JPH0681579A - Automatic directional control device - Google Patents

Abstract

PURPOSE:To enhance the working accuracy and to carry out automatic directional control which can eliminate the necessity of skill by excavating a tunnel while the deviations of the attitude and the position of a shield excavator from a planned tunnel line. CONSTITUTION:A locus planning device 11 determines a positional deviation of a shield excavator body 15 from a planned line, and determines an angular deviation thetaH in comparison with predetermined conditions. Then, the calculator of an instruction value thetaHr for an optimum angle and the output thereof are carried out for every distance of excavation, that is, the, instruction value is delivered to an attitude control device 12. Further, an angular instruction value thetaVr in the vertical direction is also similarly calculated, in addition to the instruction value thetaHr in the horizontal direction. Then, horizontal and vertical rotation moments MH, M are calculated from angular instruction values thetaHr, thetaVr and detection values. Next, a one side pushing degree calculating device 13 calculates the horizontal and vertical one side pushing degrees FR, FV from a jack thrust force and the rotational moments MH, MV. Further, a jack pattern selecting device 14 selects an optimum jack pattern in accordance with the one side pushing degrees FH, FV.

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 forming a passage such as a tunnel in the ground, and more particularly to an automatic directional control device for carrying out a digging operation while minimizing the posture and position deviation from a planned tunnel line.

[0002]

2. Description of the Related Art In a shield machine, a circular excavation part is supported from behind by a plurality of jacks and propelled, and direction control is required to propel it along a planned tunnel line. Direction control is performed by applying a rotational moment to the excavation section in the propulsion direction by a plurality of jacks arranged at intervals in the circumferential direction,
This rotation moment can be changed by turning on which one of the plurality of jacks is turned on. Normally, the number of jacks is 10 or more, and the combination of jacks turned on is called a jack pattern. For example, in the case of 16 jacks, the types of jack patterns reach 2 ¹⁶ .

Briefly explaining the directional control device so far, a control target point and a correction plan line are set by fuzzy reasoning from the current position and direction of the shield machine and the digging history, and the control target point and the current planning line are set. It is determined whether excessive meandering occurs by fuzzy reasoning from the displacement and declination of the shield machine. Then, if excessive meandering occurs, the control target point and the modified planned line are modified, and the control angle amount for the modified modified planned line is obtained by fuzzy reasoning from the history of the controlled angle amount, the history of the copy cutter, the tail clearance, etc. The jack pattern for realizing this control angle amount is sought to proceed. Such a direction control device is disclosed, for example, in Japanese Patent Application Laid-Open No. 3-28609.
No. 4 is shown.

[0004]

However, since the directional control device described above uses fuzzy inference, it is necessary to set the membership function, and this setting requires a skilled person. is there.

SUMMARY OF THE INVENTION Therefore, an object of the present invention is to provide an automatic direction control device for a shield machine which does not require any special work required by a skilled person.

[0006]

According to the present invention, a tunnel is excavated while propelling an excavation section with a plurality of jacks, and a jack pattern for defining which one of the plurality of jacks is to be turned on is appropriately selected. While in the automatic direction control device of the shield machine for propelling the excavation part along the planned line, based on the planned line information indicating the planned line and the detected value of the position at the representative point P set in the excavated part. A locus planning unit that calculates an angle command value using the positional deviation amount and the angular deviation amount based on the detected value of the angle and the maximum value of the preset angle change amount, and the angular deviation amount and the angular command value. The attitude control unit that calculates the command value of the rotation moment in the excavating unit based on the above, and the one-sided depression degree based on the command value of the rotation moment and the detected value of the jack thrust. A one-sided pushing degree calculation unit for calculating and a jack pattern selection unit for selecting an optimum jack pattern based on the one-sided pushing degree are provided, and the trajectory planning unit is a direction in which the shield machine advances away from the planned line. The angle change amount from the angle deviation amount when it is determined to be in the direction away from the planning line. The value obtained by subtracting the maximum value of is output as the angle command value, and when it is determined that the direction is approaching the planned line, the angle command value is determined according to the magnitude of the angle deviation amount. As the above, the angle deviation amount is maintained as it is for a certain period of time and then decreased.
And a second planning process in which the angle command value is increased to a value larger than the angle deviation amount, and when this value is reached, this value is maintained for a certain period of time and then decreased. It is characterized in that any one of the third planning processes for decreasing the value from the angle deviation amount is executed as a value.

[0007]

Embodiments of the present invention will be described below with reference to the drawings. FIG. 1 is a block configuration diagram of an automatic direction control device according to the present invention, which includes a trajectory planning device 11, a posture control device 12, a one-sided push degree calculation device 13, and a jack pattern selection device 14.

The trajectory planning device 11 presets the planning line information indicating the planning line input from the setting device (not shown), the detected value of the position at the representative point P set in the excavation portion, the detected value of the angle, and the like. The angle command value is calculated using the calculated maximum value of the angle change amount. The attitude control device 12 calculates the command value of the rotation moment in the excavation unit based on the detected value of the angle and the command value of the angle. The one-sided push degree calculation device 13 calculates the one-sided push degree based on the command value of the rotational moment and the calculated value of the jack thrust. The jack pattern selection device 14 selects an optimum jack pattern based on the one-sided pressing degree.

With the above-described structure, each time a unit distance is excavated, predetermined calculation is sequentially performed using the planned line information and the position measurement information (angle, position) of the shield machine, and finally the optimum jack pattern is obtained. Is selected, the jack pattern is sent to the shield machine main body 15 as a command value, and the next unit distance is excavated. The operation of the trajectory planning device 11, which is a characteristic part of the present invention, will be described in detail below.

As shown in FIG. 2 (a), a representative point P (for example, the center point of the cutting edge surface of the excavation part) is set on the shield machine main body 15, and the representative point P is lowered to the planned line S. The intersection of the perpendicular and the planned line S is O. Next, as shown in FIG. 2B, a plane perpendicular to the planned line S is H (H
horizontal) -V (Vertical) plane. At this time, the coordinates of the representative point P on the H-V plane are (d _H , d _V ), and d _H and d _V are the horizontal displacement amount and the vertical displacement amount, respectively.

Next, as shown in FIG. 2C, the planned line S
Assuming an H-S plane including the horizontal line H and the horizontal line H, the angle between the traveling direction of the shield machine main body 15 and the planned line S when the shield machine body 15 is projected on the H-S plane is θ _H. To do. Similarly, as shown in FIG. 2D, a shield excavator main body when the shield excavator main body 15 is projected on the VS plane assuming a VS plane including a planned line S and a vertical line V. 1
The angle between the traveling direction of 5 and the planned line S is θ _V. At this time, θ _H and θ _V are the angle deviation in the horizontal direction,
It is the amount of vertical angle deviation.

The trajectory planning device 11 has a horizontal angle detected value θ _Ha , a vertical angle detected value θ _Va , and a horizontal direction sent from a measuring instrument such as a gyro installed in the shield machine main body 15. Position detection value d _Ha and vertical position detection value d _Va , the positional deviation amounts d _H and d _V and the angular deviation amounts θ _H and θ _V are calculated using the HV plane and the HS plane. And the command values (attitude command values) θ _Hr and θ _Vr of the angles with respect to the horizontal direction and the vertical direction by the algorithm described below based on these calculated values and the planned line information, and the attitude control device 12 Output to. Since the calculation methods of the angle command values θ _Hr and θ _Vr are the same, only the horizontal angle command value θ _Hr will be described here.

As shown in FIG. 3, if the positional deviation amount at a unit distance position i of the shield machine is d _Hi and the angular deviation amount is θ _Hi , the purpose of the trajectory planning device 11 is to move to the next unit distance position. This is to calculate the angle command value θ _{Hr, (i + 1)} at _{(i + 1)} . In general, in the case of a shield machine, the angle deviation amount θ _Hi can be considered to be a minute angle, so the change amount Δd _H of the position deviation amount between a certain unit distance position i and the next unit distance (i + 1) is , the amount of deviation angle of a unit length position (i + 1) θ _H, when the _{(i + 1),} is represented by Δd _H = Lsinθ. Here, since θ is a minute angle, sin θ is substantially θ, and therefore Δd _H = Lθ.

On the other hand, since it is expressed by θ = (θ _Hi + θ _{H, (i + 1)} ) / 2, Δd _H is expressed by the following formula 1.

[0015]

[Equation 1]

Next, the trajectory planning apparatus 11 is moving toward the direction in which the shield machine body 15 moves away from the planned line S (FIG. 4a) or toward the planned line S (FIG. 4A). 4b) is determined, and the following operation is performed according to the determination result.

When the shield machine body 15 is moving away from the planned line S. In this case, the trajectory planning device 11 outputs a value represented by the following Expression 2 as the command value θ _Hr of the angle in the horizontal direction.

[0018]

[Equation 2]

However, Δθ _Hmax is the maximum value of the angle change amount allowed by the design in the shield machine and is set in advance.

When the shield machine main body 15 is heading in a direction approaching the planned line S. In this case, as a result of changing θ _Hr, the amount of angular deviation θ _H and the amount of positional deviation d
An angle command value θ _Hr is planned in the excavation direction so that _H is 0. That is, as shown in FIG.
_{When H} is the excavation distance on the horizontal axis, the area A of the shaded portion is the change amount of the deviation from the planned line, so a trajectory plan of θ _Hr such that A = d _H is performed.

However, when a locus plan showing a change in the acute angle as shown by point Q in FIG. 5A is made, the command value of the angle shows a sharp change at the point Q, which is a change in the jack pattern. Adversely affect. Therefore, in such a case, as shown in FIG. 5B, a trapezoidal wave-shaped trajectory plan is performed. This trajectory planning is done by the following procedure.

(A) A triangular locus plan for minimizing the excavation distance is performed under the restriction that the amount of change from the current angular displacement amount θ _H and positional displacement amount d _H to θ _H is Δθ _Hmax . This is Figure 6
The peak value θ _Hp is determined so that the area of the shaded area in (a) is equal to d _H, and when the condition expressed by the following formula 3 is satisfied, the peak value θ _Hp is _calculated by the following formula 4. Represented.

[0023]

[Equation 3]

[0024]

[Equation 4]

In this case, the angle command value θ for the next unit distance excavation is calculated by the algorithm described in the following item (b).
Determine _Hr .

On the other hand, when the condition expressed by the following expression 5 is satisfied, the value expressed by the expression 6 is output as the angle command value θ _Hr . The trajectory plan at this time is as shown in FIG.

[0027]

[Equation 5]

[0028]

[Equation 6]

It should be noted that θ _Hmax represents an allowable angle deviation amount of the shield machine, and this value is determined in advance from the tail clearance of the shield machine.

Here, the reason why the conditional expressions such as Expression 3 and Expression 5 are derived will be described. As shown in FIG. 7A, it is considered to set an angle deviation amount of θ _H to 0.
To reduce θ _H to 0, the angle is reduced by a straight line, and if the amount of change in angle per unit distance L is Δθ _Hmax , a distance of θ _H · L / Δθ _Hmax is required. Then, the amount of change in amount of deviation from the planned line S at this time (the area of the triangle) becomes ^{_{θ H 2 · L / 2Δθ Hmax}} .

This value is compared with the current positional deviation amount d _H to classify cases. For example, the displacement amount d _H is shown in FIG.
If the area is larger than the area of the triangle shown in FIG. 7A, the amount of positional deviation d _H cannot be completely corrected by the trajectory planning of the triangle shown in FIG. 7A. A shape trajectory plan is required. On the other hand, the positional deviation amount d _H is shown in FIG.
If the area of the triangle is smaller than the area of the triangle, the positional deviation amount d _H will be overcorrected even if the trajectory is planned with the triangle as shown in FIG. However, in this case, a triangular locus plan is first performed, and the planning line S is set as shown in FIG.
A trapezoidal trajectory is planned at the stage of returning after passing too much.

In the above method, the conditional expressions (3) and (5) are used to determine the relationship between the positional deviation amount d _H and the area of the triangle or the quadrangle and divide the planning algorithm.

[0033] (b) in relation to the allowable angle deviation amount theta _Hmax of theta calculated in paragraph (a) _Hp and shield machine determines a command value theta _Hr angle as follows.

(B) -1 θ _Hp / 2> θ _Hmax > θ _{H As} shown in FIG. 6 (b), the angle command value θ _Hr is increased from the current value θ _H to θ _{Hmax and} then kept constant. A trapezoidal trajectory plan is performed in which θ _Hr is decreased to 0 after maintaining this value for time. The condition of the change of θ _Hr at this time is as follows in the following formula 7.
It is expressed by Equation 8.

[0035]

[Equation 7]

[0036]

[Equation 8]

(B) -2 When θ _Hmax > θ _H > θ _Hp / 2 As shown in FIG. 6 (c), the current value θ _H is maintained as the angle command value θ _Hr for a certain period of time, and then θ _Hr A trapezoidal locus plan is performed to reduce the value to 0.

(B) -3 When θ _Hmax > θ _Hp / 2> θ _{H As} shown in FIG. 6D, the angle command value θ _{Hr is changed} to the present value θ.
A trapezoidal trajectory plan is performed in which _{H is} once increased to θ _Hp / 2, this value is maintained for a certain time, and then θ _Hr is decreased to 0. The conditions for the change of θ _Hr at this time are expressed by the following formulas 9 and 10.

[0039]

[Equation 9]

[0040]

[Equation 10]

As described above, the trajectory planning device 11 determines whether the shield machine body 15 is moving away from the planned line S or is approached to the planned line S. Further, according to the result of the determination, it is determined which of the predetermined conditions the current angle deviation amount θ _H corresponds to, and the optimum angle command value θ _Hr is output to the attitude control device 12. The above determination is performed every time the excavation distance L is calculated, and the command value θ _Hr is calculated and output. Although the above description of the operation is about the horizontal angle command value θ _Hr , the vertical angle command value θ _Hr
Vr is calculated in the same manner.

In the attitude control device 12, the angle command values θ _Hr and θ _Vr from the trajectory planning device 11 and the shield machine main body 1 are used.
Horizontally by using the detection value of the angle from 5, torque command value M _H in the vertical direction, and calculates the M _V output.
In the one-sided push degree calculation device 13, the jack thrust and the rotational moment command value M _H measured by the shield machine main body 15
The M _V, the following equation 11, the horizontal direction represented by Equation 12, the vertical piece pressing degree (force point coordinates) F _H, calculates the F _V.

[0043]

[Equation 11]

[0044]

[Equation 12]

Here, n is the number of jacks used for excavation, r is the jack mounting radius, and F _J is the jack thrust force per jack, calculated by (supply hydraulic pressure to the jack x jack cylinder area). To be done.

The jack pattern selecting device 14 selects an optimum jack pattern from the jack pattern table prepared in advance corresponding to the combination of the one-side pushing degrees F _H and F _V.

[0047]

As described above, according to the present invention, it is possible to control the positional deviation and the angular deviation of the shield machine at the same time, and it is possible to improve the construction accuracy. Moreover, automatic direction control can be performed without any special work requiring skill, and even a beginner can be engaged as an operator.

[Brief description of drawings]

FIG. 1 is a block diagram showing a configuration of an exemplary embodiment of the present invention.

FIG. 2 is a diagram showing a relationship between a shield machine main body and a planning line for explaining a trajectory planning operation of the trajectory planning device 11 shown in FIG.

3 is a diagram for explaining a trajectory planning operation of the trajectory planning device 11 shown in FIG.

FIG. 4 is a view showing a relationship between a shield machine main body and a planning line for explaining a trajectory planning operation according to the present invention.

FIG. 5 is a diagram showing a relationship between an angle deviation amount and a movement distance of the shield machine for explaining a trajectory planning operation according to the present invention.

FIG. 6 is a diagram showing a relationship between an angle deviation amount and a movement distance of the shield machine for various conditions for explaining a trajectory planning operation according to the present invention.

FIG. 7 is a diagram for explaining the principle of setting various conditions necessary for the trajectory planning operation according to the present invention.

[Explanation of symbols]

 11 Trajectory planning device 12 Attitude control device 13 One-sided pushing degree calculation device 14 Jack pattern selection device 15 Shield machine main body

Claims (1)

[Claims] 1. A tunnel is excavated while propelling an excavation section with a plurality of jacks, and the excavation section is set as a planned line while appropriately selecting a jack pattern that defines which one of the plurality of jacks is turned on. In an automatic direction control device for a shield machine for propelling along a line, the amount of positional deviation and the detected value of the angle based on the planned line information indicating the planned line and the detected value of the position at the representative point P set in the excavation unit. Based on the angle deviation amount and a preset maximum value of the angle change amount, the trajectory planning unit calculates an angle command value, and the excavation unit based on the detected angle value and the angle command value. Attitude control section for calculating a command value of the rotation moment in the above, and a one-sided push degree calculation section for calculating a one-sided push degree based on the command value of the rotation moment and the detected value of the jack thrust force. And a jack pattern selection unit that selects an optimum jack pattern based on the degree of one-sided pressing, the trajectory planning unit, whether the shield machine is heading in a direction away from the planned line or A step of determining whether the direction is approaching the planned line, and a value obtained by subtracting the maximum value of the angle change amount from the angle deviation amount when it is determined that the direction is moving away from the planned line. Is output as the command value of the angle, and when it is determined that the direction is approaching the planned line, the angle deviation amount is directly used as the command value of the angle according to the magnitude of the angle deviation amount. A first planning process in which the angle is maintained for a fixed time and then decreased, and a command value of the angle is increased to a value larger than the angular deviation amount, and when this value is reached, the value is fixed for a fixed time. Shield excavation, characterized in that it executes either a second planning process for decreasing after holding it or a third planning process for decreasing from the angle deviation amount as a command value of the angle. Machine automatic direction control device.