JP3140947B2 - Propulsion position detection 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 position detecting device and a position detecting method for measuring a propulsion direction when laying underground pipes such as gas pipes, water and sewage pipes, and electric conduits by a small-diameter pipe propulsion method. It is about.

[0002] For example, a small-diameter pipe propulsion method used for laying a gas pipe or the like is a method in which a small-diameter propulsion pipe or a pilot pipe is connected to a tip end of a small-diameter pipe and press-fitted, excavated or sheared by mechanical operation in a starting shaft. This is a method of laying pipes while propelling while taking out. In this small-diameter pipe propulsion method, the propulsion position and the propulsion direction are corrected by remote control because no one can enter the pipe. In order to detect the propulsion position and the propulsion direction with high accuracy, for example, Japanese Patent Application Laid-Open No.
As disclosed in JP-A-61-219828, the propulsion position and the propulsion direction are measured using laser light. In any of the methods for measuring the propulsion position and the propulsion direction using the laser light, the method of receiving the light from the laser oscillation device while moving the laser oscillation device and the light receiving unit as the propulsion of the tube proceeds. The propulsion position and the propulsion direction are calculated from the measured distance and angle and the distance from the measurement reference point to the laser oscillator and the angle of the laser light incident on the light receiving unit. I have.

[0003]

As described above, in order to measure the laser oscillation device and the light receiving section with high accuracy while moving as the propulsion progresses, it is necessary to move the laser oscillation device and the light receiving section along the propulsion tube. It is necessary to lay a guide such as a tube having a property and to run a laser oscillation device and the like along the guide. It takes a lot of time to lay this guide.

Further, it is not easy to lay the guide accurately following the pipe to which the guide has been propelled, and the accumulated error of the laid guide and the cumulative error of the moving distance of the laser oscillation device which is measured each time the propulsion is performed are difficult. However, an error between the measured propulsion position and the propulsion direction increases.

The present invention has been made in order to solve such disadvantages, and it is possible to measure a propulsion position and a propulsion direction with high accuracy without arranging a guide for running a laser oscillator or the like in a propulsion pipe. It is an object to provide a propulsion position detection method.

[0006]

According to the present invention, there is provided a method for detecting a propulsion position, comprising the steps of: propelling a position detection device having a front light receiving element, a rear light receiving element, and a laser oscillation device rotatable in horizontal and vertical directions. The angle at which the laser light emitted from the laser oscillation device is installed at a fixed position on the tube and is incident on the front light receiving element installed on the downstream propulsion tube and the rear light receiving element installed on the previous stage propulsion tube. And calculating the position of the preceding propulsion pipe from the length of the propulsion pipe.

[0007]

In the present invention, a rotatable laser oscillating device, a position detecting device having a front light receiving element and a rear light receiving element are previously installed at a fixed position of each propulsion pipe. Each time the propulsion tube was propelled, the laser light emitted from the laser oscillation device was incident on the front light receiving element installed on the preceding propulsion tube at the angle incident on the front light receiving device installed on the downstream propulsion tube. The angle is measured, and the difference between the position of the propulsion pipe at the rear stage and the position of the propulsion pipe at the front stage is calculated from the difference and the length of the propulsion pipe. This measurement is sequentially repeated from the last stage of the propulsion pipe to the forefront to detect the position of the tip.

[0008]

FIG. 1 is a sectional view showing an embodiment of the present invention. As shown in the figure, a position detecting device 2 is previously installed at a position separated from the rear end of each propulsion pipe 1 by a fixed distance D. The position detecting device 2 has an angle measuring device 3 and a control device 4 as shown in FIG. Angle measuring device 3
Laser oscillating device 5 for emitting laser light and horizontal rotating stage 6
And a vertical rotation stage 7, a front light receiving element 8 and a rear light receiving element 9. The horizontal rotating stage 6 is a laser oscillator 5
And the laser oscillator 5 is rotated in the horizontal direction by the horizontal rotation servomotor 10. The vertical rotation stage 7 has a horizontal rotation stage 6 mounted thereon, and the laser oscillation device 5 mounted on the horizontal rotation stage 6 is rotated vertically by a vertical rotation servomotor 11. The front light receiving element 8 and the rear light receiving element 9 are made of, for example, a CCD, and the front light receiving element 8 is provided at the front end of the angle measuring device 3 with the light receiving surface facing forward,
The rear light receiving element 9 has the light receiving surface facing rearward and the angle measuring device 3.
At the rear end. Servo motor for horizontal rotation 1
Zero and vertical rotation servomotors 11 have encoders 12 and 13 for detecting the rotation angles of the horizontal rotation stage 6 and the vertical rotation stage 7, respectively.

As shown in the block diagram of FIG. 3, the control device 4 includes a CPU 14 for managing the operation of the entire device, a ROM 15 for storing various control programs, a RAM 16 for storing various data, and the like. A drive control unit 17 for controlling the driving of the oscillating device 5, the horizontal rotation servomotor 10 and the vertical rotation servomotor 11, and a front information input unit 18 for inputting a signal from the front light receiving element 8; And the rear light receiving element 9
Information input unit 19 for inputting a signal from the
Moving angle input unit 2 for inputting angle signals from
0, a position calculation unit 21 and a signal transmission unit 22.

The signal transmission section 22 transmits information of the laser light detected by the front light receiving element 8 to the position detecting device 2 installed in the forward propulsion tube 1, and outputs the information of the laser light detected by the rear light receiving element 9. The information is transmitted to the position detecting device 2 installed in the rear propulsion tube 1, and the information of the laser light from the position detecting device 2 installed in the front and rear propulsion tubes 1 is received. As shown in FIG. 4, the position calculating unit 21 calculates the angle between the angle at which the laser light emitted from the laser oscillation device 5 is incident on the front light receiving element 8 of the position detecting device 2 installed on the rear propulsion tube 1 and the front. The laser beam emitted by the laser oscillation device 5 from the difference α of the angle incident on the rear light receiving element 9 of the position detecting device 2 installed in the propulsion tube 1 and the length L of the propulsion tube 1 The shift amount of the front position detection device 2 with respect to a line connecting the position detection device 2 and the rear position detection device 2 is calculated.

The starting shaft 23 is provided with a light receiving element 24 and a laser transit 25 indicating a reference point of the propulsion planning line.
A light receiving element 27 is also provided at a fixed position at the rear end of the excavator 26. The light receiving element 27 provided on the excavator 26, the position detecting device 2 provided on each propulsion pipe 1, and the light receiving element 24 provided on the starting shaft 23 are connected by a transmission cable 28.

Next, the operation when measuring the propulsion position and the propulsion direction using the above-described devices will be described.

As shown in FIG. 1, after propelling the tubes 1a to 1n, first, a laser transit 25 installed in the starting shaft 23 is used to detect the rear light-receiving element 9a of the position detecting device 2a provided in the final tube 1a. Is irradiated with laser light to measure the deviation angle of the rear end of the tube 1a with respect to the propulsion plan line, and the position detection device is determined from the distance between the laser transit 25 and the position detection device 2a and the measured deviation angle. The position based on the propulsion plan line 2a is calculated. Next, the drive control unit 17 of the position detecting device 2a drives the horizontal rotation servomotor 11 to rotate the horizontal rotation stage 6 so that the laser oscillation device 5 is driven and the reference point of the starting shaft 23 is shown. The horizontal rotation stage 6 and the vertical rotation stage 7 are moved by a small angle toward the light receiving element 24 by the horizontal rotation servo motor 10 and the vertical rotation servo motor 11, respectively. A light receiving element 24 receives laser light from the oscillation device 5.
And set the zero point.

When irradiating the laser beam emitted from the laser oscillating device 5 to the light receiving element 24, the position of the light receiving element 24 is searched for by appropriately changing the irradiation angle of the laser light. It takes a lot of time to search for the light receiving element 24. Then, the CPU 14 of the position detecting device 2a rotates the horizontal rotation stage 6 to turn the laser oscillation device 5 in the direction where the light receiving element 24 is installed, and then the horizontal rotation stage 6 and the vertical rotation stage. 7 by alternately rotating each unit angle
The light travels along a fixed trajectory. For example, horizontal rotation stage 6
Is rotated by an X unit angle from the initial angle, and a vertical rotation stage 7 is rotated.
When (x, y) shows the state where is rotated by a Y unit angle from the initial angle, the horizontal rotation stage 6 is rotated by a unit angle from the initial angle (0, 0) as shown in FIG. Shift to the state of 0). Next, the vertical rotation stage 7 is rotated by a unit angle to be shifted to the state of (+1, -1). The following (0,-
1), the horizontal rotation stage 6 and the vertical rotation stage 7 are rotated in the order of (-1, -1) to search the position on the light receiving element 24 while moving the laser light. Thus, the horizontal rotation stay
The position of the light receiving element 24 can be reliably detected in a short time by searching the light receiving element 24 while sequentially rotating the stage 6 and the vertical rotation stage 7 by a unit angle from the initial angle.

The laser light emitted from the laser oscillation device 5 is applied to the light receiving element 24, and a signal indicating that the laser light is incident from the light receiving element 24 is transmitted to the signal transmission section of the position detecting device 2a. 6, the CPU 14 of the position detecting device 2a drives the vertical rotation servomotor to displace the vertical rotation stage 7 upward by a unit angle as shown in FIG. To change the emission angle of the laser light. The emission angle of the laser light is input from the encoder 13 to the movement angle input unit 20. The emission angle of the laser light sequentially changes, and the irradiation spot 29 of the laser light irradiating the light receiving element 24 is displaced from the upper end of the light receiving surface of the light receiving element 24, and a signal indicating the fact from the light receiving element 24. Is input, the rotation of the vertical rotation stage 7 is stopped, and at that time, the movement angle input unit 20
Type and Les - storing emission angle phi ₁ of the laser light to the RAM 16. Next, the vertically rotating stage 7 is rotated downward, and the irradiation spot 29 of the laser beam is
When the laser beam deviates from the lower end of the light receiving surface, the emission angle φ ₂ of the laser beam detected at that time is stored in the RAM 16. By taking the average of the emission angles φ ₁ and φ ₂ of the laser light, it is possible to obtain the irradiation angle of the laser light irradiated to the center of the light receiving element 24 in the vertical direction. After measuring the emission angles φ ₁ and φ ₂ of the laser beam when the irradiation spot 29 deviates from the vertical direction of the light receiving element 24, the horizontal rotation stage 6 is rotated, and the light Emission angles θ ₁ and θ _{2 of} laser light when the irradiation spot 29 deviates from the horizontal direction
Is measured and stored in the RAM 16. In this way,
An error due to the irradiation spot 29 of the light not being a perfect circle can be corrected.

After measuring the irradiation angle of the laser beam to the light receiving element 24 indicating the reference point installed in the starting shaft 23, the horizontal rotating stage 6 is rotated to install the laser oscillator 5 in the preceding tube 1b. To the detected position detection device 2b. In the same manner as described above, the irradiation angles of the laser beam to the rear light receiving element 9 of the position detecting device 2b in the vertical and horizontal directions are measured and stored in the RAM 16.

When the CPU 14 confirms that the irradiation angle of the laser beam to the rear light receiving element 9 of the position detecting device 2b has been measured, the distance between the position detecting device 1a and the position detecting device 1b stored in the RAM 14 in advance, ie, Tube 1a
The length L and the irradiation angle of the laser light to the rear light receiving element 24 installed in the starting shaft 23 stored in the RAM 14 and the rear light receiving element 9 of the front position detecting device 2b are sent to the position calculating unit 21. The position calculation unit 21 determines the light receiving element 24 and the rear light receiving element 9 of the position detecting device 2b from the emission angle of the laser light when the irradiation spot 29 of the laser light deviates from the light receiving surface.
And the irradiation angle of the laser light to be irradiated to the center in the vertical direction is calculated, and the angle difference α is calculated as shown in FIG. From the angle difference α and the length L of the tube 1a, the position detecting device 1a
The vertical displacement of the position detector 1b with respect to the reference line connecting the laser oscillator 5 and the light receiving element 24 is calculated. Also, the light receiving element 24 and the rear light receiving element 9 of the position detecting device 2b
And the irradiation angle of the laser light to be applied to the center in the horizontal direction is calculated, and the vertical displacement of the position detecting device 1b is calculated in the same manner as described above.

This processing is performed by the position detecting devices 2b, 2c...
The position of each of the propulsion pipes 1a to 1n is detected by repeatedly repeating 2n. Therefore, it is possible to detect the position of the excavator 26 at the tip without laying a rail or the like in the propulsion pipes 1a to 1n, and to accurately detect the curvature of the propelled pipe even in the case of curved construction. can do.

[0019]

As described above, according to the present invention, a rotatable laser oscillation device and a position detecting device having a front light receiving element and a rear light receiving element are previously installed at a fixed position of each propulsion pipe, and the propulsion is performed. Every time the tube is propelled, the angle at which the laser light emitted from the laser oscillator installed on each propulsion tube is incident on the front light receiving element installed on the downstream propulsion tube and the rear light receiving on the front stage propulsion tube The angle of incidence on the element was measured, and the difference between the difference and the length of the propulsion pipe was used to calculate the amount of deviation between the position of the propulsion pipe in the subsequent stage and the position of the propulsion tube in the preceding stage, and the position of the tip was detected. , The propulsion position and the propulsion direction can be accurately detected.

Further, since there is no need to provide a guide such as a rail for driving a laser oscillation device or the like in the propulsion pipe, the auxiliary work time can be reduced and the pipe can be propelled efficiently. .

[Brief description of the drawings]

FIG. 1 is a sectional view showing an embodiment of the present invention.

FIG. 2 is a front view illustrating a configuration of a position detection device.

FIG. 3 is a block diagram illustrating a configuration of a position detection device.

FIG. 4 is an explanatory diagram showing an operation of the position detection device.

FIG. 5 is an explanatory diagram showing a laser beam irradiation position search operation.

FIG. 6 is an explanatory diagram showing an operation of detecting an irradiation angle of laser light.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Propulsion pipe 2 Position detecting device 3 Angle measuring device 4 Controller 5 Laser oscillator 6 Horizontal rotating stage 7 Vertical rotating stage 8 Front light receiving element 9 Rear light receiving element 10 Servo motor for horizontal rotation 11 Vertical rotation servo motor 12 Encoder 13 Encoder 14 CPU 15 ROM 16 RAM 17 Drive control unit 21 Position calculation unit 22 Signal transmission unit 23 Starting shaft 24 Light receiving element 25 Laser transit 27 Light receiving element 28 Transmission Cable

──────────────────────────────────────────────────続 き Continuing on the front page (72) Inventor Yoshio Murata 3-37-8 Narita Higashi, Suginami-ku, Tokyo (72) Inventor Naoto Kobayashi 5-25-11 Jindaiji Kitamachi, Chofu City, Tokyo (58) Fields surveyed (Int.Cl. ⁷ , DB name) E21D 9/06 311

Claims (1)

(57) [Claims] 1. A position detecting device having a front light receiving element, a rear light receiving element, and a laser oscillation device rotatable in a horizontal direction and a vertical direction is installed at a fixed position of each propulsion pipe. The position of the preceding propulsion tube is determined based on the angle at which the emitted laser light is incident on the front light receiving element installed on the subsequent propulsion tube, the angle on the rear light receiving element installed on the previous propulsion tube, and the length of the propulsion tube. A propulsion position detection method characterized by calculating.