5 be U and let 1 be the whole set of machine directions.
20 is represented by V, U is +5 to −5, 11 and V is 1 to 2.
As 21 of 0, linear interpolation is performed except for each point. FIG. 5 shows a fuzzy relationship based on such an assumption. A is the fuzzy rule 1 described above, B is the fuzzy rule 2 described above, and C is the fuzzy rule 3 described above.

When the direction of the machine is to the right of the target line and the value of the membership function is 1, the left jack is selected and output as it is as a set on V. When the membership function is small, it is rotated left by that value. The membership function of is truncated and output.

For example, if the machine is displaced to the right by 2 mm, the membership function of FIG. 6A is output from the fuzzy relation of FIG. 5A, and b of FIG. 6 is output from the fuzzy relation of FIG. 5C. In this way, each rule is applied in parallel only once, and the output fuzzy sets are unioned. Then, in the defuzzification section, the center of gravity of the fuzzy set is calculated to obtain the output value. Therefore, in FIG. 6, the left jack is selected and the left jack is applied half and half because the machine is displaced by 2 mm from the target line. In other words, in FIG. 6, "Please turn the counterclockwise to the middle as it is".

The present invention is not limited to the above embodiment, but various modifications can be made. For example, in the above-described embodiment, the horizontal deviation and the vertical deviation are represented by the length mm, but it is needless to say that they may be represented by the angle (declination). In addition, even if you start with a blank sheet of paper that has no track record, you can make corrections while accumulating track records by making appropriate settings.The operator can control the first few rings. , You may use this as a track record.

[0041]

As described above, according to the present invention, the jack to be used is selected according to the past number of rings, and the jack operation is performed according to the progress of the shield machine even during the excavation. The same excavation control as the conventional operator becomes possible despite changes in soil quality, differences in linearity, differences in overcut amount and center breakage amount, and the like. Moreover,
After fuzzyizing the values of horizontal displacement and vertical displacement into an ambiguous language, fuzzy inference based on fuzzy rules is performed to generate a selection control signal for the jack 9, so that a skilled operator can think and select the same jack. It becomes possible to proceed and dig.

[Brief description of drawings]

FIG. 1 is a diagram showing one embodiment of a shield automatic excavation system by fuzzy control according to the present invention.

FIG. 2 is a diagram showing an example of correlation between a shield jack address and displacement of one ring.

FIG. 3 is a diagram showing an example of a membership function when a region from a target line is crossed.

FIG. 4 is a diagram showing an example of a membership function regarding a machine direction.

FIG. 5 is a diagram showing an example of fuzzy relationships corresponding to each fuzzy rule.

FIG. 6 is a diagram for explaining an output example of a membership function.

FIG. 7 is a diagram showing a schematic configuration of a mud pressure type shield machine.

FIG. 8 is a diagram showing an example of a screen display in a conventional mud pressure type shield machine.

FIG. 9 is a diagram showing a configuration of a conventional shield machine control system.

10 is a diagram for explaining the flow of processing by the control means 71. FIG.

[Explanation of symbols]

1 ... Position analysis unit, 2 ... Actual data storage unit, 3 ... Correlation calculation unit, 4 ... Function conversion unit, 5 ... Fuzzy controller, 6 ...
Jack driver, 7 ... Area determination unit, 8 ... Forced control unit, 9 ... Jack

Claims (1)

Claim: What is claimed is: 1. A shield excavation system for performing excavation while pushing a ring with a plurality of jacks by using a shield machine that sequentially assembles a ring of a predetermined length on an outer periphery of an excavation,
Position analysis means for deciding a target line from the design base line of the excavation and the current position of the shield machine to obtain the deviation from the target line, performance accumulating means for accumulating jack selection performance data for deviations of the past several rings, and the accumulated performance data , A function setting means for setting a membership function, a fuzzy control means for generating a jack selection signal by fuzzyizing the displacement obtained by the position analyzing means with the set membership function and performing fuzzy inference based on a fuzzy rule, And a jack driving means for selectively driving the jack controlled by the fuzzy control means, wherein the performance data of the performance accumulating means is updated for each ring and the membership function is set by the function setting means. A shield automatic excavation system with fuzzy control. 2. The automatic shield excavation system by fuzzy control according to claim 1, wherein the fuzzy control means is configured to generate a jack selection signal each time a single ring is dug for a predetermined length. .. 3. Displacement is allowed by setting a displacement area within an allowable range with respect to the target line and providing area determination means for determining whether or not the displacement obtained by the position analysis means is within the displacement area within the allowable range. The shield automatic excavation system by fuzzy control according to claim 1, wherein abnormal processing is performed when the displacement is outside the range of displacement. 4. The automatic shield excavation system by fuzzy control according to claim 3, wherein in the abnormality processing, the jack drive means is controlled prior to the stop of the excavation or the fuzzy control means.