JP3397639B2 - Propulsion body steering guidance device - 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
A signal strength of a reception signal received by a pair of left and right receiving coils that can be arranged at two left and right sides sandwiching a vertical plane including a propulsion planning line from the propulsion start point of the propulsion body to a planned arrival portion in the center;
A lateral displacement amount calculation means for inputting a propulsion distance of the propulsion body, calculating and outputting a lateral displacement amount of the propulsion position of the propulsion body from the propulsion planning line, and the lateral direction displacement amount calculation means. The present invention relates to a propulsion body steering guidance device, comprising: a guidance instructing unit that guides the steering of the propulsion body based on the output lateral displacement amount.

[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, since the magnetic field strength detected by the pair of left and right receiving coils by the lateral displacement amount calculating means is inversely proportional to the cube of the distance between each receiving coil and the transmitting coil,
The ratio of the respective distances is calculated from the ratio of the respective voltage values detected by the pair of left and right receiving coils, and the propulsion distance of the propulsion body along the propulsion planning line between the propulsion body and the pair of left and right reception coils. The calculated distance is calculated, and the equation derived geometrically based on these values is solved to calculate the lateral displacement of the propulsion position of the propulsion body from the propulsion planning line. Therefore, the propulsion direction is controlled in a direction in which the lateral displacement amount displayed on the output display device or the like is reduced, the propulsion body is guided so as to approach the propulsion planning line, and finally the planned arrival portion is reached. Can be reached accurately.

[0003]

In order to accurately execute the control of the propulsion direction of the propulsion body using the above-described conventional propulsion body steering guide device within the predetermined error range, the pair of left and right receiving coils are arranged in the above-mentioned manner. It is necessary to install them in symmetrical positions with the vertical plane in the center. Further, in the case where the pair of left and right receiving coils are attached to and integrated with a fixing frame, it is necessary to install the line of sight so as to match the line of propulsion. However, it is sometimes difficult to install the receiving coil with the aiming line and the propulsion planning line accurately aligned because the planned reaching portion of the propulsion body is close to the outer wall of the house or the like. Even in such a case, the line of sight is regarded as the propulsion planning line and the propulsion body propels the propulsion along the pseudo propulsion planning line to reach the planned reaching portion, Since the propulsion direction is changed from the starting point of propulsion toward the pseudo propulsion plan line outside the original propulsion plan line, the propulsion path is greatly bent at the point where the pseudo propulsion plan line is reached, and thus the propulsion body is When the buried pipe is pulled in after reaching the planned reaching portion, there arises a problem that lateral stress is concentrated on the buried pipe at the bending point, which affects the life of the buried pipe.
Therefore, in the situation where the lateral displacement amount is already calculated at the time of starting the propulsion, it is necessary to re-install because the installation state of the receiving coil is bad, and there is a problem that work efficiency is significantly reduced. 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 to provide a correct propulsion planning line even when the installation state of the receiving coil is inappropriate. Another object of the present invention is to provide a propulsion body steering guide device capable of controlling the propulsion direction of the propulsion body along the 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. Input the signal strength of the reception signal received by a pair of left and right receiving coils that can be arranged in two places on the left and right with the vertical plane including the propulsion planning line from the start point to the planned arrival point in the center, and the propulsion distance of the propulsion unit. The lateral displacement amount calculating means for calculating and outputting the lateral displacement amount of the propulsion position of the propulsion body from the propulsion planning line, and the lateral displacement amount output by the lateral displacement amount calculating means. Guide the steering of the propulsion body based on And a lateral direction displacement amount calculation means, the signal strength ratio of the received signal and the propulsion distance of the propulsion body are input, and the lateral displacement amount calculation means The lateral displacement amount calculation unit that calculates the lateral relative displacement amount of the propulsion position of the propulsion body with reference to the pair of left and right receiving coils in the actual installation state, and the pair of left and right receiving coils are not properly arranged. In order to correct the error in the output value of the lateral displacement amount calculation unit due to the above, the signal strength ratio of the received signal which is the input value to the lateral displacement amount calculation unit, or the lateral displacement For a lateral displacement amount that is an output value from the amount calculation unit, a correction calculation unit that calculates an appropriate value by calculating a correction amount that depends on the propulsion distance of the propulsion body, and the correction calculation unit, Input to the lateral displacement amount calculation unit When correcting at least one of the value or the output value from the lateral displacement amount calculation unit and correcting the input value, the corrected input value is input to the lateral displacement amount calculation unit, and When correcting the output value, the corrected output value is output as the output value of the lateral displacement amount calculating means.

According to the second characteristic configuration, as described in claim 2 of the scope of the claims, in addition to the above-mentioned first characteristic configuration, the correction calculation unit is provided from the lateral displacement amount calculation unit. When correcting the output value of, the correction calculation unit, at the lateral displacement amount correction point set within a predetermined distance from the promotion start point on the promotion plan line, the received signal at the lateral displacement amount correction point. Of the propulsion position of the propulsion body, which is derived by inputting the signal strength of the propulsion body and the propulsion distance of the propulsion body to the lateral displacement amount calculation unit, and the propulsion distance of the propulsion body is a variable. A lateral displacement amount correction function deriving unit for deriving a lateral displacement amount correction function, and subtracting the function value of the lateral displacement amount correction function from the output value from the lateral direction displacement amount calculation unit. The point is to correct the amount of directional displacement.

In the third characteristic configuration, as described in claim 3 of the scope of the claims, in addition to the first characteristic configuration described above, the correction calculation unit is added to the lateral displacement amount calculation unit. When correcting the input value of the, the correction calculation unit, at the lateral displacement amount correction point set within a predetermined distance from the promotion start point on the promotion plan line, the received signal at the lateral displacement amount correction point. The initial value is the reciprocal of the signal strength ratio of the, and a signal strength ratio correction function deriving unit for deriving a signal strength ratio correction function having the propulsion distance of the propulsion body as a variable is provided, and the signal is input to the lateral displacement amount calculation means. The signal strength ratio obtained by multiplying the signal strength ratio of the signal strength of the received signal by the signal strength ratio correction function is input to the lateral displacement amount calculation unit.

The operation will be described below. According to the first characteristic configuration, when the pair of left and right receiving coils are not properly arranged, the lateral displacement amount calculation unit provided in the lateral direction displacement amount calculation means is Conventionally, the lateral displacement amount from the propulsion planning line is calculated as the lateral displacement amount from the sight line of the receiving coil (corresponding to a vertical bisector of a line segment connecting the pair of left and right receiving coils). However, the correction calculation unit provided in the lateral displacement amount calculation unit causes the signal intensity ratio received by the pair of left and right receiving coils which is an input value to the lateral displacement amount calculation unit, or For a lateral displacement amount that is an output value from the lateral displacement amount calculation unit, a correction amount that depends on the propulsion distance of the propulsion body is calculated, and the input value or the output value is corrected based on the correction amount. Therefore, the lateral displacement amount calculation means It is possible to correctly output the lateral displacement amount from the propulsion planning line, and by executing the control of the propulsion direction of the propulsion body according to the lateral displacement amount, the propulsion body is displayed on the propulsion planning line up to the planned arrival point. It can be reached along. As a result, it is possible to save the trouble of re-installing the receiving coil because the receiving coil is not installed properly, and it is possible to perform the propulsion control of the propulsion body correctly according to the original propulsion planning line.

According to the second characteristic configuration, the lateral displacement amount correction function having the propulsion distance of the propulsion body stored in the lateral displacement amount correction function deriving unit as a variable is specified for each propulsion work. For this purpose, the lateral displacement of the propulsion position of the propulsion body is derived by inputting the signal strength of the received signal and the propulsion distance of the propulsion body at the lateral displacement correction point into the lateral displacement amount calculation unit. Amount is a boundary condition, that is, its lateral displacement amount should be "0". On the other hand, since the installation location of the receiving coil is near the planned reaching portion, at the same point, the reception Since the substantial deviation between the line of sight of the coil and the propulsion planning line can be ignored, it is assumed that the correction amount when the propulsion body reaches the planned reaching portion is “0”, and the lateral displacement correction function Derive the coefficient of the specific term, By deriving a lateral displacement amount correction function specific to each advancing operation, and subtracting the function value of the lateral displacement amount correction function from the output value from the lateral displacement amount calculation unit, It is possible to easily correct the lateral displacement amount of the output value of the lateral displacement amount calculation unit. Since the correction amount between the lateral displacement amount correction point and the planned arrival portion is approximated by a predetermined lateral displacement amount correction function, a certain error is involved. Further, in order for the lateral displacement according to the present characteristic configuration to effectively function within a predetermined error range, the lateral displacement amount correction point is a propulsion start point or a propulsion plan even after propelling a certain distance from the same point. It is necessary that the magnetic field generated by the transmitting coil is not disturbed by the iron structure installed at the propulsion start point at a distance that does not almost deviate from the line, and,
If there is no such structure, it does not matter if the initial propulsion route of the propulsion body is a point where there is a guarantee that it does not deviate from the propulsion planning line. As a result of the above, at the arbitrary point from the starting point of the propulsion to the scheduled reaching portion, the lateral displacement amount calculating means correctly determines the lateral displacement amount from the propulsion planning line within a certain error range. It is possible to output and appropriately guide the propulsion body along the propulsion planning line.

According to the third characteristic configuration, the signal strength ratio correction function having the propulsion distance of the propulsion body as a variable, which is stored in the lateral displacement correction function derivation unit, is specified for each propulsion work. In addition, assuming that the corrected signal strength ratio should be “1” when the propulsion body is on the propulsion planning line, the function value of the signal strength ratio correction function at the lateral displacement amount correction point is One boundary condition is that it is the reciprocal of the signal strength ratio of the received signal at the same point, while the installation location of the reception coil is near the planned arrival portion. Since the substantial deviation between the line of sight and the propulsion planning line can be ignored, it is not necessary to correct the signal intensity ratio when the propulsion body reaches the planned reaching portion, so the function value is “1”. If there is,
Deriving the coefficient of the signal strength ratio correction function, deriving a unique signal strength ratio correction function for each propulsion work, to the signal strength ratio of the signal strength of the received signal input to the lateral displacement amount calculating means. By multiplying by the signal strength ratio correction function, it is possible to easily correct the signal strength ratio of the input value of the lateral displacement amount calculation unit at an arbitrary propulsion distance. Since the correction amount between the lateral displacement amount correction point and the planned arrival portion is approximated by a predetermined lateral displacement amount correction function, a certain error is involved. Further, in order for the lateral displacement according to the present characteristic configuration to effectively function within a predetermined error range, the lateral displacement amount correction point is a propulsion start point or a propulsion plan even after propelling a certain distance from the same point. It is necessary that the magnetic field generated by the transmitting coil is not disturbed by the iron structure installed at the propulsion start point at a distance that does not substantially deviate from the line, and such a If there is no structure, it does not matter if the initial propulsion route of the propulsion body is a point where there is a guarantee that it does not deviate from the propulsion planning line.
As a result of the above, at the arbitrary point from the starting point of the propulsion to the scheduled reaching portion, the lateral displacement amount calculating means correctly determines the lateral displacement amount from the propulsion planning line within a certain error range. It is possible to output and appropriately guide the propulsion body along the propulsion planning line.

[0010]

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 propulsion body steering guidance device according to the present invention (hereinafter referred to as the present invention device).
Is a lateral displacement amount calculating means 5 and a guidance instructing section 6, and controls the propulsion and steering of a propulsion body 1 capable of propulsion in the ground so that the propulsion direction can be freely changed. A setting input unit 12 is provided for inputting initial setting values regarding the propulsion path of the body 1. Further, the lateral direction displacement amount calculation means 5 comprises a lateral direction displacement amount calculation section 7 and a correction calculation section 8, and the correction calculation section 8 includes a lateral direction displacement amount correction function deriving section 9.

A hardware configuration based on the microcomputer system of the apparatus of the present invention is adopted, and the lateral displacement amount calculating means 5 in the hardware configuration is executed by a microcomputer (not shown) and a predetermined function thereof. 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. 4, 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 operates 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 lateral displacement amount calculation unit 7 is configured to operate in the lateral direction.
The received signal 4 input to the displacement amount calculation means 5_R, 4_L
A / D conversion of the voltage value of the pair of left and right receiving coils 3
_R, 3_LThe voltage value after A / D conversion on the left side of the
Signal strength ratio R divided by the value and the propulsion distance X_SIs entered
The left and right pair of receiving coils 3_R, 3_LThe actual setup
The pair of left and right receiving coils 3 in the stationary state_R, 3_Lwhile
Line of sight L corresponding to the perpendicular bisector of the line segment connecting₁from
Lateral relative displacement E of the position where the propulsion body 1 is present _YCalculate
To do. Specifically, in the two-dimensional model shown in FIG.
Solve simultaneous equations consisting of Equation 1, Equation 2, and Equation 3.
Lateral displacement E_YIs derived.

[0015]

[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

Where D _R is the distance between the right receiving coil 3 _R and the transmitting coil 2, D _L is the distance between the left receiving coil 3 _L and the transmitting coil 2, and D _C is the pair of left and right receiving coils The distance between 3 _R and 3 _L , x is the distance between the planned reaching portion A and the transmission coil 2, and x is the total propulsion length (see FIG. 4).
(Corresponding to the sum of the residential land distance 17 and the road distance 18 shown in 1) minus the propulsion distance X _S. The positive direction of E _Y is the leftward direction toward the planned reaching portion A. However, the lateral relative displacement amount E _Y obtained by solving the equations 1, 2 and 3 is mainly based on the axial direction of the pair of left and right receiving coils 3 _R and 3 _L and the transmitting coil 2. An error occurs in the actual propulsion path because it does not exactly match the direction of the magnetic field generated by, but as shown in FIG. 6, this error is an experimentally constant lateral displacement amount. When the propulsion body 1 is moved straight in parallel with the propulsion planning line L ₀ , the estimated propulsion path obtained from the lateral relative displacement E _Y obtained by solving the formulas 1, 2 and 3 is Since it can be regarded as a result of parallel displacement with respect to the actual propulsion path and from several kinds of experimental results, the lateral displacement amount calculation unit 7 laterally multiplies the lateral relative displacement amount E _Y by a constant correction coefficient. Directional relative displacement E
_Y is output.

Correction of the lateral displacement amount of the correction calculator 8
The function derivation unit 9 uses the lateral displacement amount correction function H shown in Expression 4.
_YCoefficient k of₀, K₁To calculate the lateral displacement correction function.
Number H _YSpecify. The correction calculator 8 is shown in Equation 5.
As described above, the lateral direction output by the lateral direction displacement amount calculation unit 7 is output.
Directional relative displacement E_YFrom the lateral displacement correction function H_YTo
Subtracting, the promotion plan line L of the propulsion body 1₀Before
Lateral displacement Δ_YTo calculate the lateral displacement amount
The output of the means 5.

[0018]

[Formula 4] H _Y = k ₀ + k ₁ * x

[Expression 5] Δ _Y = E _Y −H _Y

The calculation of the coefficients k ₀ and k _{1 in} the lateral displacement amount correction function deriving unit 9 will be described below. Normal,
An iron structure may be used to form a pit 23 provided for installing the propulsion unit 24 at the propulsion start point B, and the magnetic field generated by the transmission coil 2 is disturbed by the iron structure. At the propulsion start point B, that is, before the propulsion of the propulsion body 1 is started,
The lateral displacement amount correction function deriving unit 9 uses the coefficients k ₀ and k.
_Since there is a risk that ₁ cannot be calculated accurately, first, the propulsion body 1 is propelled toward the planned reaching portion A for a predetermined distance without stopping, and then stopped. The stop point is referred to as a lateral displacement amount correction point C _0, and as shown in FIG. 2, the received signals 4 _R and 4 _L are received by the pair of left and right receiving coils 3 _R and 3 _L. The lateral relative displacement amount E _Y obtained by inputting the intensity ratio R and the propulsion distance X _S of the propulsion body 1 to the lateral displacement amount calculation unit 7 is expressed by H in Equation 4.
Substituting the x value corresponding to the propulsion distance X _S at that point into the same value of Equation 4 for _Y , and the installation location of the receiving coils 3 _R and 3 _L is near the planned reaching area A. Therefore, at the same point, since the substantial deviation between the line of sight L _{1 of the} receiving coils 3 _R and 3 _L and the propulsion planning line L ₀ can be ignored, the propulsion body 1 reaches the planned reaching part A. Assuming that the correction amount H _Y at that time is “0”, the two-dimensional simultaneous equations relating to the coefficients k ₀ and k ₁ are solved to derive the coefficients k ₀ and k _1, which are unique to each propulsion work. The lateral displacement amount correction function H _Y is specified.

Once the lateral displacement amount correction function H _Y is specified, the correction computing unit 8 is activated and the lateral relative displacement amount of the lateral displacement amount computing unit 7 is constantly executed while executing the equation (5). After correcting the amount E _Y , the lateral displacement amount Δ _Y after the correction
Is the output of the lateral displacement amount calculation means 5.

In the first embodiment, the lateral displacement compensation is
Positive function H_YIs approximated by a linear function,
The coefficient k₀, K₁To specify the lateral displacement amount correction function H
_YThat is, the calculation for identifying Furthermore, the figure
As shown in Fig. 2, the linear function is essentially the lateral displacement.
Correction function H_YCan be well approximated.
In FIG. 2, C₁Is the line of sight L₁There, A ・ C₀Among
Distance is AC₁An imaginary point equal to the distance between is shown. M
₀Is AC₀Midpoint between, M₁Is AC₁Midpoint between, M_X
C_XIs the lateral direction output by the lateral displacement calculation unit 7, respectively.
Displacement amount Δ_YOnly M₁, C₁From the line of sight L₁Against
A virtual point located in the vertical direction.
Le 3_R, 3_LIs M₀, C ₀Received from oscillator coil 2 at
At the point where the same signal strength ratio as the signal strength
M₀, C₀Located slightly diagonally behind. Lateral displacement
Quantity correction function H_YIs the propulsion distance X_SIs the amount of lateral displacement
Positive point C₀In the equivalent case, the function value is C_X・ C₁The distance between
Becomes, the midpoint M₀In the equivalent case, the function value is C_X・ C₁while
The above-mentioned promotion plan line L₀And the line of sight L₁
If the angle formed by is small, the ratio is approximately 2: 1
Horizontal displacement correction function H_YFunction at any propulsion distance of
The value of the value and its propulsion distance
The distance to Rule 2 has a substantially direct proportional relationship. Therefore, the above
Propulsion body 1 is the above-mentioned promotion plan line L₀Within a certain range along
As long as it advances, the lateral displacement amount correction function H_YTo
It can be approximated with a linear function with high accuracy.

Next, another embodiment will be described. <1> As a second embodiment, the side of the first embodiment
The lateral displacement amount calculation means 5 calculates the lateral displacement amount.
The lateral relative displacement amount E output by the section 7_YThe lateral direction
Displacement amount correction function H_YBased on Equation 5,
The above-mentioned promotion plan line L of the progressing body 1₀Lateral displacement from Δ
_YInstead of calculating
Received signal 4 which is actually received_R, 4_LBased on
The pair of left and right receiving coils 3 with respect to the signal intensity ratio R_R，
Three_LWill be received if the is installed properly
Signal 4_R, 4_LSignal strength ratio R_HDerived as follows
Then, as a new input to the lateral displacement amount calculation unit 7,
In other words, the output of the lateral displacement amount calculation unit 7 in that case is
As the output of the lateral displacement calculation means 5, the propulsion body is directly output.
1 Promotion plan line L₀Lateral displacement Δ from_YTo
Is also a preferred embodiment. In this case, the correction performance
The calculation unit 8 replaces the lateral displacement amount correction function derivation unit 9 described above.
Is provided with a signal intensity ratio correction function deriving unit 10
Signal strength ratio correction function H _RCoefficient k of₂, K₃Calculate
The signal strength ratio correction function H_RSpecify. The correction calculation
The unit 8 calculates the signal strength ratio R based on the signal strength ratio R
Signal strength ratio correction function H_RBy multiplying by
Signal coil 3_R, 3_LReceived when was properly installed
Received signal 4 that will_R, 4_LSignal strength ratio R_HCalculate
Then, it is used as an input of the lateral displacement calculation unit 7.

[0023]

(6) H _R = k ₂ + k ₃ * x

[Formula 7] R _H = H _R * R

The signal strength ratio correction function deriving unit 1 will be described below.
Coefficient k at 0₂, K₃The calculation of will be described. The above
As in the first embodiment, first, the guide support portion 6 is used.
Without moving the propelling body 1 toward the planned reaching portion A by a predetermined distance
Point C where the lateral displacement amount is corrected by propelling ₀Stop at.
At that point, the pair of left and right receiving coils 3_R, 3_LReceived
The received signal 4_R, 4_LReciprocal of the signal strength ratio R of
Is the propulsion distance X at that point_SX value corresponding to
Function value H obtained by substituting_RIn addition, the reception coil
Le 3_R, 3_LIs installed near the scheduled arrival area A
Therefore, at the same point, the receiving coil 3_R, 3_Lof
Line of sight L₁And the promotion plan line L₀The actual deviation of
Since it can be ignored, the propulsion body 1 reaches the planned reaching part.
Correction amount H when _RIs “1”, the coefficient
k₂And k₃The two-dimensional system of equations for
Notation coefficient k₂And k₃Derived from, and unique signal for each propulsion work
Intensity ratio correction function H_RSpecify.

In the second embodiment, since the signal intensity ratio correction function H _R is a linear function, the coefficients k ₂ and k ₃ of the function are specified to determine the lateral displacement amount correction function H _R. The specifying operation can be performed in a short time. Incidentally, in the case of the second embodiment, as shown in FIG. 3, unlike the above-described first embodiment, the lateral displacement correction function H _Y is approximated by a linear function, The function cannot essentially approximate the signal strength ratio correction function H _R well. That is, the planning line L ₀ is the receiving coil 3
_{In the} case where the receiving coils 3 _R and 3 _L are improperly installed so as to intersect the line of sight L ₁ of _R and 3 _{L at} the planned reaching portion A, the signal strength ratio correction function H _R is Although accurate correction can be made at the reaching portion A and the lateral displacement correction point C ₀ , the signal strength ratio R actually received at an arbitrary point between A and C ₀ on the propulsion planning line L ₀ can be obtained. Is larger than the signal intensity ratio R (1 or more) at the lateral displacement amount correction point C _0, but the function value of the signal intensity ratio correction function H _R is also from the lateral direction displacement amount correction point C _0. Since it increases toward the scheduled arrival portion A, the correction of the signal strength ratio R becomes insufficient. This is because the propelling body 1 is controlled so as to be gradually propelled from the propulsion planning line L ₀ along the sighting line L ₁ and gradually propelled along the propulsion planning line L _0. Means to come back to. However, in this case, although the propelling body 1 cannot be propelled along the propulsion line L ₀ , the propulsion body 1 is not controlled so as to rapidly propel along the sighting line L _1, and therefore the propulsion route is not completed. It is possible to avoid the situation of a large bend.

<2> In the above first or second embodiment
The horizontal displacement correction function H _YOr said signal
Intensity ratio correction function H_RIs not necessarily shown in Equation 4 or 6
It does not have to be approximated by such a linear function. example
For example, derive the increased coefficient when approximated by a quadratic function
In order to correct the lateral displacement₀Even if you add
I do not care. In particular, in the second embodiment, the function approximation
It can be expected that the accuracy of similarity will be improved. In addition, the lateral displacement amount compensation
Positive function H_YAlternatively, the signal intensity ratio correction function H_RMust be
If the scheduled arrival part A as shown in Formula 4 or 6
Even if it is not a function of the distance x between the transmitter coils 2,
Distance X_SMay be a function of.

<3> In the above first or second embodiment
The pair of left and right receiving coils 3 _R, 3_LIs the above
Behind the constant arrival area A (farther away from the propulsion start point B)
Installed and the criterion for the variable x in equations 2, 3, 4 and 6
The point is not the scheduled arrival part A but the pair of left and right reception coils.
Le 3_R, 3_LIt may be set as an intermediate point of.

[0028]

As described above, according to the present invention,
Even if the installation condition of the receiving coil is inappropriate, a propulsion body steering guidance device that can control the propulsion direction of the propulsion body along the correct propulsion plan line without greatly bending the propulsion path of the propulsion body It is now available.

In the claims, reference numerals are given for convenience of comparison with the drawings, but the present invention is not limited to the structures 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 an explanatory diagram of a lateral displacement amount correction function.

FIG. 3 is an explanatory diagram of a signal strength ratio correction function.

FIG. 4 is a vertical cross-sectional view showing an example of a work site of a propulsion method using the propulsion body steering guidance device according to the present invention.

FIG. 5 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. 6 is a simulation value of lateral displacement, an experimental value,
And a comparison diagram of true values

[Explanation of symbols]

1 Propulsion Body 2 Transmission Coil 3 _R , 3 _L Reception Coil 4 _R , 4 _L Reception Signal 5 Lateral Displacement Calculator 6 Guidance Indication 7 Lateral Displacement Calculator 8 Correction Calculator 9 Lateral Displacement Correction Function Derivation Part 10 Signal strength ratio correction function deriving part 11 Propulsion operating part 12 Setting input part 13 First display device 14 Second display device A Scheduled arrival part B Propulsion start point C ₀ Lateral displacement amount correction point H _Y Lateral displacement amount correction Function H _R Signal strength ratio correction function L ₀ Propulsion planning line L ₁ Line of sight X _S Propulsion distance Δ _Y Lateral displacement

─────────────────────────────────────────────────── ─── Continuation of the front page (72) Inventor Takashi Togawa 1-1-1, Hama, Amagasaki-shi, Hyogo Prefecture Kubota Technology Development Laboratory (72) Inventor Yukishige Yamada 1-1-1 Hamama, Amagasaki-shi Hyogo Stock (56) References JP-A-8-303182 (JP, A) JP-A-5-86797 (JP, A) JP-B 2-59932 (JP, B2) (58) Field (Int.Cl. ⁷ , DB name) E21D 9/06 311 G01C 15/00 104

Claims (3)

(57) [Claims] 1. A thrust capable of propelling in the ground so that the propulsion direction can be freely changed.
It is provided at the tip of the advancing body (1) and extends along its longitudinal direction.
Superposed on the magnetic field generated by the transmitting coil (2) having an axis
Of the propulsion body (1)
Promotion plan from the promotion start point (B) to the planned arrival section (A)
Line (L₀) Is placed in two places on the left and right with the vertical plane in between.
Possible pair of left and right receiving coils (3_R), (3_L) Received
Received signal (4_R), (4_L) Signal strength and
Propulsion distance (X)_S) Is entered and the promotion
The promotion plan line (L) at the propulsion position of the body (1)₀) From
Directional displacement (Δ_Y) Is calculated and output
The calculation means (5) and the lateral displacement amount calculation means (5) are output.
The amount of lateral displacement (Δ_Y) Based on the propulsion body
And a guidance instructing section (6) for instructing the steering of (1)
A propulsion body steering guidance device comprising: The lateral displacement amount calculation means (5) is configured to receive the received signal (4
_R), (4_L) Signal strength ratio and the thrust of the propulsion body (1)
Distance (X_S) Is input and the pair of left and right reception coils
Le (3_R), (3_L) The left in the actual installation state
Right pair of receiving coils (3_R), (3_LBefore)
Calculate the lateral relative displacement of the propulsion position of propulsion body (1)
The lateral displacement amount calculation unit (7) and the pair of left and right reception coils
Ill (3 _R), (3_L) Was not placed properly
Error in the output value of the lateral displacement calculation unit (7) due to
To correct the difference, to the lateral displacement amount calculation unit (7)
The received signal (4_R), (4_L) Signal
Intensity ratio or from the lateral displacement amount calculation unit (7)
With respect to the lateral displacement which is the output value, the propulsion body (1)
Propulsion distance (X_S) Depends on the correct amount calculated
And a correction calculation unit (8) for calculating The correction calculation unit (8) is the lateral displacement amount calculation unit.
Input value to (7) or lateral displacement amount calculation unit (7)
Correct at least one of the output values from the
When correcting the force value, input the corrected input value
Input to the displacement amount calculation unit (7) and correct the output value.
If the output value after correction is
A propulsion body steering guidance device which outputs the output value of the stage (5). 2. The lateral displacement of the correction calculator (8)
When correcting the output value from the quantity calculation unit (7),
The calculation unit (8) causes the promotion planning line (L₀) Above promotion
Lateral displacement set within a specified distance from the start point (B)
Correction point (C ₀), The lateral displacement correction point
(C₀) In the received signal (4_R), (4_L)
Signal strength and propulsion distance of the propulsion body (1) (X_S) And the above
The above-mentioned estimation derived by inputting to the lateral displacement amount calculation unit (7)
Set the lateral displacement of the propulsion position of the moving body (1) as the initial value,
Propulsion distance of propulsion body (1) (X_S) As a variable
Displacement correction function (H_Y) Deriving the lateral displacement correction function
A lateral displacement amount calculation unit (7) comprising a number derivation unit (9)
From the output value from the horizontal displacement correction function (H _Y)of
The lateral displacement amount is corrected by subtracting a function value.
The described propulsion body steering guidance device. 3. The correction calculation unit (8) is configured to perform the lateral displacement.
When correcting the input value to the quantity calculation unit (7),
The calculation unit (8)₀) Above promotion opening
Complementary lateral displacement set within the specified distance from the start point (B)
Positive point (C₀), The lateral displacement correction point
(C₀) In the received signal (4_R), (4_L)
Propulsion of the propulsion body (1) with the reciprocal of the signal intensity ratio as the initial value
Distance (X _SSignal strength ratio correction function (H_R)
A signal intensity ratio correction function deriving section (10) for deriving
The reception input to the lateral displacement amount calculation means (5)
Signal (4_R), (4_L) Signal strength of the signal strength of the above
Signal strength ratio correction function (H_R) Signal strength ratio multiplied by
The estimation according to claim 1, which is input to the lateral displacement amount calculation unit (7).
Steering body steering guidance device.