Hydraulic and earth engineering – Underground passageway – e.g. – tunnel – Boring
Patent
1991-12-16
1993-02-16
Taylor, Dennis L.
Hydraulic and earth engineering
Underground passageway, e.g., tunnel
Boring
405138, 405184, 175 26, 299 14, E21D 906
Patent
active
051865793
DESCRIPTION:
BRIEF SUMMARY
TECHNICAL FIELD
The present invention relates to an apparatus for controlling the direction of displacement of an underground excavator such as an underground excavator having pipes each having a smaller diameter used therefor or the like by employing a fuzzy presumptive theory.
With respect to an underground excavator having pipes such as city water pipes, sewage pipes, power cable pipes or the like each having a smaller diameter used therefor for excavating the underground region while successively laying pipes in excavated holes, it is necessary that a pilot pipe is propelled by the underground excavator along a planned line for performing excavating operations. In view of the foregoing necessity, direction control for the underground excavator becomes very important.
However, as far as the underground excavator of the foregoing type is concerned, a controlling operation for controlling the direction of excavating operations to be performed is usually performed depending on operator's experiences as well as his six sense. For this reason, the current status is that an accuracy of the performed excavating operation differs depending on an operator's skill.
To obviate the foregoing problems, a proposal has been made in the industrial field of an underground excavator having pipes each having a larger diameter used therefor such as a shield excavator or the like with respect to employment of directional control to be executed depending on an operator's skill in accordance with a fuzzy theory for the underground excavator.
The direction control for the underground excavator in the horizontal direction in accordance with the fuzzy theory will be described below as an example. According to the fuzzy theory, it is assumed that four variables, i.e., a quantity DH of snake motion-shaped displacement of the underground excavator in the horizontal direction, a quantity .DELTA. DH of variation of the snake motion-shaped displacement of the same in the horizontal direction, a deviation angle .theta.H of the same in the horizontal direction and a quantity .DELTA. .theta.H of variation of the deviation angle of the same are taken as input variables, and a quantity .DELTA. EH of adjustment of unidirectional squeezing of the underground excavator in the horizontal direction is taken as an output variable. Then, fuzzy control rules are prescribed corresponding to the four input variables in such a manner that a quantity .DELTA. EH1 of adjustment derived from the control rule on the quantity DH of snake motion-shaped displacement of the underground excavator in the horizontal direction and the quantity .DELTA. DH of variation of the snake motion-shaped displacement of the same as well as a quantity .DELTA. EH2 derived from the fuzzy control rule on the deviation angle .theta.H of the underground excavator in the horizontal direction and the quantity .DELTA. .theta.H of variation of the deviation angle on the same in the horizontal direction are determined. Thereafter, the two quantities as mentioned above are coupled to another fuzzy control rule in accordance with the following equation so as to determine a final quantity of adjustment, i.e., the quantity .DELTA. EH of adjustment of the unidirectional squeezing of the underground excavator in the horizontal direction.
Therefore, the above-described conventional technology is concerned with a proposal on a fuzzy controller for executing directional control for shield excavating operations to be comparatively easily performed in conjunction with the directional control (this is because a shield excavator is propelled while scooping soil and gravel visually recognized in the desired direction of forward displacement thereof by operator's eyes). According to the conventional technology, a quantity of next adjustment to be executed by the fuzzy controller is determined based not only on a difference between the desired direction of forward displacement of the shield excavator and the direction practically assumed by the shield excavator but also on a quantity of variation of
REFERENCES:
patent: 3560753 (1971-02-01), Beug et al.
patent: 4273468 (1981-06-01), Cyfka
patent: 4311411 (1982-01-01), Akesaka et al.
patent: 4513504 (1985-04-01), Nussbaumer et al.
"Application of Fuzzy Theory to Shield Tunnelling Machines", Keisoku to Seigyo, Instrumentation and Control, vol. 27, No. 11, Nov. 1988.
Hanamoto Tadayuki
Takahashi Norio
Kabushiki Kaisha Komatsu Seisakusho
Ricci John
Taylor Dennis L.
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