JP2000097698A - Propulsion type position measuring instrument using optical fiber gyro and position measuring method using the instrument - Google Patents

Abstract

PROBLEM TO BE SOLVED: To permit propulsion in a section wherein the propulsion is originally impossible by performing position detection in unmeasurable section by the electromagnetic method by effectively using the optical fiber gyro capable of position detection over a travel in a conduit. SOLUTION: The propelling device provided with a tube body 2 for propulsion behind a head device 1 has a pulley installed on the internal wall on the side of the tube body 2 for propulsion behind the head device 1, a duct for allowing the optical fiber gyro to travel is installed in the tube body 2 for propulsion while leaving a proper interval between the tip of the duct and the rear end of the head device 1, and the optical fiber gyro fitted with a traction wire 3 at the tip part is inserted into the duct from its rear end. The traction wire 3 is taken out of the duct from its tip and draw out to the rear end side of the duct body 2 for propulsion through the pulley. The duct into which the traction wire 3 is inserted is formed in the tube body 2 for propulsion by forming a slit along the length.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a general-purpose optical fiber gyro capable of measuring the position and orientation by traveling in a buried pipeline, and is particularly effective when measuring the position of a propulsion pipe. TECHNICAL FIELD The present invention relates to an invention which discloses a basic device and a measuring method thereof.

[0002]

2. Description of the Related Art A conventional Ace Mole position detection method uses an electromagnetic coil mounted inside a propulsion device and compensates for the strength of an electromagnetic field generated by the electromagnetic coil using a receiver arranged on the ground. This was done while detecting the horizontal position during construction of the equipment inside.

[0003]

However, in the conventional method, if other metal buried objects such as power equipment and water pipes are present in the vicinity of the equipment, the electromagnetic field is distorted, causing a large error or sometimes causing a measurement error. In some cases, it became impossible. In addition, especially when propelling under river or railway tracks, the receiver itself cannot be installed, making it impossible to measure directly above and measuring on the road, resulting in traffic obstacles and accidents. Therefore, in urban areas where buried objects are congested, the application of the non-cutting method may be limited.

[0004]

SUMMARY OF THE INVENTION The present invention solves the above-mentioned problems by effectively using an optical fiber gyro capable of performing position measurement while traveling in a pipeline. It uses an apparatus and a method.

That is, according to the present invention, in a propulsion device provided with a propulsion tube behind the tip device, a pulley is installed on an inner wall surface on the side of the propulsion tube at the rear of the tip device. A pipe for running the optical fiber gyro is installed in the pipe at an appropriate distance between the front end of the pipe and the rear end of the tip device, and further, the front end is inserted into the pipe from the rear end of the pipe. An optical fiber gyro having a pulling wire attached to the portion was inserted, and the pulling wire was taken out from the front end of the conduit and pulled out to the rear end side of the propulsion tube via a pulley. In addition, a conduit for inserting a pulling wire was installed in the propulsion pipe.

[0006] The propulsion device is propelled in the section where the electromagnetic method can be measured using the position measuring device configured as described above, and the position of the tip device is measured by using the electromagnetic method. By propelling the propulsion device in the section and running the optical fiber gyro and measuring the position of the tip device, the position detection of the section where the electromagnetic method cannot be measured was performed, and the propulsion of the section which could not be propelled otherwise was enabled. It is.

[0007]

BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a block diagram showing a position measuring apparatus and method according to the present invention. FIG. 1 is an overall view for explaining the measuring apparatus of the present invention, and FIG.
FIG. 3 is an explanatory diagram showing a main part of the measuring device of the present invention, and FIG.
FIG. 4 is a flowchart showing the procedure of the measurement method of the present invention, and FIG.
Is an explanatory diagram of the connecting portion of the tube of the measuring device of the present invention,
FIG. 5 is an explanatory diagram when an index wire is introduced into a connection-side tube at a connection portion of the tube of the measurement device of the present invention,
FIG. 6 is a cross-sectional view showing the movement of the pipeline accommodating the index wire of the present invention.

As shown in the overall schematic diagram of FIG. 1, the present invention is used in a propulsion device for forming a digging hole in the soil reaching the arrival pier by pushing a propulsion pipe from a wall surface inside the construction pier. The propulsion device is mainly configured by providing a propulsion tube 2 behind a tip device 1.

In the propulsion type position measuring apparatus using the optical fiber gyro of the present invention, an optical fiber gyro to be described later is introduced by pulling out the pulling wire 3 in the propulsion device configured as described above. Is analyzed in the measuring vehicle T via the transmission cable 4 to measure the position.

FIG. 2 is an enlarged view of a portion A in FIG. An inner wall surface 1a is formed at the rear of the tip device 1 as shown in the figure. Then, a pulley 7 is erected on the inner wall surface 1a on the side of the propulsion pipe 2.

Downward in the propulsion tube 2, a line 5 for running the optical fiber gyro F is provided between the front end of the line 5 and the rear end of the tip device 1, that is, the inner wall surface 1a. At an appropriate interval, an optical fiber gyro F with a pulling wire 3 attached to the distal end is inserted into the pipeline 5 from the rear end of the pipeline 5.

Optical fiber gyro F used here
Is an OFG sensor using a principle of detecting an angular velocity by using a difference in optical path length between CW light and CCW light. A transmission cable 4 is led out at a rear end and a body portion is formed in a cylindrical pipe. It is a gyro for traveling.

The pulling wire 3 is taken out from the front end of the pipe 5 and is drawn out to the rear end side of the propulsion pipe 2 via the above-mentioned pulley 7. This index wire 3 is connected to an external traction device.

At this time, as shown in FIG.
A pipe line 6 through which the pulling wire 3 is inserted is installed in the upper part of the inside to make indexing more smoothly.

The present invention relates to an apparatus configured as described above,
In the section where the electromagnetic method can be measured, the propulsion device 1 is propelled and the position of the tip device 1 is measured by using the electromagnetic method.
While measuring the position of the tip device 1 by running the optical fiber gyro F in the propulsion tube 2 while pulling the index wire 3, and the specific procedure will be described below. .

First, as pre-processing, the plane of the construction section,
The longitudinal section, buried object, and propulsion baseline are input to the gyro measurement CAD.

In order to run the pipeline route measuring system (traveling type optical fiber gyro F), a pulley 7 for towing is attached to the rear end of the propulsion pipe 2 (PL30 or the like) from the initial stage of propulsion. In this initial propulsion, an accurate position is recorded. (Procedure 1)

Next, a φ150 VU pipe is installed as a conduit 5 for introducing the optical fiber gyro F into the propulsion pipe, and a φ50 VU pipe is installed as a conduit 6 for leading out the pulling wire 3 (L = 2.5 m). ) And usually promote. (Procedure 2)

Next, a measurement correction point is set in an electromagnetic method measurable section, and a measurable portion is input to CAD. (Procedure 3)

Next, before entering the section where the electromagnetic method cannot be measured, the measurement characteristics are examined using the optical fiber gyro F. That is,
In front of the section where the electromagnetic method cannot be measured, the optical fiber gyro is tested and corrected with the propulsion line. (Procedure 4)

When the section enters the section where the electromagnetic method cannot be measured, the optical fiber gyro F is caused to run in the pipeline 5 installed in the propulsion pipe 2 every time the propulsion is completed, and the measurement data is analyzed. At this time, the propulsion position is measured by performing correction using the measurement correction pointer data. (Procedure 5)

Then, the above procedure is repeated until the user escapes from the section where the electromagnetic method cannot be measured.

The specific measurement procedure using the optical fiber gyro F is as follows.

First, the measuring vehicle F is set in a shaft, and the stability and initial values of the optical fiber gyro F are input. Then, an encoder for measuring the extension distance of the gyro F and a wire for a tow wire are set in the shaft. Attach the gold wheel.

After performing correction such as rolling of the optical fiber gyro F in the pipeline 5, the index wire 3 is pulled, and 1 minute per minute.
Run around 2m. Then, when the gyro F reaches the tip, the measurement is stopped to end the measurement, the gyro calculation software is activated, and the measurement result is calculated.

The measurement result is input to the CAD to plot the propulsion position, and the propulsion operator corrects the direction according to the result.

In the above-described measurement of the present invention, during the propulsion and measurement operations, as shown in FIG. 4, the first propulsion tube 21 on the distal end side and the first propulsion tube 21 are used. Pipe 2
The method includes a connection step of connecting the second propulsion pipe 22 to the rear end of the first propulsion pipe.

In the example shown in the figure, the first propulsion pipe 21 on the distal end side is the most distal end, and the second propulsion pipe 22 is 2
It is the third conduit.

When the index wire 3 is attached to the first propulsion pipe 21, the index wire 3 is wound around the wire drum D via the wire winch W. Pull out wire 3 and
The optical fiber gyro F is moved. (Note that the size of the wire drum D is exaggerated in the figure.)

In such a state, the first propulsion pipe 21
When connecting the second propulsion tube 22 to
The lead portion of the index wire 3, that is, the wire drum D is removed, and is introduced into the second propulsion tube 22 through the opening at the front end and pulled out from the opening at the rear end as shown in FIG. Perform the procedure. This is a long index wire 3
Is wound around the drum D.
Since the optical fiber gyro F has a joint with the index wire 3 at the distal end, the joint is removed once, the index wire 3 is pulled out from the rear side of the second propulsion tube 22, and then connected again.

In the apparatus of the present invention, as shown in FIG. 6, a slit 6 is formed in the conduit 6 for the pulling wire along the length direction.
1 is provided so that the pulling wire 3 can be inserted through the slit 61 into the conduit 6 during the above procedure.
After the pulling wire 3 is inserted, the pipe 6 is appropriately rotated (in the direction of the arrow in the drawing) to prevent the tensioned pulling wire 3 from coming out of the pipe again by indexing. I do.

[0031]

As described above, the present invention is an epoch-making invention which detects the position of an unmeasurable section by the electromagnetic method and enables propulsion in a section which cannot be normally propelled. Further, since the optical fiber gyro F used in the present invention can be used for pipe route measurement, it has an advantage that the device can be configured at low cost.

[Brief description of the drawings]

FIG. 1 is an overall view for explaining a measuring device of the present invention.

FIG. 2 is an explanatory diagram showing a main part of the measuring device of the present invention.

FIG. 3 is a flowchart showing the procedure of the measurement method of the present invention.

FIG. 4 is an explanatory view of a connecting portion of a tube of the measuring device of the present invention.

FIG. 5 is an explanatory diagram when an index wire is introduced into a connection-side tube at a connection portion of the tube of the measuring device of the present invention.

FIG. 6 is a cross-sectional view showing the movement of a pipeline accommodating the index wire of the present invention.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Tip apparatus 1a Inner wall surface 2 Propulsion pipe 21 First propulsion pipe 22 Second propulsion pipe 3 Pulling wire 4 Transmission cable 5 Pipe 6 Pipe 61 Slit 7 Pulley F Optical fiber gyro T measuring car W winch for wire D drum

Claims (5)

[Claims] In a propulsion device provided with a propulsion tube behind a tip device, a pulley is installed on an inner wall surface on a side of the propulsion tube at a rear portion of the tip device, and the pulley is inserted into the propulsion tube. Is installed at a proper distance between the leading end of the optical fiber gyro and the rear end of the tip device, and pulls the leading end of the optical fiber gyro into the pipeline from the rear end of the pipeline. A propulsion using an optical fiber gyro, wherein an optical fiber gyro having a wire attached thereto is inserted, and the pulling wire is taken out from the tip of the pipeline and pulled out to the rear end side of the propulsion tube via a pulley. Type position measuring device. 2. The propulsion-type position measuring device according to claim 1, wherein a conduit for inserting a pulling wire into the propulsion tube is provided. 3. A propulsion-type position measuring device according to claim 2, wherein a slit extending in a length direction is formed in a conduit through which the pulling wire is inserted. 4. A position measuring method using the position measuring device according to claim 1 or 3, wherein the propulsion device is propelled in an electromagnetic method measurable section and the position of the tip device is determined by using the electromagnetic method. A position measuring method comprising: a step of measuring; and a step of measuring a position of the tip device by propelling the propulsion device and running an optical fiber gyro in a section where the electromagnetic method cannot be measured. 5. A position measuring method using the position measuring device according to claim 3, wherein the position measuring method comprises: propelling the propulsion device and running an optical fiber gyro to measure a position of the tip device. And the connecting step includes connecting a second propulsion pipe to a rear end side of the first propulsion pipe at a distal end side. In the connecting step, the lead portion of the index wire is moved to the second position.
Position measurement, wherein the pulling wire is inserted into the pulling pipe from the slit after being introduced into the propelling pipe from the opening at the front end and pulled out from the opening at the rear end. Method.