DEVELOPMENT OF THE GROUND EVALUATION METHOD IN CONSTRUCTION ROBOTICS

在以下三种机械施工中，研究了地基性质的评价及其在工程机械自动控制中的应用。(1)隧道掘进机（盾构机）的自动控制通过数值模拟、模型试验和现场试验，研制了盾构机推进自动控制系统。在该系统中，盾构机在推进过程中，从土压力作用在蒙皮板上的日期和它的运动来评估地面特性。盾构机对后续推进过程中作用在盾构机上的土压力进行预测，然后盾构机在预测的土压力条件下确定最佳的推进方式。(2)振动压实机器人技术通过数值模拟、模型试验和现场试验，建立了振动压实现场地面评价方法。该方法通过测量振动压路机的振动特性来评价地基刚度。评价的地面刚度不仅适用于土壤压实的质量控制，而且根据评价的地面条件的振动压路机的最佳控制。(3)提出了深基坑加固中的地基评价方法。采用模糊推理和理论研究相结合的方法，从搅拌扭矩、搅拌叶片的贯入阻力和搅拌叶片的贯入速度等数据出发，对地基性状进行了评价。探讨了地面评价系统在搅拌机自动控制中的应用方法。

Evaluation of the ground properties and its application to the automatic control of construction machinery were studied in the following three kinds of the mechanical construction.(1) Automatic Control of Tunnel Boring Machines (Shield Machines)The automatic control system of the shield machine advancement was developed through the numerical simulation, model experiments and field experiments. In the system, a shield machine evaluates the ground properties during its advancing process from the date of the earth pressure acting on the skin plate and its movements. The shield machines predict the earth pressure which will act on the machine in the following advancing and then the machine determine the best method for its own advancement under the conditions of the predicted earth pressure.(2) Robotics in Vibratory Soil CompactionThe ground evaluation method was developed in the field vibratory soil compaction through the numerical simulation, model experiments and field experiments. In the method, the ground stiffness is evaluated by measuring the vibrating behavior of vibratory rollers. The evaluated ground stiffness is applied not only for the quality control of soil compaction but also for the optimum control of the vibratory rollers according to the evaluated ground conditions.(3) Automation in Deep Ground Improvement MethodThe ground evaluation method in Deep Ground Improvement method was developed. In the study, the ground properties were evaluated from the data of the mixing torque, penetrating resistance which act on the mixing blade and the penetrating speed of the blade with the fuzzy reasoning and theoretical study. The methods for applying the ground evaluation system suggested in this study to the automatic control of the mixing machines were discussed.