| 摘要 |
PROBLEM TO BE SOLVED: To enable highly accurate grasp of condition of a highly accurate embedding pipe jacking machine irrespective of skillfulness of operators. SOLUTION: A crease angleϕexpressing a horizontal relative angle of the front cylinder of a leading body of an embedding jacking machine and the rear cylinder of the leading body, a horizontal correction valueηH expressing a horizontal relative angle of the cutter head and the front cylinder of the leading body, and a horizontal displacement X<SB>t</SB>of a laser photodetector installed at the rear end of the rear cylinder of the leading body to a planning line are input in a variable vector estimation instrument 407 of successive condition of a horizontal condition estimation instrument 402. A horizontal position posture parameter of the leading body 101 to the horizontal planning line and a parameter of an ARMAX model are online-estimated on the basis of the leading body horizontal revolving model 404 and the leading body horizontal propelling direction model 405. COPYRIGHT: (C)2003,JPO |
