WO1994000673A1 - Control apparatus for excavators - Google Patents
Control apparatus for excavators Download PDFInfo
- Publication number
- WO1994000673A1 WO1994000673A1 PCT/JP1993/000838 JP9300838W WO9400673A1 WO 1994000673 A1 WO1994000673 A1 WO 1994000673A1 JP 9300838 W JP9300838 W JP 9300838W WO 9400673 A1 WO9400673 A1 WO 9400673A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- excavator
- propulsion
- actuator
- cutter
- input
- Prior art date
Links
- 239000002689 soil Substances 0.000 claims abstract description 78
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 40
- 238000000034 method Methods 0.000 claims description 39
- 238000001514 detection method Methods 0.000 claims description 32
- 238000012545 processing Methods 0.000 claims description 25
- 238000002347 injection Methods 0.000 claims description 23
- 239000007924 injection Substances 0.000 claims description 23
- 238000012937 correction Methods 0.000 claims description 22
- 230000008859 change Effects 0.000 claims description 19
- 238000009412 basement excavation Methods 0.000 claims description 16
- 230000008569 process Effects 0.000 claims description 14
- 238000003860 storage Methods 0.000 claims description 12
- 230000005856 abnormality Effects 0.000 claims description 8
- 239000004576 sand Substances 0.000 claims description 8
- 230000006870 function Effects 0.000 claims description 7
- 238000005520 cutting process Methods 0.000 claims description 4
- 238000006073 displacement reaction Methods 0.000 claims description 4
- 230000008054 signal transmission Effects 0.000 claims description 3
- 238000004364 calculation method Methods 0.000 claims description 2
- 238000007599 discharging Methods 0.000 claims 2
- 230000001141 propulsive effect Effects 0.000 abstract 4
- 238000010276 construction Methods 0.000 description 31
- 238000004092 self-diagnosis Methods 0.000 description 12
- 238000010586 diagram Methods 0.000 description 6
- 238000007689 inspection Methods 0.000 description 6
- 230000002159 abnormal effect Effects 0.000 description 5
- 239000000463 material Substances 0.000 description 5
- 230000001771 impaired effect Effects 0.000 description 3
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 description 2
- 239000002131 composite material Substances 0.000 description 2
- 238000012790 confirmation Methods 0.000 description 2
- 238000013523 data management Methods 0.000 description 2
- 230000001050 lubricating effect Effects 0.000 description 2
- 238000005461 lubrication Methods 0.000 description 2
- 238000005259 measurement Methods 0.000 description 2
- 239000003921 oil Substances 0.000 description 2
- 230000010355 oscillation Effects 0.000 description 2
- 230000002093 peripheral effect Effects 0.000 description 2
- 230000004044 response Effects 0.000 description 2
- 239000002002 slurry Substances 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 1
- 230000004397 blinking Effects 0.000 description 1
- 230000000903 blocking effect Effects 0.000 description 1
- 150000001875 compounds Chemical class 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000003745 diagnosis Methods 0.000 description 1
- 238000005553 drilling Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000010720 hydraulic oil Substances 0.000 description 1
- 229910052742 iron Inorganic materials 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 238000002360 preparation method Methods 0.000 description 1
- 230000000630 rising effect Effects 0.000 description 1
- 239000008400 supply water Substances 0.000 description 1
- 239000000725 suspension Substances 0.000 description 1
- 238000012546 transfer Methods 0.000 description 1
- 230000003442 weekly effect Effects 0.000 description 1
Classifications
-
- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21B—EARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
- E21B44/00—Automatic control systems specially adapted for drilling operations, i.e. self-operating systems which function to carry out or modify a drilling operation without intervention of a human operator, e.g. computer-controlled drilling systems; Systems specially adapted for monitoring a plurality of drilling variables or conditions
-
- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21B—EARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
- E21B44/00—Automatic control systems specially adapted for drilling operations, i.e. self-operating systems which function to carry out or modify a drilling operation without intervention of a human operator, e.g. computer-controlled drilling systems; Systems specially adapted for monitoring a plurality of drilling variables or conditions
- E21B44/02—Automatic control of the tool feed
- E21B44/06—Automatic control of the tool feed in response to the flow or pressure of the motive fluid of the drive
-
- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21B—EARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
- E21B7/00—Special methods or apparatus for drilling
- E21B7/20—Driving or forcing casings or pipes into boreholes, e.g. sinking; Simultaneously drilling and casing boreholes
- E21B7/201—Driving or forcing casings or pipes into boreholes, e.g. sinking; Simultaneously drilling and casing boreholes with helical conveying means
-
- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
- E21D9/00—Tunnels or galleries, with or without linings; Methods or apparatus for making thereof; Layout of tunnels or galleries
- E21D9/06—Making by using a driving shield, i.e. advanced by pushing means bearing against the already placed lining
- E21D9/093—Control of the driving shield, e.g. of the hydraulic advancing cylinders
-
- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
- E21D9/00—Tunnels or galleries, with or without linings; Methods or apparatus for making thereof; Layout of tunnels or galleries
- E21D9/12—Devices for removing or hauling away excavated material or spoil; Working or loading platforms
- E21D9/124—Helical conveying means therefor
Definitions
- the present invention relates to a device for controlling a drilling machine such as a small-diameter pipe propulsion machine (product name: Iron Mall) for burying water pipes and gas pipes.
- a drilling machine such as a small-diameter pipe propulsion machine (product name: Iron Mall) for burying water pipes and gas pipes.
- the soil at the site where the excavator is propelled is not actually constant, but changes gradually with the propulsion. Therefore, if each actuator is uniquely controlled based on the input soil conditions, the accuracy of propulsion will be degraded, and in some cases, the propulsion itself may not be possible. Therefore, the input soil condition is used as an initial value to capture the continuously changing soil condition, and by controlling each factor based on the captured soil condition, the constantly changing soil condition is obtained. It is desired to develop a device that can respond.
- the first invention of the present invention aims at this.
- the third invention of the present invention is to provide a storage method suitable for an auger type one-step excavator.
- a cutter for excavating is provided at the tip, and the cutter is rotated by a cutter for rotating the cutter and used for propulsion.
- An excavator control device that excavates underground by propelling the excavator
- Input means for inputting a soil condition of a place where the excavator excavates; setting means for setting a reference rotation speed of the cutout and a reference propulsion speed of the excavator according to the soil condition input by the input means.
- Load detection means for detecting a load applied to each of the actuators, and rotation speed control means for controlling the cutter rotation actuator to obtain a reference rotation number set by the setting means,
- the propulsion equipment When the load detecting means detects that the loads of the two actuators are within respective predetermined ranges, the propulsion equipment is driven so that the reference propulsion speed set by the setting means is obtained. In addition to the control, when the load detecting means detects that the load of any of the actuators is outside the predetermined range, the propulsion speed is reduced or increased from the reference propulsion speed.
- Speed control means for controlling the propulsion actuator Before Speed control means for controlling the propulsion actuator;
- the input means for inputting data for operating the excavator, a sensor for detecting a state of each part of the excavator, and an actuator for driving each part of the excavator A controller that performs predetermined processing based on input data from the input means and a value detected by the sensor and drives the excavator to drive the excavator. And display means for displaying the processing result by the controller, and these devices are connected by a wired or wireless connection between the machine, the input means, the sensor, the actuator, the controller, and the display means.
- the controller When driving stage data indicating each stage of driving is input from the input means, or when the driving stage is detected by a predetermined sensor, the controller is configured to input or detect the detected driving stage. Based on the function check of the input means and each part of the controller or the detection value of the sensor, the abnormality check of the detection value of the sensor or the detection value of the sensor described above is performed. A check of the operating state of the actuator or a check of the state of transmitting the symbol by wire or wireless is performed, and the results of these nicks are displayed on the display means.
- an excavator that is propelled in units of one stroke and performs a predetermined setup change every time the propulsion of one stroke is completed, and a sensor that detects a state of each part of the excavator.
- An actuator for propelling the excavator in units of one stroke, input means for inputting data for operating the excavator, input data by the input means, and the sensor And a controller for driving the excavator to drive the excavator and performing a predetermined process based on the detection value obtained by the controller, and a storage device for storing a processing result by the controller.
- Detecting means for detecting that the excavator has made one stroke propulsion
- the controller creates enforcement data based on the detection value of the sensor, and turns off the actuator every time the detection unit detects that the excavator has made one stroke. And writing the created enforcement data to the storage medium.
- the soil condition of the place where the excavator excavates is input. Therefore, the reference rotation speed of the cutter and the reference propulsion speed of the excavator are set according to the input soil condition.
- the load applied to each actuator is detected.
- the cutter rotation actuator is controlled so as to obtain the reference rotation speed set above in the cutter. If it is detected that the load on each of the actuators is within a predetermined range, the excavator is controlled so as to obtain the set reference propulsion speed in the excavator. .
- the propulsion factory is controlled so as to cause the propulsion. In this manner, the propulsion factory is controlled in accordance with the sequentially changing soil conditions, and speed control is performed to respond to changes in the soil conditions.
- a change in the soil condition is captured from the history of the past position / posture, and the direction correction is controlled accordingly.
- the pinch valve is controlled in accordance with the change in the soil condition.
- water injection is controlled in accordance with changes in soil conditions.
- operation stage data indicating each stage of operation is input from the input means or detected by the sensor.
- the controller detects the input or detected operating phase.
- the function check of the input means and each part of the controller or the abnormal check of the sensor detected value based on the detected value of the sensor or the operation check based on the detected value of the sensor An operation state check or a wired or wireless signal transmission state check is performed, and the results of these checks are displayed on the display means.
- self-diagnosis check and check contents are displayed according to each stage of operation, and check is performed appropriately and promptly.
- the controller changes the actuator every time it is detected that the excavator has made one stroke propulsion. Is turned off, and the process of writing the enforcement data during one-stroke promotion based on the detection value of the sensor to the storage medium is performed.
- the construction data for each stroke of the auger-type one-process method propulsion machine is stored sequentially during the setup change without excavation, so that the work efficiency of the propulsion device is not impaired .
- FIG. 1 is a diagram showing a cross section of a small-diameter pipe propulsion machine applied to an embodiment of an excavator control device according to the present invention
- FIG. 2 is a block diagram showing the configuration of the control device of the embodiment
- FIG. 3 is a block diagram showing the configuration of an apparatus for processing construction data in the embodiment
- FIG. 4 is a flow chart showing a processing procedure of the composite control of the embodiment
- FIG. 5 is a flow chart showing a processing procedure of a block release routine of the embodiment.
- FIG. 6 is a flowchart showing a processing procedure of a direction correction routine according to the embodiment.
- FIG. 7 is a diagram used to explain the calculation for obtaining the propulsion speed of the excavator of the embodiment
- Fig. 8 shows the torque of the excavator of the embodiment and the torque applied to the screw.
- FIG. 9 is a flowchart showing the processing procedure of the self-diagnosis and abnormality warning processing of the embodiment.
- Fig. 1 ⁇ is a flowchart showing the procedure of the construction data recording process in the embodiment.
- Fig. 1 is a cross section of a small-diameter underground excavator 1 (hereinafter simply referred to as "excavator 1") applied to the embodiment
- Fig. 2 is a block diagram of the configuration of the control device of the embodiment.
- Figure 3 shows the block diagram of the equipment for analyzing construction data.
- the excavator 1 functions as a leading pipe for buried pipes such as gas pipes.
- the starting anti-HL is provided with a laser beam 2 in force, and the laser beam L is irradiated to the laser target 3 inside the excavator 1 according to the irradiation position of the laser beam L. Then, the current position and the current attitude angle of the excavator 1 are detected.
- the details of the position / posture angle due to the laser beam irradiation are known, for example, from Japanese Patent Application No. 11312/199 filed by the present applicant, and are omitted because they are not directly related to the gist of the present invention. I do.
- a cutter 4 is provided at the tip of the excavator 1 so as to be swingable by a direction correcting cylinder 5 provided in each of up, down, left, and right directions.
- the angle is detected by the proximity sensor.
- the detected angle of the proximity sensor 6 is fed back to the leading conduit controller 7, and the controller 7 is connected to the direction correcting valve 8 via the directional control valve 8 (see FIG. 2).
- Drive 5 A cutter 9 is provided at the end of the cutter head 4 and the cutter 9 rotates to perform excavation.
- the cutter 9 is formed integrally with a screw 10 (so-called auger) arranged in the longitudinal direction of the excavator 1.
- the screw 10 is used for cutting. By rotating together with the cutter 9, the earth and sand of the face dug by the cutter 9 is discharged backward.
- the screw 10 is covered with a casing 11, and soil to be discharged passes through a passage 12 between the casing 11 and the screw 1 ⁇ .
- a pinch valve 13 that changes the cross-sectional area of the passage 12 according to the pressure of the applied air is provided in the middle of the passage 12.
- a water inlet (not shown) is provided in the passage 12 in front of the pinch valve 13, and mud or water is injected into the passage 12 from the water inlet.
- the above-mentioned water supply port is supplied with, for example, the above-mentioned material for mud through a water supply switching valve 14 (see FIG. 2) provided on the ground.
- a water supply switching valve 14 (see FIG. 2) provided on the ground.
- the push plate 15 integrated with the excavator 1 is arranged to be movable in the longitudinal direction of the push plate 15 and the anti-cover 16.
- the push plate 15 is driven leftward by a propulsion cylinder 17 to propel the excavator 1.
- the process until the propulsion cylinder 17 moves completely in the longitudinal direction of the anti-cover 16 is referred to as “one stroke”.
- a predetermined setup change is made at the starting counter HL in order to promote one stroke again.
- a buried pipe may be connected to the back after one stroke is completed, or a buried pipe may be connected by multiple strokes (for example, two and a half strokes). .
- a hydraulic motor 18 is provided in the starting counter HL, and when the hydraulic motor 18 is driven, the above-described screw 10 and the motor 10 are driven via a predetermined transmission mechanism. Ivy 9 rotates.
- the inverter motor 19 is connected to the hydraulic pump 2
- the hydraulic oil discharged from the hydraulic pump 2 ° is a driving source and is supplied to the hydraulic valve group 21.
- the hydraulic valve group 21 mainly has a propulsion jack switching valve 22 and a cutter motor switching valve 23, and the propulsion cylinders 17 and the cutting cylinders 17 are operated as required.
- Pressure oil is supplied to the hydraulic motor 18 for driving the motor 9 and the screw 1, and these forces are driven.
- the air compressor 24 is a driving source of the pneumatic circuit, and the air discharged from the air compressor 24 is supplied to the pneumatic valve group 25.
- the pneumatic valve group 25 mainly includes a pinch valve pressure control valve 26, the above-described water injection switching valve 14, and a pin removal switching valve 27.
- the pinch valve pressure control valve 26 operates, air of a predetermined pressure is applied to the pinch valve 13 to change the cross-sectional area of the passage 12.
- the water injection switching valve 14 is operated, water or muddy water is supplied to the passage 12 via the water or muddy water pump 28 as described above.
- the pin removal switching valve 27 is operated, the setup change cylinder 29 is driven, whereby the setup change after one stroke is completed.
- the lubrication pump 30 is provided to supply the lubricating material to the surface of the excavator 1. During the propulsion, the lubricating material is discharged from the lubrication discharge port 31 (see Fig. 1) to the surface of the excavator 1. And make the excavation run smoothly.
- the hydraulic / pneumatic sensor 32 is a pressure sensor arranged in the main part of the hydraulic circuit and the pneumatic circuit described above.
- the operation panel 33 is located at the place where the starting HL or the operator on the ground is easy to operate, and the operation panel 33 and the operation panel controller 34 mainly composed of the CPU and the memory are provided.
- An input device 35 composed mainly of a keyboard, a display 36 having a display screen such as a CRT, and an IC card for writing to and reading from the IC card 37 -Consists of a driver 38, a pad light 3 that blinks to inform the operator that he is excavating, and power.
- the operation panel controller 34 has an input / output board 40. A signal from each of the sensors described above is input via the input / output board 4 °, and a control signal for each of the above-described factories is output.
- the detection signal of the oil pressure ⁇ pneumatic pressure sensor 32 is input together with the failure signal, the control signal is output to the inverter motor 19, and the signals of the pneumatic valve group 25 and the hydraulic valve group 21 are output.
- the control symbol is output to the solenoid, and the position / posture detection signal from the laser target 3 is input together with the error signal.
- the leading conduit controller 7 is controlled via the input / output board 40, and at the same time, an error signal is input into the controller 34.
- a signal is output via the I / O board 40 to blink the patrol 39, a control signal for writing to the IC drive drive 38 is output, and a read signal is output. The contents entered are entered.
- the input device 35 inputs data for operating the excavator 1 via the keyboard, and the data is taken into the controller 34. Then, the controller 34 displays a predetermined processing result on the display 36 and gives necessary information to the operator.
- the processing executed by the CPU of the operation panel controller 34 will be described.
- the processing program is stored in the memory of the CPU, and is executed by the operator operating the keyboard as required.
- the processing shown in FIG. 4 is started when an instruction to start execution of the composite control is given by a key operation on the keyboard. Note that this processing is performed when the excavator 1 After the power is turned off, it will be started at the propulsion start stage.
- the soil condition data includes literally soil data indicating that the face of the face is sand, sandy soil, cohesive soil, etc., and when the face contains moisture.
- the soil condition (1) if the soil is sand or sandy soil, and the flooding pressure is equal to or higher than a predetermined threshold, this is classified as soil condition (1), and the cross-sectional area of passage 12 by pinch valve 13 is determined. It is determined that the variable control (hereinafter referred to as “pinch valve control”) is to be performed, and that the control for supplying the muddy material to the passage 12 by the water injection switching valve 14 is to be performed. As a result, the water injection switching valve 14 is operated, the mud material is supplied to the passage 12 and the sandy soil is discharged in a slurry state, and an excessive load is applied to the screw 10. The earth removal can pass through passage 12 without being applied (step 102) o
- the pinch valve control is not to be executed. It is determined that the control to supply water to the passageway 12 by the water injection switching valve 14 (hereinafter referred to as “water injection control”) is executed. As a result, the air pressure in the pinch valve 13 remains zero thereafter, and the cross-sectional area of the passage 12 becomes maximum (step 104).
- the soil condition does not belong to any of the above soil conditions (1) and (3), it is classified as soil condition (2), and it is determined that neither the vinch valve control nor the water injection control is executed. As a result, the cross-sectional area of the passage 12 is maximized, and no water is supplied to the passage 12 (step 103) o
- the reference rotation speed n of the power 9 is set according to the contents of the input soil condition data. This is based on the fact that if the soil is different, the difficulty of excavation is different, and it is necessary to change the rotation speed of the cutter 9 accordingly.
- the rotation speed n according to the soil is stored in the memory in advance. And the corresponding n is read. It is also possible to directly input data indicating the reference number of revolutions n according to the soil at the site from the input device 35 (step 105).
- the propulsion speed V of the excavator 1 is set according to the contents of the soil condition data. This is also based on the fact that the difficulty of propulsion differs for different soil types, and the propulsion speed V needs to be changed accordingly.
- the excavation sectional area that is, the area A of the screw 9, the sectional area a of the screw 10, the pitch 1 of the screw 10 and the propulsion speed V has a relationship as shown in the following equation (1), where k is a coefficient.
- V ka1n / A (1)
- the coefficient k is set as follows according to the soil conditions (1), (2), and (3). ⁇
- the reference propulsion speed V is obtained by substituting the coefficient k set in steps 106 to 108 into the above equation (1).
- a value corresponding to the soil properties at the site may be directly input from the input device 35.
- the reference propulsion speed V obtained in this way changes according to the change in the face accompanying propulsion as described later (step 109).
- Propulsion is then started (step 11), and if the soil condition (1) is satisfied, that is, if it is determined that the pinch valve control is to be executed,
- the reference pressure of the punch valve 13 is set to the predetermined value P.
- the pinch valve reference pressure P is classified and set more finely in the same soil condition (1) according to the content of the input soil condition. Note that the pinch valve reference pressure P according to the soil at the site may be directly input from the input device 35 (step 11 1).
- the measured values of each sensor are sequentially input (Steps 1 and 12), and each actuator is controlled.
- the reference rotation speed n set in the above step 105 is set as a target value of the rotation speed of the cutter 9, and the hydraulic motor 18 is controlled so that the rotation speed is maintained at the target value.
- the reference propulsion speed V set in step 109 above is set as the target value of the propulsion speed, and the propulsion cylinder 17 is controlled so that the propulsion speed is maintained at the target value (step 11). 3).
- the reference pressure P set in the above step 11 is set as the target value of the pressure of the pinch valve 13, and the pressure The pinch valve 13 is controlled so as to be maintained at the reference pressure p—constant (step 114).
- FIG. 8 illustrates the relationship between the time t and the torque T of the cutter 9.
- the torque T increases from the start of rotation, and has a predetermined torque fluctuation width in a steady state. Is fluctuating.
- the sensor measures the center value of the torque fluctuation range.
- the propulsion of the excavator 1 and the rotation of the cutter 9 are controlled so as to be completely stopped to prevent the situation from worsening (step 201).
- the pinch valve 13 is controlled so that the cross-sectional area of the passage 12 is minimized (step 202), and the screw 1
- the rotation of 0 is controlled in the required direction to encourage the removal of clogged soil (step 203).
- the rotation of the screw 10 is set to the normal rotation (step 2 4 4), and it is determined again whether or not the rotation thrust has occurred (step 2 5 5).
- the vinch valve reference pressure is reset so that it becomes higher than the reference pressure p set in step 11 1.
- the passage 12 is controlled to have a smaller cross-sectional area according to the reset pressure. In other words, the rotation stop is prevented from occurring again (step 206). Then, the suspension of the propulsion of the propulsion device 1 and the rotation of the cutting machine 9 is released, and the propulsion is resumed (step 207).
- the push plate 15 is moved in the longitudinal direction of the anti-cover 16. It is determined whether or not the movement has been completed. This may be done by detecting the end of one stroke by a predetermined sensor and making a determination based on this detection signal, or by inputting data indicating "one stroke end" from the keyboard by the operator and inputting the data. The determination may be made from data.
- the propulsion must be stopped, and a setup change, such as connecting the buried pipe to the back of the front pipe 1, is necessary. The processing required only during the process is terminated.
- step 1 17 If it is determined that one stroke has not been completed yet (NO in step 1 17), the process returns to step 1 12 and inputs the measured values of each sensor. Are repeatedly executed.
- step 115 if it is determined in step 115 that the rotation stall has not occurred, the soil condition (1), (2), Processing corresponding to (3) is performed.
- propulsion speed control that varies the reference propulsion speed V according to the face conditions that change with propulsion. That is, of the hydraulic and pneumatic sensors 32, the detection of the sensor that detects the propulsion force F of the propulsion device 1 ⁇ Whether the propulsion force F is greater than or equal to the preset upper limit ⁇ It is determined whether or not it is below the preset lower limit. On the other hand, it is determined whether or not the detected torque ⁇ is equal to or greater than a preset upper limit brix or is equal to or less than a preset lower limit value.
- the load applied to the excavator 1 is determined.
- the reference propulsion speed is reset to a value smaller than the reference propulsion speed V set in step 109 above, and the propulsion speed of the excavator 1 is adjusted to this value.
- the reset reference propulsion speed v— is kept constant (step 1 19).
- direction correcting control in order to drive and control the direction correcting cylinder 5 so that the excavator 1 propells in the direction along the reference plan line (hereinafter referred to as “direction correcting control”), the “directional correcting control” shown in FIG.
- the routine is shifted to the “correction routine” (step 120).
- step 122 If it is determined that the detected torque T has fallen below the lower limit or the detected thrust F has fallen below the lower limit (determination YES in step 122), the load on excavator 1 is reduced. In this case, the standard propulsion speed is reset to a value larger than the reference propulsion speed V set in step 1 ⁇ 9 above, and the propulsion speed of excavator 1 is set to this value. The revised reference propulsion speed V is maintained at a constant value (step 122). Then, the process proceeds to the “direction correction routine” described above (step 120).
- the propulsion is performed (both judgments of Steps 118 and 121 are N 0), the propulsion is proceeding smoothly according to the reference propulsion speed V set in Step 109 above.
- the set reference propulsion speed V is left as it is, and the procedure shifts to the “direction correction routine” described above (step 120).
- the “directional correction routine” shown in FIG. 6 is basically the same as the directional control disclosed in Japanese Patent Application No. 2-179641 of the present applicant. However, the technical difference is that the target attitude angle is calculated based on the history of past direction correction.
- the laser target 3 detects successive attitude angles from the start of propulsion of the excavator 1 to the present, and these are sequentially stored in the memory. Further, the sequential position of the excavator 1 has also been detected, the deviation between the sequential position and the sequential target position is determined, and the sequential positional deviation is stored. Then, an average value of the above-described sequential detected attitude angles is calculated. Ma Further, the amount of change in the above-described sequential displacement is calculated (step 301). Then, the posture K that balances when the excavator 1 goes straight ahead based on the content calculated in step 3 1 ) Is calculated (Step 302)
- the current position of the excavator 1 is obtained based on the output signal of the laser target 3, and the deviation between this and the current target position is obtained as the current position deviation H (step 303).
- f () is defined as a predetermined function (which may be a constant) as follows (2) )
- the current target attitude angle of 0 m is set.
- ⁇ m K-f (H) ⁇ ' ⁇ (2)' (step 304).
- the current attitude angle of the excavator 1 is obtained from the output signal of the laser target 3, and the deviation angle ⁇ ⁇ of this with respect to the current target traveling direction (planned line) is calculated (step 300). ).
- the difference between the target attitude angle em obtained in step 304 and the deviation angle ⁇ n obtained in step 305 is obtained as- ⁇ n force (step 300).
- the target attitude angle S m calculated in step 304 is sequentially stored in the memory from the start of propulsion to the previous time (m ⁇ l).
- the shift angle 0 n calculated in step 305 is sequentially stored in the memory up to the present (n). Therefore, the deviation between the previous target attitude angle 0 m-1 and the current deviation angle 0 n is added (integrated) up to the present as ⁇ ( ⁇ m-1- ⁇ n).
- the above integral value means "speed of direction correction" (step 307).
- the drive amount of the direction correcting cylinder 5 is calculated by fuzzy inference based on the above-mentioned deviation em- ⁇ n and the direction correcting speed ⁇ ( ⁇ m-1— ⁇ n).
- the fuzzy inference itself is disclosed in the above-mentioned Japanese Patent Application No. 2-179641, and is not directly related to the gist of the present invention. ).
- the operation amount Y m of the directional control valve 8 for driving the direction correcting cylinder 5 is The operation amount Ym is calculated and applied to the switching valve 8, whereby the excavator 1 is propelled without shifting along the planned line (Step 309).
- step 115 If it is determined in step 115 that the rotation stall has not occurred, it is determined whether the detected torque T is equal to or greater than the predetermined upper limit and the detected thrust F is equal to or less than the predetermined upper limit. Is determined.
- the upper limit value of the detected torque T is a threshold value for determining whether or not to perform water injection, the upper limit value is set to a value equal to or less than the upper limit value in Step 118. Steps 1 2 3).
- step 1 23 If the determination in step 1 23 is YES, there is no problem with the propulsion itself, and the load is being applied to the screw 10 by viscous soil.Therefore, water injection control is executed to eliminate this. You. As a result, the stickiness is removed and the soil is removed smoothly, so that the screw 1 ⁇ is not overloaded. Then, the procedure shifts to Step 118 to execute the above-described propulsion speed control and direction correction control. On the other hand, if the determination in step 1 23 is N 0, the thrust speed control and the direction correction control are executed because the screen 10 does not have an excessive load and does not need water injection. Move to Step 1 18 to o
- step 115 If it is determined in step 115 that no rotation stall has occurred, it is determined whether the fluctuation of the detected torque T is within a predetermined range (step 125). Then, it is determined whether or not the pitch of the above-described direction correction speed ( ⁇ m ⁇ 1 ⁇ n) is equal to or less than a predetermined value. In order to determine the direction correction speed, other parameters, such as For example, the propulsion speed and the like may be taken into account (step 126). If any of the determinations in steps 1 25 and 1 26 above is YES, it is determined that the excavator 1 is rising slightly and it is difficult to proceed along the planned line.
- Step 130 reset the pinch valve reference pressure to a value larger than the pinch valve reference pressure p set in step 1 1 and set the pinch valve 13 force so as to be maintained at the reset value.
- Step 130 the procedure proceeds to Step 118 to execute the above-described propulsion speed control and direction correction control.
- the propulsion speed control, the direction correction control, the pinch valve control, and the water injection control are performed in a combined manner.
- these controls can be performed independently.
- the propulsion speed control, the direction correction control, the pinch valve control, and the water injection control may be executed only by omitting other controls. Any combination of these controls may be appropriately implemented. You may do it.
- each actuator is not uniquely controlled based on the initially set soil condition, but the condition of the face changing at every moment is detected by each sensor. Since each of them is controlled while correcting the soil condition, the excavator 1 is excavated with high accuracy, and the work efficiency is greatly improved.
- start-up start-up phase when excavator 1 and peripheral equipment are interconnected
- propulsion start The stage when the excavator 1 and peripheral equipment are installed in the starting stand H L and the propulsion is to be started (hereinafter referred to as “propulsion start”).
- Propulsion execution Propulsion of excavator 1 is actually started and the excavation is in progress
- the respective devices are connected by signal lines, and then the power is turned on.
- the transmission of signals between the devices may be performed by radio as needed (step 401).
- the procedure shifts to “Start-up inspection routine J.”
- start-up inspection routine In response to the operator operating the keyboard of the input device 35 to input data indicating “at the start-up”, However, it may be possible to shift to the “start-up inspection routine”.
- self-diagnosis and abnormal warning that are appropriate at the start-up are performed.
- the contents of the self-diagnosis mainly check whether each element of the system is properly connected and whether each element operates normally.
- the operation panel controller 3 For 4 a check is made as to whether the signal from each sensor is input / output normally via the input / output board. (Step 402). As a result, if it is determined that there is an abnormality (YES in step 4003), the error is displayed on the display 36 screen to warn the operator (step 4004). Stop the system operation.
- step 4 If there is no abnormality at the start of work (judgment of step 4 ⁇ 3 N 0), preparation for starting the propulsion is made, and the operator operates the keyboard of the input device 35 to perform “start of propulsion”.
- the routine proceeds to the "oscillation confirmation routine".
- a self-diagnosis and abnormal warning suitable for the start of propulsion are made.
- the content of the self-diagnosis mainly includes the operation check of the actuator required for propulsion.For example, a control signal for driving the direction correcting cylinder 5 is output as required, and the proximity sensor is output.
- step 406 Based on the detection signal of 6, it is possible to judge whether or not the force that allows the head 4 to swing normally is determined (step 406). As a result, if it is determined that there is an abnormality (determination Y E S in step 407), the flow shifts to step 404, and an error is displayed on the display 36 screen.
- step 405 determines whether the automatic chinic operation has been completed, and then the laser target 3 etc.
- Sensor detection and hydraulic pressure ⁇ The fault signal from the pneumatic sensor 32 is input (Steps 4 and 8), and it is determined whether or not a fault has occurred (Steps 4 ⁇ 9). If it is determined that a fault has occurred, it is determined whether it is significant (step 410), based on predetermined criteria, and if so, step 40. The process moves to step 4, and an error message is displayed. On the other hand, if the failure is not serious, a failure flag is set (step 411), and the measurement of various sensors (direct is displayed (step 412)).
- step 409 If it is determined in step 409 that no failure has occurred, The fault flag is reset (step 4 13), and the process proceeds to step 4 12 to display the measured values of various sensors.
- step 414 the menu key is checked (step 414), and it is determined whether or not it is a warning reference (step 415). As a result, if it is a warning reference, a countermeasure advice is displayed (step 4 16), and after the display is completed (step 4 17: YES), the procedure shifts to step 408 again. Is done.
- each actuator is activated.
- the drive is controlled and the propulsion is started (step 419).
- a self-diagnosis and abnormal warning suitable for the propulsion are performed.
- the content of the self-diagnosis is the check of the fault in the construction in addition to the check of the fault described above. That is, the measured values of the various sensors are read out (step 420), a failure occurs (determination YES in step 421), and if it is serious (step 422).
- the judgment of 422 is YES)
- the process proceeds to step 404, and the error is displayed.
- a failure flag is set (step 423), the measured value is displayed, and for each actuator, The control word is output, and digging is continued (step 424).
- construction failures are determined based on the measurement values of each sensor. For example, it is determined that the detected attitude angle has become abnormally large and the detected propulsion force has become abnormally large, etc., based on a predetermined standard. Yes (judgment in step 42 ⁇ ES). If it is determined that the construction defect is serious under the prescribed criteria (determination YES in step 426), the propulsion is stopped for safety and necessary inspection is performed (step 426). Step 4 2 7). On the other hand, if the construction failure is not serious, the failure is flagged (step 428) and the procedure moves to step 424, where the digging continues. It is.
- step 425 If it is determined that no construction failure has occurred (decision N0 in step 425), the failure flag is reset (step 429) and the procedure proceeds to step 424. The promotion is continued.
- step 431 it is determined whether or not the above-mentioned failure flag and the above-mentioned failure flag are set (step 431). If any of the flags is set as a result, the next one stroke Since a serious failure or serious construction failure may occur at the step, a warning to that effect is displayed (step 432), and the procedure is shifted to step 408 again. On the other hand, if neither flag is set (judgment N 0 in step 43 1), there is no particular problem, and the flow shifts to step 408 without displaying the above warning. During the propulsion, Pat 39 is blinking for safety.
- step 501 when the start of propulsion is indicated by a key operation, the processing is started, detection signals of various sensors are input (step 501), and the measured values are displayed (step 501). 2). Then, a key input readout is performed (step 503), and it is determined whether or not the propulsion has actually started (step 504). If the promotion has not been started, it is determined whether or not it is a data reference (step 5 ⁇ 5). As a result, if it is not a reference, the procedure shifts to step 5-1 again and the detection signal is input.
- step 505 If it is determined that it is data reference (YES in step 505), construction data is created and the construction history is displayed (step 506). Then, the key input is read out (step 507), It is determined whether the display is completed (step 508). If the display is not completed, the procedure returns to step 506, and the display of the construction data and history is repeatedly executed. However, if the display is completed, the procedure proceeds to step 501 and the detection is performed. The signal input is performed again.
- step 504 If it is determined in step 504 that the propulsion has been started by a key input, a control signal is output for each actuation unit to start the propulsion (step 509). Thereafter, during the excavation, the detection signal of each sensor is input (step 5110), and the control signal is output at each operation (step 511). During this time, construction data is created based on the detection signals from each sensor. Unless it is strongly detected by the sensor for detecting the end of one stroke—the end of one stroke (judgment N 0 in step 5 12), step 5 1 The processing of 0.51.1 is repeatedly executed, and when the end of one stroke is detected (determination YES in step 512), the control signal for each actuator is turned off to stop the propulsion. (Step 5 13) o
- the construction data created on the IC card 37 is transferred to the IC card 37 via the IC card dry drive 38 (step 5 14), and a new one is added to the construction data already recorded so far.
- Construction data is additionally recorded (Step 5 15) o
- the construction data is transferred when the propulsion is stopped and the changeover is being executed. Therefore, the transfer (the time required) does not affect the actual excavation work. That is, work efficiency is not impaired.
- the construction data for each storage unit is sequentially recorded, data management suitable for a single-stage excavator is performed.
- the processing ends. As long as “Construction end” is not instructed, the procedure shifts to step 501 again, and the same processing is repeatedly executed. In this way, when the construction data is sequentially recorded on the IC card 37, the construction data is taken out from the IC card driver 38, carried and set in the IC card driver 41 of the building. Is done.
- the computer system shown in Fig. 3 makes it possible to analyze, for example, weekly construction records.
- the storage medium for recording the construction data is not limited to an IC card, and any storage medium that can be carried and does not lose its recorded contents even when the power is turned off can be used. Yes o
- the force assuming a small-diameter pipe excavator as the excavator is not limited to this.
- the present invention can be applied to any underground excavator such as a tunnel excavator.
- a change in the soil condition is captured to control each actuate overnight, so that excavation is performed with high accuracy and work efficiency is dramatically improved.
- self-diagnosis checks and abnormality warnings are performed according to each stage of the operation of the excavator, such checks and the like are performed quickly and appropriately, and the reliability of the device is dramatically improved.
- construction data can be automatically recorded for each stroke, the so-called one-step excavator records construction data without impairing work efficiency, and one-step excavation. Data management suitable for the machine is performed, and work efficiency is dramatically improved.
Landscapes
- Engineering & Computer Science (AREA)
- Mining & Mineral Resources (AREA)
- Life Sciences & Earth Sciences (AREA)
- Geology (AREA)
- Environmental & Geological Engineering (AREA)
- General Life Sciences & Earth Sciences (AREA)
- Geochemistry & Mineralogy (AREA)
- Physics & Mathematics (AREA)
- Fluid Mechanics (AREA)
- Excavating Of Shafts Or Tunnels (AREA)
Description
Claims
Priority Applications (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US08/193,172 US5478170A (en) | 1992-06-22 | 1993-06-22 | Controlling apparatus for excavator |
EP93913556A EP0598139A4 (en) | 1992-06-22 | 1993-06-22 | CONTROL DEVICE FOR EXCAVATORS. |
KR1019940700404A KR100292035B1 (ko) | 1992-06-22 | 1993-06-22 | 굴진기의 제어장치 |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP4163045A JP2678706B2 (ja) | 1992-06-22 | 1992-06-22 | 掘進機の制御装置 |
JP4/163045 | 1992-06-22 |
Publications (1)
Publication Number | Publication Date |
---|---|
WO1994000673A1 true WO1994000673A1 (en) | 1994-01-06 |
Family
ID=15766136
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/JP1993/000838 WO1994000673A1 (en) | 1992-06-22 | 1993-06-22 | Control apparatus for excavators |
Country Status (4)
Country | Link |
---|---|
US (1) | US5478170A (ja) |
JP (1) | JP2678706B2 (ja) |
TW (1) | TW240271B (ja) |
WO (1) | WO1994000673A1 (ja) |
Cited By (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US5928807A (en) * | 1995-11-15 | 1999-07-27 | Ballard Power Systems Inc. | Integrated seal for a PEM fuel cell |
CN101967980A (zh) * | 2010-05-17 | 2011-02-09 | 浙江大学 | 变转速变排量复合控制的刀盘闭式液压驱动系统 |
Families Citing this family (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP3135745B2 (ja) * | 1993-05-14 | 2001-02-19 | 株式会社小松製作所 | 小口径管推進機の排土制御装置 |
JP2003082983A (ja) * | 2001-09-12 | 2003-03-19 | Sanwa Kizai Co Ltd | 管埋設工法における施工状態自動記録方法 |
CN102226400B (zh) * | 2011-05-31 | 2012-09-12 | 中铁隧道装备制造有限公司 | 预防土压平衡盾构机因摩阻力过大而卡滞的方法及系统 |
WO2020095450A1 (ja) * | 2018-11-09 | 2020-05-14 | 株式会社安川電機 | 電力変換装置、圧送装置、及び制御方法 |
CN111456746B (zh) * | 2020-04-30 | 2021-07-16 | 中铁工程装备集团有限公司 | 一种超大直径盾构多模式推进系统及控制方法 |
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JPS61257595A (ja) * | 1985-05-08 | 1986-11-15 | 三井建設株式会社 | シ−ルド掘進管理装置 |
JPS62276195A (ja) * | 1986-05-26 | 1987-12-01 | 三菱重工業株式会社 | シ−ルド掘削機における掘削装置 |
JPH0363391A (ja) * | 1989-07-11 | 1991-03-19 | Sato Kogyo Co Ltd | シールド掘進機の自動方向制御方法 |
JPH03107093A (ja) * | 1989-09-19 | 1991-05-07 | Tokimec Inc | シールド掘進機の自動方向制御方法 |
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JPH0468193A (ja) * | 1990-07-09 | 1992-03-03 | Komatsu Ltd | トンネル掘進機の制御方法 |
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JPH0492095A (ja) * | 1990-08-03 | 1992-03-25 | Komatsu Ltd | トンネル掘削機の掘進制御装置 |
JPH0465893U (ja) * | 1990-10-17 | 1992-06-09 |
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DE1534650A1 (de) * | 1966-03-31 | 1969-02-20 | Habegger Maschf | Verfahren und Vorrichtung zur Regelung der Fraestrommelrotation und des Laengsvorschubs fuer Maschinen zum Vortrieb unterirdischer Strecken |
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JP2606872B2 (ja) * | 1988-03-14 | 1997-05-07 | 石川島播磨重工業株式会社 | トンネル掘進機の姿勢制御方法 |
JPH0660555B2 (ja) * | 1988-04-14 | 1994-08-10 | 東京電力株式会社 | シールド機のジャッキパターンの選択方法 |
FI86332C (fi) * | 1989-09-27 | 1992-08-10 | Valto Ilomaeki | Tunnelborrmaskin och foerfarande foer dess reglering. |
FI86330C (fi) * | 1989-09-27 | 1992-08-10 | Valto Ilomaeki | Foerfarande och anordning foer borrning av tunnel. |
JPH07103781B2 (ja) * | 1990-04-19 | 1995-11-08 | 株式会社小松製作所 | 小口径管地中掘進機の操作方法 |
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1992
- 1992-06-22 JP JP4163045A patent/JP2678706B2/ja not_active Expired - Lifetime
-
1993
- 1993-06-22 WO PCT/JP1993/000838 patent/WO1994000673A1/ja not_active Application Discontinuation
- 1993-06-22 US US08/193,172 patent/US5478170A/en not_active Expired - Fee Related
- 1993-12-16 TW TW082110670A patent/TW240271B/zh active
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JPS58195693A (ja) * | 1982-04-16 | 1983-11-14 | 日立建機株式会社 | シ−ルド堀進機 |
JPS61257595A (ja) * | 1985-05-08 | 1986-11-15 | 三井建設株式会社 | シ−ルド掘進管理装置 |
JPS62276195A (ja) * | 1986-05-26 | 1987-12-01 | 三菱重工業株式会社 | シ−ルド掘削機における掘削装置 |
JPH0363391A (ja) * | 1989-07-11 | 1991-03-19 | Sato Kogyo Co Ltd | シールド掘進機の自動方向制御方法 |
JPH03107093A (ja) * | 1989-09-19 | 1991-05-07 | Tokimec Inc | シールド掘進機の自動方向制御方法 |
JPH0434198A (ja) * | 1990-05-31 | 1992-02-05 | Maeda Corp | 土圧系シールド機械の自動運転制御方法 |
JPH0468193A (ja) * | 1990-07-09 | 1992-03-03 | Komatsu Ltd | トンネル掘進機の制御方法 |
JPH0492092A (ja) * | 1990-08-03 | 1992-03-25 | Komatsu Ltd | シールド掘削時の切羽安定制御方法 |
JPH0492095A (ja) * | 1990-08-03 | 1992-03-25 | Komatsu Ltd | トンネル掘削機の掘進制御装置 |
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Cited By (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US5928807A (en) * | 1995-11-15 | 1999-07-27 | Ballard Power Systems Inc. | Integrated seal for a PEM fuel cell |
CN101967980A (zh) * | 2010-05-17 | 2011-02-09 | 浙江大学 | 变转速变排量复合控制的刀盘闭式液压驱动系统 |
CN101967980B (zh) * | 2010-05-17 | 2012-12-12 | 浙江大学 | 变转速变排量复合控制的刀盘闭式液压驱动系统 |
Also Published As
Publication number | Publication date |
---|---|
JPH062491A (ja) | 1994-01-11 |
JP2678706B2 (ja) | 1997-11-17 |
US5478170A (en) | 1995-12-26 |
TW240271B (ja) | 1995-02-11 |
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