JP6936047B2 - Drilling method and drilling device - Google Patents

Description

The present invention relates to a drilling method and a drilling device for drilling a straight hole or a curved hole in the ground by using a drilling pipe equipped with a tip head.

For example, when drilling holes in the ground using a drilling pipe for the purpose of improving the ground, the position of the drilling pipe, that is, the position of the drilling pipe is accurately set in order to perform the construction accurately as designed. You need to figure it out. As a method of grasping the position of such a drilling pipe, a magnetic field generator is installed in the drilling pipe or in a dedicated magnetic field generating hole to generate a magnetic field in the ground, and the magnetic field is generated by a receiver on the ground or in the drilling pipe. Examples thereof include a method of measuring the strength and measuring the position, and a method of using the measured value of the gyro sensor sent to the tip of the drilling pipe (see, for example, Patent Document 1). On the other hand, a technique for measuring the posture of the tip of the drilling tube by installing an inclinometer or a strain gauge at the tip of the drilling tube has also been proposed (see, for example, Patent Document 2).

Japanese Unexamined Patent Publication No. 2010-181233 Japanese Unexamined Patent Publication No. 2015-559317

Here, the method for generating the magnetic field described above may be difficult to measure due to the influence of the above-ground structure and the underground buried object. Therefore, even in such a case, it is conceivable to use a technique for measuring the posture of the tip of the drilling pipe so that the final arrival position of the drilling pipe can be predicted. Since it is necessary to equip the drilling tube with a magnetic field generator and a receiver, it is difficult to secure a space for installing an inclination meter or a strain gauge in the drilling tube. On the other hand, in the method using a gyro sensor, although the relative position from the starting point can be grasped, the absolute position cannot be grasped, so that there is room for improvement in the accuracy of the measurement position, and it takes time for one measurement. The overall work time will be long.
The present invention has been made in view of the above problems, and an object of the present invention is to more accurately grasp the drilling position and to perform drilling with high accuracy.

(Aspect of the invention)
The following aspects of the invention exemplify the configurations of the present invention, and will be described separately in order to facilitate understanding of the various configurations of the present invention. Each section does not limit the technical scope of the present invention, and while taking into consideration the best mode for carrying out the invention, some of the components of each section are replaced, deleted, or further. Those to which the above-mentioned components are added can also be included in the technical scope of the present invention.

(1) A linear drilling step of drilling a straight hole by pushing the drilling tube while rotating the tip head using a drilling tube equipped with a rotatable tip head having a tapered surface at the tip. , A method of drilling holes in the ground by combining with a curved drilling step of drilling a curved hole by pushing the drilling tube without rotating the tip head, and is exposed to the ground. By passing a current from a part of the drilling tube, a magnetic field centered on the drilling tube in the ground is generated, the magnetic field is received from the ground by a receiver, and drilling is started based on the reception result. A drilling locus measurement process that measures the drilling locus from the position to the tip head, and posture measurement that measures the rotation angle and pitching angle of the tip head using an inclinometer or strain gauge installed on the tip head. A drilling method (claim 1) including a step, a drilling trajectory measuring step, and an adjusting step of adjusting the rotation angle position of the tip head based on the measurement results in the posture measuring step (claim 1).

The drilling method described in this section combines a straight drilling step of drilling a straight hole and a curved drilling step of drilling a curved hole by using a drilling tube equipped with a tip head. It drills holes in the ground, and further includes a drilling trajectory measurement step, an attitude measurement step, and an adjustment step. In the drilling locus measurement process, an electric current is passed through the drilling pipe from a part of the drilling pipe exposed on the ground, that is, near the tail end of the drilling pipe inserted in the ground. Generates a magnetic field centered on the drilling tube inserted in. Then, a magnetic field is received from the ground by a receiver operated by a worker or the like, and the absolute position of the drilling pipe in the ground is measured from the reception result such as the strength of the received magnetic field. As a result, the drilling locus by the drilling pipe from the drilling start position to the current position of the tip head is measured. As described above, the drilling method described in this section employs a method in which a current is passed from a part of the drilling tube exposed on the ground while generating a magnetic field centered on the drilling tube. It is not necessary to equip the drilling tube with a magnetic field generator or a receiver, and a space for installing another measuring instrument is secured in the drilling tube or the tip head.

Further, in the posture measurement step, for example, the rotation angle and pitching angle of the tip head are measured by installing an inclinometer, a strain meter, or the like in the space of the tip head secured as described above. Then, in the adjustment step, for example, the predicted arrival position of the drilling pipe is determined based on the drilling locus obtained in the drilling locus measuring step and the rotation angle and pitching angle of the tip head obtained in the posture measuring step. calculate. That is, by grasping the drilling locus by the drilling pipe up to that point and the current posture of the tip head, the predicted arrival position when drilling a straight hole or a curved hole is calculated as it is. Then, for example, when the predicted arrival position of the drilling tube deviates from the planned arrival position, the rotation angle position of the tip head, that is, the tip is corrected so that the actual arrival position approaches the planned arrival position and is corrected. Adjust the direction of the tapered surface provided on the head. After that, with the direction of the tapered surface adjusted, the drilling tube is pushed in without rotating the tip head to drill a curved hole, so that the drilling position is corrected so as to approach the planned arrival position. As described above, the drilling method described in this section utilizes the predicted arrival position obtained by grasping the position of the drilling pipe more accurately in the drilling locus measurement step and further using it together with the posture information of the tip head. By doing so, drilling can be performed with high accuracy.

(2) In the drilling locus measurement step in the above item (1), the positions of a plurality of parts of the drilling tube are detected from the ground by the receiver, and the positions of the plurality of parts are virtually linear. A drilling method (claim 2) for measuring the drilling locus based on a virtual curve obtained by connecting to.
In the drilling method described in this section, when measuring the drilling locus from the drilling start position to the tip head in the drilling trajectory measuring step, the positions of a plurality of parts of the drilling pipe are determined by a receiver from the ground. The drilling locus is measured based on a virtual curve obtained by detecting and virtually connecting the positions of a plurality of parts in a linear shape. That is, the work time is shortened while maintaining the accuracy of the measurement position of the drilling pipe by measuring the position of the drilling pipe intermittently in a plurality of points instead of continuously measuring the position of the drilling pipe. To do. Further, even if there is a section where it is difficult for the receiver to receive the magnetic field due to the influence of the above-ground structure or the underground buried object, the position of the drilling pipe is measured at a plurality of positions excluding the section. Therefore, the drilling locus can be grasped without any problem.

(3) In the attitude measurement step according to the above items (1) and (2), the light receiving means is brought close to the inclinometer previously attached to the tip head from the ground through the inside of the drilling tube. A drilling method (claim 3) in which data relating to the rotation angle and pitching angle of the tip head is transmitted from the inclinometer to the optical receiving means as an optical signal, and the data is acquired from the optical receiving means via a cable. ).
In the hole drilling method described in this section, an inclinometer is attached in advance in the space secured in the tip head as described in the above item (1). Examples of the inclinometer include two inclinometers that measure the rotation angle and the pitching angle of the tip head, or a two-axis inclinometer that can measure these two angles at the same time, and in any case. Even so, it is installed together with an optical transmission means capable of transmitting an optical signal.

Then, when measuring the posture of the tip head in the attitude measurement step, the light receiving means is brought close to the tilt meter attached to the tip head from the ground through the inside of the drilling tube, and the tilt meter passes through the light transmitting means. The optical receiving means is made to transmit data related to the rotation angle and pitching angle of the tip head as an optical signal. At this time, by connecting the cable to the optical receiving means, the data related to the rotation angle and the pitching angle of the tip head is acquired from the optical receiving means on the ground side via the cable. As a result, the posture information of the tip head is grasped on the ground side at an arbitrary timing as needed. The light receiving means may be approached to the inclinometer by using a wire or the like having a rigidity capable of propelling the light receiving means inside the drilling tube.

(4) In the linear drilling step and the curved drilling step in the above items (1) to (3), each time a predetermined distance is drilled, the drilling locus measurement step, the posture measurement step, and the adjustment are performed. Drilling method for performing the process (claim 4).
The drilling method described in this section includes a drilling locus measurement step in which the drilling operation is temporarily interrupted every time a straight hole or a curved hole is drilled a predetermined distance in the linear drilling step and the curved drilling step. The attitude measurement process and the adjustment process are executed. As a result, the drilling position is corrected before the actual drilling position deviates significantly from the planned position, so that the accuracy of the drilling position is further improved. The above-mentioned predetermined distance can be set arbitrarily according to, for example, the soil quality in the ground, and the distance may be different between the straight drilling step and the curved drilling step.

(5) In the adjustment step performed during the curved drilling step in the above item (4), the predicted end point position of the curved hole is calculated from the measurement results of the drilling locus measurement step and the attitude measurement step. , The difference between the predicted end point position of the curved hole and the planned end point position of the curved hole is calculated, and when the difference is out of the predetermined range, the hole locus measured in the hole locus measuring step is A vertical line is virtually drawn from the tip with respect to the planned line of the curved hole, and the rotation angle position of the tip head is set so that the tapered surface faces the opposite side of the planned line of the curved hole in the vertical line direction. A drilling method (claim 5) that returns to the curved drilling step after adjustment.

The drilling method described in this section is performed immediately before the adjustment step performed during the curved drilling step, that is, the adjusting step performed by interrupting the drilling every time the drilling is performed for a predetermined distance during the drilling of the curved hole. The predicted end point position of the curved hole is calculated from the drilling locus measured in the drilling locus measuring step and the rotation angle and pitching angle of the tip head also measured in the posture measuring step immediately before the adjusting step. That is, by grasping the drilling locus of the curved hole up to that point and the current posture information of the tip head, the predicted end point position of the curved hole when the drilling of the curved hole is continued as it is is calculated. .. Further, the difference between the predicted end point position of the curved hole calculated in this way and the planned end point position of the curved hole set in advance before construction is calculated.

Then, when the difference between the calculated end point positions deviates from the preset predetermined range, the rotation angle position of the tip head is calculated so that the drilling direction of the curved hole is corrected to approach the planned end point position. do. Specifically, a perpendicular line is virtually drawn from the tip of the drilling locus measured in the drilling locus measurement process to the planned line of the curved hole (planned drilling locus preset before construction), and the direction of this perpendicular line. Visually, the rotation angle position of the tip head is calculated so that the tapered surface of the tip head faces the side opposite to the planned line of the curved hole. Then, after adjusting the rotation angle position of the tip head to the calculated rotation angle position, the process returns to the curved hole drilling process to drill the curved hole. By drilling holes without rotating the tip head in this state, the tip head is propelled in a direction approaching the planned end point position due to the influence of the pressure received on the tapered surface. Therefore, the curved hole is drilled with higher accuracy. The above-mentioned predetermined range is set according to the performance of the measuring instrument used in the drilling locus measurement process and the posture measurement process.

(6) In the adjustment step performed during the linear drilling step in the above items (4) and (5), the predicted end point position of the straight hole is determined from the measurement results of the drilling locus measurement step and the attitude measurement step. In addition to the calculation, the difference between the predicted end point position of the straight hole and the planned end point position of the straight hole is calculated, and when the difference is out of the predetermined range, the cutting measured in the drilling locus measurement step is performed. A perpendicular line is virtually drawn from the tip of the hole locus with respect to the planned line of the straight hole, and the tip head is rotated so that the tapered surface faces the opposite side of the planned line of the straight hole in the vertical line direction. A drilling method (claim 6) in which the angular position is adjusted, the curved drilling step is performed for a predetermined drilling length, and then the process returns to the linear drilling step (claim 6).

The drilling method described in this section is performed immediately before the adjustment step performed during the linear drilling process, that is, the adjustment step performed by interrupting the drilling every time a predetermined distance is drilled during the linear hole drilling. The predicted end point position of the straight hole is calculated from the drilling locus measured in the drilling locus measuring step and the rotation angle and pitching angle of the tip head also measured in the posture measuring step immediately before the adjusting step. That is, by grasping the drilling locus of the straight hole up to that point and the current posture information of the tip head, the predicted end point position of the straight hole when the drilling of the straight hole is continued as it is is calculated. .. Further, the difference between the predicted end point position of the straight hole calculated in this way and the planned end point position of the straight hole set in advance before construction is calculated. Then, when the difference between the calculated end point positions deviates from the preset predetermined range, the rotation angle position of the tip head is calculated so that the drilling direction of the straight hole is corrected to approach the planned end point position. do.

Specifically, a perpendicular line is virtually drawn from the tip of the drilling locus measured in the drilling locus measurement process to the planned line of the straight hole (planned drilling locus preset before construction), and the perpendicular direction is obtained. Visually, the rotation angle position of the tip head is calculated so that the tapered surface of the tip head faces the side opposite to the planned line of the straight hole. Then, after adjusting the rotation angle position of the tip head to the calculated rotation angle position, a curved hole is drilled only by a predetermined drilling length. By drilling a curved hole without rotating the tip head in this state, the tip head is propelled in a direction approaching the planned end point position of the straight hole due to the influence of the pressure received on the tapered surface. That is, when the predicted end point position of the straight hole deviates from the planned end point position, it is necessary to temporarily drill a curved hole to correct the drilling direction. A curved hole is drilled only for the hole length. After that, the process returns to the linear drilling process to drill a straight hole. As a result, a straight hole can be drilled with higher accuracy. The above-mentioned predetermined range may also be set according to the performance of the measuring instrument used in the drilling locus measurement step and the posture measurement step.

(7) In the above item (6), the curved hole that has been drilled has the predetermined drill length, which is obtained from the measurement result of the drilling locus measurement step when the curved hole that has been drilled is drilled. (Claim 7), which is a drilling method calculated based on the radius of curvature of.
In the drilling method described in this section, a predetermined drilling length, which is the length of a curved hole to be drilled when correcting the direction of a straight hole, is calculated based on the radius of curvature of the curved hole that has already been drilled. It is a thing. At this time, the radius of curvature of the curved hole that has been drilled is obtained from the drilling locus of the curved hole measured in the drilling locus measuring step performed during the drilling of the curved hole. The radius of curvature of the curved hole obtained in this way is the radius of curvature that reflects the influence of the soil quality in the ground that is actually drilled. Therefore, the predetermined drilling length calculated based on this is an appropriate drilling length that takes into account the influence of the soil quality in the ground.

(8) In the drilling locus measurement step according to the above items (1) to (7), a gyro sensor capable of measuring at least the pitching direction and the yawing direction is passed through the inside of the drilling tube to the vicinity of the tip head. After feeding, measurement is performed by the gyro sensor while pulling up the gyro sensor, and the feeding amount of the linear feeding means connected to the gyro sensor is measured, and based on the measurement result by the gyro sensor and the feeding amount. A drilling method (claim 8) in which the method of measuring the drilling locus is used in combination.
The drilling method described in this section uses two methods in combination as a method of measuring the drilling locus from the drilling start position to the tip head in the drilling locus measuring step. That is, one method is a method of passing an electric current through the drilling pipe described in the above item (1), and the other method is a method of sending a gyro sensor to the vicinity of the tip head.

More specifically, the other method sends a gyro sensor capable of measuring at least the pitching direction and the yawing direction through the inside of the drilling tube to the vicinity of the tip head, and then pulls up the gyro sensor through the inside of the drilling tube. However, the angular velocity is measured on the path that the gyro sensor has moved. At this time, a linear feeding means such as a wire having a rigidity capable of propelling the gyro sensor in the drilling pipe is connected to the gyro sensor and fed, and the feeding amount of the linear feeding means is measured. At this time, the feeding amount of the feeding means may be measured at either the feeding means or the feeding time of the feeding means. Then, the drilling locus is measured based on the measurement result by the gyro sensor and the feeding amount of the feeding means. As a result, for example, a method of passing an electric current through the drilling pipe is used as the main measuring method of the drilling locus, and a measuring method using a gyro sensor is adopted for a section where measurement by this method is difficult. Will be done. By measuring the drilling locus in this way, the prediction accuracy of the arrival position of the drilling pipe is improved, and the drilling can be performed more accurately.

(9) Using a drilling tube equipped with a rotatable tip head having a tapered surface at the tip, a straight hole drilling is performed by pushing the drilling tube while rotating the tip head. A drilling device equipped with a drilling machine for drilling holes in the ground in combination with a curved drilling machine that drills a curved hole by pushing the drilling tube without rotating the tip head. A magnetic field generating means for generating a magnetic line centered on the drilling tube in the ground by passing a current from a part of the drilling tube exposed to the ground, and a receiver for receiving the magnetic field from the ground. A first measuring means for measuring the drilling locus from the drilling start position to the tip head based on the reception result by the receiver, and the tip head. Based on the posture measuring means for measuring the rotation angle and the pitching angle of the tip head, and the measurement results by the first drilling locus measuring means and the posture measuring means by using the tilt meter or the strain gauge installed in the above. A drilling device (9) including a rotation angle calculating means for calculating the rotation angle position of the tip head and a control means for controlling the entire device (claim 9).

(10) In the above item (9), the first drilling locus measuring means detects the positions of a plurality of parts of the drilling pipe from the ground by the receiver, and the plurality of drilling loci measuring means by the first measuring means. (Claim 10), which measures the drilling locus based on a virtual curve obtained by virtually connecting the positions of the portions of the above.
(11) In the above items (9) and (10), the attitude measuring means is brought close to the inclinometer from the ground through the inside of the drilling pipe and the inclinometer attached to the tip head in advance. A drilling device including an optical receiving means for receiving data relating to a rotation angle and a pitching angle of the tip head from an inclinometer as an optical signal, and a data acquiring means for acquiring the data from the optical receiving means via a cable. (Claim 11).

(12) In the above items (9) to (11), the first control means is used every time a predetermined distance is drilled in the straight hole and the curved hole by the drilling machine. The measurement of the drilling locus by the drilling locus measuring means, the measurement of the rotation angle and the pitching angle of the tip head by the posture measuring means, and the calculation of the rotation angle position of the tip head by the rotation angle calculating means. A drilling device that controls to be performed (claim 12).
(13) In the above item (12), the rotation angle calculating means is based on the measurement results of the first drilling locus measuring means and the attitude measuring means during the drilling of the curved hole by the drilling machine. The predicted end point position of the curved hole is calculated, and the difference between the predicted end point position of the curved hole and the planned end point position of the curved hole is calculated. From the tip of the drilling locus measured by the drilling locus measuring means, a vertical line is virtually drawn with respect to the planned line of the curved hole, and the tapered surface becomes the planned line of the curved hole in the vertical line direction. The rotation angle position of the tip head is calculated so as to face the opposite side, and the control means of the tip head by the rotation angle calculation means during drilling of the curved hole by the drilling machine. The drilling device according to claim 12, wherein the rotation angle position of the tip head is adjusted in response to the calculation of the rotation angle position, and then the rotation angle position is returned to the drilling of the curved hole by the drilling machine. Item 13).

(14) In the above items (12) and (13), the rotation angle calculating means measures by the first drilling locus measuring means and the attitude measuring means during drilling of the straight hole by the drilling machine. From the result, the predicted end point position of the straight hole is calculated, and the difference between the predicted end point position of the straight hole and the planned end point position of the straight hole is calculated. A perpendicular line is virtually drawn from the tip of the drilling locus measured by the first drilling locus measuring means with respect to the planned line of the straight hole, and the tapered surface is the straight hole in the vertical line direction. The rotation angle position of the tip head is calculated so as to face the side opposite to the planned line, and the control means is used by the rotation angle calculation means during drilling of the straight hole by the drilling machine. In response to the calculation of the rotation angle position of the tip head, the rotation angle position of the tip head is adjusted, the curved hole is drilled by the drilling machine for a predetermined drilling length, and then the drilling machine performs the drilling. A drilling device for returning to drilling a straight hole (claim 14).
(15) In the above item (14), the control means has already drilled the curved hole, which is obtained from the measurement result by the first drilling locus measuring means at the time of drilling the curved hole. (Claim 15), which calculates the predetermined drilling length based on the radius of curvature of the above.

(16) In the above items (9) to (15), a gyro sensor that is sent to the vicinity of the tip head through the inside of the drilling tube and can measure at least the pitching direction and the yawing direction is connected to the gyro sensor. A feeding amount measuring means for measuring the feeding amount of the linear feeding means, and a second measuring means for measuring the drilling locus based on the measurement results by the gyro sensor and the feeding amount measuring means. The rotation angle calculating means and the control means include the second drilling locus measuring means provided, and the drilling locus measured by the first drilling locus measuring means and the second drilling locus measurement. A drilling device (claim 16) that is used in combination with the drilling locus measured by means.
The drilling devices according to items (9) to (16) are used in the hole drilling methods of items (1) to (8), respectively, and items (1) to (8) above. It has the same effect as the drilling method of.

Since the present invention has the above-described configuration, it is possible to more accurately grasp the drilling position and perform drilling with high accuracy.

It is a block diagram which shows an example of the structure of the hole drilling apparatus which concerns on embodiment of this invention. It is sectional drawing of the tip head used in the drilling apparatus which concerns on embodiment of this invention. It is a flow chart which shows an example of the drilling method which concerns on embodiment of this invention. Continuing from FIG. 3, it is a flow chart which shows an example of the drilling method which concerns on embodiment of this invention. It is an image diagram which shows the state of drilling a hole in the ground by the drilling method which concerns on embodiment of this invention.

Hereinafter, embodiments for carrying out the present invention will be described with reference to the accompanying drawings. Here, detailed description of the same part or the corresponding part as in the prior art will be omitted, and the same part or the corresponding part will be indicated by the same reference numerals throughout the drawings.
First, FIG. 1 shows the configuration of the drilling device 10 according to the embodiment of the present invention. As shown in the figure, the drilling device 10 includes a drilling machine 12, a first drilling locus measuring means 30, a posture measuring means 40, a rotation angle calculating means 60, a control means 64, and a second drilling. The hole locus measuring means 70 and the like are included. Although detailed description is omitted, the drilling machine 12 drills a hole by pushing the drilling pipe 26 equipped with the tip head 14 into the ground, and sequentially pushes the drilling pipe 26 while adding the drilling pipe 26 to increase the drilling distance. It will be postponed. At this time, a straight hole is drilled by pushing the drilling tube 26 while rotating the tip head 14, and a curved hole is drilled by pushing the drilling tube 26 without rotating the tip head 14.

Here, the tip head 14 has a configuration as shown in FIG. 2 in this embodiment. The tip head 14 has a tapered surface 16 formed at a part of the tip thereof, and is for injecting drilling water into the drilling on the tip side (left side in the drawing) of a portion where the tapered surface 16 is not provided. The injection port 18 is provided. Further, inside the tip head 14, a water pressure sensor 20 for measuring the water pressure of the drilled water is installed. Further, as will be described in detail later, a sensor unit 42 constituting the posture measuring means 40 is installed inside the tip head 14.

Returning to FIG. 1, the first drilling locus measuring means 30 measures the drilling locus by the drilling pipe 26, and includes the magnetic field generating means 32, the receiver 34, and the first measuring means 36. There is. The magnetic field generating means 32 causes a magnetic field centered on the drilling pipe 26 in the ground by passing an electric current through the drilling pipe 26 from a part 26a (see FIG. 5) of the drilling pipe 26 exposed on the ground. Is generated. The receiver 34 is operated by a worker or the like on the ground and receives a magnetic field generated around the drilling pipe 26 in the ground from the ground. Further, the first measuring means 36 measures the position of the drilling pipe 26 inserted in the ground based on the strength of the magnetic field received by the receiver 34, thereby drilling holes by the drilling pipe 26. It measures the trajectory. The position of the drilling pipe 26 measured by the first drilling locus measuring means 30 is the absolute position of the drilling pipe 26.

The second drilling locus measuring means 70, like the first drilling locus measuring means 30, measures the drilling locus by the drilling pipe 26, and includes the gyro sensor 72, the feeding amount measuring means 74, and the second. The measuring means 76 of the above is provided. The gyro sensor 72 measures at least the acceleration in the pitching direction and the yawing direction, and is fed to the vicinity of the tip head 14 through the inside of the drilling pipe 26 by a linear feeding means such as a wire. After that, the acceleration is measured on the path where the gyro sensor 72 has moved while being pulled up through the inside of the drilling pipe 26 via the linear feeding means. The feeding amount measuring means 74 measures the feeding amount (feeding length) of the linear feeding means connected to the gyro sensor 72 when the gyro sensor 72 is fed to the vicinity of the tip head 14. The second measuring means 76 measures the position of the drilling pipe 26 through which the gyro sensor 72 is passed based on the measurement result by the gyro sensor 72 and the measurement result by the feeding amount measuring means 74, thereby drilling a hole. This is for measuring the drilling locus of the pipe 26. The position of the drilling pipe 26 measured by the second drilling locus measuring means 70 is a relative position starting from the position where the gyro sensor 72 starts to be inserted into the drilling pipe 26.

The posture measuring means 40 measures the posture of the tip head 14 attached to the tip of the drilling tube 26, and includes an inclinometer 44, a substrate 46, a battery 48, and an optical transmitting means 50 constituting the sensor unit 42. And an optical receiving means 52 and a data acquiring means 54. As shown in FIG. 2, the sensor unit 42 is preliminarily mounted inside the tip head 14, and the inclinometer 44 can measure the rotation angle (rolling angle) and pitching angle of the tip head 14 in this embodiment. A two-axis type is adopted. The substrate 46 converts the data measured by the inclinometer 44 into an optical signal, and the optical transmission means 50 transmits the data converted into an optical signal. The battery 48 supplies electric power to the inclinometer 44, the substrate 46, the optical transmission means 50, and the like. The optical receiving means 52 shown in FIG. 1 receives measurement data from the optical transmitting means 50 by the inclinometer 44 as an optical signal by being brought close to the optical transmitting means 50 through the inside of the drilling tube 26 by a wire or the like. Further, the data acquisition means 54 is connected to the optical receiving means 52 brought close to the optical transmitting means 50 by a cable, so that the measurement data by the inclinometer 44 is collected on the ground via the optical transmitting means 50 and the optical receiving means 52. It is for acquisition on the side.

The rotation angle calculating means 60 includes a drilling locus of the drilling pipe 26 measured by the first drilling locus measuring means 30 or the second drilling locus measuring means 70, and a tip head measured by the posture measuring means 40. Based on the posture information of 14, the rotation angle position of the tip head 14 for correcting the drilling direction by the drilling pipe 26 is calculated. The calculation method by the rotation angle calculation means 60 will be described later. On the other hand, the control means 64 controls the entire drilling device 10, and in this embodiment, also plays the role of the rotation angle calculation means 60. Therefore, the control means 64 is connected to each of the drilling machine 12, the first drilling locus measuring means 30, the second drilling locus measuring means 70, and the posture measuring means 40, and is, for example, plural or singular. Consists of computers.

Subsequently, a drilling method according to an embodiment of the present invention, which is executed by using the drilling device 10 described above, will be described along with the flow of the flow charts shown in FIGS. 3 and 4. In this embodiment, a case where a hole drilling machine 12 is used to drill a hole as shown in the image of FIG. 5 will be described as an example. In the example of FIG. 5, a straight hole SH1 having a length of about 5 m, a curved hole CH having a curved length of about 21 m, and a straight hole SH2 having a length of about 44 m are combined to drill a curved hole. The radius of curvature of the CH is about 60 m, the depth of the straight hole CH2 is about 5.3 m, and the horizontal length from the drilling start position to the end point of the straight hole SH2 is about 69 m. Note that reference numeral A shown in FIGS. 3 and 4 indicates that the processing continues from reference numeral A in FIG. 3 to reference numeral A in FIG. Further, refer to FIG. 1 for the configuration of the drilling device 10 and FIG. 2 for the configuration of the tip head 14, as appropriate.
S100 (Installation of drilling machine): The drilling machine 12 is installed at a position planned in advance, and the drilling pipe 26 equipped with the tip head 14 is set in the drilling machine 12. The drilling tube 26 is made of a metal having electrical conductivity and flexibility.

S110 (Start of linear drilling): From the drilling start position planned in advance, the drilling machine 12 first starts drilling the initial diagonal straight hole SH1. At this time, the straight hole SH1 is drilled while rotating the tip head 14 attached to the tip of the drilling tube 26 and injecting drilling water from the injection port 18 of the tip head 14.
S120 (End of linear hole drilling): After drilling a straight hole SH1 with a planned drilling length, the drilling of the straight hole SH1 is completed. Since the initial straight hole SH1 has a not so long drilling length (for example, about 5 m) and is close to the drilling machine 12, it hardly deviates from the planned drilling position. Therefore, in this embodiment, during the drilling of the straight hole SH1, the drilling locus measurement step and the posture measurement step of the tip head 14 described later are not performed, and the straight hole SH1 is inserted into the underground G of the drilling pipe 26, for example. The drilling length of the straight hole SH1 may be determined from the length of the portion and the like.

S130 (Measurement of drilling locus): The drilling locus at the time when the drilling of the straight hole SH1 is completed is measured by the first drilling locus measuring means 30 or the second drilling locus measuring means 70. When measuring using the first drilling locus measuring means 30, first, the magnetic field generating means 32 is connected to a part 26a of the drilling pipe 26 exposed above the ground, and the entire drilling pipe 26 is connected. By passing an electric current, a magnetic field centered on the drilling pipe 26 in the underground G is generated. Then, the receiver 34 receives the magnetic field of underground G from the ground, and the first measuring means 36 determines the position (absolute position and depth) of the drilling tube 26 based on the strength and weakness of the magnetic field received by the receiver 34. To measure. At this time, the position of the drilling tube 26 may be continuously measured linearly or intermittently as a plurality of points. After that, the drilling locus is measured from the position of the drilling pipe 26 by the first measuring means 36. That is, when the position of the drilling tube 26 is continuously measured linearly, it shows the drilling locus as it is, and when it is measured intermittently in a plurality of points, those plurality of holes are displayed. The virtual curve obtained by virtually connecting the positions in a linear shape shows the drilling locus.

On the other hand, when measuring using the second drilling locus measuring means 70, first, the gyro sensor 72 is driven from the tail end side of the drilling pipe 26 by a linear feeding means such as a wire. It is fed to the vicinity of the tip head 14 through the inside of. After that, by repeating the linear feeding means, the gyro sensor 72 is pulled up through the inside of the drilling pipe 26, and the gyro sensor 72 accelerates the acceleration in the pitching direction and the yawing direction on the path to which the gyro sensor 72 has moved. measure. Further, when the gyro sensor 72 is fed or pulled up, the feeding amount measuring means 74 measures the feeding amount of the linear feeding means. Then, the second measuring means 76 passed the position of the path on which the gyro sensor 72 moved, that is, the gyro sensor 72, based on the measurement result by the gyro sensor 72 and the measurement result by the feeding amount measuring means 74. The position of the drilling pipe 26 (relative position starting from the feeding start position of the gyro sensor 72) is measured. The position of the drilling pipe 26 measured in this way becomes the drilling locus by the drilling pipe 26.

Here, the proper use of the first drilling locus measuring means 30 and the second drilling locus measuring means 70 will be described. For example, the first drilling locus measuring means 30 is basically used for measuring the drilling locus, and the first drilling locus measuring means 30 is affected by the influence of the above-ground structure and the underground buried object. The second drilling locus measuring means 70 may be used only in the section where it is difficult for the receiver 34 to receive the magnetic field generated by the magnetic field generating means 32. Further, the accuracy of the measurement result may be improved by performing the measurement using both the first drilling locus measuring means 30 and the second drilling locus measuring means 70 at the same timing.

S140 (tip head posture measurement): The posture measuring means 40 measures the posture of the tip head 14 at the time when the drilling of the straight hole SH1 is completed. Here, in the present embodiment, the sensor unit 42 of the posture measuring means 40 built in the tip head 14 is always on during drilling, and the tilt meter 44 measures the rotation angle and pitching angle of the tip head 14. It is set to measure at all times. Therefore, in this step, in order to acquire the data measured by the inclinometer 44, the light receiving means 52 is brought closer to the light transmitting means 50 of the sensor unit 42. Specifically, the optical receiving means 52 and the data acquiring means 54 are connected by a cable, and the optical receiving means 52 in a state of being connected by the cable is brought close to the optical transmitting means 50 through the inside of the drilling tube 26 by a wire or the like. Then, the measurement data by the inclinometer 44 converted into an optical signal by the substrate 46 or the like is received from the optical transmitting means 50 to the optical receiving means 52, and transmitted from the optical receiving means 52 to the data acquiring means 54 via the cable. .. In this way, the data of the rotation angle and the pitching angle of the tip head 14 measured by the inclination meter 44 of the posture measuring means 40 are acquired on the ground side.

S150 (Rotation angle position calculation): The rotation angle calculation means 60 calculates the rotation angle position of the tip head 14 for drilling the curved hole CH following the straight hole SH1 based on the measurement results in S130 and S140. do. Specifically, the tip head 14 is provided at the tip head 14 for drilling the curved hole CH as planned by the tip head 14 at the position grasped in S130 and in the posture grasped in S140. The orientation of the tapered surface 16 is calculated. The direction of such a tapered surface 16 is usually the direction opposite to the bending direction of the curved hole CH in the radial direction of the curved hole CH. Therefore, the rotation angle position of the tip head 14 is calculated so that the tapered surface 16 faces such a direction.

S160 (Rotation angle position adjustment): The rotation angle position of the tip head 14 is adjusted by the control means 64 so as to be the rotation angle position of the tip head 14 calculated in S150. Specifically, the difference in angle between the current posture (rotation angle) of the tip head 14 grasped in S140 and the rotation angle position of the tip head 14 calculated in S150 is calculated, and the tip is only the difference in this angle. Rotate the head 14.
S170 (start of curved hole drilling): With the rotation angle position of the tip head 14 adjusted in the above S160, the drilling machine 12 starts drilling the curved hole CH. At this time, the curved hole CH is drilled while the drilling water is injected from the injection port 18 of the tip head 14 without rotating the tip head 14 attached to the tip of the drilling pipe 26.

S180 (Measurement of drilling locus): After drilling the curved hole CH by a predetermined distance (for example, 3 m), the drilling of the curved hole CH is temporarily suspended, and the first drilling locus measuring means 30 or the second drilling is performed. The hole locus measuring means 70 measures the current drilling locus. Since the measurement method is the same as that of S130, detailed description thereof will be omitted.
S190 (tip head posture measurement): Following the above S180, the posture of the tip head 14 at the time when the curved hole CH is drilled by a predetermined distance (for example, 3 m) is measured by the posture measuring means 40. Since the measurement method is the same as that of S140, detailed description thereof will be omitted.

S200 (Curved hole end point determination): Based on the drilling locus measured in S180, it is determined by the control means 64 whether or not the curved hole CH has reached the planned end point position of the curved hole CH set in advance. .. Then, when it is determined that the planned end point position has been reached (YES), the process proceeds to S270, and when it is determined that the planned end point position has not been reached (NO), the process proceeds to S210.
S210 (Calculation of difference in curved hole end point position): The rotation angle calculating means 60 calculates the predicted end point position of the curved hole CH from the measurement results in S180 and S190. Specifically, the predicted end point position of the curved hole CH when the curved hole CH is continuously drilled from the position of the drilling pipe 26 measured in S180 in the posture of the tip head 14 measured in S190. Is calculated. At this time, the radius of curvature R of the curved hole CH at the present time may be calculated from the drilling locus measured in S180, and this may be used for calculating the predicted end point position of the curved hole CH. Further, the rotation angle calculating means 60 calculates the difference between the calculated predicted end point position of the curved hole CH and the planned end point position of the curved hole CH set in advance.

S220 (difference determination): The rotation angle calculating means 60 determines whether or not the difference between the end point positions of the curved hole CH calculated in S210 is within a predetermined range. Then, when it is determined that the difference is within the predetermined range (YES), the process proceeds to S230, and when it is determined that the difference is not within the predetermined range (NO), the process proceeds to S240. The predetermined range used for the determination is the measurement performance of the first drilling locus measuring means 30 or the second drilling locus measuring means 70 used in S180, the posture measuring means 40 used in S190, and the like. An arbitrary range may be set accordingly.
S230 (Continued curved hole drilling): In the above S220, since it was determined that there is no problem in drilling the curved hole CH as it is, the drilling of the curved hole CH by the drilling machine 12 is continued. Then, after drilling the curved hole CH by a predetermined distance (for example, 3 m), the process returns to S180.

S240 (Rotation angle position calculation): In the above S220, since it was determined that the drilling direction needs to be corrected, the rotation angle position of the tip head 14 for correcting the drilling direction of the curved hole CH is determined by the rotation angle calculation means. Calculated by 60. Specifically, first, from the tip of the drilling locus measured in S180 (the current tip of the curved hole CH) to the preset planned line of the curved hole CH (planned drilling locus). Draw a vertical line virtually. Then, in this perpendicular direction view, the rotation angle position of the tip head 14 is calculated so that the tapered surface 16 of the tip head 14 faces the side opposite to the planned line of the curved hole CH.
S250 (Rotation angle position adjustment): The rotation angle position of the tip head 14 is adjusted by the control means 64 so as to be the rotation angle position of the tip head 14 calculated in S240. Since the specific method is the same as that of S160, detailed description thereof will be omitted.

S260 (Restart of curved hole drilling): With the rotation angle position of the tip head 14 adjusted in the above S250, drilling of the curved hole CH by the drilling machine 12 is restarted. Then, after drilling the curved hole CH by a predetermined distance (for example, 3 m), the process returns to S180.
Here, considering the return from S230 or S260 to S180, in S180 to S260, every time the curved hole CH is drilled by a predetermined distance (for example, 3 m) until the curved hole CH reaches the end point, It will be executed repeatedly.

S270 (start of linear hole drilling): Since it was determined in S200 that the drilling of the curved hole CH was completed, the drilling machine 12 starts drilling the straight hole SH2 following the curved hole CH. At this time, the straight hole SH2 is drilled while rotating the tip head 14 attached to the tip of the drilling tube 26 and injecting drilling water from the injection port 18 of the tip head 14.
S280 (Measurement of drilling locus): After drilling the straight hole SH2 by a predetermined distance (for example, 3 to 6 m), the drilling of the straight hole SH2 is temporarily suspended, and the first drilling locus measuring means 30 or the second drilling locus measurement means 30 or the second. The drilling locus measuring means 70 of the above measures the drilling locus at the present time. Since the measurement method is the same as that of S130, detailed description thereof will be omitted.

S290 (tip head posture measurement): Following the above S280, the posture of the tip head 14 at the time when the straight hole SH2 is drilled by a predetermined distance (for example, 3 to 6 m) is measured by the posture measuring means 40. Since the measurement method is the same as that of S140, detailed description thereof will be omitted.
S300 (Straight hole end point determination): Based on the drilling locus measured in S280, the control means 64 determines whether or not the linear hole SH2 has reached the preset planned end point position of the linear hole SH2. .. When it is determined that the planned end point position has been reached (YES), all the drilling up to the straight hole SH2 is completed, and the drilling by the drilling method according to the embodiment of the present invention is completed. .. On the other hand, if it is determined that the planned end point position has not been reached (NO), the process proceeds to S310.

S310 (Calculation of difference in straight hole end point position): The rotation angle calculating means 60 calculates the predicted end point position of the straight hole SH2 from the measurement results in S280 and S290. Specifically, the predicted end point position of the straight hole SH2 when the straight hole SH2 is continuously drilled from the position of the drilling pipe 26 measured in S280 in the posture of the tip head 14 measured in S290. Is calculated. Further, the rotation angle calculating means 60 calculates the difference between the calculated predicted end point position of the straight hole SH2 and the planned end point position of the linear hole SH2 set in advance. At this time, the difference between the drilling locus measured in S280 and the preset planned line (planned drilling locus) of the straight hole SH2, the angle formed by them, and the like may be used.

S320 (difference determination): The rotation angle calculating means 60 determines whether or not the difference between the end point positions of the straight hole SH2 calculated in S310 is within a predetermined range. Then, when it is determined that the difference is within the predetermined range (YES), the process proceeds to S330, and when it is determined that the difference is not within the predetermined range (NO), the process proceeds to S340. The predetermined range used for the determination is the measurement performance of the first drilling locus measuring means 30 or the second drilling locus measuring means 70 used in S280, the posture measuring means 40 used in S290, and the like. An arbitrary range may be set accordingly.

S330 (Continued straight hole drilling): In the above S320, since it was determined that there is no problem in drilling the straight hole SH2 as it is, the drilling of the straight hole SH2 by the drilling machine 12 is continued. Then, after drilling the straight hole SH2 by a predetermined distance (for example, 3 to 6 m), the process returns to S280.
S340 (Rotation angle position calculation): In the above S320, since it was determined that the drilling direction needs to be corrected, the rotation angle position of the tip head 14 for performing curved drilling to correct the drilling direction of the straight hole SH2 is determined. , Calculated by the rotation angle calculating means 60. Specifically, first, from the tip of the drilling locus measured in S280 (the current tip of the straight hole SH2) to the preset planned line of the straight hole SH2 (planned drilling locus). Draw a vertical line virtually. Then, in this perpendicular direction view, the rotation angle position of the tip head 14 is calculated so that the tapered surface 16 of the tip head 14 faces the side opposite to the planned line of the straight hole SH2.

S350 (Rotation angle position adjustment): The rotation angle position of the tip head 14 is adjusted by the control means 64 so as to be the rotation angle position of the tip head 14 calculated in S340. Since the specific method is the same as that of S160, detailed description thereof will be omitted.
S360 (curved drilling only for a predetermined drilling length): With the rotation angle position of the tip head 14 adjusted in the above S350, only the predetermined drilling length for correcting the drilling direction of the straight hole SH2 is the drilling machine 12 The curved hole is drilled by. Such a predetermined drilling length may be calculated from the radius of curvature R of the curved hole CH already drilled by the control means 64, and the radius of curvature R of the curved hole CH was measured during drilling of the curved hole CH. It may be obtained from the drilling locus, that is, the drilling locus of the curved hole CH measured in S180. Then, the curved hole is drilled only by the calculated predetermined drilling length without rotating the tip head 14.

S370 (Resume linear drilling): After correcting the drilling direction by the curved drilling of S360, the drilling of the straight hole SH2 by the drilling machine 12 is restarted. Then, after drilling the straight hole SH2 by a predetermined distance (for example, 3 to 6 m), the process returns to S280.
Here, in consideration of returning from S330 or S370 to S280, in S280 to S370, every time the straight hole SH2 is drilled by a predetermined distance (for example, 3 to 6 m) until the straight hole SH2 reaches the end point. In addition, it will be executed repeatedly.
In the flow charts of FIGS. 3 and 4, the drilling locus measurement step (S130, S180, S280) and the tip head posture measuring step (S140, S190, S290) are preceded by the drilling locus measurement step. However, the execution order may be reversed.

Now, according to the embodiment of the present invention having the above configuration, it is possible to obtain the following effects. That is, the drilling method according to the embodiment of the present invention is shown in FIG. 5 by using the drilling device 10 having the configuration shown in FIG. 1 and following the flow as shown in FIGS. 3 and 4. The hole is drilled in this way. More specifically, a linear drilling step (S110-S120, S270-S370) for drilling straight holes SH1 and SH2 and a curved hole CH are drilled using a drilling tube 26 equipped with a tip head 14. The underground G is drilled in combination with the curved drilling steps (S170 to S260) for drilling, and further, the drilling locus measurement steps (S130, S180, S280) and the attitude measurement steps (S140, S190). , S290) and adjustment steps (S210-S260, S310-S370).

In the drilling locus measurement step, a part 26a of the drilling pipe 26 exposed to the ground by the magnetic field generating means 32 of the first drilling locus measuring means 30, that is, a hole inserted into the underground G. By passing an electric current through the drilling pipe 26 from the vicinity of the tail end of the pipe 26, a magnetic field centered on the drilling pipe 26 inserted in the underground G is generated. Then, the magnetic field is received from the ground by the receiver 34 operated by the worker or the like, and based on the reception result such as the strength of the received magnetic field, the first measuring means 36 is used by the first measuring means 36 to make the hole 26 of the underground G absolute. Measure the position. As a result, the drilling locus by the drilling pipe 26 from the drilling start position to the current position of the tip head 14 is measured. As described above, the drilling method according to the embodiment of the present invention is a method in which a current is passed from a part 26a of the drilling tube 26 exposed on the ground while generating a magnetic field centered on the drilling tube 26. Since it is adopted, it is not necessary to equip the drilling tube 26 with a magnetic field generator or a receiver, and it is possible to secure a space for installing another measuring instrument in the drilling tube 26 or the tip head 14.

Further, in the posture measurement step, the rotation angle and the pitching angle of the tip head 14 are measured by installing the inclination meter 44 in the space of the tip head 14 secured as described above in this embodiment. Then, in the adjustment step, for example, the predicted arrival of the drilling pipe 26 is achieved based on the drilling locus obtained in the drilling locus measuring step and the rotation angle and pitching angle of the tip head 14 obtained in the posture measuring step. Calculate the position. That is, by grasping the drilling locus of the drilling pipe 26 up to that point and the current posture of the tip head 14, the predicted arrival position when drilling the straight hole SH2 or the curved hole CH is calculated as it is. NS.

Then, for example, when the predicted arrival position of the drilling pipe 26 deviates from the planned arrival position, the rotation angle position of the tip head 14, that is, the tip head 14 is corrected so that the actual arrival position approaches the planned arrival position and is corrected. , The direction of the tapered surface 16 provided on the tip head 14 is adjusted. After that, with the direction of the tapered surface 16 adjusted, the drilling tube 26 is pushed in without rotating the tip head 14 to drill a curved hole, so that the drilling position is corrected so as to approach the planned arrival position. Will be done. As described above, the drilling method according to the embodiment of the present invention can more accurately grasp the position of the drilling pipe 26 in the drilling locus measurement step, and is further used in combination with the posture information of the tip head 14. By using the predicted arrival position obtained in the above, it is possible to perform drilling with high accuracy.

Further, in the drilling method according to the embodiment of the present invention, in the drilling locus measurement step (S130, S180, S280), when measuring the drilling locus from the drilling start position to the tip head 14, from the ground. The position of a plurality of parts of the drilling tube 26 may be detected by the receiver 34, and the drilling locus may be measured based on a virtual curve obtained by virtually connecting the positions of the plurality of parts in a linear shape. .. That is, by measuring the position of the drilling pipe 26 intermittently in a plurality of points instead of continuously measuring the position in a linear shape, the working time is maintained while maintaining the accuracy of the measuring position of the drilling pipe 26. Can be shortened. Further, even if there is a section where it is difficult for the receiver 34 to receive the magnetic field due to the influence of the above-ground structure or the underground buried object, the position of the drilling pipe 26 can be set at a plurality of positions excluding the section. By measuring, the drilling locus can be grasped without any problem.

Further, the drilling method according to the embodiment of the present invention is two methods as a method of measuring the drilling locus from the drilling start position to the tip head 14 in the drilling locus measurement steps (S130, S180, S280). May be used together. That is, one method is a method using the first drilling locus measuring means 30 described above, and the other method is a method using the second drilling locus measuring means 70. In the method using the second drilling locus measuring means 70, a gyro sensor 72 capable of measuring at least the pitching direction and the yawing direction is sent through the inside of the drilling pipe 26 to the vicinity of the tip head 14, and then drilled. While pulling up the gyro sensor 72 through the inside of the pipe 26, the angular velocity is measured on the path where the gyro sensor 72 has moved.

At this time, a linear feeding means such as a wire having a rigidity capable of propelling the gyro sensor 72 in the drilling pipe 26 is connected to the gyro sensor 72 and fed, and the feeding amount measuring means 74 linearly feeds the gyro sensor 72. Measure the amount of feeding of the means. At this time, the feeding amount of the feeding means may be measured at either the feeding means or the feeding time of the feeding means. Then, the drilling locus is measured by the second measuring means 76 based on the measurement result by the gyro sensor 72 and the measurement result by the feeding amount measuring means 74. As a result, for example, a method using the first drilling locus measuring means 30 is used as the main measuring method of the drilling locus, and the second drilling locus measuring means is used for a section where measurement by this method is difficult. It is possible to use the method of using 70 properly. By measuring the drilling locus in this way, the prediction accuracy of the arrival position of the drilling pipe 26 is improved, and the drilling can be performed more accurately.

Further, the drilling method according to the embodiment of the present invention measures by using the posture measuring means 40 in the posture measuring step (S140, S190, S290). That is, prior to the construction, the sensor unit 42 including the inclinometer 44 is attached in advance to the installation space secured in the tip head 14 as described above. Examples of the inclinometer 44 include two inclinometers that measure the rotation angle and the pitching angle of the tip head 14, or a two-axis inclinometer that can measure these two angles at the same time. Even in the case of, it is installed together with the optical transmission means 50 capable of transmitting an optical signal.

Then, when measuring the posture of the tip head 14 in the attitude measurement step, the light receiving means 52 is brought close to the light transmitting means 50 attached to the tip head 14 from the ground through the inside of the drilling tube 26, and the tilt meter is used. Data relating to the rotation angle and pitching angle of the tip head 14 is transmitted as an optical signal from 44 to the optical receiving means 52 via the optical transmitting means 50. At this time, by connecting the optical receiving means 52 and the data acquiring means 54 with a cable, the data related to the rotation angle and the pitching angle of the tip head 14 can be obtained from the optical receiving means 52 via the cable on the ground side. It is acquired by the acquisition means 54. As a result, the posture information of the tip head 14 can be grasped on the ground side at an arbitrary timing as needed.

Further, in the drilling method according to the embodiment of the present invention, every time the straight hole SH2 or the curved hole CH is drilled by a predetermined distance in the linear drilling step (S270 to S370) and the curved drilling step (S170 to S260). In addition, the drilling work is temporarily suspended, and the drilling locus measurement step, the attitude measurement step, and the adjustment step are executed. As a result, the drilling position can be corrected before the actual drilling position deviates significantly from the planned position, so that the accuracy of the drilling position can be further improved.

Further, the drilling method according to the embodiment of the present invention is an adjustment step performed during the curved drilling step, that is, an adjustment performed by interrupting the drilling every time a predetermined distance is drilled during the drilling of the curved hole CH. In the steps (S210 to S260), the drilling locus measured in the drilling locus measurement step (S180) immediately before the step, and the rotation angle and pitching of the tip head 14 measured in the posture measuring step (S190) immediately before the adjustment step. From the angle, the rotation angle calculating means 60 calculates the predicted end point position of the curved hole CH. That is, by grasping the drilling locus of the curved hole CH up to that point and the current posture information of the tip head 14, the predicted end point position of the curved hole CH when the drilling of the curved hole CH is continued as it is. Is calculated. Further, the difference between the predicted end point position of the curved hole CH calculated in this way and the planned end point position of the curved hole CH preset before construction is calculated.

Then, when the difference between the calculated end point positions deviates from the preset predetermined range, the rotation angle position of the tip head 14 is corrected so that the drilling direction of the curved hole CH approaches the planned end point position. Is calculated. Specifically, a perpendicular line is virtually drawn from the tip of the drilling locus measured in the drilling locus measurement process to the planned line of the curved hole CH (planned drilling locus preset before construction), and this perpendicular line is drawn. The rotation angle position of the tip head 14 is calculated so that the tapered surface 16 of the tip head 14 faces the side opposite to the planned line of the curved hole CH in the directional view. Then, after adjusting the rotation angle position of the tip head 14 to the calculated rotation angle position, the process returns to the curved hole drilling process to drill the curved hole CH. By drilling holes without rotating the tip head 14 in this state, the tip head 14 is propelled in a direction approaching the planned end point position due to the influence of the pressure received by the tapered surface 16. Therefore, the curved hole CH can be drilled more accurately.

Further, the drilling method according to the embodiment of the present invention is an adjustment step performed during the linear drilling step, that is, an adjustment performed by interrupting the drilling every time a predetermined distance is drilled during the drilling of the straight hole SH2. In the steps (S310 to S370), the drilling locus measured in the drilling locus measurement step (S280) immediately before the step, and the rotation angle and pitching of the tip head 14 measured in the posture measuring step (S290) immediately before the adjustment step. From the angle, the rotation angle calculating means 60 calculates the predicted end point position of the straight hole SH2. That is, by grasping the drilling locus of the straight hole SH2 up to that point and the current posture information of the tip head 14, the predicted end point position of the straight hole S2 when the drilling of the straight hole SH2 is continued as it is. Is calculated. Further, the difference between the predicted end point position of the straight hole SH2 calculated in this way and the planned end point position of the straight hole SH2 set in advance before construction is calculated. Then, when the difference between the calculated end point positions deviates from the preset predetermined range, the rotation angle position of the tip head 14 is corrected so that the drilling direction of the straight hole SH2 approaches the planned end point position. Is calculated.

Specifically, a perpendicular line is virtually drawn from the tip of the drilling locus measured in the drilling locus measurement process to the planned line of the straight hole SH2 (planned drilling locus preset before construction), and this perpendicular line is drawn. The rotation angle position of the tip head 14 is calculated so that the tapered surface 16 of the tip head 14 faces the side opposite to the planned line of the straight hole SH2 in a directional view. Then, after adjusting the rotation angle position of the tip head 14 to the calculated rotation angle position, a curved hole is drilled only by a predetermined drilling length. By drilling a curved hole without rotating the tip head 14 in this state, the tip head 14 is propelled in a direction approaching the planned end point position of the straight hole SH2 due to the influence of the pressure received by the tapered surface 16. become. That is, when the predicted end point position of the straight hole SH2 deviates from the planned end point position, it is necessary to temporarily drill a curved hole to correct the drilling direction. A curved hole is drilled only for the drilling length. After that, the process returns to the linear drilling process to drill the straight hole SH2. As a result, the straight hole SH2 can be drilled with higher accuracy.

Further, in the drilling method according to the embodiment of the present invention, the control means 64 has already drilled a predetermined drilling length which is the length of the curved hole to be drilled when the direction of the straight hole SH2 is corrected. It is calculated based on the radius of curvature R of the curved hole CH of. At this time, the radius of curvature R of the curved hole CH that has been drilled can be obtained from the drilling locus of the curved hole CH measured in the drilling locus measurement step (S180) executed during the drilling of the curved hole CH. can. The radius of curvature R of the curved hole CH thus obtained is a radius of curvature that reflects the influence of the soil quality of the underground G that is actually drilled. Therefore, the predetermined drilling length calculated based on the drilling length can be calculated as an appropriate drilling length in consideration of the influence of the soil quality of the underground G and the like.

10: Drilling device, 12: Drilling machine, 14: Tip head, 16: Tapered surface, 26: Drilling tube, 26a: Part of the drilling tube exposed above the ground, 30: First drilling Trajectory measuring means, 32: Magnetic field generating means, 34: Receiver, 36: First measuring means, 40: Attitude measuring means, 44: Tilt meter, 52: Optical receiving means, 54: Data acquisition means, 60: Rotation angle Calculation means, 64: Control means, 70: Second drilling locus measuring means, 72: Gyro sensor, 74: Feeding amount measuring means, 76: Second measuring means, SH1, SH2: Straight hole, CH: Curved hole , G: Underground, R: Radius of curvature of curved hole

Claims (16)

A linear drilling step of drilling a straight hole by pushing the drilling tube while rotating the tip head using a drilling tube equipped with a rotatable tip head having a tapered surface at the tip, and the tip It is a method of drilling in the ground in combination with a curved drilling step of drilling a curved hole by pushing the drilling pipe without rotating the head.
By passing an electric current from a part of the drilling tube exposed on the ground, a magnetic field centered on the drilling tube in the ground is generated, and the magnetic field is received from the ground by a receiver, and the reception result is obtained. The drilling locus measurement step of measuring the drilling locus from the drilling start position to the tip head based on
A posture measurement process for measuring the rotation angle and pitching angle of the tip head using an inclinometer or strain gauge installed on the tip head.
A drilling method comprising a drilling trajectory measuring step and an adjusting step of adjusting the rotation angle position of the tip head based on the measurement results in the posture measuring step. In the drilling locus measurement step, the positions of a plurality of parts of the drilling pipe are detected from the ground by the receiver, and the positions of the plurality of parts are virtually linearly connected to each other based on a virtual curve. The drilling method according to claim 1, wherein the drilling locus is measured. In the attitude measurement step, the tip head is brought from the inclinometer to the light receiving means by bringing the light receiving means close to the inclinometer previously attached to the tip head from the ground through the inside of the drilling tube. The hole drilling method according to claim 1 or 2, wherein data relating to a rotation angle and a pitching angle of the above is transmitted as an optical signal, and the data is acquired from the optical receiving means via a cable. Claims 1 to 3, wherein in the linear drilling step and the curved drilling step, the drilling locus measurement step, the posture measurement step, and the adjustment step are performed every time a predetermined distance is drilled. The drilling method according to any one of the items. In the adjustment step performed during the curved hole drilling step, the predicted end point position of the curved hole is calculated from the measurement results of the drilling locus measurement step and the attitude measurement step, and the predicted end point position of the curved hole and the predicted end point position of the curved hole are obtained. The difference from the planned end point position of the curved hole is calculated, and when the difference is out of the predetermined range, from the tip of the drilling locus measured in the drilling locus measuring step to the planned line of the curved hole. On the other hand, a vertical line is virtually drawn, and the rotation angle position of the tip head is adjusted so that the tapered surface faces the side opposite to the planned line of the curved hole in the vertical line direction, and then the curved hole drilling step is performed. The drilling method according to claim 4, wherein the hole is restored. In the adjustment step performed during the straight hole drilling step, the predicted end point position of the straight hole is calculated from the measurement results of the drilling locus measurement step and the attitude measurement step, and the predicted end point position of the straight hole and the predicted end point position of the straight hole. The difference from the planned end point position of the straight hole is calculated, and when the difference is out of the predetermined range, the tip of the drilling locus measured in the drilling locus measurement step is transferred to the planned line of the straight hole. On the other hand, a vertical line is virtually drawn, and the rotation angle position of the tip head is adjusted so that the tapered surface faces the side opposite to the planned line of the straight hole in the vertical line direction, and the curved drilling step is performed. The drilling method according to claim 4 or 5, wherein after performing a predetermined drilling length, the process returns to the linear drilling step. The predetermined drilling length is calculated based on the radius of curvature of the curved hole that has been drilled, which is obtained from the measurement result of the drilling locus measurement step when the curved hole that has been drilled is drilled. The drilling method according to claim 6, wherein the drilling method is characterized. In the drilling locus measurement step, a gyro sensor capable of measuring at least the pitching direction and the yawing direction is sent to the vicinity of the tip head through the inside of the drilling tube, and then the gyro sensor is pulled up by the gyro sensor. In addition to the measurement, the method of measuring the feeding amount of the linear feeding means connected to the gyro sensor and measuring the drilling locus based on the measurement result by the gyro sensor and the feeding amount is also used. The drilling method according to any one of claims 1 to 7, wherein the drilling method is characterized by Using a drilling tube equipped with a rotatable tip head having a tapered surface at the tip, a straight hole drilling that drills a straight hole by pushing the drilling tube while rotating the tip head, and the tip head It is a drilling device equipped with a drilling machine for drilling holes in the ground in combination with a curved drilling machine that drills a curved hole by pushing the drilling pipe without rotating.
A magnetic field generating means for generating a magnetic field centered on the drilling tube in the ground by passing an electric current from a part of the drilling tube exposed on the ground, and receiving for receiving the magnetic field from the ground. A first drilling locus measuring means including a device and a first measuring means for measuring a drilling locus from a drilling start position to the tip head based on a reception result by the receiver.
A posture measuring means for measuring the rotation angle and pitching angle of the tip head by using a tilt meter or a strain gauge installed on the tip head.
A rotation angle calculating means for calculating the rotation angle position of the tip head based on the measurement results of the first drilling locus measuring means and the posture measuring means, and
A drilling device comprising: a control means for controlling the entire device. The first drilling locus measuring means detects the positions of a plurality of parts of the drilling pipe from the ground by the receiver, and the positions of the plurality of parts are virtually linear by the first measuring means. The drilling device according to claim 9, wherein the drilling locus is measured based on a virtual curve obtained by connecting to. The attitude measuring means is brought close to the inclinometer from the ground through the inside of the drilling pipe and the inclinometer attached to the tip head in advance, so that the rotation angle and the pitching angle of the tip head can be changed from the inclinometer. The drilling device according to claim 9 or 10, further comprising an optical receiving means for receiving the data as an optical signal and a data acquiring means for acquiring the data from the optical receiving means via a cable. The control means measures the drilling locus by the first drilling locus measuring means every time a predetermined distance is drilled in the straight hole and the curved hole by the drilling machine. 9. The aspect 9 is characterized in that the rotation angle and pitching angle of the tip head are measured by the posture measuring means and the rotation angle position of the tip head is calculated by the rotation angle calculating means. The drilling device according to any one of items 1 to 11. The rotation angle calculating means calculates the predicted end point position of the curved hole from the measurement results of the first drilling locus measuring means and the attitude measuring means during the drilling of the curved hole by the drilling machine. At the same time, the difference between the predicted end point position of the curved hole and the planned end point position of the curved hole is calculated, and when the difference is out of the predetermined range, it is measured by the first drilling locus measuring means. A vertical line is virtually drawn from the tip of the drilling locus with respect to the planned line of the curved hole, and the tip head is directed so that the tapered surface faces the opposite side of the planned line of the curved hole in the direction of the vertical line. It calculates the rotation angle position of
The control means receives the calculation of the rotation angle position of the tip head by the rotation angle calculation means during the drilling of the curved hole by the hole drilling machine, adjusts the rotation angle position of the tip head, and then adjusts the rotation angle position of the tip head. The drilling device according to claim 12, wherein the drilling device returns to drilling the curved hole by the drilling machine. The rotation angle calculating means calculates the predicted end point position of the straight hole from the measurement results of the first drilling locus measuring means and the attitude measuring means during the drilling of the straight hole by the drilling machine. At the same time, the difference between the predicted end point position of the straight hole and the planned end point position of the straight hole is calculated, and when the difference is out of the predetermined range, it is measured by the first drilling locus measuring means. A vertical line is virtually drawn from the tip of the drilling locus with respect to the planned line of the straight hole, and the tip head is directed so that the tapered surface faces the opposite side of the planned line of the straight hole in the direction of the vertical line. It calculates the rotation angle position of
The control means receives the calculation of the rotation angle position of the tip head by the rotation angle calculation means during the drilling of the straight hole by the hole drilling machine, adjusts the rotation angle position of the tip head, and adjusts the rotation angle position. The drilling device according to claim 12 or 13, wherein the drilling of the curved hole by the drilling machine is performed for a predetermined drilling length, and then the drilling is returned to the drilling of the straight hole by the drilling machine. The control means performs the predetermined drilling based on the radius of curvature of the curved hole that has been drilled, which is obtained from the measurement result by the first drilling locus measuring means at the time of drilling the curved hole that has been drilled. The hole drilling device according to claim 14, wherein the hole length is calculated. A gyro sensor that is fed through the inside of the drilling tube to the vicinity of the tip head and can measure at least the pitching direction and the yawing direction, and a feeding amount that measures the feeding amount of the linear feeding means connected to the gyro sensor. A second drilling locus measuring means including a quantity measuring means and a second measuring means for measuring the drilling locus based on the measurement results by the gyro sensor and the feeding amount measuring means.
The rotation angle calculating means and the control means use the drilling locus measured by the first drilling locus measuring means and the drilling locus measured by the second drilling locus measuring means in combination. The drilling device according to any one of claims 9 to 15, wherein the drilling device is used.

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