JPH08305407A - Control system for jacking head - Google Patents

Abstract

PURPOSE: To provide the control system considering the experiential rules of experts for the steering control of a jacking head in the jacking method of construction. CONSTITUTION: This system is composed of a position detecting means C4 for detecting the horizontal and vertical positions of the jacking head itself to a planned jacking line, attitude detecting means C2 for detecting the horizontal and vertical attitudes of the jacking head itself, and fuzzy inference parts 52 and 53 having plural fuzzy rules for defining the position information from the position detecting means C4 and the attitude information from the attitude detecting means C2 as input values and defining a control direction and a controlled variable corresponding to a pressure plane as output values.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention receives a reaction force from the inside of a propelling head connected to the tip side of a propulsion pipe for propelling the soil by receiving a pressing force from the rear side as the soil is propelled. The present invention relates to a control system for controlling the propulsion direction of the propulsion head by changing the direction of the pressure receiving surface.

[0002]

2. Description of the Related Art Conventionally, when a propelling head is propelled with a constant propulsive force while the pressure receiving surface is oriented in a constant direction, a reaction force received in a direction opposite to the direction of the pressure receiving surface causes the propulsion head to move. By utilizing the phenomenon that the propulsion direction changes, the direction of the pressure receiving surface is adjusted so that the propulsion head reaches a predetermined target point. For this purpose, position detecting means for detecting the position of the propulsion head with respect to the propulsion planning line, and attitude detection means for detecting the propulsion head attitude are provided, and the pressure receiving surface is provided at the front and rear of the propulsion head. It is configured to be rotatable around the axis. In the adjustment of the pressure receiving surface, the direction of the pressure receiving surface is adjusted so as to correct the deviation when the propulsion head position obtained by the position detecting means is out of the allowable range, and further obtained by the attitude detecting means. Even if the attitude of the propulsion head is out of the allowable range, the direction of the pressure receiving surface must be adjusted so as to correct the deviation. It suffices if the pressure-receiving surface is oriented so as to satisfy both the correction of the positional deviation and the correction of the positional deviation, but the correction of the positional deviation can increase the positional deviation, or conversely, the correction of the positional deviation. There is a case where the position shift is large, and in a steering control system that uses a normal quantitative method, the meandering with respect to the propulsion planning line becomes large.In such cases, the pressure receiving surface is controlled by relying on the empirical rule of the expert. Therefore, the work efficiency was low as a result.

[0003]

As described above, the propulsion direction of the propulsion head is changed by changing the direction of the pressure receiving surface provided so as to receive the reaction force from the soil during the propulsion in the soil. In the so-called steering control for the so-called propulsion method, traditional quantitative methods do not give satisfactory results, so at the expense of lowering work efficiency and increasing labor costs, steering control that is mainly human The system is adopted. It is an object of the present invention to provide a technique for transitioning a control system for a propulsion head from a human-centered control system to an automatic control system without compromising reliability.

[0004]

In order to solve the above-mentioned problems, in a control system for a propulsion head according to the present invention, the position and the horizontal attitude of the propulsion head itself relative to a propulsion planning line are set. Position / orientation detecting means for detecting, attitude detecting means for detecting the vertical attitude of the propulsion head itself, and control direction for the pressure receiving surface using position information from the position detecting means and attitude information from the attitude detecting means as input values. And a fuzzy inference unit having a plurality of fuzzy rules whose output values are control variables.

[0005]

The fuzzy inference unit, which is the core of the control system for the propulsion head according to the present invention, has positional information in the horizontal direction and the vertical direction of the propulsion head itself, for example, a large deviation to the upper side with respect to the planned line. The information and the horizontal attitude angle and vertical attitude information of the propulsion head itself are AND-combined to form the antecedent part of the fuzzy rule, and the posterior part of the fuzzy rule is used as the pressure receiving surface. Since the necessary fuzzy rules are created based on the empirical rule of the expert as the direction and its control amount, when the information from each detection means is input, the direction of the pressure receiving surface and its control amount are output from each rule. , The final direction of the pressure receiving surface and its control amount can be obtained by defuzzification from these outputs.

[0006]

Since the direction of the pressure receiving surface and the control amount thereof finally obtained are those which make use of the empirical rule of the expert, the propulsion method with less meandering which cannot be obtained by the conventional quantitative method is used. In addition to being realized, this system is an automatic control system that is not centered on humans, so it can contribute to the reduction of labor costs and work efficiency. [Other Features and Advantages of the Present Invention] One of preferred embodiments of the control system according to the present invention is such that the fuzzy inference unit is prioritized when the rate of change of the attitude of the propulsion head itself per unit propulsion is large. Some of them have a plurality of priority fuzzy rules that are used as input, and this priority fuzzy rule uses the position information and the rate of change of the posture per unit propulsion as an input value and the control direction and control amount for the pressure receiving surface as an output value. To do. In this way, by having multiple priority fuzzy rules that are used preferentially when the rate of change of the attitude of the propulsion head itself per unit propulsion is large, the attitude of the propulsion head can be changed due to sudden changes in the soil condition. Even if there is a large change, it is possible to use the priority fuzzy rule as an emergency measure to correct this large posture deviation in a short time. Further, in the propulsion method, when the propulsion planning line is a curve, the propulsion head tends to bulge outward in the control suitable for the straight propulsion planning line. In order to solve this problem, the fuzzy inference unit further has a plurality of curve propulsion fuzzy rules that are preferentially used during curve propulsion by the propulsion head along a curved propulsion planning line. The fuzzy rule for use is configured such that the control direction and control amount for the pressure receiving surface executed last time and the rate of change of the posture per unit propulsion are input values, and the control direction and control amount for the pressure receiving surface are output values. can do. If the pressure receiving surface of the propulsion head is rotatable around the axis of the propulsion head, but the inclination angle of the pressure receiving surface itself cannot be changed, change the inclination angle of the pressure receiving surface according to the determined control amount. The ability to correct the direction is constant because you cannot. In such a case, by dividing the distance to be propelled in the control direction and the distance to travel in a direction different from the control direction during the propulsion of one stroke (1 pitch) in accordance with the control amount, the control amount can be simulated in accordance with the control amount. Controlled. For this purpose, a driver that generates a propulsion drive signal for intermittently propelling a propulsion pipe at every predetermined stroke and a direction change signal for changing the direction of the pressure receiving surface according to the result of the fuzzy reasoning unit is a fuzzy reasoning unit. The predetermined stroke is divided according to the magnitude of the control amount determined by, one of the divided strokes is executed by the control direction determined by the fuzzy inference unit, and the other divided stroke is performed by the determined control direction. The propulsion drive signal and the direction change signal may be generated so as to be executed in the opposite direction. In order to simplify the configuration of the fuzzy inference unit, in one of preferred embodiments of the control system according to the present invention, the fuzzy inference unit is configured to be divided into a vertical control and a horizontal control for the propulsion planning line. The control amount in the vertical direction and the control amount in the horizontal direction determined by the fuzzy inference unit are combined as a vector, and the direction of the combined vector is the control direction for the pressure receiving surface, and the magnitude of the combined vector is controlled. Used as a quantity. In this way, the control in the vertical direction and the control in the horizontal direction are separately fuzzy inferred, and the control direction and control amount for the pressure receiving surface are determined by combining the results, so the control system is unitized,
Simplified Other features and effects of the present invention include
It will be made clear by the description of the embodiments described below with reference to the drawings.

[0007]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS FIG. 1 shows a situation in which a propelling device 2 installed in a starting pit 1 propels a propelling body S in the ground toward a predetermined position in a reaching pit (not shown).
The starting pit 1 is constructed by providing earth retaining walls 1a on four sides and providing a support frame 1b on the inner side of the earth retaining walls 1a for receiving earth pressure acting on the earth retaining walls 1a. The propulsion device 2 is a well-known device that is configured to hold the propulsion body S and press it toward the soil for propulsion. As shown in FIG. 2, the propulsion body S includes a plurality of propulsion pipes 3 and a propulsion head 4 which are connected to each other in a freely bendable manner in the longitudinal direction. A plurality of hydraulic hoses 5 for circulating the pressure oil for driving the propulsion head and a plurality of cables 6 connected to the measuring means incorporated in the propulsion head 4 are provided over the empty space. The propulsion pipe 3 is composed of a metal cylindrical body, and has a spherical joint J for flexibly connecting with the adjacent propulsion pipe 3 or the propulsion head 4.
Has been adopted. As shown in FIG. 2, the propulsion head 4 has a cylindrical head body 4a, and is a fitting tubular member that is rotatable around the axis of the head body 4a and is capable of retracting along the axial direction. 4b is provided in the head body 4a in an internally fitted state, and a front conductor 7 provided with an inclined pressure receiving surface 7a for receiving earth pressure due to propulsion is fixed to the tip of the fitting tubular member 4b. is there.

In the head body 4a, a rotary drive mechanism R for rotationally driving the fitting cylinder member 4b and the front conductor 7 fixed to the fitting cylinder member 4 around the cylinder axis, and the fitting cylinder member 4b.
An advance / retreat drive mechanism T that can freely drive the lead conductor 7 in the axial direction of the cylinder, and an attitude angle that detects a deviation θv (see FIG. 3a) in the vertical attitude angle of the propulsion head 4 with respect to the planned line K. A known acceleration sensor C1 that is an example of a detection unit, and a rotation angle detection sensor that is an example of a rotation angle measurement unit that measures the rotation angle of the front conductor 7 around the axis, and consequently the rotation angle of the pressure receiving surface 7a. The interior is equipped with C2. On the other hand, a transmission coil C3 used for measuring the position of the propulsion head 4 is provided on the outer peripheral portion of the head body 4a. The electromagnetic wave from the transmitting coil C3 is received and processed on the ground by a known electromagnetic wave detecting unit C4 which is an example of a position detecting means, whereby the position of the propulsion head 4 can be calculated. A vertical displacement amount Dv of the propulsion head 4 with respect to the planned line K of the propulsion path (Fig. 3a).
(Refer to FIG. 3) and the horizontal positional deviation amount Dh (refer to FIG. 3B) are determined. The positional deviation amount in each direction means the distance at which the intersection of the axial center of the propulsion head 4 and the inclined pressure receiving surface 7a is separated from the planned line K in each direction. The acceleration sensor C1 and the rotation angle detection sensor C2
The electromagnetic wave detection unit C4 is connected to a control unit 50 for the propulsion head 4, which will be described in detail later, and the data thereof is used for steering control of the propulsion head 4 using the fuzzy theory. Inclined pressure receiving surface 7a of the leading conductor 7
Is formed so as to be inclined with respect to the cylinder axis of the head body 4a, the inclined pressure receiving surface 7a is
When the front conductor 7 is rotationally driven around the cylinder axis by the rotary drive mechanism R so as to face the outer side of the propulsion curve, and when the front conductor 7 is pushed forward in that state, it acts on the inclined pressure receiving surface 7a. The propulsion head 4 can be guided in the propulsion curve direction by the earth pressure. The steering control of the propulsion head 4 referred to here means the operation direction of the inclined pressure receiving surface 7a, and
The propulsion operation amount in the operation direction is determined, and the propulsion head 4 is pushed forward with a predetermined stroke.

FIG. 4 shows the configuration of a control unit 50 for controlling the steering of the propulsion head 4. The control unit 50 includes an input interface 51 connected to the acceleration sensor C1, the rotation angle detection sensor C2, and the electromagnetic wave detection unit C4, and a vertical fuzzy circuit that outputs a control amount related to the vertical direction from the information sent from the input interface 51. The inference unit 52 and the horizontal direction fuzzy inference unit 53 that outputs the control amount in the horizontal direction, and the signal synthesizing unit that determines the control direction and the control amount of the pressure receiving surface by synthesizing the output results from both the fuzzy inference units 52 and 53. 54, and a driver 55 that inputs a control signal from the signal synthesizer 54 and outputs an operation signal to the rotary drive mechanism R and the propulsion device 2. The vertical direction fuzzy inference unit 52 receives, from the input interface 51, the deviation θv of the posture angle in the vertical direction, the change amount Δθv of the deviation θv, the positional deviation amount Dv, and the previous fuzzy inference unit 52. The control amount pUv of the vertical direction is input and the fuzzy rule for vertical control is used to control the control amount Uv in the vertical direction.
To decide. The horizontal fuzzy inference unit 53 uses the input interface 51 to shift the horizontal posture angle θh.
Then, the change amount Δθh of the deviation θh and the position deviation amount Dh in the horizontal direction are input, and the fuzzy rule for horizontal direction control is used to determine the control amount Uh in the horizontal direction.
The basic fuzzy rule for vertical control consists of nine rules as follows: if Dv = NB and θv = NB then Uv = PB if Dv = ZR and θv = NB then Uv = PM if Dv = PB and θv = NB then Uv = ZR if Dv = NB and θv = ZR then Uv = PM if Dv = ZR and θv = ZR then Uv = ZR if N = DV = NV nd Nv = NV Uv = ZR if Dv = PB and θv = NV Uv = ZR if Dv = PB then Uv = ZR if Dv = ZR and θv = PB then Uv = NM if Dv = PB and θv = PB then Uv = NB Furthermore, the change Δθv in the attitude angle deviation θv, that is, in one attitude stroke. The following priority fuzzy rules that take precedence over the above basic rules when the change in angle is large If Δθv = PB and Dv = PB then Uv = NB if Δθv = PB and Dv = ZR then Uv = NM if Δθv = NB and Dv = Zv Uv = Pv = Nv = Nv = Ud = Nv = Uv = PB and Uv = PB and Uv = PB and Uv = PB and Dv = PB and Uv = PB and Dv = Nd In addition, in the case of curve promotion in which the above-mentioned propulsion head is promoted along a curved propulsion plan line, it may not be possible to apply well only with the rules for straight-line propulsion. Fuzzy rules for promotion have also been added. In this rule, the control amount pUv and the change amount Δθv of the posture angle deviation θv with respect to the pressure receiving surface executed last time are the antecedent parts; if pUv = PB and Δθv = NB then Uv = PB if pUv = PB and Δθv = ZR then Uv = PB if pUv = NB and Δθv = PB then Uv = NB if pUv = NB and Δθv = ZR then Uv = NB In the fuzzy rule expressed using the above symbols, PB is a positive value, and PB is a positive value. PM is medium positive, ZR is approximately zero, NB is large negative value, NM is medium negative, and the meanings of positive and negative are as shown in FIGS. 3a and 3b. From this, for example, the top rule of the above basic fuzzy rules is expressed in a natural sentence: "If the propulsion head 4 is displaced downward with respect to the planned line and its posture is downward. For example, increase the control amount that makes the pressure receiving surface face down to steer the propulsion head 4 upward. ”
When the top rule of the above priority fuzzy rules is expressed in a natural sentence, “If the attitude angle change of the propulsion head 4 is large upward and deviates upward from the planned line, 4 increase the amount of control to turn the pressure receiving surface upward so as to steer downwards. ”When the top rule of the above-mentioned fuzzy rules for curve propulsion is expressed in a natural sentence,“ If the previous propulsion head 4 was moved upward, If the control amount for lowering the pressure receiving surface to steer is large and the change in the attitude angle of the propulsion head 4 is large downward,
The control amount for lowering the pressure receiving surface in order to steer the propulsion head 4 upward is increased. " A similar fuzzy rule is prepared for horizontal control, but its basic rule is: if Dh = NB and θh = NB then Uh = PB if Dh = ZR and θh = NB then Uh = PM if Dh = PB and θh = NB then Uh = ZR if Dh = NB and θh = ZR then Uh = PM if Dh = ZR and θh = ZR then Uh = ZR if Nh = PB and NU dN = ZR if Nh = PB and Nh = N. θh = PB then Uh = ZR if Dh = ZR and θh = PB then Uh = NM if Dh = PB and θh = PB then Uh = NB, and the priority fuzzy rule when the attitude angle changes is h = if Δ PB and Dh = PB then Uh = NB if Δθh = PB and Dh = ZR t en Uh = NM if Δθh = NB and Dh = NB then Uh = PB if Δθh = NB and Dh = ZR then Uh = PM, and the fuzzy rule for curve propulsion that is preferentially used during curve propulsion is ifB pUh. and Δθh = NB then Uh = PB if pUh = PB and Δθh = ZR then Uh = PB if pUh = NB and Δθh = PB then Uh = NB if pUh = NB and Uh = NB en Rh and NB en Rh. For example, regarding the horizontal direction control, if the top rule of the above basic fuzzy rules is expressed by a natural sentence, "If the propulsion head 4 is displaced to the right with respect to the planned line, and its posture is directed to the right. If so, increase the control amount that turns the pressure receiving surface to the right to steer the propulsion head 4 to the left. ”If the top rule of the above priority fuzzy rule is expressed in a natural sentence,“ If propulsion If the change in the attitude angle of the head 4 is large to the left and deviates to the left with respect to the planned line, the control amount for turning the pressure receiving surface to the left in order to steer the propulsion head 4 to the right is increased ”.
If the top rule of the above-mentioned fuzzy rules for curb promotion is expressed in a natural sentence, "If the propulsion head 4 was steered to the left in the previous time, the control amount for turning the pressure receiving surface to the right is large and If the change in the attitude angle of the head 4 is large in the right direction, the control amount for turning the pressure receiving surface to the right in order to steer the propulsion head 4 to the left is increased. The membership function used in this fuzzy reasoning is shown in Figure 5a.
To FIG. 5d. FIG. 5a is a membership function related to positional deviation, FIG. 5b is a membership function related to attitude deviation, and FIG. 5c is a membership function related to fluctuation of attitude deviation, both of which use a fuzzy triangular triangle variable. In this embodiment, both the vertical direction and the horizontal direction are used. FIG. 5d shows the membership function related to the controlled variable, which is a singleton. Each fuzzy inference unit 52, 53 matches the input value given by the input interface 51 with the antecedent part of each fuzzy rule, and infers the control amount in the corresponding direction from the membership function of the consequent part. The inference results of these fuzzy rules are combined and the control quantities Uv and Uh are output as the final inference results. Since the matching and combining in the fuzzy inference unit is based on a known fuzzy control theory, detailed description thereof will be omitted here. For example, the fuzzy inference units 52 and 53 use data sent from the input interface 51. The grade value that matches the value of each variable in the antecedent part of the fuzzy rule is obtained based on the membership function shown in FIGS. 5a, 5b, and 5c, and the smaller grade value is taken,
In the processing of the consequent part, the grade value is multiplied by the control amount obtained from the membership function (singleton) of FIG. 5d (for example, if the great value is NM,
0.5 × (−0.5) = − 0.25), which is the control amount of the fuzzy rule. By taking the total sum of the control of each fuzzy rule thus obtained (of course, a predetermined value may be added to or multiplied by this total sum value), the final control amount Uv or Uh in each direction may be obtained. Is determined. At the time of this rule matching, the posture angle deviation θ
When the variation amount Δv of v is large, the priority fuzzy rule is adopted as described above, and during the curve propulsion, the above-mentioned curve propulsion fuzzy rule is preferentially adopted.

The vertical direction control amount Uv output from the vertical direction fuzzy reasoning unit 52 and the horizontal direction control amount Uh output from the horizontal direction fuzzy reasoning unit 53 are combined by a signal combining unit 54, and a pressure receiving surface as a steering member. The control direction and control amount for 7a are determined. The method of this synthesis is shown schematically in FIG. In FIG. 6, the vertical axis represents the vertical control amount Uv, and the horizontal axis represents the horizontal control amount Uh. The input vertical control amount Uv and horizontal input amount Uh are
As can be seen from Fig. 5d, it takes values from 1 to -1.
In the example of the figure, Uv = -0.2 and Uh = -0.2.
Here, the vector R, which is the sum of the vertical vector having the value of Uv and the horizontal vector having the value of Uh, is taken as the pressure receiving surface 7a.
The control direction and control amount with respect to. So in this example,
The control direction Ψ is 135 degrees (0 degree immediately above), and the control amount is 0.28. Since the relationship between the control direction Ψ and the direction of the pressure receiving surface 7a is exactly 180 degrees opposite, in this example, the direction of the pressure receiving surface 7a is adjusted to the upper right (315 degrees). In this propulsion head 4, since the angle of the inclined surface of the pressure receiving surface 7a itself cannot be changed, the direction correction ability is constant, and therefore the ability adjustment according to the control amount cannot be performed. For this reason, the operation of advancing in a controlled direction during the propulsion of one stroke (normally 300 mm) and the operation of advancing in a direction 180 degrees opposite to that direction are proportionally distributed according to the control amount, that is, the stroke is divided, and the pseudo movement is performed. Is controlled according to the control amount. An example of this proportional distribution is shown in FIG. According to FIG. 7, since the control amount is 0.28 in the above example, the pressure receiving surface is propelled in the divided stroke of 200 mm toward the upper right (315 degrees), and the pressure receiving surface is rotated 180 degrees in the direction (1
(35 degrees) will be propelled in 100 mm divided strokes. The determination of the direction of the pressure receiving surface and the propulsion stroke as described above is performed by the driver 55, converted into an operation signal, and then sent to the rotary drive mechanism R and the propulsion device 2.

It should be noted that although reference numerals are given in the claims for convenience of comparison with the drawings, the present invention is not limited to the structures of the accompanying drawings by each entry.

[Brief description of drawings]

FIG. 1 is a side sectional view showing a state of implementation of a propulsion method employing a control system according to the present invention.

[Figure 2] Side view of the propulsion unit

FIG. 3 is an explanatory diagram for explaining the deviation of the propulsion head with respect to the propulsion planning line.

FIG. 4 is a block diagram schematically showing a control system according to the present invention.

FIG. 5 is a diagram showing a membership function used in a fuzzy inference unit.

FIG. 6 is an explanatory diagram illustrating a combining process of a vertical direction control amount and a horizontal direction control amount in a signal combining unit.

FIG. 7 is a diagram showing division of a propulsion stroke according to a control amount.

[Explanation of symbols]

 4 Propulsion head C1 Attitude detection means C4 Position detection means 52,53 Fuzzy inference section 55 Driver

Claims (5)

[Claims] 1. A pressure receiving member provided to a propulsion head connected to a tip end side of a propulsion pipe that receives a pressing force from the rear side to propel it in the soil so as to receive a reaction force from the soil accompanying the underground propulsion. The propulsion head (4) by changing the direction of the surface
In the control system for controlling the propulsion direction of the head, the position / orientation detecting means (C4) for detecting the horizontal and vertical positions and the horizontal attitude of the propulsion head (4) itself with respect to the propulsion planning line, and the propulsion head itself. Control means (C1) for detecting the vertical attitude of the robot, position information from the position detection means (C4) and attitude information from the attitude detection means (C1) as input values, and a control direction and control for the pressure receiving surface. And a fuzzy inference unit (52, 53) having a plurality of fuzzy rules whose output values are quantities.
Control system for propulsion head. 2. The fuzzy inference unit (52, 5)
3) has a plurality of priority fuzzy rules that are used preferentially when the rate of change of the attitude of the propulsion head itself per unit propulsion is large, and this priority fuzzy rule has the position information and the unit of the attitude. The control system for a propulsion head according to claim 1, wherein a change rate per propulsion is an input value, and a control direction and a control amount for the pressure receiving surface are output values. 3. The fuzzy inference unit (52, 5)
3) has a plurality of curve propulsion fuzzy rules that are used preferentially during curve propulsion by the propulsion head along a curved propulsion planning line. This curve propulsion fuzzy rule was executed last time. The propulsion head according to claim 1, wherein a control direction and a control amount with respect to the pressure receiving surface and a change rate of the posture per unit propulsion are input values, and a control direction and the control amount with respect to the pressure receiving surface are output values. Control system for. 4. A driver (55) for generating a propulsion drive signal for intermittently propelling the propulsion pipe at predetermined strokes and a direction change signal for changing the direction of the pressure receiving surface according to the result of the fuzzy inference unit, the driver (55) The predetermined stroke is divided according to the magnitude of the control amount determined by the inference unit, one divided stroke is executed in the control direction determined by the fuzzy inference unit, and the other divided stroke is determined. 4. A control system for a propulsion head according to any one of claims 1 to 3, wherein the propulsion drive signal and the direction change signal are generated so as to execute in a direction opposite to the control direction. 5. The fuzzy inference unit (52, 53) comprises:
It is configured by dividing it into vertical control and horizontal control for the propulsion planning line, and the vertical control amount and the horizontal control amount determined by the fuzzy inference unit are combined as a vector, and the combination thereof is obtained. The control system for a propulsion head according to any one of claims 1 to 4, wherein a vector direction is used as a control direction with respect to the pressure receiving surface, and a magnitude of a combined vector is used as a control amount.