JP2574975B2 - Attitude detection method and apparatus for soil propulsion drilling machine - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an improvement in the excavation accuracy and reliability of an underground propulsion drilling machine for civil engineering construction work in the installation of communication cables, pipes for water supply and sewerage, and gas.
Alternatively, in order to improve the work efficiency, the tip position information of the underground propulsion drilling machine is used without using a cable (wired), and by using water supply and drainage flowing in a pipe connected to the underground propulsion drilling machine. The present invention relates to a method and an apparatus for detecting the attitude of an underground propulsion drilling machine transmitting by ultrasonic waves.

[0002]

2. Description of the Related Art In a conventional method for detecting the position of a soil-punching drilling machine, the tip position information of the soil-punching drilling machine is transmitted to a starting shaft by a signal cable.

A method disclosed in Japanese Patent Application Laid-Open No. 2-70890 discloses a method in which a tip magnetic field sensor for excavating and propelling the ground is provided with a magnetic field sensor and a transmission magnetic field transmitted on the ground immediately above the magnetic field sensor. There is a method of receiving and transmitting the posture information to the shaft by wire or wirelessly.

[0004]

However, in the conventional method of detecting the position of a drilling machine underground, connection of a signal cable and a propulsion pipe is complicated, and only a necessary space for mounting the signal cable is required inside the machine. There were problems such as poor workability.

In the method described in Japanese Patent Application Laid-Open No. 2-70890, when a road, a track, a river, or the like is located immediately above a tip provided with a magnetic field sensor, a transmission signal by a transmission magnetic field is received. It is difficult to install a device that performs this.

Further, when the excavation propulsion depth increases, it becomes difficult to receive the magnetic field transmitted from the underground propulsion drilling machine due to the influence of the attenuation by the soil, and therefore, it is difficult to detect the tip posture information. There is a problem that can not be.

The present invention has been made in view of the above-mentioned problems of the prior art,
It is an object of the present invention to provide a posture information detecting method and apparatus which is mounted on a water supply / drainage pipe in an underground propulsion drilling machine, transmits posture information of the underground propulsion drilling machine wirelessly, and receives the information on a shaft side.

[0008]

Means for Solving the Problems The above-mentioned problems of the prior art can be solved by employing the following novel characteristic construction methods and means enumerated next to the present invention. That is, a feature of the method of the present invention is that, in the method of detecting the attitude of the underground propulsion drilling machine, first, the attitude information of the tip is detected, and then the detected attitude information is converted into an ultrasonic signal by pulse encoding. Subsequently, the ultrasonic pulse signal is transmitted through a medium flowing in a water supply / drainage pipe provided in the underground propulsion drilling machine, and further, the ultrasonic pulse signal is received / reproduced in the water supply / drainage pipe or on an extension thereof. Thus, there is provided an underground propulsion drilling machine posture detecting method in which tip position information of the underground propulsion drilling machine is wirelessly detected by using ultrasonic waves on the side of a shaft that excavates.

A first feature of the apparatus of the present invention is that detecting means for detecting posture information and converting it into an electric signal, a digital signal conversion unit for pulse-coding the detected electric signal, and a pulse-coded signal And a transmission unit that modulates a pulse-encoded signal of the posture information detection and conversion unit with a carrier frequency of an ultrasonic wave. A circuit unit, a signal modulation unit including an ultrasonic oscillator that oscillates an ultrasonic pulse signal modulated toward the medium, and an ultrasonic pulse signal oscillated from the signal modulation transmission unit to receive an electric pulse signal to generate an electric signal. An ultrasonic transducer for conversion, and a signal receiving and reproducing unit for transmitting a signal to an analysis means provided separately on the shaft side ground including a filter amplification means for filtering and amplifying an electric signal from the ultrasonic transducer, Constitution It is a soil promoting drilling machine for posture detecting device.

A second feature of the present invention is that the attitude information detecting / converting unit and the signal modulation transmitting unit in the first feature of the above-mentioned device are connected to each other, and the inner peripheral surface of the water supply shaft pipe of the underground propulsion drilling machine is required. This is a posture device for an underground propulsion drilling machine in which a communication throttle portion is provided so as to be able to interlock with a stopper projecting portion which is annularly projecting at a location.

A third feature of the apparatus according to the present invention is that the signal receiving / reproducing section in the first or second aspect of the apparatus is formed in an intermediate portion and has an inner peripheral surface near a transmission shaft shaft of an underground propulsion drilling machine. This is a posture detecting device for an underground propulsion drilling machine in which a communication throttle portion is provided so as to be freely interlockable with a stopper projecting portion projecting to a required portion.

A fourth feature of the apparatus of the present invention is that the signal modulation transmitting section and the signal receiving and reproducing section in the first, second or third aspect of the above-mentioned apparatus are provided with an underground propulsion drilling machine at an appropriate position on the outer peripheral surface. This is a posture detection device for a submerged propulsion drilling machine in which a centering protrusion inscribed with the inner peripheral surface of the water supply shaft pipe is provided.

[0013]

According to the present invention, by adopting the above-mentioned means and method, the tip posture information of the underground propulsion drilling machine can be transmitted wirelessly using a medium (mainly water) flowing in a water pipe or a drain pipe. Thus, it is possible to transmit the signal and receive the signal at the shaft, so that the signal cable is unnecessary, and the complicated connection work between the cable and the propulsion pipe can be eliminated.

[0014]

【Example】

(Example of Apparatus) Next, an example of the apparatus of the present invention will be described. FIG. 1 is a vertical cross-sectional view of a posture information detection conversion unit and a signal modulation transmission unit of the present device example,
FIG. 2 is a longitudinal sectional view of the signal receiving / reproducing unit of the present embodiment, and FIG.

In the figure, α is an underground propulsion drilling machine, 1 is a main pushing device, 2 is a drainage pipe driving device, 3 is a water pipe driving device, 4 is a drill bit, 5 is a water transmission shaft pipe, and 6 is a drainage ( Sat) outer tube, 7
Is a propulsion pipe having a structure of a water supply shaft pipe 5 and a drainage outer pipe 6, 8 is an attitude information detecting and converting section, 9 is a signal modulation transmitting section, 10 is a signal receiving and reproducing section, 11 is an operation panel, 12 is a driving power unit, 13 is Water supply
A drainage tank, 14 is a water pump, G is a ground surface, P is an operator, and H is a starting shaft. It should be noted that the attitude information detection conversion unit 8 and the signal modulation transmission unit 9 in the underground propulsion drilling machine α in the figure
The portion ahead of the middle omission line where is present is referred to as the “tip portion” A of the soil propulsion drilling machine α for the convenience of the following description.

In the figure, 15 is a pitching angle detector, 16 is a rolling angle detector, 17 is a digital signal conversion circuit,
8 is a signal amplifier, 19 is a power source, 20 is a power source for transmitting an ultrasonic signal, 21 is an ultrasonic transmitting circuit, 22 is a transmitting microphone as an ultrasonic vibrator for transmitting, 23 is a molding material,
Reference numeral 24 denotes a centering annular projection.

Reference numeral 25 denotes a receiving microphone as an ultrasonic transducer for receiving, 26 denotes a signal amplifying / filtering circuit, 27 denotes a signal regenerator, 28 denotes a molding material, and 29 denotes a centering annular projection. In addition, a posture information detection conversion unit 8 is provided in the water supply shaft pipe 5.
In addition, annular stopper projections 5 ', 5 "for locking the communication throttle units 30, 31 are provided so that the signal modulation transmission unit 9 and the signal reception / reproduction unit 10 are not washed away by the supplied water. ing.

The centering annular projections 24 and 29 are connected to the microphones 2 of the signal modulation transmitting section 9 and the signal receiving / reproducing section 10, respectively.
The mold members 23 and 28 are designed so as to enhance the directivity of transmission and reception of ultrasonic waves forward.

Since the specifications of this example of the apparatus are such basic embodiments, their use will be described with reference to FIG. The underground propulsion drilling machine α on which the present apparatus example is mounted has a drainage pipe driving device 2 having a drilling bit 4 fixed to a tip from a shaft H and a base end connected thereto, and a drainage shaft for inserting a water supply shaft pipe 5. While the base end of the pipe 6 is being rotated through the connected water pipe driving device 3, it is pushed into the ground by the main pushing device 1 and propelled.

At this time, water is supplied from the main pushing device 1 side to the excavation bit 4 forward through the water supply shaft pipe 5 by the water supply / drainage tank 13 and the water supply / drainage pump 14. Mud water (soil) excavated and discharged by the rotation of the excavating bit 4
The water is drained (discharged) through the drainage (soil) outer pipe 6 by the water supply / drain pump 14 and returned to the water supply / drainage tank 13 again.

The attitude information of the tip A of the underground drilling machine α is measured as a pitching angle and a rolling angle by an angle detector provided in the attitude information detecting and converting unit 8, and is converted into a digital pulse signal. Signal modulation transmission section 9
Sent to

In the signal modulation transmitting section 9, an ultrasonic pulse signal is transmitted by the transmitting microphone 22 through the water flowing in the water pipe 5. The ultrasonic pulse signal propagated in the water pipe 5 is detected by the signal receiving / reproducing unit 10 disposed on the water pipe 5 on the shaft H or an extension thereof, and is again converted into posture information. 11 is sent.

The attitude information detection / conversion unit 8 and the signal modulation transmission unit 9 operate their respective circuits and devices by an internal power supply, and the signal reception / reproduction unit 10 uses power supplied from an operation panel 11 via a drive power device 12. Operate. Through such an operation, the attitude angle of the tip end portion A of the underground propulsion drilling machine α can be detected.

In the operation panel 11, the main pushing device 1, the drain pipe driving device 2
And the drilling / propelling state of the underground drilling machine α can be controlled through the water pipe driving device 3.

(Example of Method) When the present example is applied to the attitude information detecting / converting section 8, the signal modulation transmitting section 9 and the signal receiving / reproducing section 10 of the present apparatus, the detection of the attitude information of the tip A and the execution of signal transmission are performed. The procedure will be described with reference to the flow charts of FIGS. 1, 2 and 4. The number of steps described below is the same as in FIG. 4 unless otherwise specified.

First, the circuit from the pitching angle detector 15 to the signal amplifier 18 is operated while the power supply 19 of the attitude information detecting and converting unit 8 is turned on, and the pitching angle detector 15 and the rolling angle detector 16 operate at the tip. The pitching angle θ and the rolling angle φ of the portion A are detected (step I).

These angle values θ and φ are pulse-encoded by the digital signal conversion circuit 17 (step II) to become a pulse signal S1. The pulse signal S1 is amplified by the signal amplifier 18 (step III) and the amplified pulse signal S2
And transmitted to the ultrasonic transmission circuit 21 of the signal modulation transmission unit 9. In the ultrasonic transmission circuit 21, the transmitted signal S
2 is modulated at the carrier frequency of the ultrasonic wave (step IV), and the transmission microphone 22 is modulated as a modulated amplified pulse signal S3.
Send to

The transmission microphone 22 transmits the modulated and amplified pulse signal S3 toward the shaft H using the water in the water pipe 5 as a medium (step V). The receiving microphone 25 of the signal receiving / reproducing unit 10 converts the modulated and amplified pulse signal S3, which has been propagated using the water in the water supply shaft pipe 5 as a medium, into a pulse signal S4 that has been electrically converted (step VI).

The pulse signal S4 received and converted by the receiving microphone 25 is supplied to the signal amplifying / filtering circuit 2
Only the carrier frequency component of the ultrasonic wave used for transmission in step 6 is amplified by applying a band-pass filter to obtain a filtered / amplified pulse signal S5 (step VII).

The filtered / amplified pulse signal S5 is reproduced from the signal processed by the signal regenerator 27, and both the pitching angle θ and the rolling angle φ are detected (step IIX).
The data signal S6 is transmitted to the operation panel 11 by wire or wirelessly.

Further, the position of the tip A of the soil propulsion drilling machine α can be determined from the propulsion distance L (step IX) obtained from the pushing length of the soil propulsion drilling machine α (step X). ). As described above, the posture information θ, φ and the position information L of the tip end portion A of the soil propulsion drilling machine α
And the posture and position of the soil propulsion drilling machine α are detected.

These signal transmissions are performed by transmitting and receiving signals repeatedly by the ultrasonic transmission circuit 21 and the signal amplification and filter circuit 26 a plurality of times,
By performing signal processing such as averaging the repetitive signal, it is possible to improve the quality of the transmission signal.

[0033]

As described above, according to the present invention, there is no need for a special signal transmission cable or the like. Connection of pipes and the like can be performed efficiently, and the space for mounting a signal transmission cable is not required.

Further, even when propelling the underground depth where the magnetic field used for the conventional wireless signal transmission cannot be reached, the attitude information of the underground propulsion drilling machine can be effectively detected. Not only can the drilling machine be automated and the efficiency of the propulsion work can be increased, but also excellent usefulness can be achieved, for example, the propulsion depth and the range of applicable locations can be greatly expanded.

[Brief description of the drawings]

FIG. 1 is a longitudinal sectional view showing a configuration of a posture information detection unit and a signal transmitter used in an apparatus example of the present invention.

FIG. 2 is a longitudinal sectional view showing the configuration of the signal receiver according to the first embodiment;

FIG. 3 is an explanatory view of a use state of the embodiment.

FIG. 4 is a flow chart illustrating an exemplary method of the present invention.

[Explanation of symbols]

 α: Soil propulsion drilling machine A: Tip G: Ground surface H: Starting shaft P: Operator 1: Main pushing device 2: Drain pipe driving device 3: Water pipe driving device 4: Drilling bit 5: Water supply shaft Pipe 5 ', 5 "... Stopper 6 ... Drain (soil) outer pipe 7 ... Propulsion pipe 8 ... Attitude information detection and conversion unit 9 ... Signal modulation transmission unit 10 ... Signal reception and reproduction unit 11 ... Operation panel 12 ... Drive power device 13 ... Water supply / drainage tank 14 ... Drainage pump 15 ... Pitching angle detector 16 ... Rolling angle detector 17 ... Digital signal conversion circuit 18 ... Signal amplifier 19,20 ... Power supply 21 ... Ultrasonic transmission circuit 22 ... Transmission microphones 23,28 ... Mold materials 24,29 ... Centering annular protrusion 25 ... Reception microphone 26 ... Signal amplification / filter circuit 27 ... Signal regenerator 30,31 ... Communication diaphragm

 ──────────────────────────────────────────────────続 き Continued on the front page (72) Inventor Hiroshi Matsunaga 1-1-6 Uchisaiwaicho, Chiyoda-ku, Tokyo Nippon Telegraph and Telephone Corporation (72) Fumihide Sugino 1-16-1 Uchisaiwaicho, Chiyoda-ku, Tokyo Japan Telegraph and Telephone Corporation (56) References JP-A-60-23596 (JP, A)

Claims (5)

(57) [Claims] In a method for detecting the attitude of an underground propulsion drilling machine, first, attitude information of a tip is detected, and then the detected attitude information is converted into an ultrasonic signal by pulse encoding, and subsequently, the soil information is detected. By transmitting as an ultrasonic pulse signal through a medium flowing in a water supply and drainage pipe provided in the medium propulsion drilling machine, and further receiving and reproducing the ultrasonic pulse signal in the water supply and drainage pipe or on an extension thereof, an ultrasonic wave is transmitted. A method for detecting the attitude of the tip of the underground drilling machine by wirelessly detecting the tip position information of the underground drilling machine on the side of the shaft that promotes excavation. 2. An electronic apparatus comprising: detecting means for detecting posture information and converting the detected electric signal into an electric signal; a digital signal converting unit for pulse-coding the detected electric signal; and amplifying means for amplifying the pulse-coded signal. A posture information detection conversion unit provided at the tip of the underground propulsion drilling machine, a transmission circuit unit that modulates a pulse-coded signal of the posture information detection conversion unit with an ultrasonic carrier frequency, and A signal modulation transmission unit including an ultrasonic transducer that oscillates an ultrasonic pulse signal modulated toward the ultrasonic wave, and an ultrasonic vibration that receives the ultrasonic pulse signal oscillated from the signal modulation transmission unit and converts the signal into an electric signal. And a signal receiving and reproducing unit that includes a filter and a filter and amplifying unit that filters and amplifies an electric signal from the ultrasonic transducer and that transmits a signal to an analysis unit separately provided on the shaft side ground. To Soil promote drilling machine for posture detecting device according to symptoms. 3. The attitude information detection conversion unit and the signal modulation transmission unit,
3. The soil according to claim 2, wherein a communication throttle portion is provided so as to be freely interlockable with a stopper projection which is connected to each other and which protrudes at a required portion of an inner peripheral surface of a water supply shaft pipe of the underground propulsion drilling machine. Posture detection device for medium propulsion drilling machines. 4. A signal receiving / reproducing section is formed at an intermediate portion and communicates with a stopper projection which is provided at a required portion of an inner peripheral surface near a shaft of a transmission shaft of a submerged propulsion drilling machine so as to be freely idleable and stopable. 4. The attitude detecting device for an underground drilling machine according to claim 2, wherein a portion is provided. 5. The signal modulation transmitting section and the signal receiving and reproducing section are provided with centering projections which are inscribed on the inner peripheral surface of the water supply shaft pipe of the underground propulsion drilling machine at appropriate positions on the outer peripheral surface. ,
5. The posture detecting device for underground propulsion drilling machine according to 3 or 4.