JP2851196B2 - Control method of propulsion head - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention is connected to the tip of a propulsion pipe which is propelled by receiving a pressing force from behind, and changes the direction of propulsion by receiving a reaction force from the soil accompanying the underground propulsion. The present invention relates to a method of controlling a propulsion head that adjusts a propulsion path by manipulating a direction in which the propulsion head is provided with the pressure receiving surface.

[0002]

2. Description of the Related Art Adjustment of a propulsion path by a propulsion head having a pressure-receiving surface for changing a propulsion direction by receiving a reaction force from the soil accompanying the underground propulsion and capable of rotating around a longitudinal axis. When performing the propulsion with a constant propulsion force with the pressure receiving surface facing in a certain direction, the displacement of the propulsion head path, which is approximately proportional to the propulsion amount, is opposite to the direction in which the pressure receiving surface faces. Occurs. In other words, the propulsion is performed with the pressure receiving surface directed leftward with respect to the propulsion direction, for example, and the larger the amount of propulsion, the greater the displacement of the subsequent propulsion path to the right with respect to the initial propulsion path. Utilizing this phenomenon, the propulsion path is modified so that the propulsion head path matches the planned alignment.

Conventionally, as a control method for this type of propulsion head, a position and an attitude of the propulsion head under the ground are detected, and a correction amount for adjusting the propulsion head course to a planned alignment is detected from the detected information. Based on the result, a skilled engineer judges and determines the direction in which the pressure-receiving surface is oriented and the amount of propulsion with the pressure-receiving surface oriented in that direction. As a cycle,
This propulsion cycle is sequentially repeated to control the propulsion head.

That is, in the propulsion for one measurement pitch from the detection of the position and posture of the propulsion head to the detection of the next position and posture, the propulsion path of the propulsion head is moved in the correction direction. Since the propulsion is performed while keeping the leading conductor oriented in the direction for correction of the pressure receiving surface, the adjustment of the propulsion path for the correction amount has to be adjusted by increasing or decreasing the propulsion amount in one propulsion cycle. I can't get it. That is, the propulsion amount in each propulsion cycle may always change in accordance with the correction amount. For example, when the value of the correction amount is small, the propulsion amount per one propulsion cycle is also shortened for propulsion. Things.

[0005]

According to the above-mentioned conventional method for controlling a propulsion head, it is often the case that several propulsion cycles are repeated in order to propel a distance corresponding to one stroke of the propulsion equipment. Each time the propulsion of one propulsion cycle is completed, the position and orientation of the propulsion head are also detected. In other words, as the propulsion length per propulsion cycle becomes shorter, the number of propulsion cycles increases, and the number of times of detection increases, resulting in a disadvantage that extra time is required and the efficiency of propulsion is reduced.

Further, in actual control, judgment by a skilled technician is required, and there is a risk that the judgment may vary.

SUMMARY OF THE INVENTION Accordingly, an object of the present invention is to provide a method for controlling a propulsion head that can adjust the propulsion path of the propulsion head with a small number of propulsion cycles in view of the above-mentioned drawbacks.

[0008]

In order to achieve the above object, a feature of the present invention is to detect the vertical and horizontal positions and postures of a propulsion head underground (hereinafter referred to as "position / posture detection"). From the detected information, the correction amounts for adjusting the propulsion head course to the planned alignment are separately obtained as the vertical correction amount and the horizontal correction amount, and those correction amounts are obtained from the vertical correction amount and the horizontal correction amount. The combined vector is determined as the required correction amount, and the direction of the pressure receiving surface that changes the propulsion direction by receiving the reaction force from the soil accompanying the underground propulsion is oriented according to the direction of the required correction amount, and the pressure receiving pressure is adjusted. A propulsion route is adjusted by setting a reversal propulsion amount for propelling by reversing the direction in which the surface turns, according to the magnitude of the correction request amount.

[0009]

According to the characteristic means of the present invention, the position and orientation of the propulsion head in the ground are detected in the vertical direction and the horizontal direction, and a correction for adjusting the course of the propulsion head to the planned alignment based on the detected information. The amount of vertical correction and the amount of horizontal correction are obtained separately, and the combined vector is calculated as the required correction from the amount of vertical correction and the amount of horizontal correction. The direction in which the pressure receiving surface that changes the propulsion direction in response to the direction of the correction request amount is oriented in accordance with the direction of the correction request amount, and the reversal propulsion amount in which the direction in which the pressure receiving surface turns is propelled and propelled, is set as the correction request amount The propulsion path is adjusted by setting the size, so that in the propulsion in one propulsion cycle, the initial propulsion in which the pressure-receiving surface is directed in the direction of the correction request amount and the direction in which the pressure-receiving surface faces are reversed. line It is possible to combine the inversion propulsion.

That is, by performing the reversing propulsion with respect to the displacement of the course caused by the initial propulsion, a movement of returning to the original course occurs, and the length of these propulsions is determined based on the correction amount. By making the change, it is possible to finely adjust the propulsion route even when the propulsion amount per one propulsion cycle is set long. If the amount of propulsion per propulsion cycle is set to the length of one stroke, the position and orientation of the propulsion head need only be detected once per propulsion process for one stroke.

In other words, the propulsion path can be corrected with the propulsion length corresponding to one stroke as one unit, and there is no need to repeat many propulsion cycles as in the prior art. As a result, the number of times of performing the position and orientation detection of the propulsion head can be reduced.

Moreover, since the conventional method does not focus on human judgment as in the prior art, it is possible to perform control with less variation and improve the propulsion accuracy.

[0013]

Therefore, according to the control method of the propulsion head of the present invention, the propulsion path of the propulsion head can be adjusted with a minimum required number of detections of the position and orientation, and the propulsion time can be reduced. By shortening it, it became possible to improve propulsion efficiency.

[0014]

Embodiments of the present invention will be described below with reference to the drawings.

As shown in FIG. 2, the method for controlling the propulsion head according to the present embodiment is as follows: a pressure receiving surface F for changing the propulsion direction in response to a reaction force from the soil accompanying the propulsion is applied to the propulsion head main body 1A. A propulsion head 1 provided rotatably about an axis P and retractable in a propulsion direction and provided with a mechanism (position and orientation detection mechanism) for detecting the position and orientation of the propulsion head 1 in the ground.
The method for controlling a propulsion head that adjusts the propulsion path while performing propulsion is described in detail below.

First, the position and orientation of the propulsion head 1 under the ground are detected as numerical values by the position and orientation detection mechanism. Next, the vertical correction amount Y and the horizontal correction amount X are obtained as inference values from the deviation of the position and orientation of the propulsion head with respect to the planned alignment by, for example, fuzzy inference based on those values. As shown in FIG. 1A, the combined vector is obtained as the correction request amount R from these values. The propulsion is started based on the correction request amount R. First, the pressure receiving surface F is adjusted so as to face the direction θt of the composite vector R. Then, in that state, the propulsion head 1
Pushes out the pressure receiving surface F in the propulsion direction. At that time, FIG.
As shown in B, an initial propulsion amount L1 for propulsion in a state where the direction of the pressure receiving surface F is aligned with the direction of the composite vector R, and a reverse propulsion amount L2 for propulsion in a state in which the pressure receiving surface F is reversed.
Table 1 shows the ratio of
The propulsion is performed such that the total propulsion amount thereof is equal to the length of one stroke. After the promotion is completed,
The position and orientation of the propulsion head 1 are detected again to determine a control value for the next propulsion cycle.

[0017]

[Table 1]

Hereinafter, an example of a propulsion device used for the above-described propulsion control will be described with reference to the drawings. As shown in FIGS. 2 and 3, a small-diameter (for example, a propulsion head 1 having an outer cylindrical surface and a plurality of propulsion tubes 2 having an outer cylindrical surface) a group of tubes each having a cylindrical outer surface. A pipe group having a diameter of about 100 mm or less) is flexibly connected via a joint J so that the pipe group can be bent in the soil while being propelled by a pushing device (not shown). A propulsion body is configured.

Next, the propulsion head 1 will be described. As shown in the drawing, a tubular propulsion head body 1A and a tip conductor rotatable about an axis P along the longitudinal direction with respect to the head body 1A. And a rotation drive mechanism 4 for rotating the tip conductor 3 around the axis P of the head body 1A, and moving the tip conductor 3 in the direction of the axis P with respect to the head body 1A. And a telescopic drive mechanism 5 for operation. The leading conductor 3 includes a rotating drive shaft 8 pivotally supported by the head body 1A and a piston 12 connected to the leading conductor 3.
Of the head main body 1A by fitting the piston 12 with the cylinder portion 13 of the head main body 1A that is fitted to the piston 12 and the piston 12,
It is supported for relative rotation and relative movement in the direction of the axis P. The leading conductor 3 is provided with a pressure receiving surface F that receives the earth pressure as the propulsion pipe 2 is propelled underground and converts the propulsion direction to a direction deviating from the direction of the axis P of the head main body 1A. . Although not shown, a known sliding material discharging means for discharging a sliding material for reducing the frictional resistance between the earth and sand and the tube group is provided at the tip of the leading conductor 3.

The rotary drive mechanism 4 includes a spiral groove 6 formed in a part of the inner peripheral surface of the propulsion head main body 1A, and a screwing convex portion 7a screwed into the spiral groove 6. A rotational drive piston 8 having an outer peripheral portion formed with a spline shaft portion 8a meshing with a spline hole 7b formed on the inner surface side of the rotational drive piston 7; Pressure oil, which is an example of a pressurized fluid, is supplied to and discharged from pressure receiving chambers 10 on both sides of the piston head 7c of the rotational drive piston 7, and the rotational drive piston 7 is reciprocated in the axis P direction of the head main body 1A. It has a pair of pressure fluid flow paths 9A and 9B.

The telescopic drive mechanism 5 includes the rotary drive shaft 8
And a cylindrical piston 12 with a bottom which is integrally connected to the leading conductor 3 so as to be slidably fitted in the direction of the axis P with respect to the cylinder body 1 and a cylinder portion 1 of a head body 1A in which the piston is provided.
3 and a pressure fluid supply device (not shown) for supplying pressure oil to the internal space of the cylinder portion 13 via a telescopic drive supply / discharge passage 11 formed in the rotary drive shaft 8. ing. The telescopic drive mechanism 5 includes the piston 12
Pressure receiving portions 12a and 14a are respectively provided on both the inner bottom portion and the end surface of the piston 12 opposite to the propulsion direction.
A front pressure chamber 15 and a rear pressure chamber 16 are formed between the pressure receiving portion 12a and the end face of the rotary drive shaft 8 on the propulsion direction side and between the pressure receiving portion 14a and the inner surface of the cylinder portion 13, respectively. An expansion drive supply / discharge path 1 that allows the flow of pressure oil from the pressure fluid supply device side to the pressure chambers 15 and 16.
1 is provided. Further, the front pressure chamber 15 and the rear pressure chamber 1
In the space between the six shafts, a groove is formed in the cylindrical hole 14 of the piston 12 with respect to the spline portion 8b formed on the outer peripheral surface of the rotary drive shaft 8 so as to allow the passage of the pressure oil, so as to expand and contract. A supply / discharge passage 11 is formed. On the other hand, as shown in FIG. 2, the piston protrusion restricting means for restricting the maximum protrusion amount of the piston 12 with respect to the head main body 1A includes a step portion 17 between a large diameter portion and a small diameter portion inside the piston 12, and a rotation drive shaft 8 And a contact portion 18 with which the step 17 contacts with the protrusion of the piston at the end in the propulsion direction.

At the rear end of the rotary drive shaft 8, a sensor mounting body 19 for mounting a position detecting sensor for detecting the front end position of the propulsion body from the ground is rotatable via bearing means 20. Is fitted to the outside. The bearing means 2
In the portion of the rotary drive shaft 8 near 0, a retaining member provided with a gear portion 21 is formed. And the gear part 21
A rotary encoder 23 in which a gear 22 meshing with the rotary encoder is mounted on a rotating portion is mounted at an appropriate position on the head main body 1A side. Therefore, the rotary encoder 23
The rotation of the rotation drive shaft 8 is controlled by the gear portion 21 of the retaining member.
And can be read through the gear 22,
The rotation direction of the rotation drive shaft 8 can be detected.
Numeral 24 in the figure is a rolling angle detection sensor composed of a potentiometer and a ballast fixed to the shaft, and the rolling angle detection sensor 24 detects how much the propulsion head 1 has rolled with the propulsion. It has become. Then, based on the rolling angle of the propulsion head 1 detected by the rolling angle detection sensor 24 and the relative angle between the head main body 1A and the pressure receiving surface F obtained by the rotary encoder 23, the absolute value of the pressure receiving surface F is determined. You can see the corner.

As shown in FIG.
In one example, a sensor coil 25 (ie, a direction intersecting with the longitudinal direction of the propulsion body) serving as a position detection signal transmitting means of the propulsion head 1 is provided on one of a pair of mounting portions located in a direction orthogonal to the axis P. The sensor coil 25), which generates magnetic flux in an excited state, is attached to an attachment member 26 via an insulator 25a.
(Specifically, it is attached using a bolt 26). The attachment member 26 is connected to the sensor coil 2.
5 is made of a coil iron core material to enhance the directivity of the magnetic flux generated. The other of the pair of mounting portions of the sensor mounting body 19 is a weight that applies gravity to the sensor mounting body 19 so that the sensor coil 25 always stays on the upper side even when the rotation drive shaft 8 rotates. 27 are equipped. Therefore, as long as the propulsion head 1 is in a horizontal posture (or a substantially horizontal posture), the sensor coil 25
Is always the direction along the vertical direction (or substantially the vertical direction). In such a state, the magnetic flux emitted from the sensor coil 25 reaches the ground, but if a receiving coil exists above the sensor coil 25, an electromotive force is induced in the receiving coil and current flows, The galvanometer connected to the receiving coil will react. Therefore, when the position detection signal receiving means including the receiving coil and the galvanometer is moved on the ground,
If the galvanometer responds, the position of the sensor coil 25, that is, the position of the propulsion head 1 can be detected from the ground because the sensor coil 25 exists in the ground below the receiving coil.

A sensor coil 28 as an azimuth angle detection signal transmitting means for the propulsion head 1 (ie, a magnetic flux in an energized state in a direction along the longitudinal direction of the propulsion body) Sensor coil 28 that generates
However, it is mounted coaxially with the propulsion head 1 (specifically, its main body 1A). The direction of the magnetic flux generated by the sensor coil 28 is always in the horizontal (or substantially horizontal) direction as long as the propulsion head 1 is in the horizontal (or substantially horizontal) posture. In such a state, the magnetic flux emitted from the sensor coil 28 reaches the ground. However, if an appropriate azimuth detection signal receiving means is provided above the sensor coil 28, the azimuth of the sensor coil 28, The direction of the head 1 can be detected. For example, when the azimuth angle detection signal receiving means includes a receiving coil arranged in a horizontal posture at the upper position, an electromotive force is induced in the receiving coil to cause a current to flow. It can be read by an ammeter connected to the coil. The direction of the sensor coil 28, that is, the direction of the propulsion head 1 can be detected from the result of the combination of the data read by the ammeter.

The above-mentioned position detecting signal transmitting means, position detecting signal receiving means, azimuth detecting signal transmitting means, and azimuth detecting signal receiving means are collectively referred to as a position and orientation detecting mechanism.

[Another embodiment] Another embodiment will be described below.

In the above embodiment, the propulsion head 1 of the type in which the pressure receiving surface F pushes out in the propulsion direction with respect to the propulsion head main body 1A has been described. However, the present invention is not limited to this type of propulsion. A similar control method can be applied to a method in which the subsequent propulsion pipe 2 is pushed out by a main push jack instead of the F pushing method.

The propulsion amount per propulsion cycle is not limited to the length of one stroke, but can be set longer or conversely shorter. For example, if the properties of the target soil are relatively uniform, the relationship between the amount of propulsion and the amount of displacement of the course tends to show a regular proportional relationship, so even if the amount of propulsion per propulsion cycle is set to be long, The difference between the prediction and the actual is unlikely.

Further, the initial propulsion and the reverse propulsion include:
It is not necessarily limited to one propulsion cycle in one propulsion cycle, and may be repeated several times alternately. According to the value of the correction amount, even if all propulsions in one propulsion cycle are performed in the initial propulsion cycle Good.

In the claims, reference numerals are provided for convenience of comparison with the drawings, but the present invention is not limited to the configuration shown in the attached drawings.

[Brief description of the drawings]

FIG. 1 is a diagram showing propulsion control (1A... Chart showing correction request amount, 1B... Diagram showing propulsion amount in each control)

FIG. 2 is a diagram showing a distal end side of a propulsion head.

FIG. 3 is a diagram showing a base end side of a propulsion head.

FIG. 4 is a view showing an II section of the propulsion head.

[Explanation of symbols]

 Reference Signs List 1 propulsion head 2 propulsion pipe F pressure receiving surface L2 reverse propulsion amount R required correction amount X horizontal correction amount Y vertical correction amount

──────────────────────────────────────────────────続 き Continuing from the front page (72) Inventor Takashi Oshima 1-1-1, Hama, Amagasaki-shi, Hyogo Prefecture Inside Kubota Technology Development Laboratory Co., Ltd. (72) Inventor Masaya Hattori 1-1-1, Hama, Amagasaki-shi, Hyogo Prefecture (56) References JP-A-59-161596 (JP, A) JP-A-3-199597 (JP, A) JP-A-3-30465 (JP, Y2) (58) Survey Field (Int.Cl. ⁶ , DB name) E21D 9/06 311

Claims (1)

(57) [Claims] A pressure-receiving surface connected to a distal end of a propulsion pipe for propelling by receiving a pressing force from the rear, and for changing a propulsion direction by receiving a reaction force from the soil accompanying the underground propulsion. F) with the pressure receiving surface (F) for the propulsion head (1) provided with
A method for controlling a propulsion head that adjusts a propulsion path by manipulating a direction in which a propulsion head is directed, detects a vertical and horizontal position and attitude of a propulsion head (1) underground, and detects the position and orientation from the detected information. The correction amounts for adjusting the propulsion head path to the planned alignment are separately obtained as a vertical correction amount (Y) and a horizontal correction amount (X), and the vertical correction amount (Y) and the horizontal correction amount ( X), the combined vector is obtained as a required correction amount (R), and the pressure-receiving surface (F) is oriented according to the direction of the correction required amount (R), and the direction in which the pressure-receiving surface (F) faces is changed. A propulsion head control method for adjusting a propulsion path by setting a reversal propulsion amount (L2) to be propelled by reversing operation according to the magnitude of the correction request amount (R).