JP3397641B2 - Propulsion device - Google Patents

Description

Description: BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention provides a propulsion body having a magnetic field generating means, performs underground propulsion operation of the propulsion body, and detects a propulsion distance of the propulsion body. And a pair of magnetic field detecting means disposed near a propulsion target position of the propulsion body to detect a magnetic field from the magnetic field generating means. A propulsion device that displays a propulsion plan line connecting to a target position and, based on a detection result of the magnetic field intensity ratio from the pair of magnetic field detection means, indicates a deviation of the propulsion body with respect to the propulsion plan line. About. 2. Description of the Related Art In a conventional propulsion device, a propulsion plan line extending from a propulsion start position (hereinafter simply referred to as a "start position") to a propulsion attained target position (hereinafter simply referred to as a "target position"). In order to control the traveling direction of the propelling body in the horizontal direction, in particular, when the propelling body is underground propelled along, the magnetic field generating means is provided on the propelling head of the propelling body, and the pair of magnetic field detecting means is moved to the target position There is something to provide. In this case, a transmitting coil is used as the magnetic field generating means, and two transmitting coils are used as the pair of magnetic field detecting means. The axes of these two transmitting coils are provided in parallel with each other, and are provided so as to be substantially parallel to a propulsion plan line connecting the start position and the target position in plan view. Hereinafter, a line obtained by vertically bisecting a line connecting a pair of receiving coils is referred to as an aiming line. A current subjected to predetermined modulation is caused to flow through the transmitting coil to generate a magnetic field. Due to the magnetic field generated by the transmitting coil, electromagnetic induction occurs in each of the receiving coils, and a voltage is generated. By comparing these voltage values, the direction of the propulsion body is specified. That is, when the propulsion head is correctly facing the target position, 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, when the propulsion head is directed toward one of the receiving coils, the number of magnetic flux lines passing through the two receiving coils will be different, and a difference will occur between the voltage values generated in the respective receiving coils. . The receiving coil on the side facing the propulsion head passes more magnetic field lines,
The receiving coil on that side shows a high voltage value.
By comparing and evaluating the difference between the voltage values, the position, the direction, and the like of the propulsion head with respect to the target position are specified. During the propulsion operation, the position and the like of the propulsion head are displayed on the display unit of the propulsion control device constituting the propulsion device based on the magnitude of the voltage value. For example, if the propulsion head is deviated to the left with respect to the target position, a point indicating the deviation of the propulsion head is plotted on the left side with respect to the propulsion plan line displayed on the display unit. You. The distance between the position of this plot and the propulsion plan line is displayed longer as the amount of displacement of the propulsion head with respect to the propulsion plan line increases. The person performing the propulsion operation corrects the direction of the propulsion head based on the display. [0003] In the above-mentioned conventional propulsion device, the aiming line formed by the pair of receiving coils is basically set substantially parallel to the propulsion plan line in a plan view. . However, depending on the site where the propulsion work is performed, the receiving coil cannot be installed as described above due to obstacles on the ground or the like, and the aiming line may be forced to have a predetermined angle with the propulsion plan line. . In this case, even if the propulsion head is traveling on the propulsion plan line, the axis of the transmitting coil does not match the line of sight. In other words, due to differences in the respective distances from the transmitting coil to the two receiving coils, there is a difference in the number of lines of magnetic force passing through the respective receiving coils. It is determined that it is not normal. During the propulsion work, the propulsion plan line and the propulsion status of the propulsion head are displayed on the display unit of the propulsion control device. However, as described above, when the receiving results of the respective receiving coils are different, the propulsion status of the propulsion head is displayed at a position separated from the propulsion planning line. For example,
When the aiming line is deflected counterclockwise with respect to the propulsion plan line in a plan view, the propulsion head is determined to be deflected or deflected leftward in the propulsion direction,
A plot showing the position or orientation of the propulsion head is shown to the left of the propulsion planning line. For this reason, the person performing the propulsion work may have an illusion that the propulsion head is displaced to the left, and may perform unnecessary correction operations or cause inconveniences such as the propulsion route being deviated from the propulsion plan line. was there. [0004] An object of the present invention is to solve the above-mentioned drawbacks of the prior art, and irrespective of the initial installation state of the magnetic field detecting means.
An object of the present invention is to provide a propulsion device capable of accurately grasping a propulsion state. Means for Solving the Problems (Configuration 1) According to the display system of the present invention, when the propulsion of the propulsion body is started, the propulsion body is displayed on the propulsion plan line of the display unit. In order to adjust the display position, an initial detection value correction means for correcting a magnetic field detection value from a pair of magnetic field detection means and outputting it to the display unit is provided, and the propulsion of the propulsion body based on a detection result from the propulsion distance detection means is provided. It is characterized in that a correction amount correcting means for reducing the correction rate of the magnetic field detection value as the position approaches the propulsion target position is provided. (Operation / Effect) As in this configuration, by providing an initial detection value correction means for aligning the display position of the propulsion body at the start of propulsion on the propulsion plan line, the aiming line temporarily matches the propulsion plan line. Even if not, the display of the propulsion device,
It can be displayed that the propulsion body is correctly on the propulsion plan line. Therefore, the person performing the propulsion operation can control the steering of the propulsion body without feeling uncomfortable. In addition, in this configuration, based on the fact that the aiming line and the propulsion planning line are closer to each other as the propelling body approaches the target position, the ratio of the positional deviation correction between the aiming line and the propulsion planning line is determined in accordance with the propulsion distance of the propelling body. Is provided. This correction amount correction means reduces the correction amount of the magnetic field detection value obtained at the start of propulsion according to the propulsion distance of the propulsion body, and converts this new correction amount to the magnetic field detection value from the propulsion body at the propulsion distance. It is a means to add. According to the correction amount correcting means, the initial displacement between the aiming line and the propulsion plan line can be corrected regardless of the position of the propulsion body on the propulsion plan line, and the propulsion state of the propulsion body can be accurately determined. Can be shown on the display unit. further,
With this configuration, the necessity of aligning the aiming line with the propulsion plan line is reduced when the initial magnetic field detection unit is installed, so that the installation work of the magnetic force detection unit is simplified, and consequently the propulsion work Can be performed quickly. An embodiment of the present invention will be described below with reference to the drawings. (Outline) FIG. 1 schematically shows an appearance of a propulsion device according to the present invention in plan view. The propulsion device performs, for example, a propulsion operation to bury various pipes from a work pit 1 drilled on a road at a propulsion start position P1 to a residential land at a propulsion 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 used by being installed in the work pit 1 or the like, and includes a pressing mechanism 2a including a hydraulic jack or the like for pressing the propulsion body 3 into the soil. A propulsion body 3 that is pushed into the ground is connected to the tip of the propulsion device 2. The propulsion body 3 includes a propulsion head 3a attached to a tip end thereof and the propulsion head 3a.
a and a plurality of propulsion pipes 3b which are sequentially inserted and connected between the propulsion device 2 and the propulsion device 2. Further, the propulsion head 3a
Of the propulsion head 3a has a longitudinal axis X
And a pressure receiving surface portion 5 rotatable about an axis substantially parallel to. FIG. 2 shows an operation panel 4a of the propulsion control device 4. The propulsion control device 4 includes a setting input unit 6
And a display unit 7 and a driving operation unit 8. Among these, the setting input unit 6 is for inputting a terrain condition A such as a terrain of a place where various buried pipes are laid, an operating condition B of the propulsion body 3 and the like. The display unit 7 displays the input terrain condition A, driving condition B, and the like, and displays the attitude, position, and the like of the propulsion body 3 during the propulsion work. The display unit 7 includes a liquid crystal screen or the like. The display unit 7 is provided with a cover body 9 that can be freely opened and closed. The cover body 9 has a function of protecting the display unit 7 when storing and transporting the propulsion control device 4, and has a function of securing visibility of the display unit 7 as a sunshade during use.
The driving operation section 8 mainly performs a pushing / withdrawing operation of the propulsion body 3 and a rotation operation of the pressure receiving surface section 5 provided on the propulsion head 3a. Although not shown, the propulsion control device 4 is provided with a strap mounting portion so that an operator can hang it from his 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 device 2, ie, the start position P1 to the target position P2
And operating conditions B relating to the direction of propulsion start of the propulsion head 3a, etc.
Enter In the present embodiment, a case is described in which the vehicle is propelled from a lower part of the road 10 to a residential land 12 having a predetermined residential land height while avoiding the gutter 11 adjacent to the road 10. The terrain condition A includes a road depth 1 from the surface of the road 10 to the propulsion device 2.
3, the depth of the gutter 14 from the road 10, the height of the residential land 15 from the road 10 to the residential land 12, the amount of moat 16 to be provided at a target position where the propulsion head 3a can reach, the road from the propulsion device 2 to the residential land boundary The distance 17 and the residential land distance 18 from the residential land boundary to the target position P2 are input. On the other hand, operating condition B
Is input as the propulsion start direction when the propulsion of the propulsion body 3 is started. As the propulsion start direction, for example, three types of upward, horizontal, and downward can be selected. These conditions are determined in consideration of the terrain 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 the two, and obstacles existing between the two. To decide. In the present embodiment, a case where the horizontal direction is selected will be described. The input of the terrain condition A and the driving condition B is performed using the setting input unit 6 and the display unit 7. The display unit 7 can switch between a first screen G1 and a second screen G2. When the terrain condition A and the like are input, the display unit 7 switches to the first screen G1. As shown in FIG. 2, the first screen G1 displays a side view of the propulsion section viewed from the horizontal direction. On the first screen G1, the approximate terrain previously input or the terrain of the propulsion section set in the previous propulsion work is displayed. Further, a position where the terrain condition A and the driving condition B are to be inputted is displayed. These input positions are configured to blink sequentially, and the operator inputs a predetermined condition in accordance with the movement of the blinking position. After inputting the terrain condition A and the driving condition B, the display on the display unit 7 is switched to a second screen G2.
FIG. 4 shows an example of the second screen G2. Switching to the second screen G2 is performed using the switching button of the setting input unit 6. On the second screen G2, a plan view and a side view of the propulsion section are displayed, and the propulsion plan line 19 and the propulsion status of the propulsion head 3a are also displayed. The propulsion plan line 19 includes a start position P1 and a target position P2 in the topographic condition A.
And the propulsion start direction of the operating condition B is automatically set. That is, the propulsion control device is configured in consideration of the allowable refraction angle of the plurality of propulsion tubes 3b connected behind the propulsion head 3a, the distance between the start position P1 and the target position P2, or the gradient of the pipe to be laid. 4 is automatically determined by a program provided in advance. (Propulsion work of the propulsion head) The propulsion of the propulsion head 3 a is performed by the propulsion device 2.
This is performed by pushing the propulsion pipes 3b sequentially connected to the back of a into the ground one after another. As shown in FIG. 5, these propulsion tubes 3b are connected to each other using pins 20 provided in a horizontal direction, and are configured such that the propulsion tubes 3b can swing by a predetermined angle in the vertical direction. It is. With this configuration, the propulsion head 3a is prevented from bending in the horizontal direction during propulsion. The direction of the propulsion head 3a is controlled by a pressure receiving surface 5 provided at the tip of the propulsion head 3a.
Is appropriately rotated. That is, the pressure receiving surface portion 5
Is formed obliquely with respect to the axis X of the propulsion head 3a, and is configured to bend the traveling direction of the propulsion head 3a by a lateral component of the earth pressure acting on the pressure receiving surface portion 5. Therefore, when it is desired to advance the propulsion head 3a in a specific direction, the pressure receiving surface 5 may be directed to the opposite side to the direction. (Steering of the Propulsion Head in the Horizontal Direction) The propulsion control device 4 of the present invention particularly includes a horizontal direction determining means 21 (hereinafter simply referred to as "the steering direction") in order to facilitate the horizontal steering of the propulsion head 3a. Judgment means 21 ”). The judging means 21 comprises a magnetic field generating means 2 provided on the propulsion head 3a.
The strength of the magnetic field generated in step 2 is detected by a pair of magnetic field detecting means 23, respectively, and the propulsion state is determined based on the strength of the magnetic field. As shown in FIGS. 1 and 5, the magnetic field generating means 22 includes a transmitting coil 22a on the propulsion head 3a.
Is provided. The magnetic field detecting means 23 is configured by providing a pair of receiving coils 23a at the target position P2 as shown in FIG. The determining means 21 further includes a magnetic field strength ratio detecting means 24, an initial detection value correcting means 25, a correction amount correcting means 26, and a magnetic field strength correcting means 27. Hereinafter, description will be made in order. <Magnetic field strength ratio detecting means> The magnetic field strength ratio detecting means 24 recognizes the propulsion state of the propulsion head 3a by comparing the magnetic field strength converted into the voltage value in both the receiving coils 23a. . That is, as described in the section of the related art, it is determined that the propulsion head 3a is deviated or deflected to the side where the detected magnetic field strength is large with respect to the propulsion plan line 19. <Initial detection value correction means and correction amount correction means> The initial detection value correction means 25
When the aiming line 28 of the receiving coil 23a does not match the propulsion plan line 19, the propulsion status of the propulsion head 3a is corrected and displayed on the second screen G2 of the display unit 7. For example, when an obstacle or the like exists at the target position P2, the pair of receiving coils 23a may not be able to be accurately set with respect to the propulsion planning line 19. In this case, although the propulsion head 3a is actually on the propulsion planning line 19,
Line of sight 28 determined by a pair of receiving coils 23a
Since it will come off from above, on the display unit 7,
The display position of the propulsion head 3a at the start of propulsion is the propulsion plan line 1
9 will be deviated. Thus, the initial detection value correction means 25 calibrates the ratio of the magnetic field intensity generated in each of the receiving coils 23a at the beginning of propulsion, and matches the display position of the propulsion head 3a on the display unit 7 with the propulsion plan line 19. Let it do. Thus, the installation error of the sight line 28 can be substantially eliminated, and the person performing the propulsion operation can control the steering of the propulsion head 3a without feeling uncomfortable. Further, based on the fact that the aiming line 28 and the propulsion planning line 19 are closer to each other as the propulsion head 3a approaches the target position P2, the determination means 21 determines the aiming line according to the propulsion distance of the propulsion head 3a. There is provided a correction amount correcting means 26 for reducing the ratio of the positional deviation correction between the propulsion planning line 19 and the propulsion planning line 19. That is, the correction amount of the magnetic field detection value obtained at the start of propulsion (hereinafter, simply referred to as “initial correction amount”) is reduced according to the propulsion distance of the propulsion head 3a, and the secondary correction amount is calculated. In calculating the secondary correction amount, for example, a method in which the initial correction amount is reduced linearly in accordance with the propulsion distance of the propulsion head 3a may be considered. However, in consideration of the characteristics of the transmitting coil 22a or the characteristics of the receiving coil 23a, a secondary correction amount may be obtained from the initial correction amount using an arbitrary n-order function. According to the correction amount correcting means 26, the initial displacement between the aiming line 28 and the propulsion plan line 19 can be corrected regardless of the position of the propulsion head 3a on the propulsion plan line 19, The propulsion status of the head 3a can be accurately displayed on the display unit 7. The secondary correction amount is to be added to the magnetic field intensity ratio obtained by the magnetic field intensity ratio detecting means 24 described above, and the display unit 7 displays the propulsion status of the propulsion head 3a after the secondary correction amount is added. Will be shown. <Magnetic Field Strength Correction Means> The Receiving Coil 23
a is for measuring the intensity of the magnetic field generated in the transmitting coil 22a.
Changes in detection sensitivity. For example, when the propulsion head 3a is close to the start position P2, the distance between the transmitting coil 22a and the receiving coil 23a is still long, the magnetic flux density near the receiving coil 23a is small, and both the receiving coils 23a The directions between the magnetic fluxes passing through are similar. Therefore, the direction of the propulsion head 3a is changed to one of the receiving coils 23a.
Side, there is no significant difference in the number of magnetic fluxes passing through both the receiving coils 23a.
There is not so much difference in the voltage value generated between 3a. However, when the propulsion head 3a approaches the target position P2 and the separation distance between the propulsion head 3a and the receiving coil 23a decreases, the magnetic flux density near the receiving coil 23a increases,
The direction difference between the magnetic fluxes is also large. Therefore, even when the direction of the propulsion head 3a is slightly deviated, the number of magnetic fluxes passing through the two receiving coils 23a is significantly different, and the voltage difference generated in each of the receiving coils 23a is widened. In other words, as the propulsion head 3a approaches the target position, the change in the voltage difference due to the displacement of the propulsion head 3a becomes excessively sensitive. It is determined that the head 3a is largely displaced. Therefore, in the magnetic field intensity ratio correcting means 23b,
The ratio of the obtained voltage values at the respective receiving coils 23a is obtained,
According to the distance between the propulsion position of the propulsion head 3a and the target position P2, that is, the remaining distance D, correction is made so that the magnetic field intensity ratio increases as the remaining distance D increases. If the evaluation method is based on the remaining distance D, the promotion plan line 1 for each promotion site
This is because, even when the length of the line 9 changes, the total length of the propulsion planning line 19 does not contribute to the correction, and a constant correction method can always be used. For example, the remaining distance D
Is obtained by subtracting the distance traveled by the propulsion head 3a 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 29 provided in the propulsion device 2 by accumulating the stroke when pushing the propulsion tube 3b connected behind the propulsion head 3a, or by counting the number of propulsion tubes 3b connected. By counting.
The correction of the magnetic field strength ratio 24 is performed using, for example, a linear function or an n-order function using the remaining distance D as a parameter. Which function to use may be determined by taking into account the terrain condition A or the like for each site where the propulsion work is performed, and using a function specified in advance through experiments 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 larger than the correction amount of the magnetic field strength ratio 24 at the position where the remaining distance D is short. In the planar display of the second screen G2,
The propulsion plan line 19 and the propulsion head 3 for the target position P2
The direction and position of a are displayed. For example, the propulsion head 3
When a is deflected or deviated to the left with respect to the target position P2, it is displayed on the left with respect to the propulsion plan line 19.
Then, as the deflection angle of the propulsion head 3a is larger, the plot is plotted at a position further away from the propulsion planning line 19. (Effects) With the propulsion device having the above-described configuration, especially when the installation of the receiving coil 23a is not accurate and the aiming line 28 and the propulsion planning line 19 do not match, the propulsion head 3a With the apparent position error eliminated, the direction or position of the propulsion head 3a is displayed on the second
Can be shown on the screen. Therefore, the person performing the propulsion operation can perform an accurate steering operation of the propulsion head 3a while watching this display. Also, if the propulsion device,
Since the necessity of aligning the sight line 28 with the propulsion plan line 19 when the initial receiving coil 23a is installed is eased,
The installation work of the receiving coil 23a is simplified, and the propulsion work can be performed quickly. In the description of the appended claims, reference is made to the drawings, and in order to facilitate comparison with the drawings, reference numerals are used. However, the description is not intended to limit the present invention to the configuration of the accompanying drawings. Absent.

BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a schematic diagram showing an appearance of a propulsion device according to the present invention in plan view. FIG. 2 is a schematic diagram showing an operation panel and a first screen of the propulsion device. FIG. 4 is a schematic diagram showing an operation panel and a second screen of a propulsion device. FIG. 5 is an external view showing a propulsion body. [Description of reference numerals] 2 propulsion unit 3 propulsion unit 7 display unit 19 propulsion plan line 22 Magnetic field generating means 23 Magnetic field detecting means 25 Initial detection value correcting means 26 Correction amount correcting means 29 Propulsion distance detecting means P1 Propulsion start position P2 Propulsion reaching target position

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

Claims (1)

(57) Claims 1. A propulsion body (3) having a magnetic field generating means (22) is provided, and the propulsion body (3) is operated underground and the propulsion body (3) is provided. A propulsion device (2) having a propulsion distance detecting means (29) is disposed near the propulsion target position (P2) of the propelling body (3) to detect a magnetic field from the magnetic field generating means (22). A pair of magnetic field detection means (23) for displaying a propulsion plan line (19) connecting the propulsion start position (P1) and the propulsion target position (P2) in plan view, and detecting the pair of magnetic fields. A propulsion device having a display section (7) for indicating a deviation of the propulsion body (3) with respect to a propulsion plan line (19) based on a detection result of a magnetic field intensity ratio from a means (23); At the start of the promotion of the body (3), the promotion plan of the display unit (7) On (19), to adjust the display position of the propellant (3), said pair of magnetic field detection means (23)
An initial detection value correcting means (25) for correcting a magnetic field detection value from the propulsion unit and outputting the correction value to the display unit (7), and detecting the propulsion body (3) based on a detection result from the propulsion distance detection means (29). A propulsion device comprising a correction amount correcting means (26) for reducing a correction ratio of the magnetic field detection value as the propulsion position approaches the propulsion target position (P2).