JP2018193792A - Drilling method and drilling apparatus - Google Patents

Abstract

To grasp a drilling position more accurately and to perform drilling accurately.SOLUTION: A drilling method according to an embodiment of the present invention includes drilling locus measurement steps (S130, S180), posture measurement steps (S140, S190), and adjustment steps (S210-S260). In the drilling locus measurement steps, a current is caused to flow through a drill pipe to generate a magnetic field, and an absolute position (drilling locus) of the drill pipe is measured from a reception result of the magnetic field, so that the position of the drill pipe can be grasped more accurately. In the posture measurement steps, the rotation angle and the pitching angle of a distal end head are measured by an inclinometer installed inside the distal end head. In the adjustment steps, the rotation angle position of the distal end head is adjusted so that the drilling position approaches the planned arrival position and is corrected based on the measurement results in the drilling locus measurement steps and the posture measurement steps. In this way, by using the position information of the drill pipe together with the posture information of the distal end head, drilling can be performed with high accuracy.SELECTED DRAWING: Figure 3

Description

  The present invention relates to a drilling method and a drilling apparatus that drill a straight hole or a curved hole in the ground using a drilling tube equipped with a tip head.

  For example, when drilling in the ground using a drilling tube for the purpose of ground improvement, etc., the drilling position, i.e., the position of the drilling tube, must be accurately set in order to carry out the work with high accuracy as designed. It is necessary to grasp. As a method of grasping the position of such a drilled tube, a magnetic field generator is installed in the drilled tube or a dedicated magnetic field generating hole to generate a magnetic field in the ground, and the magnetic field is generated by a receiver on the ground or in the drilled tube. A method of measuring the position by measuring the strength, a method of using the measured value of the gyro sensor fed to the tip of the drilling pipe (for example, see Patent Document 1), and the like. On the other hand, a technique for measuring the attitude of the tip of the drilled pipe by installing an inclinometer or a strain gauge at the tip of the drilled pipe has been proposed (for example, see Patent Document 2).

JP 2010-181233 A JP2015-59317 A

Here, the above-described method for generating a magnetic field may be difficult to measure due to the influence of a ground structure or an underground object. For this reason, it is conceivable to use a technique for measuring the attitude of the tip of the drill tube so that the final position of the drill tube can be predicted even in such a case. Since it is necessary to provide a magnetic field generator and a receiver in the drilling tube, it is difficult to secure a space for installing an inclinometer or a strain gauge in the drilling tube. On the other hand, the method using the gyro sensor can grasp the relative position from the starting point, but cannot grasp the absolute position, so there is room for improvement in the accuracy of the measurement position, and it takes time for one measurement, Overall work time will be longer.
This invention is made | formed in view of the said subject, The place made into the objective is grasping | ascertaining a drilling position more correctly, and performing drilling accurately.

(Aspect of the Invention)
The following aspects of the present invention exemplify the configuration of the present invention, and will be described separately for easy understanding of various configurations of the present invention. Each section does not limit the technical scope of the present invention, and some of the components of each section are replaced, deleted, or further while referring to the best mode for carrying out the invention. Those to which the above components are added can also be included in the technical scope of the present invention.

  (1) a linear drilling step of drilling a straight hole by using a drilling tube equipped with a rotatable tip head having a tapered surface at the tip and pushing the drilling tube while rotating the tip head; , A method of drilling in the ground in combination with a curved drilling step of drilling a curved hole by pushing the drilling tube without rotating the rotary head, the method being exposed to the ground A current flows from a part of the drilling tube to generate a magnetic field centered on the drilling tube in the ground. The magnetic field is received from the ground by a receiver, and drilling starts based on the reception result. Drilling locus measurement step for measuring a drilling locus from a position to the tip head, an attitude measurement step for measuring a rotation angle and a pitching angle of the tip head, and a measurement in the drilling locus measurement step and the posture measurement step Based on the results, the destination Drilling method comprising adjusting step, the adjusting the rotation angle position of the head (claim 1).

  The drilling method described in this section uses a drilling tube equipped with a tip head, and combines a linear drilling process for drilling a straight hole and a curved drilling process for drilling a curved hole. It drills the ground, and further includes a drilling locus measuring step, a posture measuring step, and an adjusting step. In the drilling trajectory measurement process, a current is passed through the drilling pipe from a part of the drilling pipe exposed on the ground, that is, near the tail end of the drilling pipe inserted into the ground. A magnetic field is generated around the drilled tube inserted in. A magnetic field is received from the ground by a receiver operated by a worker or the like, and the absolute position of the drilling tube in the ground is measured from the reception result of the received magnetic field strength and the like. Thereby, the drilling locus by the drilling pipe from the drilling start position to the current tip position is measured. As described above, the hole drilling method described in this section employs a method in which a current flows from a part of the hole drill tube exposed to the ground while generating a magnetic field centered on the hole drill tube. There is no need to provide a magnetic field generator or a receiver in the drilling tube, and a space for installing another measuring device in the drilling tube or the tip head is secured.

  Further, in the posture measurement step, for example, the rotation angle and the pitching angle of the tip head are measured by installing an inclinometer or a strain meter in the space of the tip head secured as described above. In the adjustment step, for example, based on the drilling locus obtained in the drilling locus measuring step and the rotation angle and pitching angle of the tip head obtained in the posture measuring step, the predicted arrival position of the drilling tube is determined. calculate. That is, by grasping the drilling trajectory by the drilling tube so far and the current posture of the tip head, the predicted arrival position in the case of drilling a straight hole or a curved hole as it is is calculated. And, for example, when the predicted arrival position of the drilled pipe is deviated from the planned arrival position, the rotational angle position of the tip head, that is, the tip is adjusted so that the actual arrival position approaches the planned arrival position and is corrected. The direction of the taper surface provided on the head is adjusted. Thereafter, with the direction of the taper surface adjusted, the drilling position is corrected so as to approach the planned arrival position by pushing the drilling tube without rotating the tip head and drilling the curved hole. As described above, the drilling method described in this section uses the predicted arrival position obtained by more accurately grasping the position of the drilled pipe in the drilling trajectory measurement process and using it together with the posture information of the tip head. By doing so, drilling is performed with high accuracy.

(2) In the drilling locus measurement step in the above (1), the positions of the plurality of parts of the drilling pipe are detected from the ground by the receiver, and the positions of the plurality of parts are virtually linear. A drilling method for measuring the drilling locus on the basis of a virtual curve obtained by connecting to a drilling (claim 2).
In the drilling method described in this section, when measuring the drilling trajectory from the drilling start position to the tip head in the drilling trajectory measurement step, the positions of the plurality of parts of the drilling pipe are determined from the ground by the receiver. The drilling locus is measured based on a virtual curve obtained by detecting and virtually connecting the positions of the plurality of parts in a linear shape. In other words, instead of continuously measuring the position of the drilled tube in a linear fashion, the work time is reduced while maintaining the accuracy of the measured position of the drilled tube by intermittently measuring it in multiple points. To do. Furthermore, even when there is a section where it is difficult to receive the magnetic field by the receiver due to the influence of the ground structure or underground structure, the position of the drilling tube is measured at a plurality of positions excluding the section. Thus, the drilling locus can be grasped without any problem.

(3) In the posture measurement step in (1) and (2) above, by bringing the light receiving means closer from the ground through the inside of the drilling tube to the inclinometer attached in advance to the tip head, A drilling method for transmitting data related to the rotation angle and pitching angle of the tip head from the inclinometer to the optical receiving means as an optical signal, and acquiring the data from the optical receiving means via a cable. ).
In the drilling method described in this section, an inclinometer is attached in advance to the space secured in the tip head as described in the above section (1). Examples of inclinometers include two inclinometers that measure the rotation angle and pitching angle of the tip head, or a two-axis inclinometer that can measure these two angles at the same time. Even so, it is installed together with an optical transmission means capable of transmitting an optical signal.

  Then, when measuring the attitude of the tip head in the attitude measurement process, the light receiving means is approached from the ground through the inside of the drilling pipe to the inclinometer attached to the tip head, and the inclinometer is passed through the light transmitting means. Then, data relating to the rotation angle and pitching angle of the tip head is transmitted as an optical signal to the optical receiving means. At this time, by connecting a cable to the optical receiving means, data relating to the rotation angle and pitching angle of the tip head is acquired from the optical receiving means via the cable on the ground side. Thereby, the posture information of the tip head is grasped on the ground side at an arbitrary timing as necessary. In addition, what is necessary is just to perform the approach of the optical receiving means with respect to an inclinometer using the wire etc. which have the rigidity which can propel an optical receiving means inside a drilling pipe.

(4) In the linear drilling step and the curved drilling step in the above items (1) to (3), the drilling locus measuring step, the posture measuring step, and the adjustment each time a predetermined distance is drilled A drilling method for carrying out the process (claim 4).
In the drilling method described in this section, in the straight drilling process and the curved drilling process, every time a straight hole or a curved hole is drilled for a predetermined distance, the drilling operation is temporarily interrupted, The posture measurement process and the adjustment process are executed. As a result, since the drilling position is corrected before the actual drilling position deviates significantly from the planned position, the accuracy of the drilling position is further improved. The predetermined distance can be set to an arbitrary distance according to, for example, the soil quality in the ground, and the distance may be different between the linear drilling process and the curved drilling process.

  (5) In the adjustment step performed during the curved hole drilling step in the above (4), the predicted end point position of the curved hole is calculated from the measurement results of the drilling locus measuring step and the posture measuring step. The difference between the predicted end point position of the curved hole and the planned end position of the curved hole is calculated, and when the difference is out of a predetermined range, the hole trajectory measured in the hole trajectory measuring step is calculated. From the tip, a perpendicular line is virtually drawn with respect to the plan line of the curved hole, and the rotational angle position of the tip head is set so that the tapered surface faces the side opposite to the plan line of the curved hole when viewed in the perpendicular direction. A drilling method for returning to the curved drilling step after adjustment (Claim 5).

  The drilling method described in this section is an adjustment process performed during the curved drilling process, that is, an adjustment process performed by interrupting the drilling every time a predetermined distance is drilled during the drilling of the curved hole. The predicted end point position of the curved hole is calculated from the hole trajectory measured in the hole trajectory measuring step and the rotation angle and pitching angle of the tip head measured in the posture measuring step just before the adjustment step. In other words, the predicted end point position of the curved hole when the drilling of the curved hole is continued is calculated by grasping the drilling locus of the curved hole so far and the posture information of the current tip head. . Furthermore, the difference between the predicted end point position of the curved hole calculated as described above and the planned end point position of the curved hole set in advance before construction is calculated.

  Then, when the calculated difference in the end point position deviates from the predetermined range set in advance, the rotation angle position of the tip head is calculated so that the cutting direction of the curved hole is corrected in the direction approaching the planned end point position. To do. Specifically, from the tip of the drilling locus measured in the drilling locus measurement step, a perpendicular line is virtually drawn with respect to the planned line of the curved hole (planned drilling locus set in advance before construction). The rotation angle position of the tip head is calculated so that the taper surface of the tip head faces the opposite side of the curved hole plan line. Then, after adjusting the rotation angle position of the tip head to the calculated rotation angle position, the process returns to the curve drilling step to drill the curve hole. By drilling the hole without rotating the tip head in this state, the tip head is propelled in a direction approaching the planned end position due to the influence of the pressure received on the tapered surface. For this reason, a curved hole is drilled more accurately. In addition, said predetermined range is set according to the performance etc. of the measuring instrument used in a drilling locus measurement process or an attitude | position measurement process.

  (6) In the adjustment step performed during the linear drilling step in (4) and (5) above, the predicted end point position of the linear hole is determined from the measurement results of the drilling locus measurement step and the posture measurement step. And calculating a difference between the predicted end point position of the straight hole and the planned end point position of the straight hole, and if the difference is out of a predetermined range, the cutting hole measured in the hole trajectory measuring step is calculated. The tip head is rotated so that a perpendicular line is virtually drawn from the tip of the hole trajectory with respect to the planned line of the straight hole, and the tapered surface faces the opposite side of the planned line of the straight hole as viewed in the perpendicular direction. A drilling method for adjusting the angular position and performing the curved drilling step for a predetermined drilling length, and then returning to the linear drilling step (Claim 6).

  The drilling method described in this section is an adjustment process performed during the straight hole drilling process, that is, an adjustment process performed by interrupting the drilling every time a predetermined distance is drilled during the straight hole drilling process. The predicted end point position of the straight hole is calculated from the drilling trajectory measured in the drilling trajectory measuring step and the rotation angle and pitching angle of the tip head measured in the posture measuring step immediately before the adjusting step. In other words, the predicted end point position of the straight hole when the straight hole is continuously drilled is calculated by grasping the drilling trajectory of the straight hole up to that point and the current posture information of the tip head. . Furthermore, the difference between the predicted end point position of the straight hole thus calculated and the planned end point position of the straight hole set in advance before the construction is calculated. Then, when the calculated difference in the end point position is out of the predetermined range, the rotation angle position of the tip head is calculated so that the drilling direction of the straight hole is corrected to approach the planned end point position. To do.

  Specifically, from the tip of the drilling locus measured in the drilling locus measurement step, a perpendicular line is virtually drawn with respect to the straight hole planned line (planned drilling locus set in advance before construction). The rotational angle position of the tip head is calculated so that the taper surface of the tip head faces the opposite side of the straight line hole plan line. Then, after adjusting the rotation angle position of the tip head to the calculated rotation angle position, a curved hole is drilled for a predetermined drilling length. By cutting the curved hole without rotating the tip head in this state, the tip head is propelled in a direction approaching the planned end point position of the straight hole due to the influence of the pressure received on the tapered surface. In other words, when the predicted end point position of a straight hole deviates from the planned end point position, it is necessary to temporarily cut a curved hole to correct the drilling direction. A curved hole is drilled only for the hole length. Thereafter, the process returns to the linear drilling step to drill the linear hole. Thereby, a straight hole is drilled more accurately. In addition, what is necessary is just to set about said predetermined range according to the performance etc. of the measuring device used in a drilling locus measurement process or an attitude | position measurement process.

(7) In the above item (6), the predetermined drilling length is determined from the measurement result of the drilling trajectory measurement step when the curved hole that has been drilled is drilled. A drilling method that is calculated based on the radius of curvature of (Claim 7).
The drilling method described in this section calculates a predetermined drilling length, which is a length of a curved hole to be drilled when correcting the direction of the straight hole, based on the curvature radius of the already drilled curved hole. Is. At this time, the radius of curvature of the curved hole that has been drilled is obtained from the drilling locus of the curved hole measured in the drilling locus measuring step performed during the drilling of the curved hole. The radius of curvature of the curved hole thus obtained is a radius of curvature reflecting the influence of the soil in the ground that is actually drilled. For this reason, the predetermined drilling length calculated on the basis of it is calculated as an appropriate drilling length in consideration of the influence of underground soil quality.

(8) A gyro sensor capable of measuring at least the pitching direction and the yawing direction is passed through the inside of the hole drill tube to the vicinity of the tip head in the hole trajectory measuring step in the above items (1) to (7). After feeding, the gyro sensor performs measurement while pulling up the gyro sensor, and the feeding amount of the linear feeding means connected to the gyro sensor is measured. Based on the measurement result by the gyro sensor and the feeding amount Then, a drilling method using the method of measuring the drilling locus in combination (Claim 8).
The drilling method described in this section uses two methods together as a method for measuring the drilling locus from the drilling start position to the tip head in the drilling locus measuring step. That is, one method is a method in which a current is passed through the drilling tube described in the above section (1), and the other method is a method in which a gyro sensor is sent to the vicinity of the tip head.

  More specifically, the other method is to feed a gyro sensor capable of measuring at least the pitching direction and the yawing direction through the inside of the drilling pipe to the vicinity of the tip head, and then lift the gyro sensor through the inside of the drilling pipe. However, the angular velocity is measured on the path along which the gyro sensor has moved. At this time, linear feeding means such as a wire having rigidity capable of propelling the gyro sensor in the hole drilling pipe is connected to the gyro sensor and fed, and the feeding amount of the linear feeding means is measured. At this time, the feeding amount of the feeding means may be measured either when the feeding means is fed or when the feeding means is fed. And a drilling locus | trajectory is measured based on the measurement result by a gyro sensor, and the feeding amount of a feeding means. Thus, for example, as a main method of measuring the drilling locus, a method of passing a current through the drilling tube is used, and a measurement method using a gyro sensor is adopted for a section where measurement by this method is difficult. Done. By measuring the drilling locus in this way, the accuracy of predicting the arrival position of the drilling tube is improved, and drilling is performed with higher accuracy.

  (9) Using a drilling tube equipped with a rotatable tip head having a tapered surface at the tip, a straight hole drilling a straight hole by pushing the drilling tube while rotating the tip head; A drilling device comprising a drilling machine that drills a hole in the ground in combination with a curved drilling machine that drills a curved hole by pushing the drilling tube without rotating the rotary head, Magnetic field generating means for generating a magnetic field centered on the drilling tube in the ground by flowing current from a part of the drilling tube exposed to the ground, and a receiver for receiving the magnetic field from the ground And a first measuring means for measuring a drilling trajectory from a drilling start position to the tip head based on a reception result by the receiver, and the tip head Posture measuring means for measuring the rotation angle and pitching angle of A drilling hole comprising: a rotation angle calculation unit that calculates a rotation angle position of the tip head based on measurement results by the first drilling locus measurement unit and the posture measurement unit; and a control unit that controls the entire apparatus. Device (claim 9).

(10) In the above item (9), the first drilling locus measuring means detects the positions of a plurality of parts of the drilling tube from the ground using the receiver, and the first measuring means uses the plurality of holes. A drilling device for measuring the drilling trajectory based on a virtual curve obtained by virtually connecting the positions of these parts in a linear form (Claim 10).
(11) In the above paragraphs (9) and (10), the posture measuring means is made to approach the inclinometer through the inside of the drilling tube from the ground and an inclinometer attached in advance to the tip head, A hole drilling device comprising: an optical receiver that receives data relating to the rotation angle and pitching angle of the tip head from an inclinometer as an optical signal; and a data acquisition unit that acquires the data from the optical receiver via a cable (Claim 11).

(12) In the above items (9) to (11), the control means performs the first operation every time a predetermined distance is drilled during the drilling of the straight hole and the curved hole by the drilling machine. Measurement of the drilling locus by the drilling locus measuring means, measurement of the rotation angle and pitching angle of the tip head by the attitude measurement means, and calculation of the rotation angle position of the tip head by the rotation angle calculation means. A drilling device that controls to be performed (claim 12).
(13) In the above item (12), the rotation angle calculation means, during the drilling of the curved hole by the drilling machine, from the measurement results by the first drilling locus measuring means and the posture measuring means, The predicted end point position of the curved hole is calculated, and the difference between the predicted end point position of the curved hole and the planned end point position of the curved hole is calculated, and when the difference is out of a predetermined range, the first From the tip of the drilling locus measured by the drilling locus measuring means, a perpendicular line is virtually drawn with respect to the planned line of the curved hole, and the taper surface and the planned line of the curved hole are viewed in the perpendicular direction. The rotation angle position of the tip head is calculated so as to face the opposite side, and the control means is configured to cut the curved head by the rotation angle calculation means during the drilling of the curved hole by the drilling machine. In response to the calculation of the rotation angle position, After adjusting the rotational angular position of the end head, drilling device according to claim 12, characterized in that to return the drilling of the curved hole by the drilling machine (claim 13).

(14) In the above items (12) and (13), the rotation angle calculation means is measured by the first drilling locus measuring means and the posture measuring means during the drilling of the straight hole by the drilling machine. From the results, calculate the predicted end point position of the straight hole, calculate the difference between the predicted end point position of the straight hole and the planned end point position of the straight hole, and when the difference is out of the predetermined range, From the tip of the drilling locus measured by the first drilling locus measuring means, a perpendicular line is virtually drawn with respect to the planned line of the straight hole, and the taper surface of the straight hole is viewed in the perpendicular direction. The rotation angle position of the tip head is calculated so as to face the side opposite to the planned line, and the control means is configured to perform the rotation angle calculation means during the drilling of the linear hole by the drilling machine. Based on the calculation of the rotation angle position of the tip head A drilling device that adjusts the rotational angle position of the tip head, causes the curved hole to be drilled by the drilling machine to a predetermined drilling length, and then returns to the straight hole drilling by the drilling machine (Claim 14).
(15) In the above-mentioned item (14), the control means obtains the curved hole that has been drilled and is obtained from a measurement result by the first drilling locus measuring means when the curved hole that has been drilled is drilled. A drilling device that calculates the predetermined drilling length based on the radius of curvature of the drilling device (claim 15).

(16) In the above items (9) to (15), a gyro sensor that is sent to the vicinity of the tip head through the inside of the drilling tube and that can measure at least the pitching direction and the yawing direction, and is connected to the gyro sensor A feeding amount measuring means for measuring the feeding amount of the linear feeding means, and a second measuring means for measuring the drilling locus based on the measurement results by the gyro sensor and the feeding amount measuring means. The rotation angle calculation means and the control means include the drilling locus measured by the first drilling locus measurement means and the second drilling locus measurement. A drilling device using the drilling locus measured by the means together (Claim 16).
The hole drilling devices described in the items (9) to (16) are used for the hole drilling methods described in the items (1) to (8), respectively, and the items (1) to (8) above. This has the same effect as the hole drilling method.

  Since this invention is the above structures, it becomes possible to grasp | ascertain a drilling position more correctly and to drill a hole precisely.

It is a block diagram which shows an example of a structure of the drilling apparatus which concerns on embodiment of this invention. It is sectional drawing of the front-end | tip head utilized with the hole drilling apparatus which concerns on embodiment of this invention. It is a flowchart which shows an example of the drilling method which concerns on embodiment of this invention. FIG. 4 is a flowchart illustrating an example of the drilling method according to the embodiment of the present invention, following FIG. 3. It is an image figure which shows a mode that the ground is drilled with the drilling method which concerns on embodiment of this invention.

DESCRIPTION OF EMBODIMENTS Hereinafter, embodiments for carrying out the present invention will be described with reference to the accompanying drawings. Here, detailed description of the same or corresponding parts as those of the prior art is omitted, and the same or corresponding parts are denoted by the same reference numerals throughout the drawings.
First, FIG. 1 shows a configuration of a drilling device 10 according to an embodiment of the present invention. As illustrated, the drilling device 10 includes a drilling machine 12, a first drilling locus measuring unit 30, an attitude measuring unit 40, a rotation angle calculating unit 60, a control unit 64, a second drilling unit. Hole trajectory measuring means 70. Although the detailed description is omitted, the hole drilling machine 12 drills holes by pushing the hole drilling pipe 26 fitted with the tip head 14 into the ground, and sequentially pushes the hole drilling pipe 26 while adding the holes. It will be extended. At this time, a straight hole is drilled by pushing the drilling tube 26 while rotating the tip head 14, and a curved hole is drilled by pushing the drilling tube 26 without rotating the tip head 14.

  Here, the tip head 14 has a structure as shown in FIG. 2 in this embodiment. The tip head 14 has a tapered surface 16 formed at a part of the tip, and is used for injecting drilling water into the drilling hole on the tip side (left side in the figure) where the tapered surface 16 is not provided. An injection port 18 is provided. Further, a water pressure sensor 20 for measuring the water pressure of the drilling water is installed inside the tip head 14. Further, as will be described in detail later, a sensor unit 42 constituting the posture measuring means 40 is installed inside the tip head 14.

  Returning to FIG. 1, the first drilling trajectory measuring means 30 measures the drilling trajectory by the drilling pipe 26, and includes a magnetic field generating means 32, a receiver 34, and a first measuring means 36. Yes. The magnetic field generating means 32 causes a current to flow from the portion 26a (see FIG. 5) of the drilling tube 26 exposed to the ground to the drilling tube 26, thereby magnetic field around the drilling tube 26 in the ground. Is generated. The receiver 34 is operated by a worker or the like on the ground, and receives a magnetic field generated from the ground around the drilled pipe 26 in the ground. Further, the first measuring means 36 measures the position of the drilling tube 26 inserted in the ground based on the strength of the magnetic field received by the receiver 34, thereby drilling the hole by the drilling tube 26. This is to measure the trajectory. Note that the position of the drilling tube 26 measured by the first drilling locus measuring means 30 is the absolute position of the drilling tube 26.

  Similar to the first drilling locus measuring means 30, the second drilling locus measuring means 70 measures a drilling locus by the drilling pipe 26, and includes a gyro sensor 72, a feed amount measuring means 74, and a second. Measuring means 76 is provided. The gyro sensor 72 measures at least accelerations in the pitching direction and the yawing direction, and is fed to the vicinity of the tip head 14 through the inside of the hole drilling tube 26 by a linear feeding means such as a wire. Thereafter, the acceleration is measured along the path along which the gyro sensor 72 has moved while being pulled up through the inside of the drilling tube 26 via the linear feeding means. The feeding amount measuring means 74 measures the feeding amount (feeding length) of the linear feeding means connected to the gyro sensor 72 when the gyro sensor 72 is sent to the vicinity of the tip head 14. The second measuring means 76 measures the position of the drilled pipe 26 through which the gyro sensor 72 is passed, based on the measurement result by the gyro sensor 72 and the measurement result by the feed amount measuring means 74. The drilling locus by the pipe 26 is measured. The position of the drilling pipe 26 measured by the second drilling path measuring means 70 is a relative position starting from the position where the gyro sensor 72 starts to be inserted into the drilling pipe 26.

  The attitude measuring means 40 measures the attitude of the tip head 14 attached to the tip of the hole drilling pipe 26, and includes an inclinometer 44, a substrate 46, a battery 48, and an optical transmission means 50 that constitute the sensor unit 42. And an optical receiving means 52 and a data acquisition means 54. As shown in FIG. 2, the sensor unit 42 is attached in advance to the inside of the tip head 14, and the inclinometer 44 can measure the rotation angle (rolling angle) and the pitching angle of the tip head 14 in this embodiment. A two-axis type is adopted. The substrate 46 converts the data measured by the inclinometer 44 into an optical signal, and the optical transmission means 50 transmits the data converted into the optical signal. The battery 48 supplies power to the inclinometer 44, the substrate 46, the optical transmission means 50, and the like. The light receiving means 52 shown in FIG. 1 receives measurement data from the light transmitting means 50 by the inclinometer 44 as an optical signal by being brought close to the light transmitting means 50 through the inside of the drilling tube 26 by a wire or the like. Further, the data acquisition means 54 is connected to the optical receiving means 52 that is brought close to the optical transmitting means 50 by a cable, so that the measurement data obtained by the inclinometer 44 is transferred to the ground via the optical transmitting means 50 and the optical receiving means 52. Is to get on the side.

  The rotation angle calculation means 60 includes a drilling trajectory of the drilled pipe 26 measured by the first drilling trajectory measuring means 30 or the second drilling trajectory measuring means 70, and a tip head measured by the attitude measuring means 40. The rotational angle position of the tip head 14 for correcting the direction of drilling by the hole drilling tube 26 is calculated based on the posture information 14. A calculation method by the rotation angle calculation means 60 will be described later. On the other hand, the control means 64 controls the entire hole drilling apparatus 10, and also serves as the rotation angle calculation means 60 in the present embodiment. For this reason, the control means 64 is connected to each of the drilling machine 12, the first drilling locus measuring means 30, the second drilling locus measuring means 70, and the posture measuring means 40. It is composed of computers.

Next, the drilling method according to the embodiment of the present invention, which is performed using the above-described drilling apparatus 10, will be described along the flow of the flowcharts shown in FIGS. 3 and 4. In the present embodiment, an example will be described in which drilling is performed using the drilling machine 12 as shown in the image diagram of FIG. In the example of FIG. 5, a straight hole SH1 having a length of about 5 m, a curved hole CH having a curve length of about 21 m, and a straight hole SH2 having a length of about 44 m are drilled in combination. The radius of curvature of CH is about 60 m, the depth of the straight hole CH2 is about 5.3 m, and the horizontal length from the drilling start position to the end point of the straight hole SH2 is about 69 m. 3 and 4 indicates that the processing continues from the reference A in FIG. 3 to the reference A in FIG. Also, refer to FIG. 1 for the configuration of the drilling device 10 and FIG. 2 for the configuration of the tip head 14 as appropriate.
S100 (Drilling machine installation): The drilling machine 12 is installed at a position planned in advance, and the drilling pipe 26 to which the tip head 14 is attached is set in the drilling machine 12. In addition, the drilling tube 26 is made of a metal having electrical conductivity and flexibility.

S110 (Start of straight hole drilling): First, the drilling of the initial oblique straight hole SH1 is started by the driller 12 from the drilling start position planned in advance. At this time, the straight hole SH1 is drilled while rotating the tip head 14 attached to the tip of the drilling tube 26 and jetting drilling water from the jet port 18 of the tip head 14.
S120 (End of straight hole drilling): After the straight hole SH1 has been drilled long in advance, the drilling of the straight hole SH1 is terminated. The initial straight hole SH1 is not so long (for example, about 5 m) and is a portion close to the drilling machine 12, so that it hardly deviates from the planned drilling position. For this reason, in this embodiment, during the drilling of the straight hole SH1, the drilling locus measurement process and the attitude measurement process of the tip head 14 described later are not performed, for example, inserted into the underground G of the drilling pipe 26. What is necessary is just to judge the drilling length of the straight hole SH1 from the length of a part.

  S130 (drilling trajectory measurement): The first excavation trajectory measuring means 30 or the second excavation trajectory measuring means 70 measures the drilling trajectory at the time when the drilling of the straight hole SH1 is completed. When performing measurement using the first drilling locus measuring means 30, first, the magnetic field generating means 32 is connected to a part 26a exposed to the ground of the drilling pipe 26, and the entire drilling pipe 26 is connected. By passing an electric current, a magnetic field is generated around the drilled tube 26 in the underground G. Then, the receiver 34 receives the underground G magnetic field from the ground, and the first measuring means 36 determines the position (absolute position and depth) of the drilling tube 26 based on the strength of the magnetic field received by the receiver 34. Measure. At this time, the position of the drilled tube 26 may be continuously measured linearly or intermittently measured in a plurality of dots. Thereafter, the first measurement means 36 measures the drilling locus from the position of the drilling tube 26. That is, when the position of the drilling tube 26 is continuously measured linearly, it indicates the drilling locus as it is, and when it is measured intermittently in a plurality of points, the plurality of these A virtual curve obtained by virtually connecting the positions in a linear shape indicates a drilling locus.

  On the other hand, when measurement is performed using the second drilling locus measuring means 70, first, the gyro sensor 72 is moved from the tail end side of the drilling pipe 26 by the linear feeding means such as a wire. Is fed to the vicinity of the tip head 14 through the inside of the head. Thereafter, by taking up the linear feeding means, while pulling up the gyro sensor 72 through the inside of the drilling pipe 26, the gyro sensor 72 accelerates the acceleration in the pitching direction and the yawing direction on the path along which the gyro sensor 72 has moved. measure. Further, when the gyro sensor 72 is fed or pulled up, the feeding amount measuring means 74 measures the feeding amount of the linear feeding means. Then, based on the measurement result by the gyro sensor 72 and the measurement result by the feed amount measurement means 74, the position of the path along which the gyro sensor 72 has moved, that is, the gyro sensor 72 is passed by the second measurement means 76. The position of the drill tube 26 (relative position starting from the feed start position of the gyro sensor 72) is measured. The position of the drilling tube 26 measured in this way becomes a drilling locus by the drilling tube 26.

  Here, reference will be made to the proper use of the first drilling locus measuring means 30 and the second drilling locus measuring means 70. For example, the first drilling trajectory measuring unit 30 is basically used for measuring the drilling trajectory, and the first drilling trajectory measuring unit 30 is influenced by the influence of the ground structure or the underground object. The second drilling locus measuring means 70 may be used only in a section where it is difficult for the receiver 34 to receive the magnetic field generated by the magnetic field generating means 32. Moreover, it is good also as improving the precision of a measurement result by measuring using both the 1st drilling locus | trajectory measurement means 30 and the 2nd drilling locus | trajectory measurement means 70 at the same timing.

  S140 (tip head attitude measurement): The attitude measuring means 40 measures the attitude of the tip head 14 at the time when the drilling of the straight hole SH1 is completed. Here, in the present embodiment, the sensor unit 42 of the posture measuring means 40 built in the tip head 14 is always in an on state during drilling, and the tilt angle 44 is used to set the rotation angle and pitching angle of the tip head 14. It is set to always measure. For this reason, in this process, in order to acquire the data measured by the inclinometer 44, the work which makes the optical receiving means 52 approach the optical transmitting means 50 of the sensor part 42 is performed. Specifically, the light receiving means 52 and the data acquisition means 54 are connected by a cable, and the light receiving means 52 in the state connected by the cable is brought close to the light transmitting means 50 through the inside of the hole drilling tube 26 by a wire or the like. Then, the measurement data obtained by the inclinometer 44 converted into an optical signal by the substrate 46 or the like is received from the optical transmission means 50 to the optical reception means 52 and transmitted from the optical reception means 52 to the data acquisition means 54 via a cable. . In this way, data on the rotation angle and pitching angle of the tip head 14 measured by the inclinometer 44 of the posture measuring means 40 is acquired on the ground side.

  S150 (rotation angle position calculation): The rotation angle calculation means 60 calculates the rotation angle position of the tip head 14 for drilling the curved hole CH following the straight hole SH1 based on the measurement results in S130 and S140. To do. Specifically, it is provided in the tip head 14 for drilling the curved hole CH as planned by the tip head 14 at the position grasped in S130 and in the posture grasped in S140. The direction of the tapered surface 16 is calculated. The direction of the tapered surface 16 is usually the direction opposite to the bending direction of the curved hole CH in the radial view of the curved hole CH. Therefore, the rotational angle position of the tip head 14 is calculated so that the tapered surface 16 faces in such a direction.

S160 (Rotation angle position adjustment): The control unit 64 adjusts the rotation angle position of the tip head 14 so as to be the rotation angle position of the tip head 14 calculated in S150. Specifically, the difference in angle between the current posture (rotation angle) of the tip head 14 grasped in S140 and the rotation angle position of the tip head 14 calculated in S150 is calculated, and the tip difference is calculated by this angle difference. The head 14 is rotated.
S170 (curve drilling start): Drilling of the curved hole CH is started by the drilling machine 12 with the rotational angle position of the tip head 14 adjusted in S160. At this time, the curved hole CH is drilled while jetting water from the jet port 18 of the tip head 14 without rotating the tip head 14 attached to the tip of the bore pipe 26.

S180 (drilling trajectory measurement): After the curved hole CH is drilled for a predetermined distance (for example, 3 m), the drilling of the curved hole CH is temporarily interrupted, and the first drilling trajectory measuring means 30 or the second drilling path The hole trajectory measuring means 70 measures the current drilling trajectory. Since the measurement method is the same as that in S130, detailed description is omitted.
S190 (tip head attitude measurement): Following S180, the attitude measuring means 40 measures the attitude of the tip head 14 when the curved hole CH is drilled by a predetermined distance (for example, 3 m). Since the measurement method is the same as that in S140, detailed description is omitted.

S200 (curved hole end point determination): Based on the drilling locus measured in S180, the control means 64 determines whether or not the curved hole CH has reached a preset planned end position of the curved hole CH. . If it is determined that the planned end position has been reached (YES), the process proceeds to S270, and if it is determined that the planned end position has not been reached (NO), the process proceeds to S210.
S210 (Calculation of difference in curve hole end point position): The rotation angle calculation means 60 calculates the predicted end point position of the curve hole CH from the measurement results in S180 and S190. Specifically, the predicted end point position of the curved hole CH when the curved hole CH is continuously drilled from the position of the drilled pipe 26 measured in S180 with the attitude of the tip head 14 measured in S190. Is calculated. At this time, the radius of curvature R of the curved hole CH at the present time may be calculated from the drilling locus measured in S180 and used for calculating the predicted end point position of the curved hole CH. Further, the rotation angle calculation means 60 calculates a difference between the calculated predicted end point position of the curved hole CH and a preset planned end position of the curved hole CH.

S220 (Difference determination): The rotation angle calculation means 60 determines whether or not the difference in the end point position of the curved hole CH calculated in S210 is within a predetermined range. When it is determined that the difference is within the predetermined range (YES), the process proceeds to S230, and when it is determined that the difference is not within the predetermined range (NO), the process proceeds to S240. The predetermined range used for the determination is based on the measurement performance of the first drilling locus measuring means 30 or the second drilling locus measuring means 70 used in S180 and the posture measuring means 40 used in S190. An arbitrary range may be set accordingly.
S230 (Continuous curve drilling): Since it was determined in S220 that there is no problem with drilling the curved hole CH as it is, the drilling of the curved hole CH by the drilling machine 12 is continued. Then, after the curved hole CH is drilled by a predetermined distance (for example, 3 m), the process returns to S180.

S240 (rotation angle position calculation): Since it is determined in S220 that the drilling direction needs to be corrected, the rotation angle position of the tip head 14 for correcting the drilling direction of the curved hole CH is set as the rotation angle calculation means. 60. Specifically, first, from the tip of the drilling locus measured in S180 (the tip at the present time of the curved hole CH) to the preset plan line (planned drilling locus) of the curved hole CH, Virtually draw a perpendicular line. Then, the rotational angle position of the tip head 14 is calculated such that the taper surface 16 of the tip head 14 faces the opposite side of the plan line of the curved hole CH in this perpendicular direction view.
S250 (Rotation angle position adjustment): The rotation angle position of the tip head 14 is adjusted by the control means 64 so as to be the rotation angle position of the tip head 14 calculated in S240. Since the specific method is the same as that of S160, detailed description thereof is omitted.

S260 (Curve drilling restart): With the rotational angle position of the tip head 14 adjusted in S250, drilling of the curved hole CH by the drilling machine 12 is restarted. Then, after the curved hole CH is drilled by a predetermined distance (for example, 3 m), the process returns to S180.
Here, in consideration of returning from S230 or S260 to S180, S180 to S260 are performed every time the curved hole CH is drilled by a predetermined distance (for example, 3 m) until the curved hole CH reaches the end point. It will be executed repeatedly.

S270 (Start of straight hole drilling): Since it is determined in S200 that the drilling of the curved hole CH has been completed, the drilling machine 12 starts the drilling of the straight hole SH2 following the curved hole CH. At this time, the straight hole SH2 is drilled while rotating the tip head 14 attached to the tip of the drilling tube 26 and jetting drilling water from the jet port 18 of the tip head 14.
S280 (drilling trajectory measurement): After the straight hole SH2 has been drilled by a predetermined distance (for example, 3 to 6 m), the drilling of the straight hole SH2 is temporarily interrupted, and the first drilling trajectory measuring means 30 or second The drilling locus measurement unit 70 measures the current drilling locus. Since the measurement method is the same as that in S130, detailed description is omitted.

S290 (tip head attitude measurement): Following the above S280, the attitude measuring means 40 measures the attitude of the tip head 14 when the straight hole SH2 is drilled by a predetermined distance (for example, 3 to 6 m). Since the measurement method is the same as that in S140, detailed description is omitted.
S300 (Straight hole end point determination): Based on the drilling locus measured in S280, the control means 64 determines whether or not the straight hole SH2 has reached the preset end position of the straight hole SH2. . When it is determined that the planned end position has been reached (YES), all the drilling up to the straight hole SH2 has been completed, and the drilling by the drilling method according to the embodiment of the present invention is completed. . On the other hand, when it determines with not having reached the plan end position (NO), it transfers to S310.

  S310 (difference calculation of linear hole end point position): The rotation angle calculation means 60 calculates the predicted end point position of the straight hole SH2 from the measurement results in S280 and S290. Specifically, the predicted end point position of the straight hole SH2 when the straight hole SH2 is continuously drilled from the position of the drilled pipe 26 measured in S280 with the attitude of the tip head 14 measured in S290. Is calculated. Further, the rotation angle calculation means 60 calculates the difference between the calculated predicted end point position of the straight hole SH2 and the preset planned end point position of the straight hole SH2. At this time, the difference between the drilling trajectory measured in S280 and the preset plan line (planned drilling trajectory) of the straight hole SH2, the angle formed by them, or the like may be used.

  S320 (difference determination): The rotation angle calculation means 60 determines whether or not the difference in the end point position of the straight hole SH2 calculated in S310 is within a predetermined range. And when it determines with a difference being in a predetermined range (YES), it transfers to S330, and when it determines with a difference not being in a predetermined range (NO), it transfers to S340. The predetermined range used for the determination is based on the measurement performance of the first drilling locus measuring means 30 or the second drilling locus measuring means 70 used in S280 and the posture measuring means 40 used in S290. An arbitrary range may be set accordingly.

S330 (Continuous straight hole drilling): Since it is determined in S320 that there is no problem even if the straight hole SH2 is drilled as it is, the drilling of the straight hole SH2 by the drilling machine 12 is continued. Then, after the straight hole SH2 is drilled by a predetermined distance (for example, 3 to 6 m), the process returns to S280.
S340 (rotation angle position calculation): Since it was determined in S320 that correction of the drilling direction is necessary, the rotation angle position of the tip head 14 for performing curved drilling for correcting the drilling direction of the straight hole SH2 is determined. The rotation angle is calculated by the rotation angle calculation means 60. Specifically, first, from the tip of the drilling locus measured in S280 (the tip at the present time of the straight hole SH2) to the preset plan line (planned drilling locus) of the straight hole SH2, Virtually draw a perpendicular line. Then, the rotational angle position of the tip head 14 is calculated so that the taper surface 16 of the tip head 14 faces the opposite side of the straight line SH2 in the perpendicular direction.

S350 (rotation angle position adjustment): The rotation angle position of the tip head 14 is adjusted by the control means 64 so as to be the rotation angle position of the tip head 14 calculated in S340. Since the specific method is the same as that of S160, detailed description thereof is omitted.
S360 (curved drilling only for a predetermined drilling length): only the predetermined drilling length for correcting the drilling direction of the straight hole SH2 in the state where the rotational angle position of the tip head 14 is adjusted in S350, the drilling machine 12 To cut a curved hole. Such a predetermined drilling length may be calculated from the radius of curvature R of the curved hole CH that has already been drilled by the control means 64, and the radius of curvature R of the curved hole CH was measured during the drilling of the curved hole CH. What is necessary is just to obtain | require from a drilling locus | trajectory, ie, the drilling locus | trajectory of the curved hole CH measured by said S180. Then, the curved hole is drilled without rotating the tip head 14 only for the calculated predetermined drilling length.

S370 (Resume linear drilling): After correcting the drilling direction by the curved drilling of S360, the drilling of the straight hole SH2 by the drilling machine 12 is resumed. Then, after the straight hole SH2 is drilled by a predetermined distance (for example, 3 to 6 m), the process returns to S280.
Here, considering the return from S330 or S370 to S280, S280 to S370 are performed every time the straight hole SH2 is drilled by a predetermined distance (for example, 3 to 6 m) until the straight hole SH2 reaches the end point. This is repeatedly executed.
In the flow charts of FIGS. 3 and 4, the drilling locus measurement step (S130, S180, S280) and the tip head posture measurement step (S140, S190, S290) precede the drilling locus measurement step. However, the execution order may be reversed.

  Now, according to the embodiment of the present invention configured as described above, the following operational effects can be obtained. That is, the drilling method according to the embodiment of the present invention is shown in FIG. 5 along the flow shown in FIGS. 3 and 4 by using the drilling device 10 having the configuration shown in FIG. So as to drill holes. More specifically, using the drilling tube 26 to which the tip head 14 is mounted, a straight drilling process (S110 to S120, S270 to S370) for drilling the straight holes SH1 and SH2, and a curved hole CH are cut. A combination of the hole drilling step (S170 to S260) to drill the underground G, and further, a hole trajectory measurement step (S130, S180, S280) and a posture measurement step (S140, S190). , S290) and adjustment steps (S210 to S260, S310 to S370).

  In the drilling trajectory measurement step, the magnetic field generating means 32 of the first drilling trajectory measuring means 30 makes a part 26a of the drilled pipe 26 exposed to the ground, that is, the drilled hole inserted into the underground G. By supplying an electric current to the drilling tube 26 from the vicinity of the tail end of the tube 26, a magnetic field is generated with the drilling tube 26 inserted in the underground G as a center. Then, a magnetic field is received from the ground by a receiver 34 operated by a worker and the like, and the absolute value of the borehole 26 in the underground G is detected by the first measuring means 36 from the reception result of the received magnetic field strength and the like. Measure the position. Thereby, the drilling locus by the drilling tube 26 from the drilling start position to the current position of the tip head 14 is measured. As described above, the drilling method according to the embodiment of the present invention is a method in which a current is supplied from a part 26a of the drilled tube 26 exposed to the ground while generating a magnetic field around the drilled tube 26. Since it employs, it is not necessary to provide a magnetic field generator or a receiver in the drilling tube 26, and a space for installing another measuring device in the drilling tube 26 or the tip head 14 can be secured.

  In the posture measurement process, the rotation angle and the pitching angle of the tip head 14 are measured by installing an inclinometer 44 in this embodiment in the space of the tip head 14 secured as described above. In the adjustment process, for example, the predicted arrival of the drill tube 26 is based on the drilling path obtained in the drilling path measurement process and the rotation angle and pitching angle of the tip head 14 obtained in the posture measurement process. Calculate the position. That is, by grasping the drilling trajectory by the drilling pipe 26 and the current posture of the tip head 14, the predicted arrival position when the straight hole SH2 or the curved hole CH is drilled as it is is calculated. The

  Then, for example, when the predicted arrival position of the drilled pipe 26 deviates from the planned arrival position, the rotational angle position of the tip head 14, that is, the actual arrival position approaches the planned arrival position, that is, is corrected. The direction of the tapered surface 16 provided on the tip head 14 is adjusted. Then, with the orientation of the taper surface 16 adjusted, the drilling position is corrected so that the curved hole is drilled by pushing the drilling pipe 26 without rotating the tip head 14 so as to approach the planned arrival position. Is done. As described above, the drilling method according to the embodiment of the present invention can more accurately grasp the position of the drill tube 26 in the drilling locus measurement step, and can be used in combination with the posture information of the tip head 14. It is possible to perform drilling with high accuracy by using the predicted arrival position obtained in (1).

  Furthermore, in the drilling method according to the embodiment of the present invention, when measuring the drilling locus from the drilling start position to the tip head 14 in the drilling locus measuring step (S130, S180, S280), The position of a plurality of parts of the drilling tube 26 may be detected by the receiver 34, and the drilling locus may be measured based on a virtual curve obtained by virtually connecting the positions of the plurality of parts in a linear shape. . That is, the working time is maintained while maintaining the accuracy of the measurement position of the drilled tube 26 by measuring the position of the drilled tube 26 continuously in a plurality of dots rather than continuously measuring the position of the drilled tube 26 linearly. Can be shortened. Further, even when there is a section where it is difficult to receive the magnetic field by the receiver 34 due to the influence of the ground structure or the underground structure, the position of the drilling tube 26 is set at a plurality of positions excluding the section. By measuring, the drilling locus can be grasped without any problem.

  In addition, the drilling method according to the embodiment of the present invention includes two methods as methods for measuring the drilling locus from the drilling start position to the tip head 14 in the drilling locus measuring step (S130, S180, S280). May be used in combination. That is, one method is a method using the first drilling locus measuring means 30 described above, and the other method is a method using the second drilling locus measuring means 70. In the method using the second drilling locus measuring means 70, a gyro sensor 72 capable of measuring at least the pitching direction and the yawing direction is sent to the vicinity of the tip head 14 through the inside of the drilling tube 26, and then the hole drilling is performed. While pulling up the gyro sensor 72 through the inside of the pipe 26, the angular velocity is measured on the path along which the gyro sensor 72 has moved.

  At this time, a linear feeding means such as a wire having rigidity capable of propelling the gyro sensor 72 in the hole drilling pipe 26 is connected to the gyro sensor 72 and fed, and the feeding amount measuring means 74 performs linear feeding. The amount of feeding of the means is measured. At this time, the feeding amount of the feeding means may be measured either when the feeding means is fed or when the feeding means is fed. Then, based on the measurement result by the gyro sensor 72 and the measurement result by the feed amount measuring means 74, the drilling locus is measured by the second measuring means 76. Thereby, for example, a method using the first drilling locus measuring means 30 is used as the main measuring method of the drilling locus, and the second drilling locus measuring means is used for a section where measurement by this method is difficult. It is possible to selectively use such as adopting a method using 70. By measuring the drilling locus in this way, the accuracy of predicting the arrival position of the drilling tube 26 is improved, and drilling can be performed with higher accuracy.

  In addition, the hole drilling method according to the embodiment of the present invention performs measurement using the posture measuring means 40 in the posture measuring step (S140, S190, S290). That is, prior to construction, the sensor unit 42 including the inclinometer 44 is attached in advance to the installation space secured in the tip head 14 as described above. Examples of the inclinometer 44 include two inclinometers that measure the rotation angle and the pitching angle of the tip head 14, or a two-axis inclinometer that can simultaneously measure these two angles. Even in this case, it is installed together with the optical transmission means 50 capable of transmitting an optical signal.

  Then, when measuring the posture of the tip head 14 in the posture measurement step, the light receiving means 52 is made to approach the light transmitting means 50 attached to the tip head 14 from the ground through the inside of the drilling tube 26, and the inclinometer Data relating to the rotation angle and pitching angle of the tip head 14 is transmitted as an optical signal from 44 to the optical receiver 52 via the optical transmitter 50. At this time, by connecting the light receiving means 52 and the data acquiring means 54 with a cable, data relating to the rotation angle and pitching angle of the tip head 14 can be obtained from the light receiving means 52 via the cable. Obtained by the obtaining means 54. As a result, the posture information of the tip head 14 can be grasped on the ground side at an arbitrary timing as necessary.

  Furthermore, in the drilling method according to the embodiment of the present invention, each time the straight hole SH2 or the curved hole CH is drilled by a predetermined distance in the straight drilling process (S270 to S370) and the curved drilling process (S170 to S260). In addition, the drilling operation is temporarily interrupted, and the drilling locus measurement process, the attitude measurement process, and the adjustment process are executed. Thereby, since the drilling position can be corrected before the actual drilling position deviates significantly from the planned position, the accuracy of the drilling position can be further improved.

  Further, the drilling method according to the embodiment of the present invention is an adjustment process performed during the curved drilling process, that is, an adjustment performed by interrupting the drilling every time a predetermined distance is drilled during the drilling of the curved hole CH. In the steps (S210 to S260), the drilling locus measured in the immediately preceding drilling locus measuring step (S180) and the rotation angle and pitching of the tip head 14 measured in the posture measuring step (S190) immediately before the adjusting step. From the angle, the rotation angle calculation means 60 calculates the predicted end point position of the curved hole CH. In other words, the predicted end point position of the curved hole CH when the drilling of the curved hole CH is continued as it is by grasping the drilling locus of the curved hole CH so far and the current posture information of the tip head 14. Is calculated. Furthermore, the difference between the predicted end point position of the curved hole CH calculated as described above and the planned end point position of the curved hole CH set in advance before the construction is calculated.

  Then, when the calculated difference in the end point position is out of the predetermined range set in advance, the rotational angle position of the tip head 14 is corrected so that the drilling direction of the curved hole CH approaches the planned end point position. Is calculated. Specifically, a perpendicular line is virtually drawn from the tip of the drilling locus measured in the drilling locus measuring step to the planned line of the curved hole CH (the planned drilling locus set in advance before construction). The rotational angle position of the tip head 14 is calculated so that the tapered surface 16 of the tip head 14 faces the opposite side of the curved hole CH in the direction view. Then, after adjusting the rotation angle position of the tip head 14 to the calculated rotation angle position, the process returns to the curve drilling step to drill the curve hole CH. By drilling the hole without rotating the tip head 14 in this state, the tip head 14 is propelled in a direction approaching the planned end position due to the influence of the pressure received by the tapered surface 16. For this reason, the curved hole CH can be drilled with higher accuracy.

  In addition, the drilling method according to the embodiment of the present invention is an adjustment process performed during the linear drilling process, that is, an adjustment performed by interrupting the drilling every time a predetermined distance is drilled in the drilling of the straight hole SH2. In the steps (S310 to S370), the drilling locus measured in the immediately preceding drilling locus measuring step (S280) and the rotation angle and pitching of the tip head 14 measured in the posture measuring step (S290) immediately before the adjusting step. From the angle, the rotation angle calculation means 60 calculates the predicted end point position of the straight hole SH2. That is, the predicted end point position of the straight hole S2 when the drilling of the straight hole SH2 is continued as it is by grasping the drilling locus of the straight hole SH2 up to that point and the current posture information of the tip head 14. Is calculated. Furthermore, the difference between the predicted end point position of the straight hole SH2 calculated as described above and the planned end point position of the straight hole SH2 set in advance before the construction is calculated. Then, when the calculated difference in the end point position is out of the predetermined range set in advance, the rotational angle position of the tip head 14 is corrected so that the drilling direction of the straight hole SH2 approaches the planned end point position. Is calculated.

  Specifically, a perpendicular line is virtually drawn from the tip of the drilling locus measured in the drilling locus measuring step to the planned line of the straight hole SH2 (the planned drilling locus set in advance before construction). The rotational angle position of the tip head 14 is calculated so that the tapered surface 16 of the tip head 14 faces the opposite side of the straight line SH2 in the direction view. Then, after adjusting the rotation angle position of the tip head 14 to the calculated rotation angle position, a curved hole is drilled for a predetermined drilling length. By cutting the curved hole without rotating the tip head 14 in this state, the tip head 14 is propelled in a direction approaching the planned end point position of the straight hole SH2 due to the influence of the pressure received by the tapered surface 16. become. That is, when the predicted end point position of the straight hole SH2 deviates from the planned end point position, it is necessary to temporarily cut the curved hole to correct the drilling direction. Only curved holes are drilled in curved holes. Thereafter, the process returns to the straight hole drilling step to drill the straight hole SH2. As a result, the straight hole SH2 can be drilled with higher accuracy.

  Furthermore, in the drilling method according to the embodiment of the present invention, the control means 64 has already drilled a predetermined drilling length which is the length of the curved hole to be drilled when correcting the direction of the straight hole SH2. Is calculated based on the radius of curvature R of the curved hole CH. At this time, the radius of curvature R of the curved hole CH that has been drilled can be obtained from the drilling locus of the curved hole CH measured in the drilling locus measuring step (S180) performed during the drilling of the curved hole CH. it can. The curvature radius R of the curved hole CH obtained in this way is a curvature radius reflecting the influence of soil quality of the underground G that is actually drilled. For this reason, the predetermined drilling length calculated based thereon can be calculated as an appropriate drilling length in consideration of the influence of the soil quality of the underground G.

  10: Drilling device, 12: Drilling machine, 14: Tip head, 16: Tapered surface, 26: Drilling tube, 26a: Part of the drilling tube exposed to the ground, 30: First drilling Trajectory measurement means, 32: magnetic field generation means, 34: receiver, 36: first measurement means, 40: attitude measurement means, 44: inclinometer, 52: light reception means, 54: data acquisition means, 60: rotation angle Calculation means, 64: control means, 70: second drilling locus measurement means, 72: gyro sensor, 74: feed amount measurement means, 76: second measurement means, SH1, SH2: straight hole, CH: curve hole , G: underground, R: radius of curvature of curved hole

Claims (16)

Using a drilling tube equipped with a rotatable tip head having a tapered surface at the tip, the linear drilling step of drilling a straight hole by pushing the drilling tube while rotating the tip head, and the rotation It is a method of drilling the underground by combining with a curved drilling step of drilling a curved hole by pushing the drilled tube without rotating the head,
A current is caused to flow from a part of the drilled tube exposed to the ground to generate a magnetic field centered on the drilled tube in the ground, and the magnetic field is received from the ground by a receiver. Based on the drilling locus measurement step of measuring the drilling locus from the drilling start position to the tip head,
A posture measuring step for measuring a rotation angle and a pitching angle of the tip head;
A drilling method comprising: an adjusting step of adjusting a rotational angle position of the tip head based on measurement results in the drilling locus measuring step and the posture measuring step.   In the drilling locus measurement step, the position of a plurality of parts of the drilling tube is detected by the receiver from the ground, and based on a virtual curve obtained by connecting the positions of the plurality of parts virtually linearly, The drilling method according to claim 1, wherein the drilling locus is measured.   In the posture measurement step, the tip head is moved from the ground to the light receiving means by bringing the light receiving means closer to the inclinometer previously attached to the tip head from the ground through the inside of the drilling tube. The hole drilling method according to claim 1 or 2, wherein data relating to the rotation angle and pitching angle is transmitted as an optical signal, and the data is obtained from the optical receiving means via a cable.   4. The method according to claim 1, wherein, in each of the linear drilling step and the curved drilling step, the drilling locus measurement step, the posture measurement step, and the adjustment step are performed every time a predetermined distance is drilled. The hole drilling method of any one of Claims.   In the adjusting step performed during the curved hole drilling step, the predicted end point position of the curved hole is calculated from the measurement results of the drilling locus measurement step and the posture measuring step, and the predicted end point position of the curved hole, When the difference from the planned end position of the curved hole is calculated, and the difference is out of a predetermined range, from the tip of the drilling trajectory measured in the drilling trajectory measuring step, to the planned line of the curved hole Virtually drawing a perpendicular line, and adjusting the rotational angle position of the tip head so that the tapered surface faces the opposite side of the curved hole plan line in the perpendicular direction view, the curved hole drilling step The hole drilling method according to claim 4, wherein the drilling method returns.   In the adjustment step performed during the straight hole drilling step, the predicted end point position of the straight hole is calculated from the measurement results of the drilling locus measurement step and the posture measurement step, and the predicted end point position of the straight hole, When the difference from the planned end point position of the straight hole is calculated, and the difference is out of a predetermined range, from the tip of the drilling locus measured in the drilling locus measuring step, to the planned line of the straight hole. Virtually drawing a perpendicular line, and adjusting the rotational angle position of the tip head so that the tapered surface faces the opposite side to the planned line of the straight hole in the perpendicular direction view, the curved hole drilling step 6. The drilling method according to claim 4 or 5, wherein the process returns to the linear drilling step after a predetermined drilling length.   The predetermined drilling length is calculated based on the radius of curvature of the curved hole that has been drilled, which is obtained from the measurement result of the drilling locus measurement step when the curved hole that has been drilled is drilled. The drilling method according to claim 6, wherein   In the drilling locus measurement step, after feeding a gyro sensor capable of measuring at least the pitching direction and the yawing direction to the vicinity of the tip head through the inside of the drilling tube, the gyro sensor lifts the gyro sensor In addition to performing the measurement, a method of measuring a feed amount of the linear feeding means connected to the gyro sensor and measuring the drilling locus based on the measurement result by the gyro sensor and the feed amount is used in combination. The drilling method according to any one of claims 1 to 7, wherein: A linear drilling hole that drills a straight hole by pushing in the drilling tube while rotating the distal end head using a drilling tube equipped with a rotatable tip head having a tapered surface at the tip, and the rotary head A drilling device equipped with a drilling machine for drilling in the ground, in combination with a curved drilling that drills a curved hole by pushing the drilling tube without rotating,
Magnetic field generating means for generating a magnetic field centered on the drilling tube in the ground by flowing current from a part of the drilling tube exposed to the ground, and reception for receiving the magnetic field from the ground A first drilling locus measuring means comprising: a measuring device; and a first measuring means for measuring a drilling locus from the drilling start position to the tip head based on a reception result by the receiver;
Attitude measuring means for measuring the rotation angle and pitching angle of the tip head;
A rotation angle calculation means for calculating a rotation angle position of the tip head based on measurement results by the first drilling locus measurement means and the attitude measurement means;
A drilling device comprising: control means for controlling the entire device.   The first drilling locus measuring means detects the positions of the plurality of parts of the drilling pipe from the ground by the receiver, and the first measuring means virtually linearly positions the plurality of parts. The drilling device according to claim 9, wherein the drilling locus is measured based on a virtual curve obtained by connecting to a hole.   The posture measuring means is configured to adjust the rotation angle and the pitching angle of the tip head from the inclinometer by being brought close to the inclinometer through the inside of the drilling pipe from the ground with an inclinometer attached in advance to the tip head. The hole drilling device according to claim 9 or 10, comprising: an optical receiving unit that receives such data as an optical signal; and a data acquisition unit that acquires the data from the optical receiving unit via a cable.   The control means measures the drilling trajectory by the first drilling trajectory measuring means each time a predetermined distance is drilled during drilling of the straight hole and the curved hole by the drilling machine. The control is performed such that measurement of the rotation angle and pitching angle of the tip head by the posture measurement means and calculation of the rotation angle position of the tip head by the rotation angle calculation means are performed. The drilling device according to any one of 1 to 11. The rotation angle calculating means calculates the predicted end point position of the curved hole from the measurement results of the first drilling locus measuring means and the attitude measuring means during the drilling of the curved hole by the drilling machine. In addition, the difference between the predicted end point position of the curved hole and the planned end point position of the curved hole is calculated, and when the difference is out of the predetermined range, the difference is measured by the first drilling locus measuring unit. The tip head is virtually drawn from the tip of the drilling locus with respect to the planned line of the curved hole, and the tapered surface faces the side opposite to the planned line of the curved hole as viewed in the perpendicular direction. The rotation angle position of is calculated,
The control means receives the calculation of the rotation angle position of the tip head by the rotation angle calculation means during the drilling of the curved hole by the hole drilling machine, and after adjusting the rotation angle position of the tip head, 13. The drilling device according to claim 12, wherein the drilling device is returned to the curved hole drilling by the drilling machine. The rotation angle calculation means calculates the predicted end point position of the straight hole from the measurement results of the first hole trajectory measurement means and the attitude measurement means during the drilling of the straight hole by the hole drilling machine. In addition, the difference between the predicted end point position of the straight hole and the planned end position of the straight hole is calculated, and when the difference is out of the predetermined range, the difference is measured by the first drilling locus measuring means. The tip head is virtually drawn from the tip of the drilling locus with respect to the planned line of the straight hole, and the tapered surface faces the side opposite to the planned line of the straight hole in the perpendicular direction. The rotation angle position of is calculated,
The control means receives the calculation of the rotation angle position of the tip head by the rotation angle calculation means during the drilling of the straight hole by the hole drilling machine, adjusts the rotation angle position of the tip head, 14. The drilling device according to claim 12 or 13, wherein the curved hole drilling by the drilling machine is performed for a predetermined drilling length and then returned to the straight hole drilling by the drilling machine.   The control means, based on the radius of curvature of the curved hole that has been drilled, is obtained from the measurement result by the first drilling locus measuring means when drilling the curved hole that has been drilled. The hole drilling device according to claim 14, wherein the hole length is calculated. A gyro sensor that is fed to the vicinity of the tip head through the inside of the hole drilling tube and that can measure at least the pitching direction and the yawing direction, and a feeding amount that measures the feeding amount of a linear feeding means connected to the gyro sensor A second drilling locus measuring means comprising: a quantity measuring means; and a second measuring means for measuring the drilling locus based on a measurement result by the gyro sensor and the feed amount measuring means,
The rotation angle calculating means and the control means use the drilling locus measured by the first drilling locus measuring means and the drilling locus measured by the second drilling locus measuring means in combination. The drilling device according to any one of claims 9 to 15, wherein the drilling device is used.

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