System for aiding operation of excavating type underground advancing machine

A system for aiding operation of an excavating type advancing machine having a cutter drum;

• an actuator for rocking said cutter drum for controlling advancing direction;
• a motor for rotatingly driving said cutter drum;
• a first sensor group for monitoring a position error of the tip end of said cutter drum and a deflection of gradient thereof relative to a construction planning line, and an operation magnitude of said actuator;
• and
• a second sensor for monitoring a cutter torque;
• the operation aiding system comprising:
• an automatic measurement portion for receiving signals from said first sensor group and said second sensor;
• an automatic adjustment portion for adjusting signals from said automatic measurement portion as input values for fuzzy inference;
• an operation magnitude control aiding system portion for outputting an optimal operation magnitude of said actuator for the next advancing pitch on the basis of said adjusted input values from said first sensor group through the fuzzy inferences;
• a cutter torque control aiding system portion for outputting an optimal operation magnitude of said motor for the next advancing pitch on the basis of said adjusted input value from said second sensor through the fuzzy inference;
• and
• a display output device for displaying outputs of both of said system portions.

A propulsion control system for an excavation type underground propulsive advancing apparatus comprising:

• an elongated cutter means for propelling in the underground;
• a driving means for rotatingly driving said cutter means for excavating propulsion through the underground, said driving means being variable of a driving torque;
• an attitude control means for controlling attitude of said cutter means said attitude control means being operable for adjusting attitude of said cutter means at a controlled magnitude;
• a monitoring means associated with said cutter means for monitoring attitude and excavating behavior of said cutter means for producing an operation parameter indicative signal;
• and
• a control means processing said operation parameter indicative signal for establishing an attitude control parameter based on the operation parameter indicative signal, a desired attitude and a predetermined first certainty rule, and a torque control parameter based on the operation parameter indicative signal and a predetermined second certainty rule for deriving an optimum driving torque and an optimum adjusting magnitude of attitude control on the basis of said torque control parameter and said attitude control parameter.

A propulsion control system for an excavation type underground propulsive advancing apparatus comprising:

• an elongated cutter means for propelling in the underground;
• a propelling means cyclically operable through each advancing cycle for intermittently propelling said cutting means through the underground a driving means for rotatingly driving said cutter means for excavating propulsion through the underground, said driving means being variable of a driving torque;
• an attitude control means for controlling attitude of said cutter means said attitude control means being operable for adjusting attitude of said cutter means at a controlled magnitude;
• a monitoring means associated with said cutter means for monitoring attitude and excavating behavior of said cutter means for producing a first operation parameter indicative signal representative of a deviation of the attitude of the cutter means relative to a desired attitude and a second operation parameter indicative signal representative of an adjustment magnitude of attitude in the current advancing cycle, and third operation parameter indicative signal representative of the driving torque of said driving means in the current advancing cycle;
• and a control means processing said operation parameter indicative signal for establishing an attitude control parameter based on the first and second operation parameter indicative signals and a predetermined first certainty rule, and a torque control parameter based on the third operation parameter indicative signal and a predetermined second certainty rule for deriving an optimum driving torque and an optimum adjusting magnitude of attitude control on the basis of said torque control parameter and said attitude control parameter.

A propulsion control system for an excavation type underground propulsive advancing apparatus comprising:

• an elongated cutter means for propelling in the underground;
• a propelling means cyclically operable through each advancing cycle for intermittently propelling said cutting means through the underground;
• a driving means for rotatingly driving said cutter means for excavating propulsion through the underground, said driving means being variable of a driving torque;
• an attitude control means for controlling attitude of said cutter means said attitude control means being operable for adjusting attitude of said cutter means at a controlled magnitude;
• a monitoring means associated with said cutter means for monitoring attitude and excavating behavior of said cutter means for producing a first operation parameter indicative signal representative of a deviation of the attitude of the cutter means relative to a desired attitude and a second operation parameter indicative signal representative of an adjustment magnitude of attitude in the current advancing cycle, and a third operation parameter indicative signal representative of the driving torque of said driving means in the current advancing cycle;
• and
• a control means processing said operation parameter indicative signal for establishing an attitude control parameter based on the first and second operation parameter indicative signals and according to a predetermined first rule for fuzzy inference, and a torque control parameter based on the third operation parameter indicative signal and according to a predetermined second rule for fuzzy inference, and deriving an optimum driving torque and an optimum adjusting magnitude of attitude control on the basis of said torque control parameter and said attitude control parameter.

A propulsion control system for an excavation type underground propulsive advancing apparatus comprising:

• an elongated cutter means for propelling in the underground;
• a driving means for rotatingly driving said cutter means for excavating propulsion through the underground, said driving means being variable of a driving torque;
• an attitude control means for controlling attitude of said cutter means said attitude control means being operable for adjusting attitude of said cutter means at a controlled magnitude;
• a monitoring means associated with said cutter means for monitoring attitude and excavating behavior of said cutter means for producing an operation parameter indicative signal;
• a control means processing said operation parameter indicative signal for establishing an attitude control parameter based on the operation parameter indicative signal, a desired attitude and a predetermined first certainty rule, and a torque control parameter based on the operation parameter indicative signal and a predetermined second certainty rule for deriving an optimum driving torque and an optimum adjusting magnitude of attitude control on the basis of said torque control parameter and said attitude control parameter;
• and
• a display means for displaying said optimum driving torque and/or said optimum adjusting magnitude.

A propulsion control system for an excavation type underground propulsive advancing apparatus comprising:

• an elongated cutter means for propelling in the underground;
• a propelling means cyclically operable through each advancing cycle for intermittently propelling said cutting means through the underground;
• a driving means for rotatingly driving said cutter means for excavating propulsion through the underground, said driving means being variable of a driving torque;
• an attitude control means for controlling attitude of said cutter means said attitude control means being operable for adjusting attitude of said cutter means at a controlled magnitude;
• a monitoring means associated with said cutter means for monitoring attitude and excavating behavior of said cutter means for producing a first operation parameter indicative signal representative of a deviation of the attitude of the cutter means relative to a desired attitude and a second operation parameter indicative signal representative of an adjustment magnitude of attitude in the current advancing cycle, and a third operation parameter indicative signal representative of the driving torque of said driving means in the current advancing cycle;
• a control means processing said operation parameter indicative signal for establishing an attitude control parameter based on the first and second operation parameter indicative signals and a predetermined first certainty rule, and torque control parameter based on the third operation parameter indicative signal and a predetermined second certainty rule for deriving an optimum driving torque and an optimum adjusting magnitude of attitude control on the basis of said torque control parameter and said attitude control parameter;
• and
• a display means for displaying said optimum driving torque and/or said optimum adjusting magnitude.

A propulsion control system for an excavation type underground propulsive advancing apparatus comprising:

• an elongated cutter means for propelling in the underground;
• a propelling means cyclically operable through each advancing cycle for intermittently propelling said cutting means through the underground;
• a driving means for rotatingly driving said cutter means for excavating propulsion through the underground, said driving means being variable of a driving torque;
• an attitude control means for controlling attitude of said cutter means said attitude control means being operable for adjusting attitude of said cutter means at controlled magnitude;
• a monitoring means associated with said cutter means for monitoring attitude and excavating behavior of said cutter means for producing a first operation parameter indicative signal representative of a deviation of the attitude of the cutter means relative to a desired attitude and a second operation parameter indicative signal representative of an adjustment magnitude of attitude in the current advancing cycle, and a third operation parameter indicative signal representative of the driving torque of said driving means in the current advancing cycle;
• a control means processing said operation parameter indicative signal for establishing an attitude control parameter based on the first and second operation parameter indicative signals and according to a predetermined first rule for fuzzy inference, and a torque control parameter based on the third operation parameter indicative signal and according to a predetermined second rule for fuzzy inference, and deriving an optimum driving torque and an optimum adjusting magnitude of attitude control for the next advancing cycle on the basis of said torque control parameter and said attitude control parameter;
• and
• a display means for displaying said optimum driving torque and/or said optimum adjusting magnitude.