JP3397629B2 - Propulsion body steering control apparatus and 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 method for laying a buried pipe in the ground, and more specifically, it is provided at the tip of a propulsion body capable of propelling in the ground so that the propulsion direction can be freely changed. A transmission signal superimposed on a magnetic field generated by a transmission coil having an axis along its longitudinal direction can be received, and
By comparing the signal strengths of two reception signals received by a pair of reception coils that can be arranged at two positions on the left and right with a vertical plane including the propulsion planning line from the propulsion start point of the propulsion body to the planned arrival portion in the center. , A propulsion body operation that calculates a lateral displacement amount of the propulsion position of the propulsion body from the propulsion planning line, and performs steering control to propel the propulsion body along the propulsion planning line based on the calculation result. Control device.

[0002]

2. Description of the Related Art As a propulsion unit steering guide device of this type,
Conventionally, the pair of left and right receiver coils are independently arranged at two places on the left and right with the vertical plane in the center, and the pair of left and right receiver coils are attached to a fixing frame. The ratio of the signal strengths of the left and right received signals received by the integrated unit is obtained, and from the left and right signal strength ratios, the lateral displacement amount calculating means determines the lateral direction of the propulsion position of the propulsion body in the lateral direction from the propulsion planning line. Calculate the amount of displacement,
From the polarity of the lateral displacement amount, it is possible to determine that the propulsion body deviates to the right or left with respect to the propulsion planning line, and the degree of the deviation can be determined from its absolute value. There is a configuration in which the displacement amount is displayed on an output display device or the like so that an operator who operates the propulsion body can correct the propulsion direction. In the case of using such a conventional propulsion body steering guide device, first, the pair of left and right receiving coils are arranged symmetrically on both sides of the vertical plane, or they are attached to the fixing frame and integrated. The line of sight on the receiving coil side obtained by vertically dividing the line segment connecting the pair of left and right receiving coils into two equal parts by the sighting machine provided at the center of the pair of left and right receiving coils is the propulsion planning line. By making them coincide with each other, the pair of left and right receiving coils are installed so as to be symmetrical on both sides of the vertical plane. In this state, when an alternating current is passed through the transmitting coil of the propulsion body,
Having a magnetic field strength distribution symmetrical with respect to the axis of the transmitting coil, a magnetic field in which the magnetic field strength changes with time is generated, and the magnetic field is generated by the pair of left and right receiving coils individually by an electromagnetic induction action. It is detected as a voltage value proportional to the magnetic field strength. More specifically, in the first half of the propulsion process of the propulsion body,
Since the distance between the pair of left and right receiving coils is long and the magnetic field strength is weaker as the distance is longer, the respective axial directions of the receiving coils and the magnetic fields in order to maximize the interlinkage magnetic flux of each receiving coil. Are preferably matched. Therefore, when the distance between the propelling body and the receiving coil is long, the direction of the magnetic field in the receiving coil is substantially parallel to the propulsion planning line, so that the pair of left and right receiving coils have their respective axial cores. It is installed so as to be parallel to the promotion planning line. However, when the propulsion body approaches the receiving coil, the direction of the magnetic field in the receiving coil no longer coincides with the respective axial core directions, the interlinking magnetic flux decreases, and the received signal strength decreases. However, due to the influence of noise and surrounding iron structures, etc., the measurement accuracy drops drastically, causing a problem of erroneously giving a steering guidance instruction. Therefore, conventionally, when using this type of propulsion body steering guidance device, in order to avoid the above-mentioned problem, the pair of left and right receiving coils are behind the planned reaching part by a distance that does not cause the problem. That is, it was installed far from the propulsion start point.

[0003]

However, there is a case where the scheduled arrival portion of the propulsion body is close to the outer wall of a house or the like, and the reception coil cannot be installed sufficiently behind the scheduled arrival portion. In the case, when the propulsion body approaches the predetermined reaching portion at a certain distance, the propulsion body steering guidance device follows the guidance instruction despite the erroneous steering guidance instruction as described above. There is a problem that steering control is mistaken. The present invention has been made by paying attention to such an actual situation, and an object thereof is to solve the above-mentioned problems and even when there is a possibility of receiving an inappropriate guidance instruction depending on the installation situation of the receiving coil. The purpose of the present invention is to provide a propulsion body steering guidance device which prevents the generation of an inappropriate guidance instruction and enables the steering control of the propulsion body along a correct propulsion planning line.

[0004]

A first characteristic configuration of a propulsion device steering guide apparatus according to the present invention for achieving the above object is to provide a ground control system as described in claim 1 of the scope of claims. It is possible to receive a transmission signal superimposed on a magnetic field generated by a transmission coil that is provided at the tip of a propulsion body that can propulsively change the propulsion direction and that has an axis along the longitudinal direction of the propulsion body. By comparing the signal strengths of two reception signals received by a pair of reception coils that can be arranged at two places on the left and right with a vertical plane including the propulsion planning line from the propulsion start point to the planned arrival portion in the center, the propulsion body is compared. The amount of lateral displacement of the propulsion position from the propulsion planning line is calculated, and the propulsion body is steering-controlled along the propulsion planning line based on the calculation result. Promote to a predetermined distance before the scheduled arrival part After that time, based on the new calculation result of the lateral displacement amount, after fixing the lateral propulsion direction based on the calculation results up to that point, to the planned reaching portion. The point is to control the steering of the propulsion unit.

The second characteristic construction is, in addition to the first characteristic construction described above, as described in claim 2 of the scope of the claims, the propulsion body is provided up to a predetermined distance before the scheduled arrival portion. The determination of the promotion is made by determining that at least one of the signal strengths of the two received signals has become equal to or less than a predetermined threshold value.

The third characteristic configuration is based on the calculation result of the lateral displacement amount in addition to the above-mentioned first or second characteristic configuration, as described in claim 3 of the scope of claims. And a guidance instructing unit for instructing a steering operation of the propulsion body along the propulsion planning line, and the guidance instructing unit when it is determined that the propulsion body has propelled to a predetermined distance before the scheduled arrival unit. That is, the steering guidance instruction in the left-right direction is not updated.

The characteristic structure of the propulsion body steering guide method according to the present invention for achieving this object is, as described in claim 4 of the scope of the claims, propulsion capable of propulsion in the ground so that the propulsion direction can be freely changed. It is possible to receive the transmission signal superimposed on the magnetic field generated by the transmission coil provided at the tip of the body and having the axis along the longitudinal direction, and from the propulsion start point of the propulsion body to the planned arrival portion. By comparing the signal strengths of two reception signals received by a pair of receiving coils that can be arranged in two places on the left and right with a vertical plane including the propulsion planning line in the center, the propulsion planning line at the propulsion position of the propulsion body The lateral displacement of the propulsion unit, and based on the calculation result, the propulsion plan of the propulsion unit according to the instruction of the propulsion unit steering guidance device that instructs the steering of the propulsion unit along the propulsion planning line. Steering control along the line In this case, when it is determined that the propulsion body steering guidance device has propelled the propulsion body to a predetermined distance before the scheduled reaching portion, the steering control in the left and right directions thereafter is based on the guidance instruction up to that point. There is a point to do.

The operation will be described below. According to the first characteristic configuration of the propulsion body steering guide apparatus according to the present invention, the propulsion body is too close to the pair of left and right receiving coils, and the two reception signal strengths received by the respective receiving coils are reduced, The measurement accuracy is drastically reduced under the influence of noise and surrounding iron structures, and the accuracy of calculation of the lateral displacement amount of the propulsion position of the propulsion body from the propulsion planning line is significantly reduced. Since it is possible to detect in advance that the propulsion body has reached a point where steering control may be erroneously performed, calculation of the lateral displacement amount that may cause erroneous steering control at that time. By terminating the use of the results or the calculation itself, erroneous steering control can first be avoided. Furthermore, since the propulsion body is approaching the planned reaching portion to some extent along the propulsion planning line, by fixing the lateral propulsion direction based on the calculation result of the lateral displacement amount up to that time,
Even if the propulsion direction is not corrected on the way to the planned reaching part, the steering control of the propulsion body along the propulsion planning line is possible within a certain error range, and the propulsion body is moved to the planned reaching part. Can be promoted to.

Since the propulsion body comes too close to the pair of left and right receiving coils, the strength of the two received signals received by each of the receiving coils is lowered, and it becomes easy to be influenced by noise and surrounding iron structures. The measurement accuracy may be sharply reduced, the accuracy of calculation of the lateral displacement amount of the propulsion position of the propulsion body from the propulsion planning line may be significantly reduced, and the propulsion body may be erroneously steered. The distance from the point where the calculation accuracy of the lateral displacement amount is significantly reduced to the planned reaching portion or the pair of left and right receiving coils does not change greatly under a certain condition. In some cases, it can be judged from the propulsion distance, but the propulsion depth of the propulsion body when reaching within the same distance, the pair of left and right receiving coils, and the electrical characteristics of the transmitting coil provided inside the propulsion body. Individual difference, installation state of each receiving coil,
Alternatively, the distance may change due to changes in the degree of influence of the noise or surrounding iron structures. However, according to the second characteristic configuration, even in such a case, the calculation is stopped or the use of a new calculation result is stopped before the calculation accuracy of the lateral displacement amount is significantly reduced. Then, the steering control of the propulsion unit can be performed based on the calculation results up to that point, and the propulsion unit can be propelled to the scheduled arrival unit.

According to the third characteristic configuration, by providing a guidance instructing unit for instructing the steering of the propulsion body along the propulsion planning line based on the calculation result of the lateral displacement amount, Even when steering control of the propulsion body is performed,
It is possible to prevent the calculation accuracy of the lateral displacement amount from being significantly reduced and the guidance instruction unit to give an incorrect guidance instruction.
By not updating the steering guidance instruction, the worker
By continuing to maintain the operation up to that point, the propelling body can be propelled to the scheduled reaching portion without unnecessarily correcting the wrong propelling direction.

According to the characteristic configuration of the propulsion body steering guidance method according to the present invention, when the propulsion body steering guidance device determines that the propulsion body has propelled to a predetermined distance before the scheduled reaching portion, the following steps are performed. Although the reliability of the steering guidance is not guaranteed, the propulsion body is still too close to the pair of left and right receiving coils, and the two receiving signal strengths received by each receiving coil are reduced, and noise and surrounding The measurement accuracy sharply decreases under the influence of an iron structure, etc., the calculation accuracy of the lateral displacement amount of the propulsion position of the propulsion body from the propulsion planning line significantly decreases, and the propulsion body steering guidance device is incorrect. Since the state has not reached the state of giving a steering guidance instruction along the propulsion planning line of the propulsion body, the predetermined reliability of the guidance instruction up to that point is guaranteed, and the propulsion body is On the promotion line Therefore, even if the propulsion direction is not corrected on the way to the planned reaching part, the propulsion planning line of the propulsion body can be obtained by following the steering guidance instruction until then. The steering control can be performed within a certain error range, and the propelling body can be propelled to the scheduled reaching portion.

[0012]

DETAILED DESCRIPTION OF THE INVENTION A first embodiment of the present invention will be described below with reference to the drawings. As shown in FIG. 1, a transmission coil 2 having an axial center along the longitudinal direction is provided at the tip of a propulsion body 1 capable of propulsion in the ground so that the propulsion direction can be freely changed. A pair of left and right receiving coils 3 _R , 3 _L are installed by an operator at symmetrical positions with a vertical plane including the propulsive planning line L ₀ from B to the planned reaching portion A sandwiching the vertical plane in the center. A magnetic field is generated by passing a current that has been subjected to a predetermined modulation, and the receiving coils 3 _R and 3 _L receive the transmission signal superposed on the magnetic field, and the electromagnetic waves are applied to the receiving coils 3 _R and 3 _L. Output the generated voltage value as the signal strength of the received signals 4 _R and 4 _L ,
A propulsion body steering control device according to the present invention (hereinafter referred to as the present invention device) starts propulsion of the propulsion body 1 along the propulsion planning line L ₀ based on the signal strength of the received signals 4 _R and 4 _L. Steering control is performed so as to propel from the point B to the scheduled reaching portion A.

As shown in FIG. 1, the device of the present invention comprises a propulsion body steering guidance device 10 comprising a lateral displacement amount calculating means 5 and a guidance instructing section 6, and further, propulsion and steering of the propulsion body 1. And a setting input unit 12 for inputting initial setting values for the driving route of the propelling body 1.
Is equipped with. Further, the lateral displacement amount calculation means 5 is
The signal strength ratio R of the received signals 4 _R and 4 _L and the propulsion body 1
From the propulsion start point B of the propulsion distance X _S to the propulsion body 1
And a lateral displacement amount calculation unit 7 for calculating a lateral displacement amount from the propulsion planning line L _0, and a signal intensity determination unit for determining whether or not the signal intensity of the received signals 4 _R and 4 _L is equal to or more than a certain threshold value. 8 and a reception signal validity determination unit 9 that determines the validity of the reception signals 4 _R and 4 _{L based on} the determination result of the signal strength determination unit 8 and the propulsion distance X _S.

The device of the present invention adopts a hardware configuration based on a microcomputer system, and the lateral displacement amount calculating means 5 in the device is a microcomputer (not shown) and causes it to execute a predetermined function. Is stored in an external storage device or a read-only memory (not shown) in a microcomputer, and the general hardware configuration for practical use is adopted. ing. On the other hand, specifically, the guidance instructing unit 6 displays the current position of the propulsion body 1 on the propulsion path specified by the setting value input from the setting input unit 12 as viewed from the side direction. The display device 13 and the second display device 14 for displaying the actual propulsion trajectory of the propulsion body 1 in a plan view,
The propulsion body 1 calculated by the lateral displacement amount calculation means 5
The lateral displacement amount Δ _{Y for} each propulsion position of the second display device 1
The actual propulsion trajectory of the propulsion body 1 is displayed by plotting on the display of No. 4. As an example of the set value input from the setting input unit 12, specifically, as shown in FIG. 2, the residential land distance from the boundary between the road 15 and the residential land 16 to the planned arrival portion A of the propulsion body 1 is set. 17, a road distance 18 from the propulsion start point B of the propulsion body 1 to the boundary, and a road depth 19 from the road surface at the propulsion start point B,
Gutter depth 20 from the road surface of the boundary gutter
And the residential land height 21 of the residential land 16 from the road surface
And the digging amount 22 which is the depth from the residential land 16 to the planned reaching portion A, and by inputting these set values, the propulsion route in the vertical plane is specified.

The operator is required to use the first display device 13 and the second display device 13.
The propulsion and steering of the propulsion body 1 is controlled by operating the propulsion operation unit 11 while referring to the display of the display device 14. For the propulsion of the propulsion body 1, a propulsion unit 24 is installed in a pit 23 provided at the propulsion start point B, and a propulsion pipe 25 connected to the rear of the propulsion unit 1 by the propulsion unit 24 is successively grounded. It is executed by pushing it inside. Also,
The steering of the propulsion body 1, that is, the change of the propulsion direction, is such that the front end surface of the propulsion body is processed obliquely with respect to the longitudinal direction of the propulsion body, and the lateral component of the resistance force acting on the oblique front end surface is It can act and control the traveling direction.

The lateral displacement amount calculating means 5 will be described.
To do. As shown in FIG. 1, the tip of the propulsion body 1 is
A transmitting coil 2 having an axis along the longitudinal direction is provided
The transmission coil 2 is subjected to a predetermined modulation.
A magnetic field is generated by flowing the flow. The thrust of the propulsion body 1
Planning line L from the starting point B to the planned arrival area A₀Including
A pair of left and right receivers are placed at symmetrical positions with the vertical plane in the center.
IL 3_R, 3_LIs installed by the worker. This reception
Coil 3_R, 3 _LReceives the transmission signal superimposed on the magnetic field.
Receiving and electromagnetic induction each receiving coil 3_R, 3 _LElectricity generated in
Pressure value received signal 4_R, 4_LAs the signal strength of
It outputs to the direction displacement amount calculation means 5. Furthermore, the lateral direction
The displacement calculating means 5 is provided with
The distance traveled by the propulsion unit 24 is the propulsion distance X of the propulsion unit 1.
_SIs entered as. The propulsion distance X_SIs the promotion
The configuration may be input from the machine 24.

The voltage values of the received signals 4 _R and 4 _L input to the lateral displacement amount calculation means 5 are A / D converted to A / D on the left side of the pair of left and right receiving coils 3 _R and 3 _L. The signal strength ratio R is generated by dividing the converted voltage value by the same voltage value on the right side. The signal strength ratio R and the propulsion distance X _S are input to the lateral displacement amount calculation unit 7, and the pair of left and right receiving coils 3 _R and 3 _{L in} the actual installation state are paired with the left and right receiving coils 3 _R. , 3 _L , the lateral relative displacement amount E _Y of the existing position of the propulsion body 1 from the line of sight L ₁ corresponding to the vertical bisector of the line segment connecting the lines. Specifically, in the two-dimensional model shown in FIG. 3, Equation 1, Equation 2, and Equation 3
The horizontal relative displacement amount E _Y is derived by solving the simultaneous equation

[0018]

[Equation 1] R = (D _R / D _L ) ³

[Formula 2] D _R ² = x ² + (D _C / 2 + E _Y ) ²

[Formula 3] D _L ² = x ² + (D _C / 2-E _Y ) ²

However, D_RIs the receiving coil 3 on the right side_RAnd the above
Distance between transmitting coils 2, D_LIs the receiving coil 3 on the left side_LWhen
Distance between the transmitter coils 2, D_CIs the pair of left and right reception
Coil 3_R, 3_LThe distance, x, is in front of the planned arrival area A
The distance between the transmission coils 2, x is the total propulsion length (see FIG. 2).
The sum of the residential land distance 17 and the road distance 18 shown in
From this) to the above propulsion distance X_SIs approximately equal to the value obtained by subtracting. Well
E_YThe positive direction is left toward the planned reaching part A
Direction. However, Equation 1, Equation 2, and the number
Lateral relative displacement E obtained by solving Equation 3_YIs the Lord
Then, the pair of left and right receiving coils 3_R, 3_LAxis direction
And the direction of the magnetic field generated by the transmission coil 2 is accurate
Due to the disagreement, the error is different from the actual propulsion path.
However, as shown in FIG. 4, this error is experimentally
The propulsion unit 1 is propelled with a constant lateral displacement amount.
Line L₀If you go straight in parallel with,
And the lateral relative displacement amount E obtained by solving Equation 3._YYo
The estimated propulsion route obtained is parallel to the actual propulsion route.
Since it can be regarded as having moved, the lateral displacement amount calculation unit
The lateral relative displacement amount E which is the output value of 7 _YA certain amount of
Lateral displacement Δ multiplied by a positive coefficient_YIs the lateral displacement
It is the output value of the calculation means 5. The pair of left and right receivers
IL 3_R, 3_LIs the promotion plan line L₀Against said sight
Line L₁The horizontal displacement is
Δ_YIs the promotion plan line L of the propulsion unit 1.₀Lateral direction from
Match the displacement amount.

In order to maintain the lateral displacement amount Δ _Y at a predetermined accuracy, the signal strengths of the received signals 4 _R and 4 _L are
It is necessary that the signal strength determination unit 8 always receives the received signals 4 _R , 4 _L at or above a certain level capable of appropriately reflecting the distance between the respective receiving coils 3 _R , 3 _L and the transmission coil 2. It is determined whether the voltage value after each A / D conversion, which is the signal intensity of _L , is equal to or more than a predetermined threshold value. The determination may be made before A / D conversion. Further, the validity of the propulsion depth d and the reception signals 4 _R , 4 _L in the propulsion path within the vertical plane of the propulsion body 1 specified by the setting value input from the setting input unit 12 is not guaranteed. The distance X _N from each of the receiving coils 3 _R and 3 _L is obtained in advance by experiments or simulations as shown in FIG. 5, and the relationship between the propulsion depth d and the distance X _N is tabulated to form the received signal. It is stored in the storage device in the validity determination unit 9. The reception signal validity determination unit 9 determines that the propulsion body 1 has each of the reception coils 3 _{R based on} the relationship between the propulsion distance X _S , the propulsion depth d, and the distance X _N input from the propulsion operation unit 11. , 3 _{L is} determined in advance by experiments or the like that the validity of the received signals 4 _R , 4 _L is not guaranteed, and it is determined that the signal strength determination unit 8 has reached Based on the judgment result that has occurred first, either the judgment result or the judgment result, it is judged that the validity of the received signals 4 _R and 4 _L cannot be guaranteed, and the unreceivable signal F is generated to calculate the lateral displacement amount. Output to the unit 7 and the guidance instructing unit 6.

The lateral displacement amount calculation unit 7 which has received the reception-disabled signal F stops the calculation of the lateral displacement amount, and continues to output while maintaining the lateral relative displacement amount E _Y at that time. Therefore, the lateral displacement amount Δ _Y corresponding to the lateral relative displacement amount E _Y is output from the lateral displacement amount calculating means 5 to the guidance instructing section 6. On the other hand, the unreceivable signal F
The guidance instruction unit 6 that has received the instruction fixes the content of the steering guidance instruction to the final steering guidance instruction up to the scheduled reaching portion A based on the lateral displacement amount Δ _Y received at that time.

Specifically, the propulsion locus display of the second display device 14 is not updated after the reception disable signal F is received, and the worker recognizes the state together with the warning display. The operator operates the propulsion operation unit 11 in accordance with the final steering guidance instruction from the guidance instruction unit 6, and thereafter propels in the left-right direction until the propelling body 1 reaches the planned reaching unit A. It does not control the direction.

Next, another embodiment will be described. In the first embodiment, the lateral displacement amount calculation unit 7 is configured to stop the calculation of the lateral displacement amount by receiving the reception-disabled signal F, but the lateral displacement amount is not necessarily calculated. You don't have to stop. In this case, the guidance instructing unit 6 that receives the unreceivable signal F may not receive the lateral displacement amount Δ _Y thereafter.

In the first embodiment described above, the device of the present invention is provided with the guidance instructing section 6 for instructing the steering operator of the propulsion body 1 to perform steering guidance, but without the intervention of the operator. In addition, the configuration may be such that the propulsion operation unit 11 is directly and automatically controlled based on the guidance instruction.

[0025]

As described above, according to the present invention,
Even if there is a possibility of receiving an improper guidance instruction depending on the installation situation of the receiving coil, prevent the improper guidance instruction from occurring and perform steering control of the propulsion body along the correct propulsion planning line. It is now possible to provide a propulsion body steering control device and a propulsion body steering control method that are possible.

It should be noted that reference numerals are added to the claims for convenience of comparison with the drawings, but the present invention is not limited to the configurations of the accompanying drawings by the entry.

[Brief description of drawings]

FIG. 1 is an explanatory diagram showing a relationship between a block configuration of a propulsion body steering guide device according to the present invention and peripheral devices.

FIG. 2 is a vertical cross-sectional view showing an example of a work site of a propulsion method using the propulsion body steering guide device according to the present invention.

FIG. 3 is a plan view of a two-dimensional model showing a relationship between a transmitting coil and a receiving coil for explaining a calculation process of a lateral displacement amount calculation unit.

FIG. 4 is a simulation value of lateral displacement, an experimental value,
And a comparison diagram of true values

FIG. 5 is a relationship diagram between the distance from the receiving coil and the propulsion depth where the validity of the received signal is not guaranteed.

[Explanation of symbols]

1 Propulsion Body 2 Transmission Coil 3 _R , 3 _L Reception Coil 4 _R , 4 _L Reception Signal 6 Guidance Indication Unit 10 Propulsion Body Steering Guidance Device A Scheduled Reaching Point B Propulsion Start Point F Unreceivable Signal L ₀ Propulsion Plan Line L ₁ Aiming Line X _S Propulsion distance Δ _Y Lateral displacement

─────────────────────────────────────────────────── ─── Continuation of the front page (72) Inventor Takashi Togawa 1-1-1 Hama, Amagasaki City, Hyogo Prefecture Kubota Technology Development Laboratory (72) Inventor Yukishige Yamada 1-1-1 Hama, Amagasaki City Hyogo Stock Kubota Technology Development Laboratory (56) References JP-A-8-303182 (JP, A) JP-A-5-86797 (JP, A) (58) Fields investigated (Int.Cl. ⁷ , DB name) E21D 9/06 311 G01C 15/00 104

Claims (4)

(57) [Claims] 1. A magnetic field generated by a transmitting coil (2) provided at the tip of a propelling body (1) capable of propelling in the ground so that the propulsion direction can be freely changed, and superposed on a magnetic field generated by a transmitting coil (2). 2 points on the left and right with the vertical plane between the propulsion start point (B) of the propulsion body (1) and the planned reaching section (A) including the propulsion planning line (L ₀ ) in the center. Of the two receiving signals (4 _R ) and (4 _L ) received by a pair of receiving coils (3 _R ) and (3 _L ) which can be arranged in Propulsion in which the lateral displacement amount (Δ _Y ) of the position from the propulsion planning line (L ₀ ) is calculated, and the propulsion body (1) is steering-controlled along the propulsion planning line based on the calculation result. It is a gymnastics steering control device, wherein the propulsion body (1) has propelled a predetermined distance before the scheduled reaching part (A). After that, the horizontal displacement direction is fixed based on the new calculation result of the lateral displacement amount (Δ _Y ) and the leftward propulsion direction is fixed based on the calculation result until then. A propulsion body steering control device for performing steering control of the propulsion body (1) up to the section (A). 2. The judgment that the propelling body (1) has propelled a predetermined distance before the scheduled reaching part (A),
The propulsion body steering control apparatus according to claim 1, wherein the propulsion body steering control device is performed by determining that at least one of the signal intensities of the two reception signals (4 _R ) and (4 _L ) is equal to or less than a predetermined threshold value. 3. A guidance instructing section (6) for instructing the steering of the propulsion body (1) along the propulsion planning line (L ₀ ) based on the calculation result of the lateral displacement amount (Δ _Y ). Steering guidance in the left-right direction of the instruction content of the guidance instructing unit (6) when it is determined that the propulsion body (1) has propelled the propulsion unit (1) to a predetermined distance before the scheduled reaching unit (A). The propulsion body steering control device according to claim 1, wherein the instruction is not updated. 4. A magnetic field generated by a transmitting coil (2) provided at the tip of a propelling body (1) capable of propelling in the ground so that the propulsion direction can be freely changed, and superposed on a magnetic field generated by a transmitting coil (2). 2 points on the left and right with the vertical plane between the propulsion start point (B) of the propulsion body (1) and the planned reaching section (A) including the propulsion planning line (L ₀ ) in the center. Of the two receiving signals (4 _R ) and (4 _L ) received by a pair of receiving coils (3 _R ) and (3 _L ) which can be arranged in A lateral displacement amount (Δ _Y ) of the position from the propulsion planning line (L ₀ ) is calculated, and the operation of the propulsion body (1) along the propulsion planning line (L ₀ ) is calculated based on the calculation result. Follow the instructions of the promoted gymnastics direction guiding apparatus that performs guiding instruction countercurrent (10), the propulsion planning line of the propellant (1) (L ₀ Is a propulsion body steering method for performing steering control according to, wherein the propulsion body steering guidance device (10) determines that the propulsion body (1) has propelled a predetermined distance in front of the scheduled arrival portion (A). In this case, the steering control method in the lateral direction thereafter is performed based on the guidance instruction up to that point.