JP3397640B2 - Propulsion 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 propelling body having a magnetic field generating means, a propulsion body for operating the propelling body under the ground, and
The propulsion unit has a propulsion distance detecting unit for the propulsion unit, and a pair of magnetic field detecting units disposed near the propulsion arrival target position of the propulsion unit. The magnetic field generated by the magnetic field generating unit is the pair of magnetic fields. The present invention relates to a propulsion apparatus that has a determination unit that detects each by a detection unit and determines a propulsion state based on the detected magnetic field strength.

[0002]

2. Description of the Related Art In a conventional propulsion device, a propulsion start line (hereinafter, simply referred to as "start position") to a propulsion target position (hereinafter, simply referred to as "target position") When propelling the propulsion body in the ground, in particular, in order to control the traveling direction of the propulsion body in the left-right direction, a magnetic field generation means is provided on the propulsion head of the propulsion body, and a pair of magnetic field detection means is provided at the target position. There is. In this case, a transmitting coil is used as the magnetic field generating means, and two receiving coils are used as the pair of magnetic field detecting means. The axes of these two receiving coils are provided so as to be parallel to each other and substantially parallel to the propulsion planning line connecting the start position and the target position in plan view. A current that has been subjected to a predetermined modulation is passed through the transmission coil to generate a magnetic field. The magnetic field generated by the transmitting coil causes electromagnetic induction in each of the receiving coils to generate a voltage.
The left and right positions of the propulsion body are specified by comparing these voltage values. That is, when the propulsion head is correctly on the propulsion planning line, the number of magnetic flux lines passing through both receiving coils becomes substantially equal, and the voltage values generated in the pair of receiving coils become equal. However, if the propulsion head is offset to the side of one receiving coil, the number of magnetic flux lines passing through both receiving coils will be different, and there will be a difference in the voltage value generated in each receiving coil. Occurs. In the receiving coil on the side where the propulsion head is displaced, more lines of magnetic force pass, so that the receiving coil on that side shows a high voltage value. The left and right positions of the propulsion head with respect to the propulsion planning line are specified by comparing and evaluating the magnitude of the difference between the voltage values. For example, if the propulsion head is deviated to the left with respect to the propulsion planning line, a point indicating the position of the propulsion head is plotted on the left side with respect to the propulsion planning line displayed on the display unit. It The person who performs the propulsion work corrects the propulsion direction of the propulsion head based on this display.

[0003]

However, when the propulsion steering control of the propulsion head is performed by the above conventional propulsion device, the distance between the point indicating the left and right position of the propulsion head and the propulsion planning line is determined by the propulsion head. It could not be evaluated equally when was close to the start position and when the propulsion head was close to the target position. That is, when the propulsion head is close to the start position, the distance between the transmitter coil and the receiver coil is still long, the magnetic flux density near the receiver coil is small, and the directions between the magnetic fluxes are similar. Therefore, even if the position of the propulsion head deviates to either receiving coil side with respect to the propulsion planning line, there is not so much difference in the number of magnetic fluxes passing through both receiving coils, and there is no difference between the pair of receiving coils. There is not much difference in the voltage generated at. However, when the propulsion head approaches the target position and the distance between the propulsion head and the receiving coil becomes short, the magnetic flux density near the receiving coil becomes large, and the density difference between the magnetic fluxes becomes large. Therefore, even if the position of the propulsion head is slightly shifted to the left or right,
The number of magnetic fluxes passing through the two receiving coils is significantly different, and the voltage difference generated between the respective receiving coils is widened. That is, the closer the propulsion head is to the target position, the more sensitive the change in voltage difference due to the displacement of the propulsion head becomes. Therefore, for example, when the left and right positions of the propulsion head are displayed by uniformly processing the voltage difference without considering the propulsion distance, even if the distance from the propulsion planning line to the plot indicating the position of the propulsion body is equal. It means that the degree of deviation of the propulsion head at the position close to the start position is larger than the degree of deviation of the propulsion head at the position close to the target position. In the conventional propulsion device, the operator must operate the propulsion head while recognizing that the screen display has the above-described difference. However, it is difficult to appropriately adjust the steering operation near the propulsion start position and the steering operation near the target position, and the propulsion head is advanced along the initial propulsion plan line. It was extremely difficult to do.

An object of the present invention is to solve the above-mentioned drawbacks of the prior art and to provide a propulsion device which can easily perform propulsion steering control of the propulsion head regardless of the propulsion position of the propulsion head.

[0005]

[Means for Solving the Problems]

(Structure 1) As described in claim 1, the display system of the present invention is provided with magnetic field strength ratio detecting means for comparing the strengths of the magnetic fields detected by the pair of magnetic field detecting means to obtain a magnetic field strength ratio, According to the distance between the propulsion position of the propulsion body detected by the propulsion distance detection means and the target position, the magnetic field strength ratio obtained by the magnetic field strength ratio detection means, the propulsion body and the target position It is characterized in that a magnetic field strength ratio correcting means for correcting the distance is provided so as to increase the distance. (Operation / Effect) The propulsion device of this configuration is provided with a separation distance between the propulsion position of the propulsion body and the target position, that is, a magnetic field strength ratio and a residual distance at a position where the residual distance is large and the difference in magnetic field strength does not appear significantly. By matching the magnetic field strength ratio at the position where the difference is small and the magnetic field strength is significant, the propulsion status of the propulsion body can be accurately measured regardless of whether the propulsion body is on the left or right side of the propulsion planning line. It is for understanding. For example, as a procedure for correcting the magnetic field strength ratio, since the difference in the magnetic field strength does not significantly appear at a position where the remaining distance is large, the magnetic field strength ratio is corrected so as to be increased. On the other hand, since the difference in magnetic field strength becomes clear at the position where the remaining distance is small, the calculated magnetic field strength ratio is not particularly corrected. In this way, by correcting the magnetic field strength ratio according to the remaining distance and averaging the magnetic field detection sensitivities of the pair of magnetic field detection means, the propulsion body's existing position, the direction in which the propulsion body is facing, etc. are always maintained. Can be accurately predicted. As a result, the person who performs the propulsion work can surely and easily operate the propulsion body.

(Structure 2) In the display system of the present invention, as described in claim 2, during the underground propulsion work, a propulsion planning line connecting the starting position where the propulsion unit is installed and the target position,
The propulsion state of the propulsion body corrected by the magnetic field strength ratio correction means can be configured to include a display unit that also planarly displays it. (Operation / Effect) In the case of this configuration, for example, a propulsion planning line is displayed along the vertical direction at the center of the display unit, and a lateral deviation situation with respect to the propulsion planning line is indicated according to the magnetic field strength ratio. Points can be plotted. In this case, if the plot is on the left side of the propulsion planning line, it means that the propelling body needs to be steered to the right. In this way, by displaying the planned promotion plan line and the current state of the propulsion body together, the worker or the like can instantly judge the state of the propulsion body, and the propulsion operation of the propulsion body thereafter can be determined. Direction control can be easily performed.

[0007]

BEST MODE FOR CARRYING OUT THE INVENTION Embodiments of the present invention will be described below with reference to the drawings.

(Outline) FIG. 1 schematically shows the appearance of the propulsion device according to the present invention in plan view. For example, the propulsion device performs propulsion work to bury various pipes from the work pit 1 formed on the road at the propulsion start position P1 to the residential land at the propulsion arrival target position P2 adjacent to the road. is there. The propulsion device includes a propulsion device 2 and a propulsion body 3,
It is composed of a propulsion control device 4 for controlling these propulsion devices 2 and the like. The propulsion device 2 is installed and used in the work pit 1 or the like, and includes a pressing mechanism 2a including a hydraulic jack for pressing the propulsion body 3 into the soil. A propulsion body 3 that is pushed into the soil is connected to the tip of the propulsion device 2. The propulsion body 3 has a propulsion head 3a attached to its tip and the propulsion head 3a.
a and a plurality of propulsion pipes 3b that are sequentially inserted and connected between a and the propulsion device 2. Furthermore, this propulsion head 3a
At the tip end portion of the propulsion head 3a in the longitudinal direction X
A pressure receiving surface portion 5 is provided which is rotatable about an axis substantially parallel to.

FIG. 2 shows an operation panel of the propulsion control device 4. The propulsion control device 4 includes a setting input unit 6, a display unit 7, and a driving operation unit 8. Of these, the setting input unit 6 inputs the terrain condition A such as the terrain of a place where various buried pipes are laid, the operating condition B of the propulsion body 3, and the like. The display unit 7 displays the input terrain condition A, driving condition B, etc., and during the propulsion work,
The posture, position, etc. of the propulsion body 3 are displayed. The display unit 7
Is composed of a liquid crystal screen or the like. The display unit 7 is provided with a cover body 9 that can be opened and closed. The cover body 9 has a function of protecting the display portion 7 when the propulsion control device 4 is stored and transported, and has a function of becoming a shade to ensure the visibility of the display portion 7 during use. The driving operation unit 8 mainly performs a pushing / pulling operation of the propelling body 3 and a rotating operation of the pressure receiving surface portion 5 provided on the propulsion head 3a. Although not shown, the propulsion control device 4 is provided with a strap attachment portion so that an operator can hang it from the shoulder so as to be highly portable.

(Terrain conditions, operating conditions) In carrying out the propulsion work, as shown in FIG. 3, the terrain condition A from the installation position of the propulsion unit 2, that is, the starting position P1 to the target position P2.
And operating condition B relating to the propulsion start direction of the propulsion head 3a, etc.
Enter. In the present embodiment, a case is shown in which the gutter 11 adjacent to the road 10 is avoided from the lower part of the road 10 to the residential land 12 having a predetermined residential land height. Topographical condition A is road depth 1 from the surface of road 10 to propulsion device 2.
3, and a gutter depth 14 from the road 10, a residential land height 15 from the road 10 to the residential land 12, a picking amount 16 previously provided at a target position to reach the propulsion head 3a, a road from the propulsion device 2 to the residential land boundary A distance 17 and a residential land distance 18 from the residential land boundary to the target position P2 are input. On the other hand, operating condition B
For, input the propulsion start direction when starting the propulsion of the propulsion unit 3. As the propulsion start direction, for example, three types of upward, horizontal, and downward can be selected. These conditions take into consideration the topography to which the propulsion method is applied, that is, the positional relationship between the start position P1 and the target position P2, the distance between them, and the obstacles existing between them. To decide. In this embodiment, the case of selecting the horizontal direction is shown.

When inputting the terrain condition A and the driving condition B, the setting input unit 6 and the display unit 7 are used. The display unit 7 can be switched between the first screen G1 and the second screen G2, and the input of the terrain condition A is switched to the first screen G1. As shown in FIG. 2, the first screen G1 is displayed as a side view of the propulsion section viewed from the horizontal direction. On the first screen G1, the approximate topography that has been input in advance or the topography of the propulsion section set in the previous propulsion work is displayed. Further, the position where the terrain condition A and the driving condition B should be input is displayed. These input positions are configured to sequentially blink, and the worker inputs a predetermined condition according to the movement of the blinking positions.

After inputting the terrain condition A and the driving condition B, the display on the display section 7 is switched to the second screen G2.
An example of the second screen G2 is shown in FIG. The switching to the second screen G2 is performed using the switching button of the setting input section 6. On the second screen G2, a plan view and a side view of the propulsion section are displayed, and the propulsion planning line 19 and the propulsion status of the propulsion head 3a are also displayed. The propulsion planning line 19 is the start position P1 and the target position P2 of the terrain condition A.
And the propulsion start direction of the operating condition B are automatically set. That is, the propulsion control device is considered in consideration of the allowable refraction angles of the plurality of propulsion pipes 3b connected to the rear of the propulsion head 3a, the distance between the start position P1 and the target position P2, the inclination of the pipe to be laid, and the like. 4 is automatically determined by a program provided in advance.

(Propulsion Head Propulsion Work) Propulsion of the propulsion head 3a is performed by the propulsion machine 2 using the propulsion head 3a.
It is executed by pushing the propulsion pipes 3b sequentially connected to the rear of a into the ground one after another. As shown in FIG. 5, these propulsion pipes 3b are connected to each other by using a pin 20 provided in a horizontal direction, and the propulsion pipes 3b are configured to be swingable by a predetermined angle in the vertical direction. There is. With this configuration, the propulsion head 3a is prevented from bending in the horizontal direction during propulsion. The propulsion steering control of the propulsion head 3a is performed by appropriately rotating the pressure receiving surface portion 5 provided at the tip of the propulsion head 3a. That is, the pressure receiving surface portion 5 is processed obliquely with respect to the axis X of the propulsion head 3a, and the traveling direction of the propulsion head 3a is bent by the lateral component of the earth pressure acting on the pressure receiving surface portion 5. There is. Therefore, when it is desired to advance the propulsion head 3a in a specific direction, the pressure receiving surface portion 5 may be directed to the side opposite to the direction.

(Steering of Propulsion Head in Horizontal Direction) In the propulsion control device 4 of the present invention, in particular, in order to facilitate the steering of the propulsion head 3a in the horizontal direction, the magnetic field generating means 21 provided in the propulsion head 3a. The magnetic field generated by the pair of magnetic field detection means 2
2 has a horizontal direction judging means 23 (hereinafter simply referred to as "judging means 23") for judging the propulsion state based on the detected magnetic field strength. The determination means 23
Further, a magnetic field strength ratio detecting means 23a for obtaining a magnetic field strength ratio 24 by comparing the strengths of the respective magnetic fields detected by the pair of magnetic field detecting means 22, and a magnetic field strength correcting means 23b for correcting the magnetic field strength ratio 24. Have. The magnetic field strength ratio 24 is corrected by, for example, the propulsion position of the propulsion head 3a and the target position P.
According to the separation distance from 2, that is, the remaining distance D, the larger the remaining distance D, the higher the magnetic field strength ratio is corrected.

Specifically, as shown in FIG. 1, in the horizontal steering, a transmitting coil 21a provided on the propulsion head 3a as the magnetic field generating means 21 and a pair of magnetic field detecting means 22 provided at the target position P2. With the receiving coil 22a. As shown in FIG. 5, the transmission coil 21a is provided in the propulsion head 3a so as to have an axis substantially parallel to the axis X of the propulsion head 3a. The change in the deviation of the propulsion head 3a is grasped by comparing the magnetic field strengths detected by the pair of receiving coils 22a provided at the target position P2 and obtaining the magnetic field strength ratio 24. This magnetic field strength ratio 24 needs to be corrected and evaluated according to the propulsion distance of the propulsion head 3a, as described in the description of the prior art. For this purpose, the propulsion control device 4 of the present invention is provided with the magnetic field strength ratio correction means 23b. The magnetic field strength ratio correction means 23b finds the ratio of the induced voltages generated in the respective receiving coils 22a and corrects the voltage ratio according to the propulsion distance. The propulsion distance in this case is evaluated by, for example, the remaining distance D between the propulsion head 3a and the target position P2. If the method of evaluation is based on the remaining distance D, even if the length of the promotion planning line 19 changes for each promotion site, the total length of the promotion planning line 19 does not contribute to the correction, and is always a constant correction method. Because it can be used. For example, the remaining distance D is obtained by obtaining the distance traveled by the propulsion head 3a and subtracting this distance from the total length of the propulsion planning line 19. The distance traveled by the propulsion head 3a is calculated by the propulsion distance detecting means 25 provided in the propulsion unit 2 by accumulating strokes when the propulsion pipe 3b connected to the rear of the propulsion head 3a is pushed in, and the number of connected propulsion pipes 3b. Calculate by counting. The correction of the magnetic field strength ratio 24 is performed using, for example, a linear function or an n-order function with the remaining distance D as a parameter. Which function is to be used may be determined by taking into consideration the topographical condition A and the like for each site where the propulsion work is performed, and selectively using a function that is specified in advance by an experiment or the like. In any case, the correction amount of the magnetic field strength ratio 24 at the position where the remaining distance D is long is made larger than the correction amount of the magnetic field strength ratio 24 at the position where the remaining distance D is short. 2nd screen G
In the plane display of 2, the propulsion planning line 19 and the position of the propulsion head 3a with respect to the target position P2 are displayed.
For example, when the propulsion head 3a is displaced to the left with respect to the target position P2, it is displayed on the left with respect to the propulsion planning line 19. The larger the deviation amount of the propulsion head 3a is, the more it is plotted at the position separated from the propulsion planning line 19.

(Effect) A person who carries out the propulsion work can steer the propulsion head 3a while viewing the plane display. Then, regardless of the length of the remaining distance D, the deviation amount of the propulsion head 3a with respect to the propulsion planning line 19 is displayed on the screen display under constant evaluation. Therefore, regardless of the size of the remaining propulsion distance D, the operator may operate the propulsion head 3a in the same operating procedure. This means that the steering operation performed by the worker appears as the expected result, and therefore the worker feels no discomfort.
It is possible to steer a. As described above, according to the present invention, it is possible to provide the propulsion device that can easily perform the propulsion steering control of the propulsion head 3a regardless of the propulsion position of the propulsion head 3a.

[Other Embodiments] In the above embodiment,
The propulsion steering control of the propulsion head 3a is shown to be performed manually by the operator while looking at the display section 7. However, the present invention is not limited to this embodiment, and the pressure receiving surface portion 5 is automatically operated based on the left and right position of the propulsion head 3a obtained by the magnetic field strength ratio correction means 23b, and the propulsion head 3a is automatically operated.
The driving direction may be determined. In this case, the plot on the display unit 7 showing the left and right positions of the propulsion head 3a is mainly for confirmation by the operator.
With this configuration, it is not necessary for the operator to make a judgment when steering the propulsion head 3a, and a different judgment is not made for each individual operator. Therefore, there is no difference in the skill of the operator in steering, the burden on the operator in the propulsion work can be reduced, and the steering control of the propulsion head 3a can be ensured.

It should be noted that in the description of the above claims, reference is made to the drawings and reference numerals are given for convenience of comparison with the drawings, but the present invention is not limited to the configuration of the accompanying drawings by the entry. Absent.

[Brief description of drawings]

FIG. 1 is a schematic diagram showing an outer appearance of a propulsion device according to the present invention in a plan view.

FIG. 2 is a schematic diagram showing an operation panel and a first screen of the propulsion device.

FIG. 3 is an explanatory diagram showing an example of terrain conditions.

FIG. 4 is a schematic diagram showing an operation panel and a second screen of the propulsion device.

FIG. 5 is an external view showing a propelling body.

[Explanation of symbols]

2 propulsion machine 3 propelling bodies 7 Display 19 Promotion Plan Line 21 Magnetic field generating means 22 Magnetic field detection means 23a Magnetic field strength ratio detection means 23b Magnetic field strength ratio correction means 24 Magnetic field strength ratio 25 Propulsion distance detection means P1 propulsion start position P2 propulsion target position

─────────────────────────────────────────────────── ─── 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 (2)

(57) [Claims] 1. A propulsion body (3) having a magnetic field generation means (21), and a propulsion distance detection means (25) for the propulsion body (3) for performing propulsion operation of the propulsion body (3) in the ground. The propulsion device (2) and a pair of magnetic field detection means (2) arranged near the propulsion arrival target position (P2) of the propulsion body (3).
2), and a judging means (23) for detecting the magnetic field generated by the magnetic field generating means (21) by the pair of magnetic field detecting means (22) and judging the propulsion state based on the detected magnetic field strength. And a magnetic field strength ratio detecting means (23a) for obtaining a magnetic field strength ratio (24) by comparing the strengths of the magnetic fields detected by the pair of magnetic field detecting means (22), The magnetic field strength ratio detection means (23a) according to the distance between the propulsion position of the propulsion body (3) detected by the propulsion distance detection means (25) and the propulsion arrival target position (P2).
The magnetic field strength ratio (24) obtained in
And a magnetic field strength ratio correction means (23) that corrects so as to increase as the distance between the above-mentioned propulsion arrival target position (P2) increases.
A propulsion device having b). 2. A propulsion planning line (19) connecting a propulsion start position (P1) where the propulsion unit (2) is installed and the propulsion arrival target position (P2) during an underground propulsion operation, and A display unit (7) which also displays the propulsion state of the propulsion body (3) corrected by the magnetic field strength ratio correction means (23b) on a plane.
The propulsion device according to claim 1, further comprising: