JP2767103B2 - Pipe propulsion method and propulsion device - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a pipe propulsion method and a pipe propulsion method capable of automatically laying a plurality of pipes in a curved shape along a planned trajectory.

[0002]

2. Description of the Related Art Conventionally, as a propulsion method of laying a plurality of pipes in a curved shape along a planned track, those described in JP-A-7-18978 and JP-A-7-109888 are known. ing.

[0003] In the propulsion method disclosed in the above publication, a front pipe provided with an attitude angle detector and disposed at the head, and a plurality of pipes disposed behind the front pipe are formed using a propulsion jack. , While the control unit inputs signals from the attitude angle detector and arranges the front pipe along the planned trajectory between the front pipe and the subsequent pipe. The group of opening adjustment jacks comprising the opening adjustment jacks described above was operated to adjust the direction of the leading conduit and propelled.

Incidentally, coordinate data of the planned trajectory is input to the control device, and the control device compares the signal from the attitude angle detector with the coordinate data according to the moving distance of the leading conduit, and adjusts the opening adjustment jack. They controlled the operation of the group and adjusted the orientation of the leading conduit.

The attitude angle detector detects an angle (pitch angle or yaw angle) from a set reference direction, and inputs an electric signal corresponding to the detected value to the control device.

At the beginning of the propulsion, a leading pipe is arranged in a shaft, the leading pipe is directed in a direction along a planned trajectory, and a reference direction of an attitude angle detector is set along the planned trajectory. The propulsion of the front pipe was started, the subsequent pipes were put in the shaft and connected to the front pipe, and the subsequent pipes were sequentially put in the shaft, and a plurality of pipes were propelled.

[0007]

However, in the conventional construction method, it is very troublesome to set the reference direction of the attitude angle detector to precisely match the direction along the planned trajectory.

In the setting of the reference direction of the attitude angle detector, if there is a slight deviation, even if the control device adjusts the direction of the leading pipe based on the signal of the attitude angle detector, a plurality of succeeding pipes can be adjusted. The body is propelled out of the planned trajectory, which is not preferable.

SUMMARY OF THE INVENTION The present invention solves the above-mentioned problems, and can set a reference direction of an attitude angle detector accurately and easily to a direction of a planned trajectory, and can automatically propel a pipe with high accuracy. The purpose is to provide a body propulsion method and a propulsion device.

[0010]

According to the propulsion method of the present invention, an attitude angle detector capable of detecting an angle from a reference direction is provided, and a front pipe is disposed at the head and a rear pipe is provided behind the front pipe. With a plurality of pipes to be arranged, using a propulsion jack,
While being propelled from the shaft, the control device controls the front pipe so as to follow the front pipe along a planned trajectory having a straight section and a curved section and an initial straight section arranged at a site connected to the shaft. Opening adjustment comprising a plurality of opening adjusting jacks arranged between the preceding pipe and the following pipe based on coordinate data of the planned trajectory corresponding to the moving distance of the pipe and a signal from the attitude angle detector. A pipe propulsion method for controlling the operation of a group of jacks, adjusting the direction of the front pipe, and automatically propelling the plurality of pipes along the planned trajectory. An optical unit having a unit and a light receiving unit, a rotating unit capable of swinging the optical unit up, down, left, and right, and a distance controlling the operation of the rotating unit and electrically processing a signal from the optical unit. And a control unit for measuring the angle and the angle. Tal station, is arranged,
At the rear of the front conduit, a reflector that receives the light wave emitted from the light emitting unit of the total station and reflects the light wave in the incident direction of the light wave is fixed, and the control device is configured to control the At the beginning of the propulsion in the initial straight section, the distance and angle from the total station to the reflector are measured by the total station based on the light waves emitted from the light emitting section, reflected by the reflector, and received by the light receiving section. Controlling the operation of the group of opening adjustment jacks to adjust the direction of the leading conduit based on the measurement signal so that the leading conduit follows the initial straight portion, and adjusts the initial position of the leading conduit. After the straight-line propulsion of a fixed distance in the straight portion, the reference direction of the attitude angle detector is set to match the propulsion direction, and the setting is performed after the reference direction of the attitude angle detector is set. Operating the opening adjusting jack group so that the front conduit follows the planned trajectory based on coordinate data of the planned trajectory according to the moving distance of the front conduit and a signal from the attitude angle detector. To adjust the direction of the front conduit.

[0011] The propulsion device according to the present invention is provided with a leading pipe provided with a posture angle detector capable of detecting an angle from a reference direction, and a plurality of pipes provided behind the leading pipe. The body is propelled from the shaft using the propulsion jack, and the control device has a straight line portion and a curved portion, and has an initial straight line portion arranged at a portion connected to the shaft and on a planned track. Between the leading pipe and the following pipe based on the coordinate data of the planned trajectory corresponding to the moving distance of the leading pipe and the signal from the attitude angle detector so that the leading pipe follows the leading pipe. By controlling the operation of a group of opening adjustment jacks comprising a plurality of arranged opening adjustment jacks, adjusting the direction of the leading conduit, and automatically propelling the plurality of tubes along the planned trajectory. A propulsion device, wherein a light emitting unit is provided in the shaft. An optical unit having an optical unit and a light-receiving unit; a rotating unit capable of swinging the optical unit up, down, left, and right; and controlling the operation of the rotating unit and electrically processing a signal from the optical unit to obtain a distance and And a control unit for measuring the angle, a total station is disposed, and at the rear of the front conduit, receives a light wave emitted from a light emitting unit of the total station, and reflects the light wave in an incident direction of the light wave. The reflector to be fixed is fixed, and at the beginning of the propulsion at the initial straight line portion of the leading conduit, the control device is configured to irradiate the light from the light emitting unit, reflect the reflected light to the reflector, and based on the light wave received by the light receiving unit. Adjusting the distance and angle from the total station to the reflector by the total station, and, based on the measurement signal, adjusting the opening so that the leading conduit is along the initial straight line portion. Controlling the operation of the jack group, adjusting the direction of the front conduit, and after the straight propulsion of a fixed distance in the initial straight portion of the front conduit, the reference direction of the attitude angle detector is made to coincide with the propulsion direction. After setting the reference direction of the attitude angle detector, based on the coordinate data of the planned trajectory corresponding to the moving distance of the leading pipe and a signal from the attitude angle detector, the leading pipe is The operation of the group of opening adjustment jacks is controlled to adjust the direction of the front conduit so as to follow the planned trajectory.

In the above propulsion device, when the total station measures a distance and an angle from the total station to the reflector, the control device controls the operation of the rotating means with respect to the total station, The light emitting unit is vibrated by changing the frequency vertically and horizontally so as to irradiate the light wave in a range larger than the outer shape of the reflector, and the angle signal output from the total station and the signal of the light receiving unit are used to determine the reflection. It is preferable that the center position of the reflector is measured, and the distance and the angle from the total station to the center position of the reflector are measured based on the center position.

[0013]

In the propulsion method and the propulsion device according to the present invention,
First, at the beginning of propulsion in the initial straight section of the front conduit, the control device determines the distance and angle from the total station to the reflector based on the light waves emitted from the light emitting section, reflected by the reflector, and received by the light receiving section. The total station is measured, and based on the measurement signal, the operation of the group of opening adjustment jacks is controlled so that the leading conduit follows the initial straight line portion, and the direction of the leading conduit is adjusted.

Next, the control device sets the reference direction of the attitude angle detector to coincide with the propulsion direction after straight-line propulsion for a certain distance in the initial straight line portion of the leading conduit.

In setting the reference direction, since the leading conduit has already been linearly propelled along the initial straight line by a predetermined distance, and the reference direction is set along the trajectory of the linear portion having the predetermined distance, The reference direction is accurately set along the initial straight line portion in the planned trajectory.

After the reference direction of the attitude angle detector has been set, the control device controls the forward angle based on the coordinate data of the planned trajectory corresponding to the travel distance of the forward angle pipe and the signal from the attitude angle detector. By controlling the operation of the group of opening adjustment jacks so as to follow the planned trajectory, the direction of the leading conduit is adjusted. At this time, since the reference direction of the attitude angle detector is set accurately along the initial straight line portion of the planned trajectory, the signal of the attitude angle detector input to the control device becomes accurate, and the Can be promoted.

Therefore, in the propulsion method and the propulsion device according to the present invention, the reference direction of the attitude angle detector can be set with high accuracy and only by using the initial propulsion of the leading conduit, so that it becomes simple. The pipe can be automatically propelled with high precision.

When the total station measures the distance and the angle from the total station to the reflector as a propulsion device, the control device controls the operation of the rotating means with respect to the total station. Then, the light emitting part is vibrated by changing the frequency up and down and left and right so as to irradiate light waves in a range larger than the outer shape of the reflector, and from the angle signal output from the total station and the signal of the light receiving part, Is measured, and the distance and angle from the total station to the center position of the reflector are measured with reference to the center position. Accordingly, it is possible to reduce the construction cost and construction period when laying a plurality of pipes along the planned track.

[0019]

DESCRIPTION OF THE PREFERRED EMBODIMENTS One embodiment of the present invention will be described below with reference to the drawings.

The propulsion device M used in the propulsion method of the embodiment
As shown in FIGS. 1 and 2, numeral 1 designates a front conduit 1, a group of opening adjustment jacks 4, a pipe 10 made of a concrete fume pipe or the like, a propulsion jack 12, and an initial stage of propulsion of the pipe 10, as shown in FIGS. The system includes a total station 21 and a control device 30 to be used.

The front conduit 1 is provided with a well-known cutting edge, a shield machine, and the like. The posture angle detector 2 is disposed and fixed on the rear side, and the reflector 26 is fixed on the center of the rear end. I have.

As the attitude angle detector 2, a gyro such as a gyro using a rotating frame, a vibrating gyro using a rod vibration, a gas gyro using a gas flow, and a ring laser gyro using a laser beam are used. , The pitch angle and the yaw angle from the reference direction can be detected. Note that a device using this type of gyro has two modes: a preparation mode in which a detection signal is not output, and a measurement mode in which a detection signal is output. For example, when using a gyro that supports a rotating top with a gimbal,
The state in which the gimbal is fixed to the external frame is the preparation mode, and the state in which the gimbal is fixed and the posture is measured is the measurement mode. When using a gyro of the type that obtains an angle signal by integrating the output of an angular velocity detector such as a vibrating gyroscope or ring laser gyro, the state where the output is not integrated and held at zero is the preparation mode. Is a measurement mode in which the angle signal is integrated and the angle signal is output.

In the attitude angle detector 2, the attitude at the time of switching from the preparation mode to the measurement mode is the reference direction C, and thereafter, a change in attitude is output.

The reflector 26 reflects the light wave W from the light emitting section 22a of the optical section 22 in the total station 21 to be described later in the incident direction, and is configured by disposing a corner cube reflecting mirror. I have.

The opening adjusting jack group 4 is arranged between the front pipe 1 and the pipe 10 immediately after the front pipe 1 or between the pipes 10 and 10. As shown in FIG. Thus, an opening adjustment jack 5 composed of four hydraulic jacks is arranged at 45 ° offset from the top, bottom, left and right. In addition,
When the diameter of the pipe body 10 is large, two or three hydraulic jacks 5 are arranged at positions where the opening adjustment jacks 5 are arranged, and an opening adjustment jack group is formed by 8 to 12 opening adjustment jacks 5. 4 may be configured.

Each of the opening adjustment jacks 5 is provided with an opening adjustment detection sensor 6 composed of a differential transformer or the like so that the stroke of each piston rod 5a can be detected.

A cylindrical covering pipe 8 is provided around each of the opening adjustment jack groups 4 so that earth and sand do not enter the opening adjustment jack group 4.

The propulsion jack 12 includes a main pushing jack 13 arranged in a shaft 32 and a middle pushing jack 16 arranged between the pipes 10 (D) and 10 (E) in which the opening adjustment jack group 4 is not arranged. A pipe body 10 (B) in which the opening adjustment jack group 4 is not disposed in the vicinity of the front conduit 1;
And a distance measuring jack 18 arranged between 10 (C). The original push jack 13, the middle push jack 16, and the distance measuring jack 18 are simultaneously connected to the respective piston rods 13 b for each jack 13, 16, 18.
A plurality of hydraulic jacks 13 for expanding and contracting 16b and 18b
a, 16a and 18a. The jacks 13, 16 and 18 are provided with a main push detection sensor 14, a middle push detection sensor 17, and a propulsion distance detection sensor 19, each of which comprises a differential transformer capable of detecting the stroke of each of the piston rods 13b, 16b and 18b. Are located.

The distance measuring jack 18 is for measuring the propulsion distance D of the leading conduit 1, and its operation is as follows.
After the piston rod 18b is extended so as to propel the leading conduit 1, the piston rod 18b is contracted. Next, the piston rods 13b and 16b of the main push jack 13 and the middle push jack 16 are extended,
When the gap between the distance measuring jack 18 and the tube body 10B in front of the distance measuring jack 18 disappears, the operation of the main pushing jack 13 and the middle pushing jack 16 is stopped, the piston rod 18b is extended again, and the leading conduit 1 is propelled. Piston rod 18
b is shortened, and the above operation is repeated. In addition,
The detection of the absence of the gap between the piston rod 18b and the front pipe 10B is detected by using a pressure sensor arranged in a hydraulic circuit (not shown) of the distance measuring jack 18 by raising the pressure sensor.

The reason for this construction is that a large number of tubes 1
When propelling 0, the pipe body 10 is compressed little by little during propulsion, and during stoppage, the pipe 10 is randomly restored due to the resistance of the earth and sand. Then, the forward conduit 1 is propelled by using the main push jack 13 and the middle push jack 16, and the value obtained by integrating the strokes of the piston rods 13a and 16b between the main push jack 13 and the middle push jack 16 is used. Then, when the propulsion distance D of the leading conduit 1 is calculated,
Due to the compression or random restoration of the pipe body 10 described above, an error easily occurs in the propulsion distance D of the leading pipe 1. In order to suppress this error and calculate the propulsion distance D of the leading pipe 1, the leading pipe 1
Is carried out only by the distance measuring jack 18 and the propulsion distance D of the leading conduit 1 is calculated by a value obtained by integrating the stroke of the piston rod 18b in the distance measuring jack 18, so that the distance measuring jack 18 is located near the leading conduit 1. This is because they are arranged, and the propulsion distance D of the leading conduit 1 can be accurately calculated without the influence of errors due to the compression and restoration of a large number of pipes 10.

In the embodiment, the distance measuring jack 1
The calculation of the propulsion distance D by the integration of 8 will be described later.
After the straight propulsion of the constant distance in the initial straight line portion Hs of the front conduit 1, the reference angle C of the attitude angle detector 2 is set after being set to coincide with the propulsion direction. The propulsion distance D of the leading conduit 1 up to that time is determined by the total station 21
At the distance T based on the signal from the
6 is calculated using a value obtained by adding the dimension h between them.

The covering pipe 8 is also arranged around the distance measuring jack 18 and the middle pushing jack 16.

Reference numeral 33 denotes a supporting wall for dispersing the reaction force of each piston rod 13b of the main push jack 13 when the piston rod 13b extends.

Further, the middle push jack 16 cannot push the front pipe 10 with the pressing force of the main push jack 13 when there are many pipes 10 to be pushed.
It is provided and becomes unnecessary when the number of propelled pipes 10 is small.

The total station 21 is provided in the shaft 32 only at the initial stage of propulsion of the leading pipe 1.
The total station 21 is a publicly-known total station in which an electronic digital theodolite and a lightwave distance meter are integrated, and the distance and angle of a measurement point can be measured electronically and their values can be digitally displayed. An optical unit 22 having a light emitting unit 22a that emits a light wave W such as a light beam and a light receiving unit 22b that receives the light wave W emitted from the light emitting unit 22a; A control unit 24 for controlling the operation of the means 23 and electrically processing the signal from the optical unit 22 to measure the distance and angle.
And is provided.

The control unit 24 of the total station 21 can output distance and angle measurement data as electric signals. The control unit 24 includes a personal computer via an interface such as RS-422 or GP-IP. The connection to 30 enables calculation of a series of measurements as well as creation of tables and maps.

The rotating means 23 includes a gimbal for supporting the optical unit 22, a vertical servomotor connected to the gimbal for rotating the optical unit 22 in the vertical direction, and an optical unit 2.
And a lateral servomotor coupled to the gimbal so as to rotate the second in the left-right direction. Each of these servomotors has a built-in encoder.

When measuring the distance and the angle from the total station 21 to the reflector 26, the total station 21 of the embodiment is automatically controlled by the controller 30 as described later.
It is controlled so that the distance and the angle from to the center position O (see FIG. 5) of the reflector 26 can be accurately measured.

As shown in FIGS. 1 and 2, the control device 30
As shown in FIGS. 4 and 7, the display unit 30 is disposed near the shaft 32 and includes a calculation unit 30 a, a predetermined control unit and storage unit (not shown), a display unit 30 b, and a power supply circuit (not shown). . The control device 30 controls the solenoid valve of the hydraulic circuit that operates the opening adjustment jack 5 of each opening adjustment jack group 4, the sensors 2, 6, 14, 17, 19,
It is electrically connected to the control unit 24 of the total station 21 using a lead wire (not shown), and controls the operation of each unit. Further, the control device 30 controls the propulsion jack 12
The main push jack 13, the middle push jack 16, and the distance measuring jack 18 are provided with an operation switch (not shown).

Further, the storage unit of the control device 30 stores coordinate data x representing three-dimensionally a number of points on the planned trajectory H.
₀ , y ₀ , and z ₀ are input. The planned trajectory H
The portion starting from the shaft 32 is an initial straight portion Hs of 5 to 10 m.

The control device 30 controls the operation of the total station 21 and the head opening adjustment jack group 4A at the beginning of propulsion on the initial straight line portion Hs on the planned trajectory H. Next, after straight-line propulsion of a predetermined distance (less than 5 to 10 m) in the initial straight line portion Hs of the leading conduit 1, the reference direction C of the attitude angle detector 2 is set to coincide with the propulsion direction. Thereafter, after the reference direction C of the attitude angle detector 2 is set, based on the coordinate data of the planned trajectory H corresponding to the moving distance L of the angle guide 1 and the signal from the attitude angle detector 2, Are operated to operate the leading opening adjustment jack group 4A so as to follow the planned trajectory H to adjust the direction of the leading conduit 1, and further sequentially control the subsequent opening adjustment jack groups 4B, 4C. Will be done.

More specifically, control of the control device 30 will be described. When the plurality of pipes 10 are propelled using the propulsion device M1 of this embodiment, the following operation is first performed.

First, in a pit 32 provided with a support wall 33, a main push jack 13 having a main push detection sensor 14, a pressing wheel 15 for maintaining a constant pressing force, and a total station 21 are sequentially arranged. At the same time, the front conduit 1 having the attitude angle detector 2 and the reflector 26 attached at predetermined positions, the leading opening adjusting jack group 4A, the covering tube 8, and the leading tube 10A are inserted. Then, by operating an operation switch (not shown), the main push jack 13 is operated to repeat the expansion and contraction of each piston rod 13b, and at the same time, the pressing ring 15 inserted between the main push jack 13 and the leading pipe body 10A is sequentially operated. Increase the number to propel the leading conduit 1.

The total station 21 is connected to the shaft 3
Before entering into the station 2, the geostationary measurement is performed based on the construction specifications, and the optical unit 22 is installed on the ground so that the optical unit 22 is oriented in the direction of the initial straight line portion Hs of the planned trajectory H.
Is installed so as to correspond to the angle measured on the ground even if it is put into the shaft 32. Further, the front conduit 1 is arranged so that the light wave W from the optical section 22 can be received at the center position O of the reflector 26 and the center line of the front conduit 1 is parallel to the light wave W. .

Thereafter, the leading conduit 1 and the leading pipe 10A are propelled into the soil from the shaft 32, and if a predetermined space is opened, as shown in FIG. 4B, subsequent tube 10B, distance measuring jack 1
8 and the covering tube 8 are arranged.

Then, the main push jack 13 and the distance measuring jack 18 are appropriately operated by operating an operation switch (not shown), and the front conduit 1 is propelled by the operation of the main push jack 13 and the distance measuring jack 18. In the shaft 32, the subsequent opening adjustment jack group 4C, the covering pipe 8, the pipe 1
0F or the pipes 10D and 10E, the middle push jack 13, and the covering pipe 8 are put. Of course, after the middle push jack 16 is inserted, the middle push jack 16 is also operated and propelled in addition to the original push jack 13 and the distance measuring jack 18.

The controller 30 controls the total station 21 and the head opening adjustment jack group 4A at the beginning of the propulsion at the initial straight line portion Hs on the planned trajectory H as follows.

First, the control device 30 controls the operation of the rotating means 23 of the total station 21 via the control unit 24, and emits the light wave W in a range larger than the outer shape of the reflector 26 so that the light emitting unit 22a To change the frequency up and down and left and right. That is, a sine wave having a width exceeding the outer shape of the reflector 26, for example, a width of 1 °, is sent to the rotating means 23, and is also sent to the rotating means 23 while changing the vertical and horizontal frequencies. For example, if the top and bottom are 1 Hz and the left and right are 0.1 Hz,
The light wave W is in the state shown in FIG. At this time, the reflector 26
The light wave W reflected by the light returns to the incident direction and
And the control unit 24 of the total station 21
Will output the same angle signal as when the light wave W is scanned. However, when the light wave W scans the position deviating from the reflector 26, the light wave W does not return to the light receiving section 22b, so that the output from the total station 21 is lost.

At this time, the controller 30 calculates the median value of the angle range calculated from the angle signal output from the controller 24 of the total station 21 and can accurately determine the center position O of the reflector 26. .

Then, the control device 30 controls the reflector 26
The operation of the rotating means 23 is controlled via the control unit 24 so that the scanning center of the light emitting unit 22a is arranged at the center position O of the light emitting unit 22a.
Will be automatically tracked at the center of the rear end.

At this time, the control device 30 inputs, from the control unit 24 of the total station 21, a signal obtained by accurately measuring the distance and angle from the total station 21 to the center position O of the reflector 26, 2
An angle signal for making the center of the scanning of 2 a coincide with the center position O of the reflector 26 is also input from the control unit 24. The angle signal to be matched is the amount of deviation of the leading conduit 1 from the initial straight line portion Hs on the planned trajectory H.

This shift amount is represented by θ at the pitch angle and ψ at the yaw angle.
, The total station 21 and the reflector 26
To the distance T (this distance T is the moving distance L of the front conduit 1)
, The XYZ coordinate of the propulsion result is obtained by subtracting the dimension h between the tip of the front conduit 1 and the reflector 6 from FIG.
X = T × cos θ × cos… (1) Y = X × tan ψ (2) Z = X × tan θ (3)

The initial straight line portion Hs on the planned trajectory H
Is a straight line, and when it is controlled so as to follow the light wave W, θ and し か actually have only small angles, but in FIG. 6, they are set to large values for easy understanding.

In accordance with the value of T measured by the total station 21, the control unit 30 calculates X, Y, and Z by the calculation unit 30a every moment according to the value of T measured by the propulsion of the leading conduit 1, and calculates Y, Z Are set to zero (the initial linear portion Hs
Is a straight line, the value of X does not have to be zero.), The opening adjustment jack group 4A is controlled.

In the control of the group of opening adjustment jacks 4A, when correcting the vertical direction, that is, the value of Z, the opening adjustment jacks 5A and 5B in FIG.
The opening adjusting jacks 5C and 5D may be contracted or extended. Further, when correcting the value in the horizontal direction, that is, the value of Y, the opening adjustment jacks 5A and 5C may be extended or contracted, and the opening adjustment jacks 5B and 5D may be contracted or extended.

Further, the position control for keeping the values of Y and Z at zero can be performed by PID control. In this PID control, the computing unit 30a in FIG. 4 is given a PID characteristic, and the input values y ₀ , z ₀ are compared with the propulsion results Y, Z of the leading conduit 1, respectively, so that these become zero. The closed loop control for operating the opening adjustment jack group 4A is performed as shown in the following equations (4) to (7). ), D (differential) multiplied by each gain, horizontal and vertical aperture difference (jack expansion and contraction difference)
, And the leading conduit 1 may be propelled.

Y _E = y ₀ -Y (4) L _Y = Y _E (Y _P + Y _I / S + Y _D × S) (5) Z _E = z ₀ -Z (6) L _Z = Z _{E × (Z P + Z I} / S + Z D × S) ... (7) Y E is the lateral position error, Z _E is the vertical position error, Y _P is horizontal proportional gain, Z _P is vertically proportional gain, Y _I is horizontal integration Gain, Z _I is vertical proportional gain, Y _D is horizontal differential gain, Z
_D is the vertical differential gain, _LY is the horizontal aperture difference, _LZ is the vertical aperture difference, 1 / S is the integral, and S is the derivative.

Note that each gain of the PID may be determined in advance in accordance with the control theory.

After the straight propulsion at a predetermined distance in the initial straight portion Hs of the front conduit 1, the control device 30 makes the reference direction C of the attitude angle detector 2 coincide with the propulsion direction.
Switching from the preparation mode to the measurement mode, the reference direction C is set.

The setting of the reference direction C has already been performed on the front pipe 1
Is linearly propelled along the initial linear portion Hs for a fixed distance, and along the trajectory of the linear portion at the fixed distance, the reference direction C
Is set, the reference direction C is the planned trajectory H
Are accurately set along the initial straight line portion Hs.

After setting the reference direction C of the attitude angle detector 2, the control device 30 sets the coordinate data x ₀ , y ₀ , z _{0 of} the planned trajectory H according to the moving distance L of the leading conduit 1. Based on the signal from the attitude angle detector 2, the operation of the opening adjustment jack group 4A is controlled so that the leading conduit 1 follows the planned trajectory H, and the direction of the leading conduit 1 is adjusted.
At this time, since the reference direction C of the attitude angle detector 2 is set accurately along the initial linear portion Hs of the planned trajectory H, the signal of the attitude angle detector 2 input to the control device 30 becomes accurate. Thus, the pipe 10 can be propelled with high accuracy.

After setting the reference direction C of the attitude angle detector 2,
Perform the same control as that described in the prior publication, in units of four units _{U 1 · U 2 · U 3} · U 4 · U 5 will be promoted tube 10, Briefly, It is as follows (see FIGS. 1 and 7). As shown in FIG. 1, the unit U ₁ is composed of a lead pipe 1, the opening adjusting jack groups 4A, aperture adjusting jack group covering tube 8 4A covering. Unit U ₂ is composed of a covering tube 8 that covers the tube 10A · opening adjusting jack group 4B · opening adjusting jack group 4B. Unit U ₃ covers tube 8 that covers the tube 10B-ranging jacks 18, the tube 10C-opening adjusting jack group 4C-ranging jack 18 and the aperture adjusting jack group 4C
· Consists of 8 The unit U ₄ includes a pipe 10D, a middle push jack 16, a pipe 10E, and an opening adjustment jack group 4
D · Middle push jack 16, opening adjustment jack group 4 D, and covering pipe 8.8. Unit U ₅ are those composed of shroud tube 8 that covers the tube 10F · opening adjusting jack group 4E · opening adjusting jack group 4E. The causes are sequentially propulsion unit U ₁ · unit U ₂ · unit U ₃ · unit U _5, as appropriate, unit U ₅
- and a unit U ₄ is interposed between the U _5, propelling the tubular body 10. Of course, at the time of propulsion, the main push jack 13, the middle push jack 16, and the distance measuring jack 18 are appropriately operated.

After setting the reference direction C of the attitude angle detector 2, the total station 21 is removed from the shaft 32.

A. First, the operation unit 3 of the control device 30
0a calculates the moving distance L of the unit U _1. The calculation is based on a signal from the propulsion distance detection sensor 19, and the stroke of the piston rod 18b of the distance measuring jack 18 after the setting of the reference direction C of the attitude angle detector 2 is integrated. Distance T when setting the reference direction C of 2
And the dimension h between the tip of the front conduit 1 and the reflector 26 are added to calculate the propulsion distance D of the front conduit 1. And
When the reference direction C of the attitude angle detector 2 is set, the distance adjusting jack 18 is located forward of the current distance measuring jack 18 with reference to the average stroke A ₀ , B ₀ of the piston rod 5a of each of the opening adjusting jacks 5 of the opening adjusting jack group 4A, 4B. Of the average stroke A ₁ · B ₁ of the piston rod 5a of each of the opening adjusting jacks 5 of the opening adjusting jack groups 4A and 4B,
If adding the calculated values to the propulsion distance D, it calculates a movement distance L of the unit U _1.

That is, L = (A ₁ + B ₁ ) − (A ₀ +
B ₀ ) + D.

B. Also, based on the coordinate data of the planned trajectory H, dy, dx, and dz of the dL component at each point of the planned trajectory H
, And the yaw angle ψ ₀ of the horizontal component in the tangential direction of each point and the pitch angle θ ₀ of the vertical component are calculated as ψ ₀ = tan ⁻¹ (dy
/ Dx) and θ ₀ = tan ⁻¹ (dz / dx).

The length L ₀ on the planned trajectory up to each point is
L ₀ = ∫ ((dy) ² + (dx) ² + (dz) ² )
Calculate as ^1/2 . And the length L ₀ to each point,
The angles ψ ₀ and θ ₀ at each point are stored in the storage unit.

Note that a. b. Is performed by the calculation unit 30a.

C. In the arithmetic unit 30a, a signal of the angle ψ ₀ · θ ₀ corresponding to the moving distance L is input, and a signal ψ · θ of the yaw angle and the pitch angle from the attitude angle detector 2 are input, and (ψ ₀ − _{ψ) × (K I / S} + K P + K D S)
When calculates a _{(θ 0 -θ) × (G} I / S + G P + G D S).

Note that K_I , G_I Is the integral gain, K_P , G
_P Is the proportional gain, K_D , G_D Is the differential gain. Ma
In addition, 1 / S represents integration and S represents differentiation. Furthermore, K_I , K
_P , K _D , G_I , G_P , G_D Are the control gates of PID control.
And is determined in advance according to the control target.

Then, in accordance with the values of (ψ ₀ -ψ) and (θ ₀ -θ), two left, right, upper and lower opening adjustment jacks 5 in the leading opening adjustment jack group 4A are controlled, and (ψ
Control is performed so that the values of ( ₀₋ ψ) and (θ ₀ −θ) become zero.

At this time, the moving distance L and the angle signal ψ ·
Based on the theta, and stores the computed trajectory of the unit U ₁ at predetermined intervals, so as to display the construction track on the display unit 30b.

D. And (ψ ₀ -ψ) and (θ ₀ -θ)
Values of the based on the signal of the opening adjustment detection sensor 6 that detects the stroke of each aperture adjusting jack 5 of the opening adjusting jack group 4A of when it becomes zero, the unit U ₁ and the following unit U ₂ The storage unit of the control device 30 stores the opening difference provided therebetween.

E. Thereafter, the unit U ₁ are sequentially promoted, when the subsequent unit _{U 2 · U 3 · U 5} U 4 ... has moved to a position control unit U ₁ has reached the unit and immediately after the unit in that position Then, each of the opening adjustment jacks 5 of the subsequent opening adjustment jack group 4 is controlled so as to generate a predetermined corrected opening difference by correcting the stored opening difference.

The movement distance of the subsequent unit is calculated in advance by the following unit length Q ₂ (unit U ₂ length) · Q ₃ (unit U ₃ length) · Q ₄ (unit U the length of ₄₎ · Q ₅ (length of the unit U _5), successively,
The control unit 30 inputs the length to the unit (the total length of each unit in between, the average stroke of each opening adjustment jack group 4) based on the moving distance L of the unit U ₁ in the arithmetic unit 30 a. , The stroke of the distance measuring jack 18 and the stroke of the middle pushing jack 16) are subtracted.

The corrected aperture difference is calculated by adding the unit length ratio (Qx (length of the unit to be controlled) / Q ₁ (length of the unit U ₁ )) to the previously stored aperture difference in the arithmetic unit 30a.
Is multiplied by.

In the propulsion method and the propulsion device M1 according to the first embodiment, the setting of the reference direction C of the attitude angle detector 2 can be performed easily and accurately. It can be promoted to.

Further, in the first embodiment, the control device 30
To irradiate the light wave W emitted from the optical unit 22 of the total station 21 to the center position O of the reflector 26,
Because it is automatically tracked, even during initial propulsion of the leading conduit 1,
The forward conduit can be automatically propelled, and the construction cost and construction period when laying a plurality of pipes on the planned track H can be reduced.

Of course, the operator may manually operate the direction of the optical section 22 of the total station 21 at the time of the initial propulsion of the leading pipe 1.

The propulsion method and the propulsion device M2 of the second embodiment shown in FIGS. 9 and 10 are modifications of the first embodiment, and do not use the units U ₃ , U ₄ and U ₅ ,・ Tube 1
Is intended to use the unit U ₆ consisting covering tube 8 that covers the buffer material 28, the cushioning material 28 mounted to the rear end of 0, as in the case disclosed in Japanese Patent Laid-Open No. 7-109888, a relatively Suitable for propulsion of small-diameter pipes, the use of the opening adjustment jack group 4 is avoided as much as possible, and the construction cost is reduced.
Is to promote.

The cushioning member 28 is formed of a foamed plastic material having a continuous or intermittent annular shape. When propelled near the curved portion of the planned trajectory H, an opening difference is generated between the pipes 10. At this time, the inner part of the curve of the planned trajectory H is compressed and deformed, and the subsequent pipe 10 is connected to the front pipe 10.
And plays a role in averaging the load of the propulsion force acting on the end face of the tube 10.

Even in the case of the second embodiment, the planned trajectory H
When the initial straight portion Hs is propelled, as in the first embodiment,
As shown in FIG. 9, the reference direction C of each attitude detector 2 is set using the total station 21. And
After the setting, the control device 30 controls the units U ₁ , U _2, and U ₆ as follows to propel the units.

A. First, the arithmetic unit 30a of the control device 30
But it calculates the moving distance L of the unit U _1. The calculation is by integrating the stroke of the piston rod 13b of the original pressing jack 13 calculates the promotion distance D of the unit U _1, to the calculated value, all the openings adjusted between leading tube 1 and intake shaft 32 if adding the average stroke of the jack assembly 4, it is possible to calculate the travel distance L of the unit U _1.

After that, the control device 30 executes b. c. d. The same control as in the column is performed.

E. And the unit U₁ Is progressively promoted
And the following unit U_Two ・ U₆ Is unit U₁ Control
When you move to the position
U _Two ・ U₆ Between the unit and the immediately following unit
In order to produce a predetermined corrected aperture difference that compensates for the mouth difference,
Control each opening adjustment jack 5 of the opening adjustment jack group 4
You.

The calculation of the moving distance of the succeeding unit is the same as that of the first embodiment, and the lengths Q ₂ and Q ₆ of the succeeding units are sequentially input to the control device 30 in advance. the calculating unit 30a, based on the moving distance L of the unit U _1, by subtracting the up unit length (total length and a value obtained by adding the average stroke of each aperture adjusting jack groups 4 of each unit entered in between) If so, it can be calculated.

Also, similarly to the first embodiment, the corrected aperture difference is calculated by the arithmetic unit 30a by the unit length ratio (Qx (length of the unit to be controlled) / Q ₁ ) to the stored aperture difference.
Is multiplied by.

The propulsion method and the propulsion device M according to the second embodiment
Even in the case of 2, the setting of the reference direction C of the attitude angle detector 2 can be performed easily and accurately, so that the tube 10 can be automatically propelled with high accuracy.

In the first and second embodiments, the planned trajectory H
Although There has been described promoting If bent in three dimensions, if the planned trajectory H is bent in two dimensions, x ₀
And coordinates, only with respect to y ₀ coordinate or z ₀ coordinates, by input to the control device 30, it should by promoting tube 10.

[Brief description of the drawings]

FIG. 1 is a cross-sectional view schematically showing a propulsion device according to a first embodiment of the present invention.

FIG. 2 is a longitudinal sectional view showing an initial state of propulsion of the embodiment.

FIG. 3 is a cross-sectional view of the vicinity of an opening adjustment jack group according to the embodiment.

FIG. 4 is a control system block diagram of the total station of the embodiment.

FIG. 5 is a diagram showing a scanning state of the total station of the embodiment.

FIG. 6 is a diagram showing states of a pitch angle, a yaw angle, and a distance measured by the total station of the embodiment.

FIG. 7 is a control system block diagram at the time of propulsion after setting a reference direction of the attitude angle detector of the embodiment.

FIG. 8 is a diagram showing a state in which a planned trajectory is represented by xyz coordinates.

FIG. 9 is a longitudinal sectional view showing a state of an initial stage of propulsion according to a second embodiment.

FIG. 10 is a cross-sectional view schematically showing the propulsion device of the embodiment.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 ... front pipe, 2 ... attitude angle detector, 4 ... opening adjustment jack group, 5 ... opening adjustment jack, 6 ... opening adjustment detection sensor, 10 ... pipe body, 12 ... propulsion jack, 21 ... total station, 22 ... optical part Reference numeral 22a: Light emitting unit, 22b: Light receiving unit, 23: Rotating means, 24: Control unit, 26: Reflector, 30: Control device, C: Reference direction, H: Planned trajectory, Hz: Initial linear part, L: Moving distance, O: Center position, W: Light wave, M1, M2: Propulsion device.

Claims (3)

(57) [Claims] 1. A propulsion system comprising: a front conduit arranged at the head with a posture angle detector capable of detecting an angle from a reference direction; and a plurality of pipes disposed behind the front conduit. A jack is used to propel the shaft from the shaft, and the control device follows the front conduit along a planned trajectory having a straight portion and a curved portion, and an initial straight portion disposed at a portion connected to the shaft. A plurality of openings arranged between the front pipe and the subsequent pipe based on coordinate data of the planned trajectory corresponding to the moving distance of the front pipe and a signal from the attitude angle detector. A method of controlling the operation of an opening adjustment jack group including an adjustment jack to adjust the direction of the front pipe, and a method of propulsion of a pipe body for automatically propelling the plurality of pipe bodies along the planned trajectory, An optical unit having a light emitting unit and a light receiving unit in the shaft A rotation unit capable of swinging the optical unit up, down, left and right, and a control unit that controls the operation of the rotation unit and electrically processes a signal from the optical unit to measure a distance and an angle. , A total station comprising, a reflector for receiving the light wave emitted from the light emitting portion of the total station, and reflecting the light wave in the incident direction of the light wave, is fixed to the rear portion of the leading conduit, From the total station to the reflector, based on a light wave received from the light receiving unit after being radiated from the light emitting unit and reflected by the reflector at the beginning of propulsion at the initial straight line portion of the leading conduit, Control the operation of the group of opening adjustment jacks based on the measurement signals so that the leading conduit follows the initial straight line portion. Adjusting the direction of the leading conduit, and setting the reference direction of the posture angle detector to coincide with the propulsion direction after straight-line propulsion at a constant distance in the initial straight line portion of the leading conduit; After setting the reference direction of the angle detector, the leading conduit is made to follow the planned trajectory based on the coordinate data of the planned trajectory corresponding to the moving distance of the leading conduit and a signal from the attitude angle detector. In this manner, the operation of the group of opening adjustment jacks is controlled to adjust the direction of the front conduit, and the method of propulsion of a pipe body is characterized in that the method is as follows. 2. A propulsion system comprising: a leading conduit arranged at the head with a posture angle detector capable of detecting an angle from a reference direction; and a plurality of pipes disposed behind the leading conduit. A jack is used to propel the shaft from the shaft, and the control device follows the front conduit along a planned trajectory having a straight portion and a curved portion, and an initial straight portion disposed at a portion connected to the shaft. A plurality of openings arranged between the front pipe and the subsequent pipe based on coordinate data of the planned trajectory corresponding to the moving distance of the front pipe and a signal from the attitude angle detector. A pipe propulsion device for controlling the operation of an opening adjustment jack group including an adjustment jack to adjust the direction of the leading pipe, and automatically propelling the plurality of pipes along the planned trajectory, An optical device having a light emitting unit and a light receiving unit in the shaft Unit, a rotation unit capable of swinging the optical unit up, down, left and right, and a control unit that controls the operation of the rotation unit and electrically processes a signal from the optical unit to measure a distance and an angle. A total station comprising: a reflector that receives a light wave emitted from a light emitting unit of the total station and reflects the light wave in an incident direction of the light wave is fixed to a rear portion of the leading conduit. The control device, at the beginning of propulsion at the initial straight portion of the front conduit, based on the light wave received from the light receiving unit and radiated from the light emitting unit and reflected by the reflector, from the total station from the reflector The total station measures the distance and the angle of the opening adjustment jack group based on the measurement signal so that the leading conduit follows the initial straight portion. And adjusting the direction of the leading conduit, setting the reference direction of the posture angle detector to coincide with the propulsion direction after straight-line propulsion at a constant distance in the initial straight portion of the leading conduit, and setting the posture. After setting the reference direction of the angle detector, the leading conduit is made to follow the planned trajectory based on the coordinate data of the planned trajectory corresponding to the moving distance of the leading conduit and a signal from the attitude angle detector. As described above, the operation of the group of opening adjustment jacks is controlled to adjust the direction of the front conduit, and the propulsion device for a tubular body is characterized in that the direction is adjusted. 3. When the total station measures a distance and an angle from the total station to the reflector, the control device controls the operation of the rotating means with respect to the total station to control the operation of the reflector. The light emitting unit is oscillated by changing the frequency up and down and left and right so that the light wave is irradiated in a range larger than the outer shape. 3. The propulsion device for a tubular body according to claim 2, wherein the distance and the angle from the total station to the center position of the reflector are measured with reference to the center position.