DIRECTIONAL CORRECTING QUANTITY MODEL PRESUMING METHOD FOR TUNNEL ROBOT AND DIRECTION CONTROL SIMULATOR DEVICE

摘要

PURPOSE:To accurately determine a head angle and to automatically control a direction to the above head angle. CONSTITUTION:A small bore tunnel robot 1 controls the angle of a head 1' at the tip of the robot 1 as it is drivenly propelled in a nondischarging style to correct a direction. A directional correcting quantity model 8 is formed so as to display a directional correcting quantity DELTATHETAp, DELTATHETAy in a pitching or a yawing direction of the head angle 1' by the time series term of the pitching direction component THETAhp and yawing direction component THETAhy of the head 1' angle, time series term of the pitching angle varying quantity DELTATHETAp and yawing angle varying quantity DELTATHETAp of a robot body to approximately display the attitude angle of a buried pipe 2 and the linear connection of residual approximated through normal distribution. The parameter of each term is presumed using least square method to presume a direction correcting quantity model 8.