JPH10131671A - Positional estimation method of tunnel excavator - Google Patents

Abstract

PROBLEM TO BE SOLVED: To improve precision of estimation by predicting a horizontal position while estimating an unknown parameter for each directional control operation in accordance with a specified model to find the horizontal position. SOLUTION: A positional changing angle per one stroke is found by linear- connecting a change of a positional angle for each motion found from a setting angle of a pilot head and an actual changing angle at the time of estimating the horizontal position of a tunnel propulsive machine main body 11. Thereafter, a positional angle of the main body after an optional stoke is found by accumulating this value and a positional angle initial value, a change of a distance from a standard line for each finish of motion by specified factors of length of each part of the main body 11, etc., and linear-connected, and a change distance from the standard line of a broken part of the main body 11 after the next one stroke is found. Thereafter, the horizontal position is computed from a distance from the standard line of the broken part found from accumulation of this changed distance and the initial value the positional angle of the main body 11, the pilot head angle, and length of each part of the main body 11. Consequently, it is possible to improve precision and to improve workability.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a method for estimating the position of an underground tunnel excavator in a press-fitting small-diameter pipe propulsion method using a tunnel excavator having a direction correcting function by a pilot head.

[0002]

2. Description of the Related Art In recent years, the need for high-speed and broadband information communication services has increased with the progress of the advanced information society, and information communication services have become more sophisticated and diversified for the future multimedia age. It is expected that. In the construction of an optical fiber network for providing a multimedia service, it is essential to construct an underground communication facility such as a communication storage conduit for accommodating the optical fiber network.

Conventionally, most of the work of burying a communication storage conduit is performed by a digging method. However, the situation surrounding open-cutting methods such as obstruction to road traffic in urban areas, complicated buried objects, vibration and noise in the vicinity, etc. is increasing year by year, and the spread of non-cutting methods is expected to expand. It is rare. According to this non-cutting method, vertical shafts are formed at both ends of the burial route, and the tunnel machine installed inside the ground excavates and propels the ground to form a tunnel for burying the pipeline.

On the other hand, in a communication storage conduit, a diameter 3
Small-diameter pipes with a diameter of about 00 mm are generally used, and small-diameter tunnel excavators with no soil removal have been put into practical use for burial work. Until now, unique direction correction mechanisms, position measurement, direction control, etc. have been used. It has been studied and many construction results have been obtained as a practical system. Such a tunnel excavator pushes and propells the tunnel excavator body with hydraulic pressure by a main pushing device installed in a starting shaft, and the direction correction is performed by controlling the pilot head angle at the tip of the excavator and correcting the direction, Applied to soft / general soil with N value of 15 or less, 30
Long distance (maximum 250m) and curve propulsion (radius of curvature of 150m or more) of 0mm diameter pipe line are realized.

In order to detect the excavation position in such a tunnel excavator, conventionally, an electromagnetic wave is generated from a pilot head at the tip of the excavator as shown in FIG. Electromagnetic methods for estimating position have been used. This electromagnetic field method is a method in which an AC magnetic field is generated from a coil mounted inside a pilot head at the tip of the excavator, and the AC magnetic field is detected by a receiver installed above the tip of the excavator. However, in the electromagnetic field method, an operator is always required for a measuring device such as a receiver installed above the excavator tip, and the measurement must occupy a section of about 1 m ² . Difficulty in measurement work, such as obstruction of road traffic. Also, if there are magnetic buried objects, metal buried objects, and road metal accessories on the ground nearby, the magnetic field will be distorted, etc., and people for measurement will not enter such as rivers and tracks. It is impossible to perform measurement at a place, and furthermore, the current system has a drawback in that the magnetic field intensity is weak below 5 m below the basement, making it impossible to measure the position.

In order to shorten the construction period, the position is measured every time one propulsion pipe is laid (approximately 2.5 m), and the propulsion position for each pilot head angle correction operation for controlling the turning direction is obtained. And it is difficult to realize automatic control.

Therefore, recently, a method of installing a yaw rate gyro at the tip of a tunnel excavator and integrating the output (angular velocity) of the yaw rate gyro with time and distance to measure a position has been studied. As the gyro, an optical fiber gyro that is easier to maintain than a mechanical gyro, is suitable for use on site, has high accuracy, and is easy to maintain is used.

In such a position measurement using a gyro,
Various errors occur. First, there is a gyro zero point drift error. This is because a low-speed motion such as tunnel excavation causes a zero point error due to a temperature drift, and is measured as a time variation of a measured value. At this time, if the angular velocity error is constant, the displacement error increases in proportion to the square of the propulsion distance.
Specifically, even if the gyro is stationary in position, it outputs a certain angular velocity due to a zero point error caused by temperature drift, and by integrating this with time and distance, the pilot head including the gyro can go straight. Is detected as propelling a curved route.

Second, there is an error due to the non-linearity of the gyro. If the measurement sensitivity of the gyro is not the same for positive and negative rotations, when the gyro swings, the measured value does not become zero even if the angle returns to the origin. Further, when an oscillating disturbance is applied to the tunnel machine, zero point errors are accumulated and the influence is increased.

Third, there is an initial azimuth setting error. If the initial direction of the gyro does not exactly match the initial direction of the tunnel machine, a displacement error proportional to the propulsion distance will occur. For example, the initial angle of the gyro is set with reference to the installation orientation of the main pushing device. If the initial angle deviates from the plan line, the installation error is added to the measurement error of the gyro.

Fourth, there is an error due to the lateral movement of the tunnel machine. In the gyro measurement, the propulsion route is obtained by integrating the angle of the tunnel machine with the propulsion distance. Therefore, if the tunnel machine moves while touching the path curve at the gyro mounting position, the gyro measurement value matches the true path. However, for example, when the tunnel machine is translated without rotating, the apparent displacement is zero regardless of the actual displacement. Further, since the tip device of the tunnel excavator is a rigid body, the angle measured is the same regardless of where the gyro is placed, and the gyro measurement value is also the same. However, when the linear tip device travels along a curved path, lateral movement has occurred at some position, and the true trajectory slightly differs depending on the position on the tip device. Thus, the gyro measurement value and the true trajectory generally do not match.

Further, recently, a measurement method for estimating a position with respect to a predetermined propulsion position from only position information based on an electromagnetic field method or the like has been proposed. For this, there is a method based on the accumulation of bent angles. In the tunnel excavator, a method of accumulating the bend angles is a method of calculating a relative angle (bend angle) of the front and rear propulsion cylinders separated by the middle bend mechanism by a bend angle sensor and calculating the position by accumulating the measured values. It is. This method determines the system by identifying unknown parameters in the horizontal behavior model of the tunnel excavator using statistical methods and values measured by other measurement methods such as a bend angle sensor, and determines the determined system. The position is calculated by inputting a bend angle into the.

The bend angle sensor will be described with reference to FIG. The measurement principle of the bending angle sensor attached to the center bending mechanism will be described. FIG. 11 shows the structure of the center bending mechanism. The center bending mechanism includes a front propulsion cylinder 113 and a rear propulsion cylinder 117 that can bend each other.
FIG. 11A shows a straight state, and FIG. 11B shows a bent state. In the rear propulsion cylinder 117,
An inner pipe 113a fixed to the front propulsion cylinder 113 is inserted, and the inner diameter of the front end of the rear propulsion cylinder 117 is
13a is substantially equal to the outer diameter of the rear propulsion cylinder 1
17 can be freely bent with its front end as a fulcrum as far as the gap allows. Then, using a linear displacement type potentiometer (hereinafter referred to as a bend angle sensor) 141 provided at a fixed distance from the front end of the inner tube 113a, the bend angle of the gap between the inner tube 113a and the rear propulsion cylinder 117 is zero degree. By measuring the difference from the gap at the time, the angle of the inner tube 113a with respect to the rear propulsion cylinder 117, that is, the bend angle of the front propulsion cylinder 113 with respect to the rear propulsion cylinder 117 can be obtained.

However, the bend angle is not a control input amount but an output result of the pilot head tilt operation. Even if the position is estimated using this model, the next pilot head tilt angle cannot be determined in the direction control. .

[0015]

As described above, as described above,
The conventional tunnel excavator involves difficult measurement work on the road and causes a traffic hindrance, making it impossible to measure over tracks and rivers, and the conventional position estimation method cannot estimate the position for each stroke. There is a problem that the continuous relationship between the set angle of the pilot head, which is the control input amount, and the horizontal position cannot be clarified.

Further, in the conventional position estimation method based on the broken angle accumulation method, the model on which the estimation is based does not express the input / output relationship, but merely indicates the estimated position to the operator. Furthermore, it is hard to say that the model can change the actual attitude and position of the tunnel machine, and the estimation result sometimes involves a large error.

The present invention has been made in view of the above problems, and provides a method for estimating the position of a tunnel excavator capable of realizing high-precision horizontal position prediction at a site and improving the working efficiency. With the goal.

[0018]

SUMMARY OF THE INVENTION In order to achieve the above-mentioned object, the present invention provides a pilot head which is tilted in a digging direction, is pressed into the ground by extending a pilot jack, and then retracts while retracting the pilot jack. In the method for estimating the horizontal position of a tunnel excavator when a tunnel is formed by propelling a tunnel excavator in which a front propulsion cylinder and a rear propulsion cylinder are tiltably connected via a middle bent portion by a push jack, A first process of obtaining a change in attitude angle for each operation based on the set pilot head angle and an actual pilot head change angle, and linearly combining these to obtain an attitude change angle per stroke; The initial value of the attitude angle based on the measured value and 1 obtained by the first process.
The posture angle of the tunnel excavator after elapse of an arbitrary stroke is obtained by accumulating the posture change angle for each stroke, and the length of each part of the tunnel excavator and the middle bending due to the recoil at the time of press-fitting of the pilot head using this posture angle. Based on the return distance of the unit and the change of the attitude angle for each of the current operations calculated in the first process, the change in the distance from the reference line at the end of each of the operations is obtained. A second step of obtaining a change distance from the reference line of the middle bend of the tunnel machine after one stroke of the above, and a distance from the base line of the one-stroke obtained by the second step. , The distance from the reference line of the bent part obtained from the initial value of this distance, the attitude angle of the tunnel excavator obtained in the second process, the pilot head angle and the length of each part of the tunnel excavator. And summarized in that a third process for calculating the horizontal position from.

That is, the present invention provides a model for obtaining the horizontal position from the relationship between the control input amount, ie, the tilt angle of the pilot head and the attitude change angle, for each direction control operation of the tunnel excavator in the press-fit small-diameter pipe propulsion method. The most important feature is to enable horizontal position estimation while estimating unknown parameters.

With this, when the position is estimated based on the present model representing the attitude and position change with respect to the tilt angle of the pilot head, which is the control input amount, for each direction control operation of the tunnel excavator, the operator's pilot The relationship between the operation amount and the position of the head is clarified, and a guide for the next operation amount is given. Furthermore, since the model expresses a posture change for each direction control procedure, it expresses a behavior closer to actuality, and enables highly accurate estimation. These advantages make it possible to accurately predict the horizontal position at the site with high accuracy, and to provide an operator with a guideline for the control amount.

[0021]

Embodiments of the present invention will be described below with reference to the drawings. FIG. 1 is a perspective view showing a configuration of a tunnel machine according to one embodiment of the present invention. FIG.
The tunnel excavator shown below uses a press-fit type small-diameter pipe propulsion method.

First, the overall system configuration will be described. The tunnel machine 1 includes a tunnel machine body 11 having a pilot head angle correcting mechanism and a center bending mechanism, a buried pipe T for forming a tunnel, a main pushing device 13 for hydraulically pushing the tunnel machine body 11 and the buried pipe T. Hydraulic device 1 for supplying hydraulic pressure to main pushing device 13 in shaft 15
7. An operation panel 19 that manages propulsion, monitors the attitude of the excavator, corrects the pilot head angle, and the like. G indicates the ground surface.

Next, the formation of a tunnel by the tunnel machine shown in FIG. 1 will be briefly described. 2 and 3
Referring to, the tunnel excavator body 11 is pressed into the ground together with the pilot head 111 at the tip of the tunnel excavator body 11 by the main pushing device 13 installed in the starting shaft 15, or only the pilot head 111 is Tunnel is formed by injecting into the ground and excavating. After press-fitting, the tunnel machine body 11
A tunnel is formed while the whole buried pipe T sequentially added to the rear end is hydraulically pushed by the main pushing device 13 installed in the starting shaft 15. The operator P sequentially sets the pilot head angle by the operation panel 19 based on the position measurement value, and controls the direction so as to follow the design trajectory.

Next, referring to FIG. 2, the details of the tunnel machine 11 and the horizontal position measuring method by the electromagnetic field method will be described. First, the configuration of the tunnel machine body 11 will be described in detail. The tunnel machine body 11 includes a pilot head 111 and a center bending portion 115 having a center bending mechanism.
A pilot coil 113 is mounted inside the pilot head 111 with a front propulsion cylinder 113 and a rear propulsion cylinder 117 bordered by. The measurement of the horizontal position by the electromagnetic field method uses a measuring device 139 to measure the induced voltage due to the magnetic force lines 133 generated from the transmitting coil 131 generated in the two receiving coils 137a and 137b attached to the receiver 135 on the ground surface G at intervals of 60 cm. A method is used in which the amount of deviation from the designed trajectory of the pilot head 111 is specified from the measured left and right voltage values. Note that the pilot head 111 has a GPS
Antenna is attached to the rear propulsion cylinder 117 by the angle sensor 14.
1, the position accuracy may be made more accurate.

Next, a method of correcting the direction of the tunnel excavator body 11 will be described with reference to FIG. First, FIG.
As shown in (2), the right direction correction jack 121R is contracted, the left jack 121L is extended, and the pilot head 111 is tilted to the left. Next, as shown in FIG. 3C, the pilot jack 119 is extended, and the pilot head 111 is pressed into the ground in the correction direction. Then, as shown in FIG.
And at the same time, the main pushing jack of the main pushing device 13 is extended, and the propulsion pipe T is pushed in. Furthermore, at the same time as the main jack is shrunk, the screw for jack movement is rotated,
Move the main push jack forward. The propulsion of 45 cm is performed in one cycle of this procedure, and the propulsion of one pipe is completed in six cycles. Then, the propulsion pipe T is connected, and this cycle is repeated. Hereinafter, one cycle is referred to as one stroke.

Here, a model used in the present estimation method will be described. Let k and (k
+1) The pilot head angles during the stroke are η _k and η
_{Let k + 1} be the following three assumptions regarding the change in the attitude angle of the front propulsion cylinder and the position of its rotation center for each operation from k to (k + 1) strokes.

[0027]

[Outside 1] [Assumption 1] As shown in FIG. 3 (2), the attitude of the front propulsion cylinder 113 changes when the pilot head angle is changed from the end of the previous general propulsion to correct the direction. FIG. 4 schematically illustrates this. In the figure, _Lf is the length of the front propulsion cylinder 113, _fβ is the distance between the center bend 115 and the length of the front propulsion cylinder 113 at the position where the posture of the front propulsion cylinder 113 changes. the ratio, L _h is the length of the pilot head 111, f _h is the ratio of the length of the distance and the pilot head 111 from the front propulsion tube 113 tip of the center and a position of the change in the attitude of the pilot head 111, the xi] _beta ago The attitude change angle of the partial propulsion cylinder 113, O is the front propulsion cylinder tip position, C is the bent portion 115, and Δη _k is the change amount η _{k + 1} −η _k of the pilot head angle. At this time, the change in the attitude angle of the tunnel excavator is considered to be approximately proportional to the change amount of the pilot head angle, and a parameter β is introduced and −β (η _{k + 1} −
η _k ).

[Assumption 2] As shown in FIG. 3 (3), when the head is pressed into the ground in front, there is a recoil corresponding to the size of the pilot head angle, and the attitude of the front propulsion cylinder changes. FIG. 5 schematically illustrates this. In the figure, L _s is the pilot head press-fit length, that is, one stroke length, f _α is the distance from the center bend to the center of the posture change of the front propulsion cylinder at the time of pilot head press-fit, and the front propulsion cylinder's Length ratio. Other symbols indicate:
It is the same as FIG. The change in the attitude angle of the tunnel machine at this time is assumed to be proportional to the tilt angle of the head, and a parameter α is introduced to be −αη _{k + 1} . At this time, it is assumed that the center bent portion moves rearward by R.

[Assumption 3] After the entire propulsion by the main pushing shown in FIG. 3D, the position of the head tip does not move at the press-fitted position as shown in FIG. It shall move so as to follow the position of the tube. In FIG.
_Dc is the moving distance of the center bent portion 115 due to the overall propulsion, F is the position of the front propulsion cylinder tip 113 when the head press-in is completed, H is the position of the head rear end when the head press-in is completed, P is the position of the head tip, C 'is the position of the bent portion 115 after the entire propulsion is completed, H' is the position of the rear end of the head when the entire propulsion is completed, point O is a straight line connecting the points F and H, and points C 'and H'. , X is the length of a straight line connecting point O and point H ′, y is the length of a straight line connecting point O and point H ′, and ξ is the front propulsion cylinder 113 during overall propulsion. Is the posture change angle.

Based on the above assumptions, the posture change angles for each operation procedure are calculated, and they are linearly combined to change the posture change angle Δθ _fk (θ _{fk + 1} −θ) of the front propulsion cylinder 113 per stroke.
_fk ). Here, θ _fk is the relative angle of the front propulsion cylinder 113 from the reference line during the k stroke. As a preparation, the buried pipe T is modeled as a beam on an elastic floor, and the effects of the surrounding ground and the number of subsequent pipes are considered mechanically.

Assuming that a beam having a unit width (bending stiffness EI, E is an elastic modulus, I is a second moment of area) is on an elastic floor and assuming uniform conditions in the width direction, the equation of deflection is as follows. Given.

[0032]

(Equation 3) Here, k _s represents a spring of the elastic floor and has a unit of kgf / cm ² . w is the load per unit length.

[0033]

(Equation 4) Here, A, B, C, and D are constants to be determined from the boundary conditions.

In the propulsion system in consideration of curved construction, the buried pipes are not welded to each other, but are of an insertion type. For this reason, the buried pipes are considered to be pin-connected. Therefore, the moment at both ends is zero. Under this boundary condition, when an arbitrary pipe and a pipe on the excavator side are taken out as free objects, the relationship between the magnitude of the concentrated load to be applied to each left end (the shaft side) and the displacement is obtained. The ground spring value is k _s , the respective concentrated loads are P _n and P _{n + 1} , the displacements are y _n and y _{n + 1} , the length of the buried pipe is L _c, and the left and right ends of any pipe are sheared. Note that the definition of the sign of force is reversed, and that

(Equation 5) And the relationship of the whole n buried pipes buried underground is

(Equation 6) It can be expressed as. P ₀ , y ₀ is the value of the shaft-side junction of the buried pipe immediately after it is buried in the ground. At this point, since the next tube is connected, the moment is 0, and the next tube is constrained in the left-right direction by the main pushing device. Obtain the boundary condition of ₀ = 0. Therefore,

(Equation 7) Then, the ratio K _n of the force and displacement at the rear end of the tunnel excavator after the installation of the n-th pipe is

(Equation 8) It is expressed as

Here, let us consider making this into a general formula. In order to calculate a ₁₁ ⁽ⁿ⁾ and a ₂₁ ⁽ⁿ⁾ , the relationship of (A−a ₁₁ ⁽¹⁾ I) ² = a ₁₂ ⁽¹⁾ a ₂₁ ⁽¹⁾ I is used. I is a 2 × 2 unit matrix.
If you put values in this relationship, expand and organize

(Equation 9) And if a ₁₁ ⁽¹⁾ is simply a, then

Equation 10] ^{A 2 = 2aA-I (1} ) A 3 = (4a 2 -1) A-2aI (2) A 4 = (8a 3 -4a) A- (4a 2 -1) I (3) ... And so on. here,

If A ⁿ = γ _n A + δ _n I (n = 1, 2, 3,...) And a ₂₁ ⁽¹⁾ is simply b, K _n is

(Equation 12) It can be seen that Where γ ₁ = 1, δ ₁ =
0. From the above relationship, the part of δ _n / γ _n in equation (4) is

(Equation 13) And a continued fraction using only two elements in the first column of the elements of A.

Next, consider the changes to increase of n in K _n. Now

[Equation 14] It is. Further, H ⁿ = HH ⁿ⁻¹ is calculated in the same manner as above, and by referring to the equation (5), h ₂₁ ⁽ⁿ⁾ = − h ₁₂ ⁽ⁿ⁾ is obtained. Further, since | H | = 1, | H ⁿ | = | H || H |... | H | = 1. With the above preparation, 1−w _n / w _{n + 1} is calculated as

(Equation 15) Becomes (H ₁₂ ⁽ⁿ⁾ ) ² obviously increases monotonically when the absolute value of a is larger than 1. The absolute value of a takes the minimum value 2 when the pipe is a rigid body. Therefore

(Equation 16) And can be. (H ₁₂ ⁽ⁿ⁾ ) ^-2 decreases at an accelerating rate with an increase in n. Therefore, considering the effect of this value on the horizontal position in the present model, n does not have to be so large. In other words, the analysis range of the beam model on the elastic floor is sufficient to this extent, and it is not necessary to set the boundary conditions for the shaft shaft.

Next, since the front propulsion cylinder 113 and the head 111 are taken out as free objects by the cutting method and analyzed only by the balance condition formula, an equivalent concentrated load applied to the center bent portion 115 is set as a suitable condition for the cut portion. and determining the ratio K / k _s ratio K and ground spring value k _s of the displacement. The calculation of the ground reaction force coefficient is based on the Japan Road Association's Specifications for Road Bridges, commentary, IV
According to the lower structure, the ground reaction force coefficient varies depending on the loading width and the second moment of area of the loaded member, and the ground spring value is obtained by multiplying the ground spring value by the loading width.

Therefore, the ground spring values of the buried pipe T and each part of the tunnel excavator are all different. However, the moment of inertia of each section of the tunnel excavator is difficult to accurately evaluate due to the complicated mechanism inside the section. Therefore, the ground spring value is approximately the same in each part. Although the value of the second moment of area is unknown, the rigidity of each part of the tunnel excavator is
The excavator body is treated as a rigid body because it is clearly larger. The shear force of the center-folding unit 115 P, the displacement y, and the length of the rear propulsion cylinder 117 and L _r, in a state where the n tube is laid in the ground and removed rear propulsion cylinder 117 as a free object The relationship between shear force and displacement at both ends is based on the balance of force

[Equation 17] Becomes Equations (6) and (7) are solved for P and y,

(Equation 18) Becomes This value has a dimension of length, it should represent the convenience K / k _s = L _eq.

Hereinafter, based on the above preparation, the posture change angle for each procedure is obtained. First, based on FIG. 4, β and _fβ are calculated using L _eq according to [Assumption 1]. When the head is tilted, the head and the front propulsion cylinder receive a ground reaction force as shown in FIG. First, f _h and f _β are obtained from the equilibrium condition formula of force and moment. When a joint portion between the head and the front part of the leading conductor is defined as a point O, and the displacement at this point is defined as a unit length,
The displacement of the head tip is (1−f _h ) / f _h ,
The displacement of 5 is _fβ / (1− _fβ ). Therefore, when the part before the center bent part is taken out as a free object, the center bent part 1
Equivalent force applied from the subsequent pipe to 15 Kf β _/ (1-
_fβ ). Moreover, the force excavator receives from the surrounding ground is a value obtained by multiplying the ground spring value k _s to the displaced area. Taking the above into consideration and dividing each term of the equilibrium condition equation of force and moment by k _s , the following is obtained. Than balance of power

[Equation 19] Becomes Next, when the change in the attitude angle when the head tilted only to _{ξ β, f h L h (} Δη-ξ β) from the geometric relationship = Since the _{(1-f β) L f} ξ β, posture change angle The ratio _β between _β and the change Δη in pilot head angle is

(Equation 20) Is obtained.

Next, by referring to FIG. 5 Assumption 2] L _eq
Is used to calculate fα. When the head is pressed into the ground in front, a reaction force from the ground acts on the tip of the head. But,
In the press-in type propulsion, the soil cannot be treated as an elastic body because it advances while consolidating the soil in front. Therefore in the following manner approximately to calculate the f _alpha. When the front propulsion cylinder rotates by -αη when the head is pressed into the front ground, the ground reaction force received by the front propulsion cylinder and the head becomes as shown in FIG. 5 and the whole is stationary. Here, it is assumed that the rotation angle of the leading conductor is proportional to the amount of extension of the head. Also, it is approximated that cos αη = 1. l = (1- _fα ) L
_f , the distance from the center of rotation is r, and the angle is θ.

(Equation 21) Get.

Finally, the posture change angle の み only at the time of the main pushing is calculated based on [Assumption 3] based on FIG. In FIG.
ΔOFC ′ and ΔOH′P are clearly similar. The distance between the point O and the point H is x, and the distance between the point O and the point H 'is y
From sine theorem for △ OH'P

(Equation 22) Get. Using the above results, similarly for に つ い て OFC ',

(Equation 23) Get.

The posture change angle Δθ _fk per stroke is obtained by a linear combination of the posture change angles for each operation.

(Equation 24) Can be calculated.

Next, a change Δy _ck (y _{ck + 1} −y _ck ) in the distance from the reference line of the bent portion is calculated based on FIG.

As preparation, the calculation of R under [Assumption 2] will be described. Here and minus the value obtained by dividing the simple number of strokes required for one tube promoting propulsion pipe length L _c from 1 stroke length L _s (principle 6). Ie

(Equation 25) Give in.

Next, the change Δy _ck of the distance from the reference line of the bent portion per stroke is determined. In FIG.
C ₁ crease portion C ₀ by head tilting in the time k strokes, to C ₂ by a head pressed, and moved to the C ₃ after the original press. Here, O _β and O _α are the rotation center when the head is tilted and the rotation center due to the recoil when the head is pressed. When the angle between the front propulsion cylinder and the reference line during the k stroke is θ _fk ,

(Equation 26) Becomes

From the above, the distance y _k of the tip of the leading conductor from the reference line at the time of the k stroke is

Equation 27] _{y k = y ck + (L} f + L h) θ fk + L h η k (13) and can be calculated, and a model representing the input-output characteristics.

An example of position estimation using the working data will be described below.

There are various methods for identifying (back-analyzing) the parameter α remaining in the model. However, the measured values for identifying the parameters α are field measurement values, which are extremely variable. Is considered to be effective. Further, even if this parameter is physically considered, it is considered that the parameter fluctuates according to a change in the soil characteristics of the face, and it is necessary to update the parameter sequentially. For these reasons, the horizontal position is predicted by a method in which a parameter is updated each time a measured value is obtained and a Kalman filter capable of continuously predicting the position is used.

Prior to applying the Kalman filter, the model is represented by a state space expression. However, the case where the measurement data is only the horizontal position data by the electromagnetic field method will be described. First, when y _c , θ _f , and α are taken as state quantities, and a stochastic variation is given to each about w _k , the state equation includes the estimated input vector and is expressed as follows.

[0050] _{x k + 1 = Fx k +} u k + w k where the state quantity x _t is _{x k = [y ck θ fk} α k] T state transition matrix F _k is

[Equation 28] System noise vector w _k is a _{w k = [w yk w θfk} w βk] T. Then observation equation is however observed noise v _k added y _k = Hx _k + v _k in equation (13), the observed values y _k, when the measured value of the electromagnetic field method and _{m k, y k = m k} - The L _h η _k observation matrix H is H = [1 L _f + L _h 0].

If a Kalman filter including an external input is applied to the state equation and the observation equation, α can be estimated.
The horizontal position can be predicted.

Next, the construction conditions of the calculation example will be described. The planned alignment is a straight line. The one stroke length of the tunnel machine is 45 cm, the buried pipe is a steel pipe having a nominal diameter of 300, the length is 250 cm, the outer diameter is 32.85 cm, the second moment of area is 8,200 cm ⁴ , and the elastic modulus is 2 .
It is 1 × 10 ⁶ cm ⁴ . The soil quality is N = 9 in the Kanto loam. Under this condition, the ground spring value is calculated to be 143.8 kgf based on the method of Road Bridge Specifications IV Substructure.
/ Cm ² . In addition, _Leq is 45.
After that, the change in this value due to an increase in the number of succeeding tubes becomes smaller at an accelerated rate, and this order of magnitude is sufficient for practical use. This means that β, f _β , calculated using L _eq
f _alpha is shows a can be calculated as a constant, can be shortened considerably computation time. Table 1 shows the calculated parameters.

[0053]

[Table 1] Under the above conditions, when applying the Kalman filter, the initial value Σ ₀ of the estimation error covariance matrix of the state quantity is

(Equation 29) The estimation results are shown in FIGS. 1 tube (6 strokes)
Since the average error of the estimated value is less than 1 cm, the effectiveness of the present position estimation method can be confirmed.

The actual position estimation requires several points of measurement data for setting the initial value. However, since the measurement is performed near the operation panel in the initial stage of propulsion, the burden on the operator is small, and the initial stage There is no problem because the position is unlikely to be significantly shifted.

[0055]

As described above, according to the present invention, a model describing input / output characteristics for calculating a posture change angle and a horizontal position from a tilt angle of a pilot head for each direction control procedure of a tunnel excavator, By applying the Kalman filter algorithm, it is possible to express the relationship between the control input amount and the output amount according to the actual behavior of the machine, which was not possible with the conventional method, while giving the operator a guideline for correcting the direction,
Horizontal position prediction can be performed with high accuracy. Further, the measurement can be performed by widening the measurement interval by the electromagnetic field method, which can reduce difficult work and obstacles to road traffic, and can also estimate the position of an unmeasurable portion, thereby contributing to shortening the construction period.

[Brief description of the drawings]

FIG. 1 is a configuration diagram illustrating a system configuration of a press-fit small-diameter pipe propulsion method.

FIG. 2 is an explanatory diagram for explaining a main body of a tunnel excavator and an electromagnetic field method.

FIG. 3 is an explanatory diagram for explaining a direction correcting method of the tunnel excavator.

FIG. 4 is an explanatory diagram for explaining a force and a displacement acting on the tunnel excavator when the pilot head is tilted.

FIG. 5 is an explanatory diagram for explaining a force and a displacement acting on the tunnel excavator when the pilot head is press-fitted.

FIG. 6 is an explanatory diagram for explaining displacement of the tunnel excavator at the time of overall propulsion by main pushing.

FIG. 7 is a characteristic diagram showing a displacement at each direction correcting operation of a center bent portion of the tunnel excavator.

FIG. 8 is a characteristic diagram for explaining a result of a numerical experiment (horizontal position of a tip of a tunnel excavator).

FIG. 9 is a characteristic diagram for explaining a result of a numerical experiment (a relative angle of a front propulsion cylinder from a reference line).

FIG. 10 is a characteristic diagram for explaining a result (α) of a numerical experiment.

FIG. 11 is a diagram illustrating a measurement principle of a bending angle sensor attached to a center bending mechanism.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Tunnel excavator 11 Tunnel excavator main body 13 Main pushing device 15 Starting shaft 17 Hydraulic device 19 Operation panel 111 Pilot head 113 Front propulsion cylinder 115 Center bent part 117 Rear propulsion cylinder 119 Pilot jack 121 Direction correction jack 131 Transmission coil 133 Magnetic field line 135 Receiver 137a, 137b Receiving coil 139 Measuring instrument G Ground P Operator T Buried pipe

 ──────────────────────────────────────────────────続 き Continuing on the front page (72) Inventor Michito Matsumoto 3-19-2 Nishishinjuku, Shinjuku-ku, Tokyo Japan Telegraph and Telephone Corporation (72) Inventor Kazuka Kawabata 3-chome Nishishinjuku, Shinjuku-ku, Tokyo 19-2 Nippon Telegraph and Telephone Co., Ltd.

Claims (13)

[Claims] After a pilot head tilted in a digging direction is pressed into the ground by elongating a pilot jack, a front propulsion cylinder and a rear propulsion cylinder are retracted by a main push jack while retracting the pilot jack. In the method for estimating the horizontal position of a tunnel excavator when forming a tunnel by propelling a tunnel excavator that is tiltably connected to the tunnel excavator, based on the set pilot head angle and the actual pilot head change angle , Calculate the change in the attitude angle for each motion,
A first process of linearly combining these to obtain a posture change angle per stroke, and accumulating an initial value of the posture angle based on the measured value and the posture change angle for each stroke obtained in the first process. The attitude angle of the tunnel machine after an arbitrary stroke has been obtained by using this attitude angle, and using this attitude angle, the length of each part of the tunnel machine and the return distance of the middle bent portion due to the recoil at the time of press-fitting of the pilot head and the first angle Based on the change in the attitude angle for each operation calculated this time, the change in the distance from the reference line at the end of each operation is determined, and these values are linearly combined, and the tunnel excavator after the next one stroke has elapsed A second step of obtaining a change distance from the reference line of the bent portion, and a cumulative change in the distance from the reference line of the bent portion for each stroke obtained by the second process, and calculating the distance A third horizontal position is calculated from the distance from the reference line of the bent portion obtained from the period value, the attitude angle of the tunnel excavator obtained in the second process, the pilot head angle and the length of each part of the tunnel excavator. A method for estimating the position of a tunnel machine. 2. When the pilot head is attached to the front propulsion cylinder so as to be able to advance and retreat and to be tiltable, k is an arbitrary number of strokes and k strokes and (k +
1) Set the pilot head angle during the stroke to η _k
Η _{k + 1} , L _s is one stroke length, L _f is the length of the front propulsion cylinder, L _h is the length of the pilot head, and α and β are parameters, respectively.
The posture change angle per stroke Δθ _fk is given by The position estimating method for a tunnel excavator according to claim 1, wherein the position is calculated based on: 3. When the pilot head is connected to the front propulsion cylinder so as to be able to advance and retreat and tilt freely, k is an arbitrary number of strokes, and the pilot head angles at the time of k strokes and (k + 1) strokes are respectively η _k. And η _{k + 1}
Θ _fk is the angle between the front propulsion cylinder at the time of the k-stroke and the reference line, and f _α is the distance from the center bend to the center of the posture change of the front propulsion cylinder when the pilot head is press-fitted. and the ratio of the length of the front propulsion tube, the distance and the length ratio of the front propulsion barrel from folding portion of the center and a position of the f _beta front propulsion cylinder change in the posture of the front and L _f long Satoshi propulsion tube, the L _s and 1 stroke length, the distance and the length ratio of the pilot head and f _h from the front propulsion tube tip of the center and a position of the change in the attitude of the pilot head, alpha, a β When each is a parameter and R is the amount of movement behind the bent part,
The change Δy _{ck in} the distance from the reference line of the bent portion per stroke is given by The position estimating method for a tunnel excavator according to claim 1, wherein the position is calculated based on: 4. When the pilot head is connected to the front propulsion tube so as to be able to advance and retreat and tilt freely, k is an arbitrary number of strokes, and the pilot head angles at the time of k strokes and (k + 1) strokes are respectively η _k. And η _{k + 1}
And then, theta and _fk the angle between the front propulsion cylinder and the reference line at the time of a k stroke length Satoshi front propulsion tube a L _f, L _h is the pilot head length, in the per stroke [Delta] y _ck Change in distance of bent portion from reference line Distance y _k of pilot head tip from reference line at k strokes is calculated based on y _k = y _ck + (L _f + L _h ) θ _fk + L _h η _k. The method for estimating a position of a tunnel machine according to claim 1, wherein: 5. A ratio between a change angle of the attitude of the tunnel excavator and a change angle of the pilot head when the pilot head is tilted in the first process is analytically obtained from a soil value of surrounding soil and the number of subsequent pipes. The method for estimating a position of a tunnel machine according to claim 1, wherein: 6. The method according to claim 1, wherein the ratio between the attitude change angle of the tunnel excavator and the pilot head angle due to the reaction at the time of the pilot head press-fitting in the first step is measured by a horizontal position measuring means installed on the ground. The position estimating method for a tunnel excavator according to claim 1 or 5, wherein: 7. A ratio between a posture change angle of the tunnel machine and a pilot head angle due to a reaction at the time of pilot head press-fitting in the first process is estimated from a relative angle from an absolute azimuth of the tunnel machine. The method for estimating the position of a tunnel machine according to claim 1 or 5, wherein: 8. The ratio between the attitude change angle of the tunnel excavator due to the reaction at the time of the pilot head press-fitting in the first step and the pilot head angle, is measured by horizontal position measuring means installed on the ground, and 6. The method according to claim 1, wherein the position is estimated from a relative angle from the absolute azimuth. 9. The ratio between the attitude change angle of the tunnel excavator and the pilot head angle from the completion of the pilot head press-fitting at the end of the entire propulsion by the main pushing in the first process is determined by the extension amount of the pilot jack and the tunnel excavation. 6. The position estimating method for a tunnel excavator according to claim 1, wherein the position is obtained from a ratio of a sum of a length of a front propulsion cylinder of the machine and a length of a pilot head portion. 10. The ratio between the distance from the bent portion and the length of the front propulsion cylinder, which is the center of the attitude change of the tunnel machine when the pilot head is tilted in the second process,
2. The position estimation method for a tunnel excavator according to claim 1, wherein the position is estimated analytically from the soil value of the surrounding soil and the number of subsequent pipes. 11. The ratio between the distance from the bent portion and the length of the front propulsion cylinder at the center of the attitude change of the tunnel machine at the time of pilot head press-fitting in the second step,
2. The position estimation method for a tunnel excavator according to claim 1, wherein the position is estimated analytically from the soil value of the surrounding soil and the number of subsequent pipes. 12. The return amount of the bent portion of the tunnel machine at the completion of the pilot head press-fitting in the second step is divided by the number of strokes required for laying one pipe by extending the length of one operation of the pilot jack and the pipe length. 2. The method for estimating the position of a tunnel machine according to claim 1, wherein the difference between the position and the position of the tunnel excavator is determined. 13. An initial value of an attitude angle of the tunnel excavator and a distance from a reference line of a bent portion is estimated from the ground by other horizontal position measuring means or estimated values. Item 1. The method for estimating the position of a tunnel machine according to Item 1.