JP5559007B2 - Directionally controlled drilling method and apparatus - Google Patents

Description

  The present invention relates to a direction-controlled drilling method and apparatus suitable for drilling while appropriately changing the direction.

  In recent years, a resin that can be bent from the ground surface around an existing structure to the lower ground using a drilling method (hereinafter, also referred to as “direction-controlled drilling”) that appropriately controls the drilling direction. A construction method for building pipe manufacturing in the ground has been developed and attracts attention (see, for example, Patent Documents 1 and 2). In such direction-controlled drilling, a tapered bit having a flat pressure-receiving surface inclined with respect to the axial direction is attached to the tip of a bendable drilling tube. By giving only the propulsive force, the drilled tube is propelled into the ground while changing the propulsion direction by the force applied to the pressure receiving surface of the tapered bit at the tip. On the other hand, when drilling linearly, both the rotational force and the propulsive force are given to the drilled tube, and the direction of the force applied to the pressure receiving surface is canceled by the change around the rotation axis, so that Is possible. However, although it is very important in construction management to confirm where the tip of the drilled pipe is in the ground and what kind of hole is formed, in the conventional construction method, Only abstract proposals to the extent that sensors such as gyros can be used have been made.

  Therefore, the present applicant has proposed a “drilling device in which an angular velocity detection means for detecting the angular velocity in the horizontal direction and an inclination angle detection means for detecting an absolute inclination angle are provided at the tip of the drilling tube”. (For example, refer to Patent Documents 3 and 4. Hereinafter, this embodiment is also referred to as “a drilling device provided with a fixed measuring device”). The drilling method using this device is as follows: “After drilling a predetermined drilling section, the drilling tube is pulled back, and the tip of the drilling section is propelled from the base end to the tip of the drilling section without rotating. The angular velocity is detected by the angular velocity detection means, and the detected angular velocity is integrated to obtain the azimuth angle change amount of the drilling tube tip in the drilling section. On the other hand, the tip of the drilling tube is The inclination angle detecting means detects the inclination angle of the drilled tube tip at the tip of the drilling section in a state of being positioned at the tip of the hole section, and using the above azimuth angle change amount and tilt angle, The relative position of the tip with respect to the base end in the drilling section is calculated ”, and the drilling is controlled based on this calculated value. However, this fixed type directional control drilling device / method calculates the relative position of the tip with respect to the base end in each drilling section, and sequentially adds the calculated values to obtain the current position. If the drill tube moves (displaces) in soft ground or the like, measurement errors and drill errors may occur.

  On the other hand, as an apparatus for measuring a drilling position, an “insertion type measuring apparatus” in which an acceleration sensor is combined with two or three axes, or a gyro for detecting a horizontal angular velocity is combined therewith has been proposed ( For example, see Patent Documents 5 and 6.) This apparatus continuously measures the entire drilling section and does not cause the above-described measurement error problem. However, this insertion type measuring device performs measurement (real time measurement) for each predetermined drilling section like the fixed type measuring apparatus, and controls the drilling in the next predetermined drilling section based on this measurement value. Therefore, there is a problem that it is not suitable for drilling while controlling the direction.

JP 2002-194990 A JP-A-8-120661 JP 2004-183374 A JP 2004-183375 A Japanese Patent No. 3191888 JP 2007-205956 A

  SUMMARY OF THE INVENTION The main problem to be solved by the present invention is to provide a direction control drilling method and apparatus that are less likely to cause measurement errors and drilling errors and that are suitable for drilling while controlling the direction.

The present invention that has solved this problem is as follows.
[Invention of Claim 1]
It has a bendable drilling tube that can be inserted into the ground in a curved line, and rotation propulsion means for rotating and propelling this drilling tube, and detects the angular velocity in the horizontal direction at the tip of the drilling tube Using a drilling device provided with an angular velocity detecting means for performing an inclination angle detecting means for detecting an absolute inclination angle,
After drilling a predetermined drilling section, the drilling tube is pulled back, and the angular velocity is detected by the angular velocity detecting means while propelling the drilling tube from the base end to the tip of the drilling section. Or, when the drilling tube is pulled back, the angular velocity is detected by the angular velocity detection means while moving the distal end of the drilling tube from the distal end to the proximal end of the drilling section, and the detected angular velocity is integrated. By determining the azimuth angle change amount of the drilling tube tip in the drilling section, on the other hand, the tilt angle detection means in a state where the drilling tube tip is located at the tip of the drilling section, Detecting the tilt angle of the drill tube tip at the tip of the drilling section, and using the azimuth angle change amount and the tilt angle to determine the relative position of the tip with respect to the proximal end of the drilling section,
The operation of obtaining the relative positions of the drilling hole and the tip in the predetermined drilling section is repeated a predetermined number of times to advance the drilling pipe stepwise into the ground, and an insertion type measuring device is inserted into the drilling pipe. The hole obtained by moving the insertion type measuring device to the tip of the hole drilling tube, measuring the current position of the hole tip, and adding the relative position of the tip of the predetermined hole section based on the measured value The current position of the tip is corrected, and the work for further progressing the drilled pipe into the ground step by step based on this correction value is advanced.
A direction-control drilling method characterized by the above.

(Function and effect)
When the relative position of the tip of the section is obtained for each drilling section, the drilling of the next drilling section can be controlled based on the relative position, which is suitable for direction control drilling. Moreover, if the current position of the hole tip is measured by the insertion type measuring device and the current position of the hole tip obtained by adding the relative positions based on the measured value is corrected, the possibility of causing a measurement error is reduced. In addition, if the work for further progressing the hole drilling tube into the ground is advanced with the correction value as a reference, the possibility of causing a hole drilling error is reduced. In addition, the measurement with the insertion type measurement device takes more time than the measurement with the fixed type measurement device, but after drilling the predetermined drilling section, the current position of the hole tip is measured with the insertion type measurement device every time. The measurement time can be reduced by performing the measurement with the insertion type measuring device only at the stage where the drilling of the predetermined drilling section is repeated a predetermined number of times without being performed.

[Invention of Claim 2]
It has a bendable drilling tube that can be inserted into the ground in a curved line, and rotation propulsion means for rotating and propelling this drilling tube, and detects the angular velocity in the horizontal direction at the tip of the drilling tube A hole drilling device provided with an angular velocity detection means for performing an inclination angle detection means for detecting an absolute inclination angle;
An insertion type measuring device that is inserted into the hole drilling tube and moved to the tip of the hole drilling tube to measure the current position of the hole tip; and
After drilling a predetermined drilling section, the drilling tube is pulled back, and the angular velocity is detected by the angular velocity detecting means while propelling the drilling tube from the base end to the tip of the drilling section. Or, when the drilling tube is pulled back, the angular velocity is detected by the angular velocity detection means while moving the distal end of the drilling tube from the distal end to the proximal end of the drilling section, and the detected angular velocity is integrated. By determining the azimuth angle change amount of the drilling tube tip in the drilling section, on the other hand, the tilt angle detection means in a state where the drilling tube tip is located at the tip of the drilling section, A mechanism for detecting a tilt angle of the tip of the drill tube at the tip of the drilling section, and using the azimuth angle change amount and the tilt angle to obtain a relative position of the tip with respect to a proximal end of the drilling section; ,
The insertion type measuring device is inserted into the drilling pipe at a stage where the drilling pipe is advanced stepwise into the ground by repeating the work for obtaining the relative positions of the drilling hole and the tip in the predetermined drilling section a predetermined number of times. Then, the insertion type measuring device is moved to the tip of the drilling tube to measure the current position of the hole tip, and the relative position of the tip of the predetermined drilling section is obtained based on the measured value. A mechanism for correcting the current position of the hole tip, and
A directional control drilling device characterized by that.

(Function and effect)
The same effect as that of the first aspect of the invention can be obtained.

[Invention of Claim 3]
A case body that houses the angular velocity detection means and the inclination angle detection means is provided,
The case body has an inner cylinder and an outer cylinder, and the angular velocity detection means and the inclination angle detection means are accommodated between the inner cylinder and the outer cylinder.
The direction control drilling device according to claim 2.

(Function and effect)
A case body for housing angular velocity detection means and inclination angle detection means is provided, the case body has an inner cylinder and an outer cylinder, and the angular velocity detection means and the inclination angle detection means are accommodated between the inner cylinder and the outer cylinder. In the state where the angular velocity detecting means and the inclination angle detecting means are provided at the drilling tube tip, the insertion type measuring device can be moved to the drilling tube tip. Therefore, it is not necessary to pull out the angular velocity detection means and the inclination angle detection means prior to inserting the insertion type measurement device into the drilled tube, and the measurement time can be shortened.

  According to the present invention, it is possible to provide a direction-control drilling method and apparatus that are less likely to cause measurement errors and drilling errors and that are suitable for drilling while controlling the direction.

It is a schematic diagram of a state of drilling. It is explanatory drawing of direction control. It is a schematic diagram of a drilling pipe. It is sectional drawing which shows the drilling point. It is explanatory drawing of a position detection principle. It is explanatory drawing of extraction of a fixed-type measuring device, and insertion and movement of an insertion-type measuring device. This is an application form of a fixed measurement device. It is a schematic cross section of the fixed measurement device according to the application form. It is a schematic cross section of the fixed measurement device according to the basic form. It is a processing flow figure of direction control drilling.

Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings.
FIG. 1 schematically shows a construction state according to the present embodiment. Mainly, a drilling pipe 5, a tapered bit 6 attached to the tip thereof, and the drilling pipe 5 are rotated and propelled. A drilling device constituted by a rotary propulsion device (not shown) is shown.

  The drilled tube 5 can be formed of a bendable material, such as a steel tube, and the shaft diameter is basically arbitrary, but a material in the range of 5 to 20 cm is preferable. In this embodiment, since the fixed measuring device is built in the drilled tube tip 50F, the installation portion of the fixed measuring device is not substantially bent (the internal fixed measuring device does not function due to breakage or the like). It is desirable to configure. In order to make a difference in the ease of bending in this way, it is possible to make the materials partially different or to make the shaft diameters different. The length of the drill tube tip 50F can be determined as appropriate, but is preferably 10 to 50 cm.

  In a more preferred form, the drilling pipe 5 is formed by connecting a plurality of unit pipes (not shown) in series according to the insertion depth, for example, and the leading unit pipe is bent more than the base end unit pipe. It can be difficult, and a fixed measuring device can be provided inside. In this case, the unit pipes can be connected to each other by forming a female screw part at one end of the unit pipe and a male screw part at the other end.

  A tapered bit 6 having a pressure receiving surface inclined with respect to the axial direction is attached to the tip of the drill tube 5. As shown in FIG. 2, for example, the tapered bit 6 has a substantially cylindrical shape, and has a pressure receiving surface 60 formed of a flat surface inclined with respect to the axial direction on the head. The tapered bit 6 can be manufactured by casting or the like.

  When such a tapered bit 6 is used, the drilled tube 5 can be propelled into the ground while controlling its direction. More specifically, as shown in FIG. 2 (a), when drilling the curve, the drilled tube 5 is positioned with the tip of the pressure receiving surface 60 of the tapered bit 6 positioned on the side to be bent with respect to the rotational axis. In this state, only the propulsive force is applied to the drilled tube 5 by the rotary propulsion device. At this time, the propulsion direction of the taper bit 6 is gradually changed by the force applied to the pressure receiving surface 60 of the taper bit 6, and the drilling pipe 5 can be propelled into the ground in a curved manner. In other words, the taper bit 6 advances while deflecting to the side so as to release the force received by the pressure receiving surface 60. In addition, although this curve propulsion can be propelled in a three-dimensional curve and is bent in the vertical plane direction in the illustrated example, it can also be bent in the horizontal plane direction. On the other hand, when performing linear propulsion, as shown in FIG. 2 (b), rotational force and propulsive force are applied to the drilling tube 5, and the drilling tube 5 is ground while being drilled by the tapered bit 6 at the tip. Promote inside. At this time, although the tip of the tapered bit 6 has the pressure receiving surface 60, it advances while rotating around the axis, so that the influence of the pressure received by the pressure receiving surface 60 is canceled and the hole can be drilled linearly. .

  Thus, for example, as shown in FIG. 1, the drilled tube 5 can be advanced in an arc shape from the ground surface to the target layer, and thereafter the target layer can be advanced along the horizontal direction. Such directional control propulsion (drilling) is applicable not only when inserting the drilled tube 5 to the underground position, but also when constructing it so as to penetrate the ground part separated from the insertion position or a previously provided shaft. it can. In addition, when using the drilling pipe | tube 5 of a unit pipe connection structure, a drilling pipe | tube is inserted in the ground, adding a unit pipe | tube as needed.

  The above directional control propulsion can be performed when non-opening is installed for collecting and draining pipes for draining ground water or underground pipes for sewage, tap water, gas, various cables, etc. It can be applied to holes and drilling holes for chemical injection.

  In this direction control, the position detection technique of this embodiment can be used to know the current position, posture, trajectory, and the like of the tip of the formation hole H (or the tip of the drilled tube 5). That is, when applied to the above apparatus, an angular velocity detecting means for detecting a relative azimuth angle in the horizontal direction and an inclination angle detecting means for detecting an absolute inclination angle are provided at the tip of the drilled tube 5. The angular velocity detection means and the inclination angle detection means can be configured by appropriately combining an acceleration sensor, a gyro, and the like. In this embodiment, as shown in FIG. 3, an angular velocity detection sensor AD is provided as the angular velocity detection means, and an inclination angle detection sensor BD is provided as the inclination angle detection means.

  As the tilt angle detection sensor BD, a triaxial static acceleration sensor (a sensor for detecting gravitational acceleration in the X axis, Y axis, and Z axis directions orthogonal to each other) can be used, and the detected gravitational acceleration in each axis direction. Can be determined by substituting into the following equation. Needless to say, it is preferable to align the reference axis of the tilt angle detection sensor BD with the axis (rotation center axis) of the drilled tube 5 in order to simplify the calculation.

  As the angular velocity detection sensor AD, an angular velocity detector that detects an angular velocity of at least one axis using various gyros such as a rate gyro can be preferably used. Needless to say, it is preferable to match the reference axis of the tilt angle detection sensor BD with the reference axis of the angular velocity detection sensor AD in order to simplify the calculation.

  On the other hand, if the drilled tube 5 to which the angular velocity detection sensor AD is attached rolls due to rotation or twist, it is difficult to measure the horizontal azimuth angle of the drilled tube 5. Therefore, a gyro or the like for detecting the roll angle of the drilled tube 5 is separately provided, and the horizontal azimuth angle can be corrected based on the detected value. The direction of the pressure receiving surface 60 can also be grasped by detecting the roll angle.

  The angular velocity detection sensor AD and the inclination angle detection sensor BD are electrically connected to a signal transmission wire (not shown) via a signal transmission / reception device, a slip ring, or the like. This signal line passes through the drill tube 5 and is led out of the drill tube 5 from the base end portion of the drill tube main shaft 50P and connected to an external control device (not shown). In addition to transmitting detection signals from the angular velocity detection sensor AD and the inclination angle detection sensor BD using the signal line, it is also possible to supply power to the angular velocity detection sensor AD and the inclination angle detection sensor BD. In addition, although this structure assumes the case where wired signal transmission is performed, signal transmission can also be performed wirelessly. In this case, the electric power of the angular velocity detection sensor AD and the inclination angle detection sensor BD can be configured to be supplied by a rechargeable battery.

In FIG. 4, the construction example of the direction control drilling method which concerns on this form is shown. Symbol H represents a hole formed by drilling. In this example, first, as shown in FIG. 2A, the drilling pipe 5 is exposed to the ground surface, and as shown in FIG. 1B, a predetermined section (predetermined drilling section), for example, the length of the unit pipe After drilling to the depth of the minute, the drilling tube 5 is pulled back as shown in FIG. 3C, and the tip is positioned at the base end of the drilling section. Hereinafter, in order to distinguish the section of this formation hole, it is called the 1st section. From this state, as shown in FIG. 4D, the drilling tube 5 is not rotated or rotated as it is to propel the tip of the drilling tube 5 to the tip of the first section, and the angular velocity detection sensor AD The angular velocity is detected by. Then, by integrating the detected angular velocity, a horizontal azimuth angle change amount (W _i ) of the tip of the drilled tube 5 in the first section is obtained. The angular velocity is detected by detecting the angular velocity detection sensor AD while moving the distal end portion from the distal end to the proximal end of the first section without rotating or rotating the drilled tube 5 when the drilled tube 5 is pulled back. Can also be performed. However, according to this method, when the drilling tube 5 is moved to the tip side after detecting the angular velocity, the drilling tube 5 moves (displaces) due to soft ground or the like, resulting in a measurement error. May occur. Therefore, it is preferable to detect the angular velocity when propelling the tip of the drilled tube 5 toward the tip of the first section.

  On the other hand, the inclination angle detection sensor BD detects the inclination angle of the distal end portion of the drilled tube 5 at the distal end of the first section with the distal end portion of the drilled tube 5 positioned at the distal end of the first section. . Although the detection of the inclination angle can be performed immediately after drilling and before the drilled tube 5 is pulled back (that is, performed in the state shown in FIG. 8B), it is more preferable that the tilt angle is detected together with the detection of the azimuth at the section tip position. . Note that since the base end of the first section is the origin, it is not necessary to detect the tilt angle.

  Thereafter, as shown in (E) to (G) of FIG. 4, the drilling / retraction / detection / calculation of the next section is performed a predetermined number of times while adding the drilling pipe 5 as necessary. Repeatedly drilling to a predetermined depth. FIG. 6 shows a case where linear drilling is performed. However, when curved drilling is performed, as described above, propulsion is performed without rotating the pressure receiving surface 60 of the tapered bit 6 during drilling. Needless to say.

  On the other hand, when the drilling and detection / calculation of each drilling section are completed, the relative position of the tip with respect to the base end in each drilling section is calculated based on the detected value and the like. In this regard, if the relative position of each section tip is calculated after drilling to a predetermined depth, it is possible to perform management such as correcting the drilling path by grasping the relative position of each section tip during drilling. Disappear.

  The calculation of the relative position of each section tip can be performed, for example, in the following manner. Now, the drilling is performed from the origin position of the three-dimensional orthogonal coordinates composed of the X-axis, Y-axis, and Z-axis (vertical direction) shown in FIG. 5, and the drilling and detection / calculation of the i-th section are finished. Considering the state, the coordinates of the i position at the tip of the section can be calculated by using a well-known method for calculating a mine, and for example, the following formula (2) is obtained by using the tangent method.

Here, Si is a detection section length determined by the distance between the section base end (previous measurement point) i-1 and the section tip (current measurement point) i. It is possible to measure by attaching. P _i is an inclination angle (here, 0 ° (vertically upward) to 180 ° (vertically downward)) of the i position of the drilled tube 5 with respect to the Z-axis direction, and is detected by the inclination angle detection sensor BD. Is. _Wi is a horizontal azimuth change amount of the tip detection position i with respect to the base end detection position i-1, and is measured by the angular velocity detection sensor AD. Further, X _i , Y _i and Z _i are the X coordinate, Y coordinate and Z coordinate of the i position, and X _i−1 , Y _i−1 and Z _i−1 are the X coordinate and Y coordinate of the i−1 position. And the Z coordinate.

  Thus, the coordinates of the tip position i of each drilling section can be obtained. As can be seen from the position detection principle described above, when detecting the position of the drill tube 5, for example, at the reference position such as the underground insertion position of the drill tube 5, the coordinate value, the angular velocity detection sensor AD, and the inclination The angle detection sensor BD is initially set (0 setting), and then the above-described detection is appropriately performed in the insertion process of the drilled tube 5 to thereby obtain the coordinate value of the relative position of the drilled tube 5 (position relative to the reference position). Accurate measurement is possible. And if the locus | trajectory of said several coordinate relative position is taken, a detailed drilling path | route, a present position, etc. can be grasped | ascertained.

Thus, the position detection accuracy is improved by performing the drilling and detection / calculation in separate steps. Further, by using an inexpensive and compact angular velocity detection sensor AD, it becomes possible to easily detect the azimuth angle change amount W _i when the drilled tube distal end portion 50F moves from the section base end to the tip end. Using the absolute inclination angle P _i detected by the angle detection sensor BD, the relative position of the distal end of the section with respect to the base end of the drilling section can be easily calculated by a well-known track calculation method.

  The tip position coordinates detected in this way are, for example, coordinate values, three-dimensional or planar paths, which can be grasped by the worker using the management device described in Japanese Patent Application Laid-Open No. 2003-85594 by the applicant, for example. It can be output to an output device such as a display device or a printing device as a diagram, or can be output in a simple form such as simply displaying or printing a coordinate value, a route diagram, or the like on a display device.

  The above-described operation for obtaining the relative positions of the drilling hole and the tip in the predetermined drilling section is repeated a predetermined number of times to advance the drilling pipe 5 into the ground step by step. The number of times of the predetermined number of times is not particularly limited, and can be, for example, 5 to 20 times, preferably the number of times the propelling distance of the drilled tube 5 is 2 to 30 m, more preferably the drilled tube. The propulsion distance 5 can be 3 to 10 m. When importance is attached to the direction control accuracy, the predetermined number of times is relatively decreased. On the other hand, when importance is attached to the quickness of the direction control drilling, the predetermined number of times is preferably relatively increased.

  By the way, in the case of the direction control drilling method of the present embodiment, the relative position of the tip with respect to the proximal end is calculated in each drilling section, and the calculated value is added to obtain the current position of the drilling tube tip 50F. It will be. On the other hand, the drilled tube 5 may move (displace) during drilling or the like, and in particular, when the target of drilling is soft ground or the like, the drilled tube 5 is easily displaced. However, if the drilling tube 5 is displaced, the relative position of the tip after the drilling tube 5 is displaced is determined based on the position of the proximal end before the drilling tube 5 is displaced. An error will occur.

  Therefore, in the present embodiment, as shown in FIG. 10, the work for obtaining the relative positions of the drilling hole and the tip (measurement by a fixed measuring device) is repeated a predetermined number of times to advance the drilling pipe 5 into the ground stepwise. At this stage, if necessary, the fixed measuring device is pulled out (whether or not this is necessary will be described later), and the insertion type measuring device is inserted into the drilled tube 5. Then, the insertion type measuring device is moved to the drilling tube tip 50F to measure the current position of the hole tip (measured by the insertion type measuring device), and based on this measurement value, the relative position of the predetermined drilling section tip The current position of the hole tip obtained by adding together is corrected (correction of the current position). When this correction is performed, the drilled tube 5 can be further advanced stepwise into the ground on the basis of the accurate current position, and the direction control accuracy is improved. This correction can be performed, for example, by a method of changing a current position obtained using a fixed measurement device to a current position obtained using an insertion measurement device. Note that the measurement by the insertion type measurement device may be performed when the device is moved to the distal end side or may be performed when the device is moved (returned) to the proximal end side.

  However, as shown in FIG. 3, a fixed measuring device having an angular velocity detection sensor AD, an inclination angle detection sensor BD, and the like is provided (built in) in the drilled tube distal end portion 50F. Then, the insertion type measuring device cannot be moved to the drill tube tip 50F. Therefore, in the present embodiment, as shown in FIG. 10, it is necessary to pull out the fixed measurement device from the bore tube 5 before measurement by the insertion measurement device. A specific example of this will be described with reference to FIG.

  As shown to (a) of FIG. 6, the fixed measuring apparatus 30 of this form has the cylindrical case body 31 which accommodates angular velocity detection sensor AD and inclination angle detection sensor BD. A wire 32 made of a wire, a cable, a bar, or the like is connected to the base end surface of the soot body 31, and the other end of the wire 32 extends to the outside of the drilled tube 5. Accordingly, by pulling or winding the wire 32 from the outside of the drilling tube 5, as shown in FIG. 6 (b), the fixed measuring device 30 is moved to the base end side, and the inside of the drilling tube 5 Can be taken out (withdrawal of the fixed measuring device 30).

  As long as the fixed measuring device 30 can be moved, the case body 31 may or may not be in contact with the inner peripheral surface of the drilled tube 5. Further, the wire 32 can be passed through the signal transmission wires of the angular velocity detection sensor AD and the inclination angle detection sensor BD, the electric supply wires, and the like as necessary. Furthermore, in this embodiment, as shown in FIG. 6, a hollow outer bit 6A in which the tapered bid 6 is attached to the drilled tube tip 50F and an inner bit 6B housed in the hollow portion of the outer bit 6A. And can be configured. In this embodiment, by connecting the inner bit 6B to the front end surface of the case body 31, the inner bit 6B can be pulled out at the same time as the stationary measuring device 30 is pulled out.

  When the fixed measurement device 30 is pulled out in this way, the insertion measurement device 40 is inserted into the drill tube 5 as shown in FIG. In this embodiment, since the fixed measurement device 30 is pulled out prior to this insertion, the insertion measurement device 40 can be moved to the drill tube tip 50F.

  The insertion type measuring device 40 of this embodiment is cylindrical, and an angle detector 44 is provided in a cylindrical casing 41. Further, four wheels 43 are attached to the peripheral surface of the cylindrical casing 41 at 90 ° intervals in the circumferential direction on the front end side and the rear end side (base end side), respectively (of course, 120 ° intervals). It is also possible to attach three at a time, or a plurality of five or more.), Even if it contacts the inner wall surface of the drilled pipe 5 to be inserted, it moves smoothly. Note that the wheel 43 is not always in contact with the inner peripheral surface of the drilled tube 5 in relation to the diameter of the drilled tube 5 to be inserted.

  On the other hand, as the angle detector 44, for example, an inclination sensor (pendulum type, servo type, etc.) for measuring the pitch angle and roll angle, and an angular velocity sensor (rate gyro, A combination of various gyros such as DTG gyros) can be suitably used. Of course, other sensors can be used as long as they can measure the pitch angle, the roll angle, and the azimuth angle.

  As the inclination sensor of the angle detector 44, a triaxial static acceleration sensor (detecting gravitational acceleration in the X axis, Y axis, and Z axis directions orthogonal to each other) can be used. As the angular velocity sensor of the angle detector 44, an angular velocity sensor that detects an angular velocity of at least one axis using various gyros such as a rate gyro and a DTG gyro can be suitably used. Of course, other detection devices can be used. Needless to say, it is preferable to match the reference axis of the tilt sensor with the reference axis of the angular velocity sensor in order to simplify the calculation.

  A light emitting diode as an illuminating device and a CCD camera as a photographing device for photographing the inside of the drill tube 5 can be provided on the distal end surface of the insertion type measuring device 40. A plurality of light emitting diodes are arranged at substantially equal intervals on the outer periphery of the CCD camera, and the front side is illuminated by the light emitting diodes. The object irradiated by the light emitting diode is displayed on the CCD camera, and the video signal is transmitted to the camera monitor or the like via the camera cable. When the CCD camera is attached to the insertion type measuring device 40 in this way, even if the insertion type measuring device 40 is caught on the way for some reason and cannot move further, it is visually an obstacle. Can be identified. In addition, it is possible to save the trouble of separately inserting an in-tube camera or the like. It is also possible to grasp the situation such as cracks and breakage of the drilled tube 5.

  The cylindrical casing 41 of the insertion type measuring device 40 has a wire rod made of a wire, a cable, a rod, or the like at the rear, and a cable 42 is connected in the illustrated example. The cable 42 can be wound and unwound by a cable reel. It has become. An electric cable, a camera cable, or the like is wired inside the cable 42, and the outside is covered with a hard polyethylene cable, a steel wire (wire cable), or the like. A rotary encoder is attached to the cable reel so that the insertion amount (measurement point distance) of the insertion type measuring device 40 can be measured.

  After the insertion type measuring device 40 is moved to the drilled tube tip 50F and the current position of the hole tip is measured, the insertion type measuring device 40 is pulled out from the bored tube 5 using the cable 42 and fixed measurement is again performed. The device 30 is inserted.

  Although the embodiment in which the stationary measuring device 30 is once pulled out before the measurement by the insertion measuring device 40 has been described above, this drawing can be omitted by improving the stationary measuring device. This will be specifically described below.

  The fixed measuring apparatus of this embodiment has a case body that houses both the angular velocity detecting means for detecting the angular velocity in the horizontal direction and the inclination angle detecting means for detecting the absolute inclination angle. As shown in FIGS. 7 and 8, the fixed measuring device 70 according to the present embodiment has a multi-tube structure (in the illustrated example, a double-tube structure) in which a case body includes a cylindrical inner cylinder 71 and an outer cylinder 72. Both detection means are housed between the inner cylinder 71 and the outer cylinder 72. According to this embodiment, without pulling out the fixed measuring device 70, the mobile measuring device is inserted into the drilled tube 5, and the hollow portion in the inner cylinder 71 that is continuous with the hollow portion in the drilled tube 5 is directly used. That is, it can be moved to the drill tube tip 50F. In the illustrated example, the inner peripheral surface of the drilled tube 5 and the inner peripheral surface of the inner cylinder 71 are flush with each other in order to smoothly move the movable measuring device to the drilled tube tip 50F. That is, the case body (71, 72) of the present embodiment is embedded in the distal end portion 50F of the hole drilling tube 5 from the inner peripheral surface side, and the inner cylinder 71 and the outer cylinder 72 are formed in the hole drilling tube 5. It is installed coaxially.

  Here, the angular velocity detecting means and the inclination angle detecting means of the fixed measuring devices 30 and 70 are for detecting the angular velocity and the inclination angle. For example, the angular velocity is detected by a single axis gyro, and the three axis acceleration sensor is used. Various variations can be considered, such as a configuration for detecting an inclination angle or a configuration for detecting an angular velocity and an inclination angle by combining a gyro with three axes. However, among these variations, an X-axis sensor (X-axis acceleration sensor, X-axis gyro, etc.), Y-axis sensor (Y-axis acceleration sensor, Y-axis gyro, etc.), and Z-axis sensor (Z-axis acceleration sensor) orthogonal to each other , Z-axis gyro, etc.), the Z-axis sensor 73Z is moved from the X-axis sensor 73X and the Y-axis sensor 73Y to 45-135 ° (degrees) in the circumferential direction, as shown in FIG. It is preferable to arrange them at an interval of preferably 80 to 100 °, more preferably 90 °. According to this form, the space | interval of the inner cylinder 71 and the outer cylinder 72 can be narrowed. Further, if the X-axis sensor 73X, the Z-axis sensor 73Z, and the Y-axis sensor 73Y are arranged in the circumferential direction as in the illustrated example, a plurality of X-axis sensors 73X are respectively provided as shown in FIG. The Z-axis sensor 73Z and the Y-axis sensor 73Y can be arranged side by side in the axial direction. By using a plurality of sensors 73X, 73Z, 73Y, the measurement accuracy can be improved.

  In this regard, in the case of the above-described fixed measurement device with the pull-out configuration, for example, as shown in FIG. 9, the fixed measurement device 90 includes a base 91 on which various sensors 93X, 93Y, and 93Z are arranged, and the base 91. And a cylindrical cylindrical body 92 for storing the main body. In the case of this embodiment, as apparent from FIG. 9B, any sensor is in a state in which the Z-axis sensor 83Z rises from the base 81 in the illustrated example. Will be big. In addition, since the area of the base 91 is limited and the signal transmitter / receiver 84 and the like are also arranged, usually only one of each of the various sensors 93X, 93Y, and 93Z can be arranged. Therefore, it is difficult to improve the measurement accuracy by using a plurality of sensors 93X, 93Z, and 93Y as in the fixed measurement device 70 described above. In addition, after all predetermined holes have been completed, when other work is performed using the holed pipe 5, for example, when other pipes or chemicals are passed through the holed pipe 5. Whether or not to pull out the fixed measuring device will affect the work efficiency.

  The present invention can be applied as a direction control drilling method and apparatus suitable for drilling while appropriately changing the direction.

  DESCRIPTION OF SYMBOLS 5 ... Drilling pipe, 6 ... Taper bit, 30, 70, 90 ... Fixed measuring device, 31 ... Case body, 32 ... Wire rod, 40 ... Insertion measuring device, 41 ... Cylindrical casing, 43 ... Wheel, 44 ... Angle detector, 50F: Drilling tube tip, 50P ... Drilling tube main shaft, 6 ... Taper bit, 60 ... Pressure receiving surface, 71 ... Inner tube, 72 ... Outer tube, 73X, 93X ... X-axis sensor, 73Y, 93Y ... Y-axis sensor, 73Z, 93Z ... Z-axis sensor, 91 ... base, 92 ... cylinder, AD ... angular velocity detection sensor, BD ... inclination angle detection sensor, H ... hole.

Claims (3)

It has a bendable drilling tube that can be inserted into the ground in a curved line, and rotation propulsion means for rotating and propelling this drilling tube, and detects the angular velocity in the horizontal direction at the tip of the drilling tube Using a drilling device provided with an angular velocity detecting means for performing an inclination angle detecting means for detecting an absolute inclination angle,
After drilling a predetermined drilling section, the drilling tube is pulled back, and the angular velocity is detected by the angular velocity detecting means while propelling the drilling tube from the base end to the tip of the drilling section. Or, when the drilling tube is pulled back, the angular velocity is detected by the angular velocity detection means while moving the distal end of the drilling tube from the distal end to the proximal end of the drilling section, and the detected angular velocity is integrated. By determining the azimuth angle change amount of the drilling tube tip in the drilling section, on the other hand, the tilt angle detection means in a state where the drilling tube tip is located at the tip of the drilling section, Detecting the tilt angle of the drill tube tip at the tip of the drilling section, and using the azimuth angle change amount and the tilt angle to determine the relative position of the tip with respect to the proximal end of the drilling section,
The operation of obtaining the relative positions of the drilling hole and the tip in the predetermined drilling section is repeated a predetermined number of times to advance the drilling pipe stepwise into the ground, and an insertion type measuring device is inserted into the drilling pipe. The hole obtained by moving the insertion type measuring device to the tip of the hole drilling tube, measuring the current position of the hole tip, and adding the relative position of the tip of the predetermined hole section based on the measured value The current position of the tip is corrected, and the work for further progressing the drilled pipe into the ground step by step with the correction value as a reference,
A direction-control drilling method characterized by the above. It has a bendable drilling tube that can be inserted into the ground in a curved line, and rotation propulsion means for rotating and propelling this drilling tube, and detects the angular velocity in the horizontal direction at the tip of the drilling tube A hole drilling device provided with an angular velocity detection means for performing an inclination angle detection means for detecting an absolute inclination angle;
An insertion type measuring device that is inserted into the hole drilling tube and moved to the tip of the hole drilling tube to measure the current position of the hole tip; and
After drilling a predetermined drilling section, the drilling tube is pulled back, and the angular velocity is detected by the angular velocity detecting means while propelling the drilling tube from the base end to the tip of the drilling section. Or, when the drilling tube is pulled back, the angular velocity is detected by the angular velocity detection means while moving the distal end of the drilling tube from the distal end to the proximal end of the drilling section, and the detected angular velocity is integrated. By determining the azimuth angle change amount of the drilling tube tip in the drilling section, on the other hand, the tilt angle detection means in a state where the drilling tube tip is located at the tip of the drilling section, A mechanism for detecting a tilt angle of the tip of the drill tube at the tip of the drilling section, and using the azimuth angle change amount and the tilt angle to obtain a relative position of the tip with respect to a proximal end of the drilling section; ,
The insertion type measuring device is inserted into the drilling pipe at a stage where the drilling pipe is advanced stepwise into the ground by repeating the work for obtaining the relative positions of the drilling hole and the tip in the predetermined drilling section a predetermined number of times. Then, the insertion type measuring device is moved to the tip of the drilling tube to measure the current position of the hole tip, and the relative position of the tip of the predetermined drilling section is obtained based on the measured value. A mechanism for correcting the current position of the hole tip, and
A directional control drilling device characterized by that. A case body that houses the angular velocity detection means and the inclination angle detection means is provided,
The case body has an inner cylinder and an outer cylinder, and the angular velocity detection means and the inclination angle detection means are accommodated between the inner cylinder and the outer cylinder.
The direction control drilling device according to claim 2.

Images