JP2860358B2 - Buried object detection device - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

The present invention relates to a buried object detecting device. More specifically, the present invention relates to a buried object detection device that automates the penetration of a probe into the soil.

[0002]

2. Description of the Related Art As can be seen from the legend of buried gold, various things have been buried underground since ancient times. In recent years, lifelines such as gas pipes have also been buried underground. In order to detect the buried object, a detection worker conventionally holds the probe in his hand, penetrates the probe into the soil, and returns the probe to the hand through the probe (penetration input). The method of detecting a buried object by recognizing the contact of the probe with the buried object by a light impact or a sudden increase in resistance has been taken. For this reason, there is a problem that the detection of the buried object is not quickly performed, and in the detection work, considerable skill is required of the detection worker, and there is a problem that the individual difference of the detection worker appears remarkably in the detection. .

Various proposals have been made so far in order to solve the problem of the conventional work for detecting a buried object. For example,
Japanese Utility Model Publication No. 5-42379 discloses a metal probe bar main body having a sharp end at the distal end and a distance scale sequentially formed from the distal end in the longitudinal direction, and a base end of the probe bar main body. A receiving body formed integrally with the probe bar main body and configured to have a wider portion than the diameter of the probe bar main body;
A grip member having a hollow portion with one end closed and through which the receiving body can be inserted, and a grip member serving as a weight member having a through hole through which the probe bar main body can be inserted at the other end; The member is set so that the receiving body of the probe bar main body is set in the hollow portion, and is fitted to the base end portion of the probe bar main body so as to be movable in the longitudinal direction. A probe device for an underground buried object has been proposed.

[0004] Alternatively, Japanese Patent Application Laid-Open No. 59-116075 discloses a reference position in a vertical direction and a reference position in a horizontal direction perpendicular to the direction of a pipe with respect to a pipe of an underground pipe having a known outer diameter. And a probe is inserted vertically from the ground toward the buried pipe to make contact with the outer surface of the pipe, and the distance of the contact point from each of the reference positions is measured, and the length direction of the pipe is measured. A method for investigating the position of an underground pipe has been proposed, wherein the distance from the two reference positions of the pipe center point at this point is calculated from measurement data on a plurality of different contact points at the same point. I have.

[0005] However, in the probe device for an underground buried object related to the proposal of Japanese Utility Model Publication No. 5-42379,
Since the detection is still performed manually, the above problems are hardly solved. Also, Japanese Unexamined Patent Publication No.
In the method of investigating the position of an underground pipe under the proposal of JP-A-116075, the probe is sunk into the ground while being vibrated by a portable generator (p. 422, lower left column, lines 10 to 15). The level of skill required for the detection operation may be lower than when the probe is operated manually by the detection worker.However, the detection worker is located at the detection work site for the operation of the portable generator. The need to do so has not been solved.

As described above, in the method of locating a detection worker at the detection site and performing detection, when the buried object contains an explosive substance or a toxic substance such as a gas pipe, the detection is performed. When the needle damages the aged gas pipe and gas leaks from the damaged part, the detection worker may get gas poisoning, or when the leaked gas ignites and a gas explosion occurs, There is also a problem that there is a risk of being involved in the gas explosion. That is, there is also a problem that the detection worker is at risk depending on the type of the buried object. Further, in the detection work by the detection worker, one location that can be detected by one detection worker at a time is one.
There is also a problem that it is limited to three places.

[0007]

SUMMARY OF THE INVENTION The present invention has been made in consideration of the above-mentioned problems in the prior art, and the penetrating operation of a probe into the soil and the detection of a buried object are automatically performed, so that a detecting operation can be performed. It is an object of the present invention to provide a device for detecting a buried object that does not endanger a worker.

[0008]

According to the present invention, there is provided a probe for detecting an object to be buried, a oscillating function for oscillating the probe, a oscillating function for oscillating the probe, and moving the probe forward and backward. Penetration means having an advancing and retreating function, penetrating input detecting means for detecting a penetrating input of the probe, determining means, and control means, while swinging the probe by the penetrating means as necessary. And / or penetrates into the soil while vibrating, detects the penetration force at the time of penetration by the penetration force detecting means, and determines that the buried object is detected when it is determined that the penetration force detected by the determination means has increased rapidly. The present invention relates to a device for detecting a buried object.

In the present invention, it is preferable that a portion of the buried object detecting device through which a probe penetrates is made movable.

[0010]

Since the buried object detecting device of the present invention is constructed as described above, it is possible to quickly penetrate the probe into the soil without arranging a detecting worker at the penetration site.
The penetration force acting on the probe at the time of penetration can also be grasped. In addition, since the probe penetrates while swinging or vibrating as necessary, it is easy to respond to changes in soil quality, and it is said that if the penetration force suddenly increases, a buried object is detected. In addition, a buried object can be detected by a low-skilled detection worker, and the detection accuracy is homogenized. Further, since the detection worker is not arranged at the detection site, the detection worker is not put at risk.

[0011]

DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, the present invention will be described based on embodiments with reference to the accompanying drawings, but the present invention is not limited to only such embodiments.

Embodiment 1 A buried object detecting device (hereinafter, referred to as Embodiment 1) according to Embodiment 1 of the present invention.
FIG. 1 is a block diagram of the detection device, and FIG. 2 is a schematic diagram of the detection device. The detecting device A1 includes a probe 1, a penetrating means 2 for penetrating the probe 1 into the ground, and a penetrating input detection attached to a probe mounting portion of the penetrating means 2 for detecting a penetrating input of the probe 1. Means 3, running means 4 for running the penetrating means 2, control means 5 for controlling the penetrating means 2 and the running means 4, determining means 6 for judging presence or absence of buried object detection from the detected penetrating input. As a main part.

The penetrating means 2 is composed of, for example, a six-axis robot arm 20. The probe 1 is mounted on the tip axis of the penetrating means 2 via the penetrating input detecting means 3, for example, a force sensor 30, as described above. The penetrating unit 2 operates according to a wired or wireless command from the control unit 5, while the penetrating input detected by the force sensor 30 is transmitted to the determining unit 6 by wired or wireless. The penetrating means 2 is mounted on, for example, the mounting table 41 of the traveling means 4.

The traveling means 4 is, for example, an unmanned traveling vehicle 40 which travels according to a command instructed from the control means 5 by wire or wirelessly. As described above, the mounting table 41 on which the penetrating means 2 is mounted is provided at an appropriate position.

The control means 5 and the judgment means 6 are, for example, C
It is configured integrally with a computer C comprising a PU, a ROM, a RAM, an input / output interface, an input means 7, etc., and is capable of instructing the penetrating means 2, the traveling means 4, etc., to various operations described below. At the same time as the determination described later.

Next, the detecting device A having such a configuration will be described.
FIG. 3 shows the penetration of the probe 1 and the detection of a buried object by the probe 1.
This will be described with reference to the flowchart shown in FIG. 3 and 4, S1 to S16 indicate step numbers.

(1) The input means 7 instructs the control means 5 on the penetration conditions such as the penetration position, the penetration angle and the penetration speed.
(Step: 1)

(2) The control means 5 moves the traveling means 4 to the position designated by the input means 7. (Step: 2)

(3) When the traveling means 4 reaches the designated position, the control means 5 operates the penetrating means 2 to cause the probe 1 to penetrate (penetrate) into the soil at the designated penetration angle and penetration speed. . That is, the vehicle goes straight ahead. (Steps:
3)

(4) The control means 5 causes the penetrating means 2 to penetrate the probe 1 by a predetermined amount. (Step: 4)

(5) A penetration input during penetration into the soil is detected by the force sensor 30 and input to the determination means 6. (Step: 5)

(6) The judging means 6 compares the input penetration input with the just input penetration input. This comparison is performed, for example, by comparing the difference between successive inputs. (Step: 6)

(7) The judging means 6 judges from the comparison of (6) whether the penetration input has increased rapidly. (Step: 7)

(8) When it is determined in step (7) that the penetration force has increased rapidly, the control means 5 determines that the penetrating force has come into contact with the buried object and stops the penetration of the probe 1. (Step: 8)

(9) If it is determined in step (7) that the penetration force has not increased rapidly, then the control means 5 determines whether the penetration force has increased slightly. (Step: 9)

(10) If the control means 5 determines that the penetration input has not increased slightly in the determination of (9),
Returning to (4), the subsequent operation is repeated.

(11) If the control means 5 determines in step (9) that the penetration force is slightly increased, the probe 1
Change the penetration behavior of. For example, the probe 1 is penetrated while swinging or vibrating. The mode of swing or vibration of the probe 1 will be described later. (Step: 1
0)

(12) The control means 5 operates the penetrating means 2 to penetrate the probe 1 by a predetermined amount while performing the above-mentioned operation. (Step: 11)

(13) The penetrating input of the probe 1 penetrating into the soil by being swung or vibrated is also detected by the force sensor 30 and input to the judging means 6 as before. (Step: 12)

(14) The judging means 6 compares the inputted penetrating input with the penetrating input inputted immediately before. This comparison is (5)
Is done in the same way as (Step: 13)

(15) The judging means 6 judges from the comparison of (14) whether the penetration input has increased rapidly. (Step: 1
4)

(16) If it is determined in step (15) that the penetration force has increased rapidly, the control means 5 determines that it has come into contact with the buried object and stops the penetration of the probe 1. (Steps:
8)

(17) If it is determined in step (15) that the penetration force has not increased rapidly, then the control means 5 determines whether the probe 1 has penetrated a predetermined amount. (Step: 1
5)

(18) If the control means 5 determines that the probe 1 has not penetrated the predetermined amount, the control returns to (12) and the subsequent operations are repeated.

(19) If the judging means 6 judges that the penetration force has not increased rapidly even if the probe 1 has penetrated a predetermined amount, the control means 5 judges that there is no buried object and stops the penetration. . (Step: 16)

FIG. 5 shows the relationship between the penetration length and the penetration force when an object to be buried is installed at a predetermined distance from the ground surface and the probe 1 penetrates into the soil by the detection device A1. It can be seen from FIG. 5 that the penetration force increases sharply when the probe 1 comes into contact with the buried object. In FIG. 5, the solid line indicates that the buried object is 5 meters from the ground surface.
At 0 mm, the dotted line indicates the case where the buried object is located 100 mm from the ground surface, and the dashed line indicates the case where the buried object is installed 150 mm from the ground surface.

As described above, according to the detection device A1 of the first embodiment, the penetration of the probe 1 into the soil can be quickly performed without arranging a detection worker at the penetration site. The penetrating input acting on the probe 1 can also be grasped. Further, since the probe 1 penetrates while being swung or vibrated as required, it is easy to cope with a change in soil quality. Furthermore, when the penetration force increases, it is assumed that the buried object has been detected, so that the buried object can be detected even by a low-skilled detecting worker, and the detection accuracy is improved and homogenized. In addition, since it is not necessary to arrange a detection worker at the detection site, the detection worker is not at risk.

Second Embodiment FIG. 6 is a schematic diagram showing a main part of a detection device according to a second embodiment of the present invention. A detection device A2 according to the second embodiment is a modification of the penetrating means 2 according to the first embodiment. In addition, the mounting table 41 of the traveling means 4 is modified correspondingly.

This penetrating means 2A is, as shown in FIG.
The probe 1 is attached to the distal end of a telescopic mechanism 21, for example, a piston rod 21b of a hydraulic cylinder 21a via a penetration input detecting means 3, for example, a force sensor 30, and the telescopic mechanism 21 can be rocked by a rocking mechanism 22. It becomes as. Specifically, the swing mechanism 22 is provided with a rotation support member 22b at one end of a base material 22a.
2b is pin-joined to a joining member 21d formed integrally with the base 21c of the hydraulic cylinder 21a,
An oscillating member 22c extending parallel to the hydraulic cylinder 21a from the joining member 21d in an upright manner toward the probe 1 direction.
Is joined to the tip of a piston rod 22e of a swing hydraulic cylinder 22d provided near the other end of the base material 22a. A joining member 22f provided on the force sensor 30 is slidably joined to the swing member 22c. With such a configuration of the penetrating means 2A, the probe 1 is moved forward and backward by moving the piston rod 21b of the telescopic mechanism 21, and the probe is moved by moving the piston rod 22e of the swing hydraulic cylinder 22d forward and backward. The needle 1 swings.

Thus, the penetrating means 2A having such a structure is arranged such that the probe 1 is directed at a predetermined angle with respect to the ground on the mounting portion 42 provided at the front portion of the traveling means 4, and the base end portion thereof is provided. Is installed. The mounting portion 42 is, for example, rotatable so that the probe 1 can be set at a predetermined angle with respect to the ground.

The remaining configuration of the detection device A2 of the second embodiment is substantially the same as that of the detection device A1 of the first embodiment, and a detailed description of the configuration will be omitted.

Further, the penetrating operation of the probe 1 and the detection of the buried object of the detection device A2 of the second embodiment are almost the same as those of the first embodiment, so that the description thereof will be omitted.

Third Embodiment FIG. 7 is a schematic diagram showing a main part of a detection device according to a third embodiment of the present invention. A detection device A3 according to the third embodiment is obtained by modifying the penetrating means 2 according to the first embodiment. Each of the links of the robot arm 20 is constituted by, for example, a hydraulic cylinder 24 so as to be expandable and contractible. The remaining configuration is the same as that of the detection device A1 of the first embodiment.

The probe 1 of the detection device A3 according to the third embodiment
Since the penetration operation and the detection of the buried object are substantially the same as those in the first and second embodiments, the description thereof will be omitted.

Next, the detecting device A having such a configuration will be described.
The operation mode when penetrating the probe 1 will be described with reference to FIG. Here, the coordinate axes of the probe 1 are determined as shown in FIG.

(1) Straight Penetration Mode (See FIG. 9) This mode unilaterally moves the probe 1 in the positive Z-axis direction. This mode is used in all embodiments,
It is used when the probe 1 first penetrates into the soil.

(2) Advancing / retreating straight penetration mode (see FIG. 10) This is a mode in which the probe 1 is alternately moved in the positive and negative directions of the Z axis. This mode is appropriately adopted in accordance with the soil properties when it is difficult to penetrate in the straight penetration mode.

(3) Rotation Penetration Mode Around X-Axis (See FIG. 11) This mode moves the probe 1 in the positive direction of the Z-axis while repeatedly rotating (rotating) the probe 1 around the X-axis within a predetermined angle range. This mode is also adopted as appropriate according to the soil properties when it is difficult to penetrate in the straight penetration mode.

(4) Rotation Penetration Mode Around Y-Axis (See FIG. 12) This mode moves the probe 1 in the positive direction of the Z-axis while repeatedly rotating (rotating) around the Y-axis within a predetermined angle range. This mode is also adopted as appropriate according to the soil properties when it is difficult to penetrate in the straight penetration mode.

(5) Rotation Penetration Mode Around Z-Axis (See FIG. 13) This is a mode in which the probe 1 is moved in the positive direction of the Z-axis while rotating in a fixed direction around the Z-axis. This mode is also adopted as appropriate according to the soil properties when it is difficult to penetrate in the straight penetration mode.

(6) Rotation penetration mode around the XY axis (FIG. 1)
4) This is a mode in which the probe 1 is moved in the positive direction of the Z axis while rotating about the XY axis. This mode is also adopted as appropriate according to the soil properties when it is difficult to penetrate in the straight penetration mode.

(7) The rotation center distant rotation penetration mode (FIG. 1)
5) A mode in which the rotation center is set at a distance from the probe 1 and the probe 1 is moved in the positive direction of the Z axis while being repeatedly rotated (rotated) around the X axis or the Y axis within a predetermined angle range. . This mode is also adopted as appropriate according to the soil properties when it is difficult to penetrate in the straight penetration mode.

(8) Rotation penetration mode before the rotation center (FIG. 1)
6) A mode in which the rotation center is set in front of the tip of the probe 1 and the probe 1 is moved in the positive direction of the Z axis while repeatedly rotating (rotating) the probe 1 around the X axis or the Y axis within a predetermined angle range. It is. This mode is also adopted as appropriate according to the soil properties when it is difficult to penetrate in the straight penetration mode.

(9) Vibration straight penetration mode (see FIG. 17) This is a mode in which the probe 1 is moved in the positive direction of the Z-axis while being vibrated. This mode is also adopted as appropriate according to the soil properties when it is difficult to penetrate in the straight penetration mode.

[0055]

As described above in detail, according to the buried object detecting device of the present invention, the probe can penetrate into the soil quickly without disposing a detecting worker at the penetration site. An excellent effect that the penetrating force of the probe can be grasped is obtained, and the penetrating device is made to penetrate while oscillating or vibrating as necessary, so that it is easy to respond to changes in soil quality. It can be done without the need to place a detection worker at the detection site, and if the penetration force increases suddenly, it is said that the buried object was detected, so even a less skilled detection worker can detect the buried object. In addition, the excellent effect that the detection accuracy is homogenized is obtained, and since there is no need to arrange a detection worker at the detection site,
An excellent effect is obtained in that there is no danger that the detection worker is in danger.

[Brief description of the drawings]

FIG. 1 is a block diagram of a detection device according to Embodiment 1 of the present invention.

FIG. 2 is a schematic diagram of the same.

FIG. 3 is a first half of a flowchart showing a procedure of detecting a buried object by the probe device.

FIG. 4 is a second half of the flowchart.

FIG. 5 is a graph showing a relationship between a penetration length of a probe and a penetration force.

FIG. 6 is a schematic diagram of a main part of a detection device according to Embodiment 2 of the present invention.

FIG. 7 is a schematic diagram of a main part of a detection device according to a third embodiment of the present invention.

FIG. 8 is an explanatory diagram of coordinate axes of a probe.

FIG. 9 is an explanatory diagram of an operation mode when the probe penetrates, and shows a straight-ahead penetrating mode.

FIG. 10 is an explanatory diagram of an operation mode when a probe penetrates,
The forward / backward straight penetration mode is shown.

FIG. 11 is an explanatory diagram of an operation mode when the probe penetrates,
The rotation penetration mode around the X-axis is shown.

FIG. 12 is an explanatory diagram of an operation mode when a probe penetrates,
The rotation penetration mode around the Y axis is shown.

FIG. 13 is an explanatory diagram of an operation mode when a probe penetrates,
Fig. 7 shows a rotation penetration mode around the Z axis.

FIG. 14 is an explanatory diagram of an operation mode when the probe penetrates,
The rotation penetration mode around the XY axis is shown.

FIG. 15 is an explanatory diagram of an operation mode when the probe penetrates,
The rotation center distant rotation penetration mode is shown.

FIG. 16 is an explanatory diagram of an operation mode when the probe penetrates,
The rotation penetration mode before the rotation center is shown.

FIG. 17 is an explanatory diagram of an operation mode when the probe penetrates,
The vibration straight penetration mode is shown.

[Explanation of symbols]

 REFERENCE SIGNS LIST 1 probe 2 penetrating means 20 6-axis robot arm 3 penetrating input detecting means 30 force sensor 4 traveling means 40 unmanned traveling vehicle 41 mounting table 5 control means 6 determining means 7 input means A detecting device C computer

──────────────────────────────────────────────────続 き Continued on the front page (72) Inventor Eiichi Yagi 1-1, Kawasaki-cho, Akashi-shi Kawasaki Heavy Industries Co., Ltd. Inside the Akashi Factory (72) Inventor Katsumi Nakajima 1-1-1, Kawasaki-cho, Akashi-shi Kawasaki Heavy Industries, Ltd. Akashi Factory (72) Inventor Kazunori Makino 1-1, Kawasaki-cho, Akashi-shi Kawasaki Heavy Industries, Ltd.Akashi Factory (72) Inventor Akihiko Kameya 1-1, Kawasaki-cho, Akashi-shi Kawasaki Heavy Industries, Ltd.In Akashi Factory (56) References JP-A-59-116075 (JP, A) JP-A-3-279526 (JP, A) JP-A-9-145848 (JP, A) JP-A-58-54473 (JP, U) Registered utility model 3003768 (JP, A) , U) (58) Fields investigated (Int.Cl. ⁶ , DB name) G01V 9/00

Claims (2)

(57) [Claims] 1. A probe for detecting a buried object, a penetrating means having a rocking function for rocking the probe, a vibration function for vibrating the probe, and a reciprocating function for moving the probe forward and backward. A penetrating input detecting means for detecting a penetrating input of the probe, a judging means, and a control means, wherein the probe is rocked and / or vibrated by the penetrating means as necessary. A buried object characterized by detecting the pierced input at the time of piercing by the pierced input detecting means, and determining that the buried object is detected when it is determined by the determining means that the pierced input is rapidly increased. Detector. 2. The device according to claim 1, wherein a portion of the buried object detection device through which the probe penetrates is made runnable.
An apparatus for detecting a buried object according to claim 1.