JP3894637B2 - Radar propulsion device and excavation route survey method - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to a prior detection technique for buried objects in the ground, in addition to the construction of underground pipes such as gas pipes, water pipes, telephones, electricity, etc. without excavation.
[0002]
[Prior art]
Conventionally, in a preliminary survey of a drilling route (hole diameter of about 1 m), a place where other embedded objects are likely to be present is pre-examined, and the state of the embedded objects is confirmed visually.
[0003]
[Problems to be solved by the invention]
However, when such a method is adopted, there are the following problems.
(1) It is unclear whether there are other buried objects other than the test site, and there is a risk of damaging other buried objects in locations other than the site where excavation is performed.
(2) Trial excavation is necessary in spite of non-cutting work, and the image is down and the trial excavation cost is required.
(3) Excavation work must be interrupted if it is not suitable for non-open work, such as when the soil at the site contains a lot of water or contains a lot of rock.
[0004]
On the other hand, as an operation not involving excavation with a relatively large diameter (hole diameter of about 1 m) as described above, a so-called excavation technique using flow molding and boremore has been developed for the purpose of embedding gas pipes, connecting wires, etc. ing. In this drilling technology, an electromagnetic wave transmitter / receiver is provided near the tip of the propulsion drill head, and it is confirmed from the state of the electromagnetic wave returning from the ground whether there is an obstacle in front of the propulsion movement path. Therefore, we are going to do safe drilling. However, in such a device, it can be estimated whether there is an obstacle on or near the propulsion path, but it is not sufficient for confirming the state of the relatively large diameter drilling route, There was room for improvement.
[0005]
An object of the present invention is a propulsion device with a radar provided with a conventional radar device in a relatively small propulsion pipe, wherein the position of the buried pipe is determined in relation to the propulsion movement path of the propulsion pipe, and the propulsion movement path The purpose is to obtain the survey method of the excavation route that can reasonably investigate the condition of the relatively large diameter excavation route.
[0006]
[Means for Solving the Problems]
To achieve this object, according to the present invention, the propulsion pipe is provided with a transmission / reception device that transmits electromagnetic waves into the ground and receives the electromagnetic waves reflected and returned from objects in the ground, and is obtained by the transmission / reception devices. Reflecting time deriving means for obtaining the reflection time of electromagnetic waves from the object in the ground from transmission / reception information, and a position detecting device for obtaining the position of the propulsion pipe with respect to a reference position associated with propulsion movement in the ground The first characteristic configuration of the propulsion device with radar is
The reflection obtained from the reflection time deriving means associated with the position of the propulsion tube obtained from the position detection device by rotating the transmitting / receiving device with respect to the central axis Z of the propulsion tube while propelling and moving. Position-reflection time-related information, which is time information, is obtained in the vertical and horizontal directions with respect to the axis Z, and includes first analysis means for combining and mapping them, and the position obtained by the first analysis means- It is determined whether the position-reflection time relationship line as the reflection time relationship information can be linearly approximated or hyperbolic approximated, the relationship between the propulsion movement path of the propulsion pipe and the position of the object is calculated, and the object with respect to the propulsion movement path There is provided second analysis means for obtaining the position of.
In the radar type propulsion apparatus used in the present application, the propulsion pipe itself has a structure capable of propelling in the ground depending on the configuration, and the propulsion pipe is currently propelled from the position of the propulsion pipe (for example, the propulsion start position which is the reference position). The separation distance to the position where the tube is located) is detected by a position detection device provided in the device. On the other hand, with respect to the reflected signal transmitted back into the ground and reflected back from the object in the ground, this is detected by the transmission / reception device, and the reflection time is derived from the relationship between the transmission time and the reception time by the reflection time deriving means. As determined. Therefore, such two pieces of information can be obtained as information relating these from the transmission position of the radar and the reflection time at the transmission position. The role of the first analysis means is to perform such association and obtain position-reflection time related information. Such information is illustratively information as shown in FIGS.
Now, a certain relationship is established between the position-reflection time relationship information thus obtained and the propulsion movement path of the propulsion pipe. That is, as shown in the upper diagram of FIG. 3, when the propulsion movement path is located at a certain distance from an object in the ground, the relationship information is related as shown in the lower diagram of FIG. When it appears as a line, it becomes a hyperbola. On the other hand, as shown in the upper diagram of FIG. 4, when an object in the ground is substantially on this propulsion movement route, as shown in the lower diagram of FIG. It becomes a shape. Therefore, it is possible to determine what positional relationship the object has with respect to the propulsion movement path from the state of such a relationship line.
Such a position is determined by the second analysis means based on the position-reflection time relationship information.
[0007]
Here, when the position-reflection time relationship line can be approximated to a straight line, the second analysis unit can determine that the object is on an extension line of the propulsion movement path.
As described above, when there is an object on the propulsion movement path, the position-reflection time relationship line can be approximated to a straight line as shown in the lower diagram of FIG. It is determined whether or not the linear approximation of the reflection time relationship line is valid, and when this approximation is true, the above determination is made. In this way, the position of the object on the propulsion movement path can be obtained. Here, the position on the extension of the propulsion path where the reflection time substantially disappears is the position of the object. In this case, the propulsion movement route is assumed to be a straight route.
[0008]
Further , when the position-reflection time relationship line can be approximated to a hyperbola, in the second analysis means, the object is present at a position corresponding to the vertex of the hyperbola, and the reflection time corresponding to this vertex is the propulsion movement path and the object. The information can be determined to be information related to the separation distance.
Also in this case, the first analysis means obtains a position-reflection time relationship line, and hyperbolic fitting is performed on this relationship line. Then, the position of the vertex is found. As shown in the lower diagram of FIG. 3, when the propulsion moving path of the propulsion pipe (which is assumed to be a straight path) and the object are separated from each other, it corresponds to the position closest to the object in the moving path. The apex of the position-reflection time relationship line comes to the position where Therefore, the object is at a position corresponding to this vertex (position on the orthogonal line orthogonal to the propulsion movement path), and the distance from the path is a position separated by a distance related to the reflection time of the vertex. It can be judged.
The second analysis means performs such analysis processing.
[0009]
Now, in the propulsion device with radar described so far, the propulsion tube can be constructed as, for example, a propulsion tube with a drill that includes a drill at the tip and rotates around the rotation axis. For example, the outer diameter can be about 50 mm). Therefore, using such a relatively small-diameter propulsion pipe, the present invention can be applied to the investigation of the excavation route having a relatively large diameter (about 1 m in diameter) as described above.
The following example proposes such a method of use.
That is, the radar-equipped propulsion device according to any one of claims 1 to 3 is provided along the route within the excavation route to be investigated using the propulsion device with radar described so far. The propulsion pipe is propelled and moved, and the position of the object existing in the excavation route is obtained in relation to the propulsion movement path of the propulsion pipe.
In this way, it is possible to confirm the position of an object (obstacle) that is likely to be a problem during subsequent main excavation (main excavation) by simply moving the propulsion pipe having a relatively small diameter within the excavation route to be investigated. Can be done.
Further, in order to propel the propulsion pipe along the route in the excavation route, the propulsion pipe is propelled from the plural locations in the cross section of the excavation route (inspection of such plural locations). In this case, the position may be changed over time using a single propulsion pipe, or multiple positions may be used at the same time.) It is preferable to determine the position of the object and investigate the excavation route.
In this way, it is possible to conduct a more reliable investigation on a relatively large-diameter excavation route, and based on information from a plurality of movement paths even in confirming the position of the same object. The position of the object can be accurately grasped.
[0010]
The above is the description of the present application mainly related to information-related investigations regarding obstacles in the route, but what is investigated is not only the presence or absence of obstacles but also the soil quality itself. That is, when there is too much groundwater, it is generally unsuitable for excavation, and the same applies when there are large stones. Therefore, confirmation of soil quality is an equally important issue. Therefore, in the propulsion apparatus with a radar of the present application, a configuration that can obtain such soil information is adopted.
That is, a transmission / reception device that transmits electromagnetic waves into the ground and receives the electromagnetic waves reflected back from objects in the ground is provided in the propulsion pipe, and from transmission / reception information obtained by the transmission / reception devices, A propulsion apparatus with a radar having a reflection time deriving means for obtaining a reflection time of an electromagnetic wave from a certain object, and a position detection device for obtaining a position of a propulsion pipe with respect to a reference position accompanying propulsion movement in the ground. The characteristic configuration is as follows.
The reflection obtained from the reflection time deriving means associated with the position of the propulsion tube obtained from the position detection device by rotating the transmitting / receiving device with respect to the central axis Z of the propulsion tube while propelling and moving. It includes first analysis means for acquiring position-reflection time relationship information that is time information in the vertical and horizontal directions with respect to the axis Z, and combining and mapping them.
Third analysis means for obtaining the state of the soil in the vicinity of the propulsion movement path from the position-reflection time relation information obtained by the first analysis means based on the previously obtained relationship index between the soil quality and the position-reflection time relation information. Is provided.
In this configuration, since the configuration up to the first analysis means is the same as that described above, this is omitted. Therefore, the position-reflection time relationship information is obtained by the configuration so far, but a certain relationship is established between such information and soil quality.
This relationship will be described with reference to FIGS. Here, FIG. 5 is a drawing corresponding to FIG. 3, but FIG. 5 shows a change state of relation lines in different soil types. Similarly, FIG. 6 also shows how the relationship line changes in different soil conditions. As can be seen from these drawings, when the soil is different, the opening degree of the hyperbola is different in FIG. 5, and the inclination degree of the straight line is different in FIG.
Therefore, such an opening amount or inclination is obtained in advance for each soil, and compared with these amounts obtained from the position-reflection time relation information actually obtained, a suitable value is obtained. It can be determined that there is soil around the propulsion movement path of the propulsion pipe. It works like this.
That is, in the apparatus, a related index between the soil quality and the position-reflection time relationship information is obtained in advance (specifically, for example, an index of the relationship between the soil quality and the degree of opening of the hyperbola, A relationship index with respect to the inclination is stored in the storage device). On the other hand, from the position-reflection time relationship information obtained as a result of the movement of the propulsion pipe along the propulsion movement path as described above, for example, the degree of opening of the hyperbola or the inclination of the straight line in this information is obtained. Then, the result is compared with the relational index, and the measured data is compared with the data obtained in advance, and the soil quality is specified as the soil quality with the matching value.
That is, the third analysis means referred to in this application makes such a determination. As a result, the soil quality around the propulsion movement path of the propulsion pipe can be known.
[0011]
Now, even when obtaining information on the soil side as described above, it is preferable to use the radar propulsion device of the present application.
That is, in the excavation route, the propulsion pipe of the radar-equipped propulsion device according to claim 6 is propelled and moved along the route, and the state of the soil in the excavation route is obtained. Can be done accurately.
[0012]
DETAILED DESCRIPTION OF THE INVENTION
The configuration of the radar propulsion device 1 of the present application will be described first with reference to the drawings.
1, 2 and 3 show the configuration of the propulsion device with radar 1 of the present application together with the state of use thereof.
As shown in the figure, the propulsion apparatus 1 with radar of the present application is connected to a propulsion pipe 2 for underground propulsion movement called a so-called drill head, and is connected to the base end side of the propulsion pipe 2 and is disposed on the drill head and the ground. The rod 4 is connected to the propulsion device main body 3, the guide drill unit 5 constituting the propulsion device main body 3, and the drive / control vehicle 6.
This configuration has the same basic configuration as the propulsion device used in the conventional flow molding method.
[0013]
As shown in the figure, the propulsion pipe 2 is provided with a drill 7 for excavation propulsion at the tip, and as shown in FIG. 3, is configured to be driven to rotate around its central axis Z, and around the axis in the ground. It can be moved forward while rotating. Furthermore, a transmitter / receiver 10 having a radar 8 called a so-called forward monitoring sensor and an electronic circuit 9 associated therewith is provided on the base end side of the drill 7. That is, the propulsion tube 2 includes a transmission / reception device 10 that transmits electromagnetic waves to the ground and receives electromagnetic waves that are reflected back from objects in the ground. Here, the irradiation direction of this radar is a direction inclined from the direction of the central axis Z of the propulsion tube 2, and as shown in the drawing, it is configured to be able to irradiate electromagnetic waves obliquely forward. With this configuration, as the propulsion tube 2 rotates, the electromagnetic wave is irradiated in a conical shape obliquely forward of the propulsion tube 2, and such a region can be explored. The region diameter is about 50 cm.
[0014]
The drive / control vehicle 6 is provided with a control operation device 11 that performs propulsion control of the propulsion pipe 2. Of course, the operation device 11 includes a reference position of the propulsion pipe 2 ( For example, a position detection device 12 for detecting a propulsion distance D (position) from the propulsion start position O) is provided. For example, by detecting the feed amount of the rod 4 from the main body side, the position of the propulsion pipe 2 on the propulsion movement path L is specified as the position moved from the reference position by the feed amount.
Further, in general, a reflection time deriving unit 13 for obtaining a reflection time obtained as difference information between transmission and reception from the transmission / reception apparatus 10 is provided. Here, the purpose of deriving such a reflection time is to obtain a distance from a reflector (an embedded pipe or the like that may become an obstacle with the object R in the ground) by electromagnetic waves, and this is propelled by the propulsion pipe 2 In control, it is used to avoid such a collision with the object R.
[0015]
The above is the conventional configuration of the propulsion device 1 with radar for forward monitoring, but the characteristic configuration of the present application will be described below. Such a feature component basically has two configurations: a mechanism for specifying the position of an object in the soil and a mechanism for specifying the soil quality.
First, an object position specifying mechanism will be described.
The operation device 11 obtains information relating to the position of the propulsion pipe 2 obtained from the position detection device 12 and reflection time information obtained from the reflection time deriving means 13, and provides position-reflection time relationship information relating these. First analysis means 14 for synthesis is provided. That is, in the first analysis means 14, information as shown in FIGS. 3 and 4 is synthesized. In these drawings, the horizontal axis indicates a separation distance seen from a buried pipe which is an example of the object R (this distance is equivalent to the information D which has been described as the position of the propulsion pipe so far). The axis indicates the reflection time from the object R. In these drawings, the information is shown as discrete points. This is because the propulsion tube 2 is propelled while rotating around the axis Z. For example, in the case of FIG. This is because the reflection signal from the object R is received only in the time zone in the posture facing downward. On the other hand, in the case of FIG. 4, the reflected signal is received only in the time zone in which the irradiation direction of the radar wave is in the left-right direction (the front and back direction in FIG. 4). Therefore, in this case, the number of reflected signal points received is doubled as compared with FIG. By applying a mapping operation to these discrete points as a hyperbola or a straight line, a position-reflection time relation line as position-reflection time relation information can be obtained. In the derivation of the position-reflection time relationship information, it is natural that the relationship between the irradiation direction of the electromagnetic wave and the inclination of the propulsion movement path is taken into account and conversion is performed when necessary.
[0016]
Furthermore, second analysis means 15 for obtaining the position of the object R in the ground in relation to the propulsion movement path L of the propulsion pipe 2 from the position-reflection time relationship information obtained by the first analysis means 14 is provided. ing.
The second analysis means 15 determines that the object R is on the extension line of the propulsion movement path L of the propulsion pipe 2 when the position-reflection time relationship line can be approximated as a straight line. Means for judging, and further, means for judging that the object R is on the extension line of the propulsion movement path L of the propulsion pipe 2 when matching, and outputting the judgment are provided.
Further, in the second analysis means 14, when the position-reflection time relationship line can be approximated to a hyperbola, the object R exists at the position A corresponding to the vertex P of the hyperbola, and the reflection time corresponding to the vertex P. Is the information related to the separation distance B between the propulsion movement path L and the object R, and means for determining the suitability of the hyperbolic approximation, and further, if the object R matches, the object R becomes the vertex P of the hyperbola. It is determined that the reflection time T corresponding to the vertex P existing at the corresponding position A is information related to the separation distance B between the propulsion movement path L and the object R, and this determination and the position A corresponding to the vertex P are determined. (Propulsion distance D from reference position 0 along the propulsion movement path) and reflection time T at this position A (here, in the case of the present application, the relative permittivity (ε) of the surrounding soil is To find out, the speed in the soil is known and the reflection time T From the speed, it is possible to know the distance B between the propulsion movement path L and the object R based on the reflection time T, these are provided with a means for outputting the regarded as equivalent).
That is, the position information of the object R is output.
[0017]
Next, detection of soil around the propulsion movement path will be described.
The configuration up to the first analysis means 14 described so far is used as it is. That is, the relationship line which is the position-reflection time relationship information is transferred from the first analysis means 14 to the third analysis means 16 for achieving the above object.
In this third analysis means 16, the relationship between the degree of opening of the hyperbola or the slope of the straight line and the soil quality, which is related information of position-reflection time obtained corresponding to different soil properties as shown in FIGS. A storage device 17 that stores the attached relationship index is provided.
Therefore, it is judged from the position-reflection time relationship line actually obtained in the field whether this is suitable for a hyperbola or a straight line. In the case of a hyperbola, the degree of opening is determined. The required relationship line analysis means 18 is provided. Then, by comparing and comparing the degree of opening or inclination obtained by the relationship line analysis means 18 with the relationship information stored in the storage device 17, the soil quality is specified, and the third analysis means 16 outputs the soil quality. Do it.
Here, it is the relative permittivity (ε) of the soil that is dominant in specifying the soil quality.
FIGS. 5 and 6 show the case of river sand, masa soil, clay, and groundwater that is considered to be inappropriate for excavation, respectively. Thus, it can be seen that the relative permittivity (ε) changes according to the soil, and the degree of opening and inclination change.
[0018]
In the present apparatus 1, the position-reflection time relationship line is passed from the first analysis means 14, the object position information is sent from the second analysis means 15, and the soil information is passed from the third analysis means 16 to the output device 19. Can be provided as useful information to the operator.
[0019]
An example of investigating a relatively large diameter excavation route 20 using the propulsion device 1 with the radar as described above will be described with reference to FIG. FIG. 2 shows a case where a shaft 21 that reaches at least a position deeper than the excavation route 20 is excavated when the propulsion device 1 with a radar described so far is used. Then, along the route 20, the propulsion pipe 2 of the propulsion device with radar is horizontally propelled, and the situation in which the investigation is being conducted is (i), and further, without obliquely digging the shaft 21, it is oblique from the ground surface 22. The propulsion pipe 2 is inserted diagonally to a predetermined depth, and after the propulsion pipe 2 reaches the predetermined depth, the propulsion pipe 2 of the propulsion device with radar is propelled horizontally along the route 20 within the excavation route. (B) shows the status of the investigation.
Therefore, by adopting such an investigation method, the position of the object R (typically an embedded pipe) existing in the excavation route can be obtained in relation to the propulsion movement path L of the propulsion pipe. That is, according to the above-described apparatus configuration, when the propulsion moving path 2 of the propulsion pipe 2 is on the extension line of the propulsion moving path 2 and deviates from the propulsion moving path L, it follows the path of the propulsion moving path L. It is possible to obtain which position A is closest to the object R in the determined direction, and the distance B between the propulsion movement path L and the object R at the nearest position A.
In such a case, the propulsion pipe 2 of the propulsion device with radar is propelled from a plurality of locations 23 in the cross section of the excavation route, and the position of the object R is obtained with respect to the plural propulsion movement paths. By investigating, further detailed and accurate excavation route 20 can be investigated.
[0020]
On the other hand, the propulsion device with radar 1 of the present application can investigate the soil around the propulsion movement route as its basic configuration, and thus can determine the state of the soil in the excavation route as described above. Such information can be useful for determining that excavation work is impossible and excavation is stopped, for example, when there is groundwater.
[0021]
In this way, for example, in the investigation of the excavation route 20 assumed in the underground having a diameter of about 1 m, the diameter of 80 cm or less from the vertical shaft or the surface in advance in the excavation route for performing the non-opening work. The drilling head 2 (drill head) can be drilled horizontally at several locations to explore the area of 50 cm around the excavation movement path L. For example, when excavating a tunnel with a diameter of 1 m, drill at the center of the tunnel route. For example, other buried objects within the excavation route 20 could be detected. If the tunnel is larger than that, or if you want to explore the route, you can increase the number of bores as appropriate.
[0022]
[Brief description of the drawings]
FIG. 1 is a diagram showing a configuration of a main part of a propulsion device with a radar according to the present application. FIG. 2 is an explanatory diagram showing a use state of the propulsion device with a radar according to the present application. FIG. 4 is a diagram showing the relationship between the reflection time and the reflection time. FIG. 4 is a diagram showing the relationship between the position when the object is on the propulsion movement path and the reflection time. FIG. [Fig. 6] Relationship diagram corresponding to Fig. 4 obtained when propelling and moving through different soils [Explanation of symbols]
DESCRIPTION OF SYMBOLS 1 Propulsion apparatus with radar 2 Propulsion pipe 10 Transmission / reception apparatus 12 Position detection apparatus 13 Reflection time deriving means 14 First analysis means 15 Second analysis means 16 Third analysis means 20 Excavation route Z Center axis L Propulsion movement route R Object

Claims (7)

The propulsion pipe is equipped with a transmission / reception device that transmits electromagnetic waves into the ground and receives the electromagnetic waves reflected and returned from objects in the ground,
From transmission / reception information obtained by the transmission / reception device, comprising a reflection time deriving means for obtaining a reflection time of electromagnetic waves from the object in the ground,
A propulsion device with a radar comprising a position detection device for obtaining the position of the propulsion pipe relative to a reference position associated with propulsion movement in the ground,
By rotating with respect to the central axis Z of the propulsion pipe while the transmission / reception device is propelled and moved,
The position-reflection time relation information, which is information of the reflection time obtained from the reflection time deriving means associated with the position of the propulsion pipe obtained from the position detection device, is obtained in the vertical and horizontal directions with respect to the axis Z. And first analysis means for combining and mapping them,
It is determined whether the position-reflection time relationship line as the position- reflection time relationship information obtained by the first analysis means can be approximated by a straight line or a hyperbola, and the relationship between the propulsion movement path of the propulsion pipe and the position of the object calculates said object radar with propulsion apparatus having a second analyzing means for determining the position of for the propulsion movement path. Before Symbol Position - reflection when the time relationship line can be approximated with a straight line, the in the second analyzing means, said object radar with propulsion apparatus according to claim 1, wherein it is determined that there is on the extension line of the propulsion movement path. Before Symbol Position - If the reflection time relationship line can be approximated with the hyperbolic, the in the second analyzing means, located at a position where the object corresponding to the vertex of the hyperbola, the propulsion movement path reflection time corresponding to the vertex The propulsion device with a radar according to claim 1, wherein the propulsion device is determined to be information related to a separation distance between the object and the object.   The propulsion pipe of the propulsion device with radar according to any one of claims 1 to 3 is propelled and moved along the route in the excavation route, and the position of the object existing in the excavation route is determined as the propulsion movement route. Survey method of excavation route calculated in relation to   In order to propel the propulsion pipe of the propulsion device with radar according to any one of claims 1 to 3 along the route in the excavation route, the propulsion device with radar from a plurality of locations in the cross section of the excavation route 5. The excavation route survey method according to claim 4, wherein the propulsion pipe is propelled, the position of the object is obtained with respect to a plurality of propulsion movement routes, and the excavation route is investigated. Promotion tube, provided with a transceiver for receiving the electromagnetic wave reflected back from an object located in the ground and sends electromagnetic waves into the ground,
From transmission / reception information obtained by the transmission / reception device, comprising a reflection time deriving means for obtaining a reflection time of electromagnetic waves from the object in the ground,
A propulsion device with a radar comprising a position detection device for obtaining the position of the propulsion pipe relative to a reference position associated with propulsion movement in the ground,
The reflection obtained from the reflection time deriving means associated with the position of the propulsion tube obtained from the position detection device by rotating the transmitting / receiving device with respect to the central axis Z of the propulsion tube while propelling and moving. It includes first analysis means for acquiring position-reflection time relationship information that is time information in the vertical and horizontal directions with respect to the axis Z, and combining and mapping them.
A third state for obtaining the state of the soil in the vicinity of the propulsion movement path from the position-reflection time relationship information obtained by the first analysis means, based on the previously obtained relationship index between the soil quality and the position-reflection time relationship information. Propulsion device with radar equipped with analysis means.   A method for investigating an excavation route in which the propulsion pipe of the propulsion device with a radar according to claim 6 is propelled and moved along the route in the excavation route to obtain a state of soil in the excavation route.

Images