JP2942151B2 - Propulsion control method - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a propulsion control method for causing a propelling body capable of changing the direction of propulsion underground to reach a predetermined destination.

[0002]

2. Description of the Related Art Conventionally, this type of propulsion control method includes:
In advance, the planned propulsion route of the propulsion body is clearly indicated on the ground surface,
A position detection device for detecting the position of the propulsion body in the ground,
The underground propulsion of the propulsion body is performed while moving along the planned propulsion path specified on the ground surface, and a deviation between the position of the propulsion body measured by the position detection device and the planned propulsion path is also determined. Then, a method of correcting the propulsion direction so that the course of the propulsion body approaches the planned propulsion path has been adopted.

[0003]

According to the above-described conventional propulsion control method, the propulsion control is performed by detecting the position of the underground propulsion body by the position detecting device during the propulsion.
In the meantime, the ground surface is used for a long time, and for example, in a propulsion operation on a high-traffic road, there is a danger that traffic may be hindered, and there is a problem that it is difficult to adopt.

Accordingly, it is an object of the present invention to provide a propulsion control method that allows a propulsion device to reach a predetermined destination without using the ground surface for a long time in view of the above-mentioned drawbacks. .

[0005]

To achieve the above object, a propulsion control method according to the present invention is characterized in that the propulsion control method comprises: A transmitting coil having an axis centered along the axis of the propulsion body is provided, and a plurality of positions at a predetermined arrival portion of the propulsion body in a plane orthogonal to a scheduled arrival direction and at equal distances across the arrival portion are provided. A plurality of receiving coils for receiving the electromagnetic waves from the transmitting coil are provided along the axis in the expected arrival direction, and the electromagnetic wave receiving intensity of each of the plurality of receiving coils is a value set separately. The propulsion direction of the propulsion body is set so as to be propelled.

It is preferable that a second transmitting coil is provided at the reaching portion so that the second transmitting coil extends along the axis in the predetermined reaching direction.

[0007]

[Action] In order for the propulsion body to reach the predetermined destination,
It is important that the propulsion body is finally propelled so as to be directed toward the reaching portion. According to the characteristic means of the propulsion control method of the present invention, a transmitting coil having an axis along the axis of the propulsion body is provided in advance at the tip of the propulsion body capable of propelling the underground in a propulsion direction. In addition, in a plane perpendicular to the scheduled arrival direction at a predetermined arrival portion of the propulsion body,
Further, a plurality of receiving coils for receiving the electromagnetic waves from the transmitting coil are provided at a plurality of positions at the same distance with the reaching portion interposed therebetween, and the receiving coils are provided along the axis in the planned arrival direction. Along with the propulsion toward the arrival portion, electromagnetic waves from the transmitting coil can be received by each of the receiving coils, and the propulsion control is performed by detecting the attitude of the propulsion body based on the electromagnetic wave reception intensity of each of the receiving coils. Can be implemented.

The electromagnetic wave reception intensity of each of the receiving coils is
In a state where the factors affecting the electromagnetic wave are not present in the surrounding environment, the value of the receiving coil closer to the axis of the transmitting coil becomes larger, so that the axis of the transmitting coil at the time of reception (the axis of the propulsion body) is: Which receiving coil
It is possible to know from the electromagnetic wave reception intensity of each receiving coil. Further, when the electromagnetic wave reception intensities of the respective receiving coils are equal, the position of the same distance from the respective receiving coils in the plane, that is, the axis of the transmitting coil (the axis of the propulsion body) is provided at the reaching portion. You can know that is facing.

Therefore, the propulsion direction of the propulsion body is set and propelled so that the electromagnetic wave reception intensity of each of the plurality of reception coils becomes a value set individually.
Guide the propulsion body closer to the propulsion plan line,
Finally, it is possible to accurately reach the reaching portion. Incidentally, the setting of the reception intensity of each of the receiving coils, in a state where there is no factor affecting the electromagnetic wave in the surrounding environment, it is preferable to set each set reception intensity value equal, and in the surrounding environment, If there is a factor that affects the electromagnetic wave, it is preferable to set the value of the electromagnetic wave reception intensity received by each receiving coil on the assumption that the propulsion body passes through the planned propulsion path under the influence. .

The above-mentioned operation can be achieved by using the transmitting coil provided on the propulsion body and the receiving coil provided in the vicinity of the arrival portion. This eliminates the need for use, and enables propulsion control work to be performed without interrupting traffic even on a high-traffic road.

Further, by providing the second transmitting coil along the axis in the predetermined arrival direction in the arrival portion, it is possible to reduce the possibility that the surrounding environment has a factor that affects the electromagnetic wave from the transmitting coil. How much error occurs in the reception strength of each receiving coil in a state where the propulsion body is close to the arrival portion, by trially measuring in advance the second transmission coil as the transmission coil of the propulsion body. It becomes possible to correct each set value of each receiving coil based on the test result, and it is possible to more accurately guide and reach the propulsion body to the arrival portion.

[0012]

Therefore, according to the propulsion control method of the present invention, the propulsion body can be guided to approach the propulsion planning line without using the ground surface over a wide area and for a long time, and finally, the propulsion body can be guided. It is possible to accurately reach the reaching portion.

[0013]

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

FIG. 1 shows a structure in which a plurality of propulsion pipes 1 are provided so as to be freely bent in the longitudinal direction, and a propulsion head 2 attached to the distal end of the plurality of propulsion pipes 1 so that the propulsion direction can be changed. This shows a situation in which the propelled body 3 is being propelled underground with respect to the reaching portion 5 set at a predetermined position of the reaching shaft 4.

In the propulsion control method according to the present embodiment, a transmitting coil 6 having an axis along the axis of the propulsion head 2 is provided in advance on the propulsion head 2, and the arrival section 5 intersects at right angles with the intended arrival direction. Four receiving coils 8 (see FIG. 2) for receiving the electromagnetic waves from the transmitting coil 6 are provided at respective positions within the plane 7 and at equal distances in the up, down, left, and right directions of the arrival section 5. The propulsion unit 3 is provided so that the propulsion direction of the propulsion body 3 is set so that the reception intensity of the electromagnetic wave of each of the reception coils 8 becomes a value set individually. In addition, a second transmitting coil 9 is provided in the reaching portion 5 so that the axis of the second sending coil 9 extends along the expected arrival direction.

Next, each configuration will be described.

The transmitting coil 6 is provided on the outer peripheral portion of the propulsion head 2 as shown in the figure, and receives electricity from a power transmitting means provided on the base end side of the propulsion body 3 (not shown). ,
It is formed so as to transmit an electromagnetic wave, and a region of a high intensity electromagnetic wave is distributed on the axis of the transmitting coil 6.

Further, the reaching shaft 4 is formed so that the planned arrival path of the propulsion body 3 is perpendicular to the reaching surface 4a of the reaching shaft 4, and the reaching surface 4a is described above. "Plane 7 orthogonal to the expected arrival direction at arrival part 5"
Hit. The reaching portion 5 is set at a portion where the planned arrival route of the propulsion body 3 intersects with the reaching surface portion 4a.

The receiving surface portion 4a is provided with a receiving coil 8 at an equal distance from the reaching portion 5 in the vertical, horizontal and vertical directions, respectively, with its axis oriented in the predetermined direction of arrival. These receiving coils 8 include signal amplifying means Z for amplifying an induced voltage signal acting on the receiving coil 8 from the outside, and signal displaying means H capable of freely displaying the intensity of the signal. They are electrically connected to each other, and are configured to be able to receive electromagnetic waves from the transmitting coil 6 and the second transmitting coil 9 and display the electromagnetic wave reception intensity accompanying the electromagnetic waves.

According to the propulsion control method of this embodiment, when there is no factor influencing the electromagnetic wave from the transmission coil 6 in the surrounding environment, the reception intensity set value equal to that of each reception coil 8 (propulsion body and (Set by the separation distance), for example, as shown in FIG.
When the propulsion body 3 is in a position shifted in a state parallel to the left of the planned propulsion path (in the propulsion direction) in a plan view,
The intersection C between the axis of the transmitting coil 6 and the reaching surface portion 4a is:
The electromagnetic wave reception intensity E1 of the receiving coil 8a (located on the left side in the propulsion direction) closer to the point C is located on the left side (in the propulsion direction) of the arrival portion 5 and the other reception coil 8a The value indicates a value larger than the electromagnetic wave reception intensity E2 of the coil 8b (located on the right side in the propulsion direction), and it is possible to recognize a state where the propulsion path of the propulsion body 3 is shifted to the left. As a result, the propulsion body 3 can be made to approach the planned propulsion path by curving the propulsion body 3 to the right.

As shown in FIG. 3 (b), when the propulsion body 3 bends too much to the right, the intersection C is located to the right of the reaching portion 5 in the opposite direction to the previous point. The electromagnetic wave reception intensity E2 of the closer receiving coil 8b (located on the right side in the propulsion direction) is larger than the electromagnetic wave reception intensity E1 of the other reception coil 8a (located on the left side in the propulsion direction). It is possible to recognize a state where the propulsion route of the body 3 is shifted to the right. As a result, by propelling the propulsion body 3 to the left in a curved manner, it becomes possible to approach the planned propulsion route as shown in FIG.
At this time, the electromagnetic wave reception intensities E1 and E2 of both the left and right receiving coils 4a and 4b become equal to each other, and the propulsion body 3 can be made to reach the arrival section 5 accurately by directly propelling the propulsion body 3 as it is. Becomes These operations are
Realistically, by using the upper and lower receiving coils 8 as well,
Propulsion control can be performed three-dimensionally.

If there is a factor (for example, a steel pipe buried underground) affecting the electromagnetic wave from the transmitting coil 6 in the surrounding environment, there is a risk that the electromagnetic wave is transmitted on a distorted route due to the influence. Therefore, even when the electromagnetic wave reception intensities of the respective receiving coils 8 are equal to each other, a phenomenon occurs in which the propulsion body 3 does not face the arrival part 5. Therefore, in such a case, the second transmitting coil 9 provided in the arrival section 5 is regarded as the transmitting coil 6 of the propulsion body 5, and each reception in the state where the electromagnetic wave is transmitted from the second transmitting coil 9 is performed. Coil 8
By setting the electromagnetic wave reception intensity setting value of each reception coil 8 individually on the basis of the reception intensity of the above, it is possible to correct the measurement error due to the above-mentioned factors.

[Another Embodiment] Another embodiment will be described below.

<1> The receiving coil 8 is not limited to being provided above, below, right and left of the reaching portion 5 of the reaching surface portion 4a described in the previous embodiment.
As shown in (a), it is provided at a vertex portion of a triangle centered on the reaching portion 5 or, as shown in FIG. 4 (b), a vertex portion of a polygon centered on the reaching portion 5 In other words, in the plane 7 orthogonal to the planned arrival direction at the arrival part 5 and at a plurality of positions at the same distance across the arrival part 5, respectively, in the planned arrival direction What is necessary is just to be provided along the axis.

<2> The second transmitting coil 9 is not limited to being provided only in the reaching portion 5 described in the above embodiment.
Providing each of them separately makes it possible to correct the electromagnetic wave reception intensity of each reception coil 8 more accurately.

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 accompanying drawings.

[Brief description of the drawings]

FIG. 1 is a plan view explanatory view showing a propulsion state of a propulsion body.

FIG. 2 is a front view of a reaching shaft viewed in a propulsion direction.

FIG. 3 is an explanatory plan view showing a propulsion control method according to the embodiment.

FIG. 4 is a front view in a propulsion direction showing a receiving coil arrangement of another embodiment.

[Explanation of symbols]

 Reference Signs List 3 propulsion body 5 arrival part 6 transmitting coil 7 plane 8 receiving coil 9 second transmitting coil

Continuation of front page (56) References JP-A-3-125792 (JP, A) JP-A-4-153497 (JP, A) JP-A-4-269620 (JP, A) (58) Fields investigated (Int) .Cl. ⁶ , DB name) E21D 9/06 311

Claims (2)

(57) [Claims] 1. A propulsion control method for causing a propulsion body (3) capable of propelling the underground in a propulsion direction to reach a predetermined arrival part (5), wherein the propulsion body (3) is provided in advance. The propelling body (3)
A transmitting coil (6) having an axis centered along the axis of is provided, and the arrival part (5) is arranged in a plane (7) orthogonal to a predetermined arrival direction and at the arrival part (5). A plurality of receiving coils (8) for receiving electromagnetic waves from the transmitting coil (6) are provided at a plurality of positions at the same distance from each other with their axes aligned along the planned arrival direction, and the plurality of receiving coils are provided. A propulsion control method in which the propulsion direction of the propulsion body (3) is set and propelled so that the electromagnetic wave reception intensity of each of the coils (8) becomes a value set individually. 2. The propulsion control method according to claim 1, wherein a second transmission coil is provided in the reaching section along an axis in the predetermined direction of arrival.