DEVELOPMENT OF THE GROUND EVALUATION METHOD IN CONSTRUCTION ROBOTICS

在以下三种机械施工中，对地面性能评价及其在工程机械自动控制中的应用进行了研究。(1)隧道掘进机（盾构机）自动控制通过数值模拟、模型试验和现场试验，开发了盾构机掘进机自动控制系统。在该系统中，盾构机从作用在蒙皮板上的土压力及其运动的日期开始，对其前进过程中的地面特性进行评估。盾构机预测下一步前进中作用于盾构机的土压力，然后盾构机在预测的土压力条件下确定自身前进的最佳方式。(2)振动压实中的机器人技术通过数值模拟、模型试验和现场试验，建立了现场振动压实的地基评价方法。该方法通过测量振动压路机的振动特性来评估地面刚度。计算得到的地基刚度不仅可用于土体压实质量控制，还可用于根据计算得到的地基条件对振动压路机进行优化控制。(3)深井改良方法自动化研究了深井改良方法中的地基评价方法。采用模糊推理和理论研究的方法，从混合扭矩、作用在混合叶片上的穿透阻力和叶片的穿透速度等数据，对混合叶片的地面性能进行了评价。讨论了将本研究提出的地面评价系统应用于混合机自动控制的方法。

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.