JP3502050B2 - Position measurement device for small-diameter thrusters - Google Patents

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a position measuring device for a small diameter pipe propulsion device in which a small diameter pipe is buried in the ground, and more particularly to a position measuring device provided with a vibration isolator.

[0002]

2. Description of the Related Art A small-diameter pipe propulsion device for burying a small-diameter pipe in the ground is constructed so that a small-diameter pipe is propelled into the ground by a former pushing device installed in a starting shaft. . In such a small-diameter pipe propulsion device, in order to bury the small-diameter pipe along the planned line with high precision, it is necessary to always accurately grasp the position of the propulsion device (leading conduit). Therefore, the angular velocity of the propulsion unit is continuously measured using an optical fiber gyro as a position measuring device, and the horizontal position of the propulsion unit is calculated by combining the angle obtained by integrating the angular velocity and the propulsion distance. I am measuring.

[0003]

However, when such an optical fiber gyro is used as a position measuring device in the ground, the vibration applied to the optical fiber gyro in the propulsion machine becomes large depending on the propulsion method. A large error will occur in the angular velocity measured by the optical fiber gyro.

The present invention has been made in order to solve such a problem, and provides a position measuring device for a small-caliber propulsion device in which a large error does not occur in angular velocity measurement even under a vibration load condition. The purpose is.

[0005]

To this end, the invention according to claim 1 provides a position measuring device for a small-diameter propulsion machine equipped with an optical fiber gyro for measuring the angular velocity of a propulsion machine burying a small-diameter pipe in the ground. A vibration damping device that suppresses vibration applied to the optical fiber gyro, and
A ray for restricting the movement only in the propulsion direction of the propulsion machine.
It is configured as a position measuring device characterized by being provided with an automatic mechanism . The invention of claim 2 embeds a small-diameter pipe in the ground.
It is equipped with an optical fiber gyro that measures the angular velocity of the propulsion unit.
In the position measurement device for small-caliber propulsion equipment,
An anti-vibration device is installed to prevent the vibration from being applied to the baggyro.
And the movement of the anti-vibration device in the propulsion direction of the propulsion device.
A first direction, a second direction orthogonal to the first direction, the first direction
And a ray for restricting in a third direction orthogonal to the second direction.
It is configured as a position measuring device characterized by being provided with an automatic mechanism . The invention of claim 3 is the small-diameter thruster according to claim 2.
In the position measurement device of the machine, with the vibration isolation material of the vibration isolation device
The weight of the optical fiber gyro and the optical fiber gyro
A bar adapted to the acceleration and frequency of vibration applied to the gyro.
A gel having a constant of constant was arranged at four corners of the vibration isolator to constitute a position measuring device.

[0006]

BEST MODE FOR CARRYING OUT THE INVENTION The present invention uses a vibration proof device exclusively for an optical fiber gyro so that the horizontal position measurement by the optical fiber gyro can be performed with high accuracy as in the case where there is no influence of vibration even under a vibration load condition. It is something that can be realized. The details will be described below.

FIG . 1 is a block diagram showing the whole of a small diameter propulsion machine according to the present invention. Reference numeral 1 is a small diameter pipe, 2 is a propulsion machine,
3 is an optical fiber gyro as a position measuring device, 4 is an original pushing device, 5 is a starting shaft, 6 is an operation panel, and 7 is a power unit. A small-diameter pipe 1 that is pushed into the ground by the extruding device 4.
The propulsion device 2 is attached to the tip of the propulsion device 2. The angular velocity of the lateral movement of the propulsion device 2 is measured by the optical fiber gyro 3 mounted on the propulsion device 2, and the angular velocity, that is, the propulsion device is integrated by integrating the angular velocity. The orientation of 2 is detected. Then, the current horizontal position of the propulsion unit 2 is measured from this angle and the propulsion distance.

FIG . 2 shows an optical fiber gyro 3 with a vibration isolator 1.
FIG. 3 is a plan view showing a state of being mounted on 0, and FIG. 3 is a side view of the same. 2 and 3, reference numeral 11 is a gel as a vibration isolator, 12 is a rail mechanism, 13 is an upper plate, and 14 is a lower plate. The vibration isolator 10 is mounted on the propulsion device 2.

The vibration isolator 10 includes an optical fiber gyro 3
A gel 11 as a vibration isolator is arranged at four corners between the upper plate 13 and the lower plate 14 in order to suppress the vibration applied to the. The spring constant of the gel 11 is set in consideration of the weight of the relatively lightweight optical fiber gyro 3 and the acceleration and frequency of vibration applied to the propulsion unit 2. Specifically, in order to reduce (soften) the spring constant of the gel 11, the area and the thickness of the gel 11 used are taken into consideration.

Further , simply laying the gel 11 lacks the stability of the posture of the optical fiber gyro 3 because the spring constant of the gel 11 is small, and the angular velocity other than the motion of the propulsion device 2 is detected in the low frequency vibration. In order to prevent this, the rail mechanism 12 regulates the movement direction of the anti-vibration device 11 so that the movement of the vibration isolation device 11 is limited only to the propulsion direction of the propulsion device 2 (the front-back direction of the propulsion direction). There is.

[0011] In this way, the anti-vibration device 10 rail mechanism 1
Since only the motion in the propulsion direction is allowed by 2, the rotation other than the motion of the propulsion device 2 is not applied to the optical fiber gyro 3, so that the angular velocity can be measured only from the motion of the propulsion device 2 and the propulsion direction can be measured. Since it is possible to suppress the vibration applied from the, it is possible to reduce the detection error of the angular velocity detection of the propulsion device 2 by the optical fiber gyro 3.

In the gel 11 and the rail mechanism 12 described above, even if the spring constant of the gel 8 is small, a large vibration-damping effect is stably provided against vibration of the rail mechanism 12 from the direction along the rail. However, under the condition that a large vibration from another direction is applied, the vibration is applied to the optical fiber gyro 3 as it is.

[0013] Therefore in this case, by applying the anti-vibration effect in the other two directions, it is possible to suppress the vibration applied from the three-dimensional directions. For example, the vibration isolation device 10 shown in FIG. 2 and FIG. 3 is provided in the X-axis direction, the Y-axis direction, and the Z-axis direction, and the rail mechanism 12 is arranged in the three-dimensional direction.
Dimensional braking becomes possible. Even in the case of being applied in three dimensions, since the moving direction of the optical fiber gyro 3 is always one direction, rotation other than the motion of the propulsion device does not occur, and only the angular velocity due to the motion of the propulsion device is measured. It is possible.

[0014] Next, FIG. 2 from the results of vibration experiments, the effect of the anti-vibration apparatus 10 of FIG. 3 will be described. FIG. 4 is a graph showing an angular velocity and an angle obtained by integrating the angular velocity when the vibration isolator 10 is not provided when a certain vibration is applied, and FIG. 5 is a case where the vibration isolator 10 is used under the same vibration condition as the former. 3 is a graph showing the angular velocity in and the angle obtained by integrating the angular velocity. In this vibration test, the optical fiber gyro 3 is mounted on the vibration test stand without or through the vibration isolator 10, and is simply vibrated in a linear direction. Therefore, if there is no influence of vibration, both the angular velocity and the angle are zero. Is. Therefore, the effect of the vibration isolator 10 is verified from the result of this vibration experiment.

[0015]

As described in detail above, the position measuring device of the present invention is equipped with a vibration isolator dedicated to an optical fiber gyro so that a small-diameter propulsion machine using an optical fiber gyro under conventional vibration load conditions can be used. The error that has occurred in the position measurement can be reduced, and the horizontal position measurement by the optical fiber gyro can be performed with high accuracy as in the case where there is no influence of vibration even under the vibration load condition.

[Brief description of drawings]

FIG. 1 is an explanatory diagram showing a configuration of a small diameter tube propulsion device.

FIG. 2 is a plan view showing an optical fiber gyro mounted on a vibration isolation device.

FIG. 3 is a side view showing an optical fiber gyro mounted on a vibration isolation device.

FIG. 4 is a characteristic diagram showing a vibration test result of an optical fiber gyro when it is vibrated without a vibration isolator.

FIG. 5 is a characteristic diagram showing a vibration test result of an optical fiber gyro when vibrated with a vibration isolator.

[Explanation of symbols]

1: Small diameter tube, 2: Propulsion device, 3: Optical fiber gyro,
4: original pushing device, 5: standing, 6: operation panel, 7: power device 10: vibration isolation device, 11: gel, 12: rail mechanism, 1
3: Upper plate, 14: Lower plate

Front page continuation (58) Fields surveyed (Int.Cl. ⁷ , DB name) G01C 15/00 G01C 19/00-19/72

Claims (3)

(57) [Claims] 1. A position measuring device for a small-diameter propulsion machine equipped with an optical fiber gyro for measuring the angular velocity of a propulsion machine having a small-diameter pipe buried in the ground, which prevents vibrations from being applied to the optical fiber gyro. A vibration device is provided and the motion of the vibration isolation device is controlled by
A position measuring device provided with a rail mechanism for restricting only the propulsion direction . 2. Angular velocity of a propulsion machine for burying a small diameter pipe in the ground
Small-caliber propulsion with optical fiber gyro
Suppresses vibration applied to the optical fiber gyro in a machine position measuring device
An anti-vibration device is provided and the movement of the anti-vibration device is
A first direction which is a propulsion direction, and a second direction which is orthogonal to the first direction
Direction, and regulates in a third direction orthogonal to the first and second directions.
A position measuring device, which is equipped with a rail mechanism for 3. The position measurement of the small diameter propulsion machine according to claim 2.
In the device, the optical fiber gyro is used as a vibration isolator for the vibration isolator.
Weight and acceleration of vibration applied to the optical fiber gyro
And the gel of the spring constant adapted to the frequency
A position measuring device having four corners .