JPH01274090A - Apparatus for searching underground buried material - Google Patents

Abstract

PURPOSE:To judge whether measured data are adequate or not and to search underground buried materials highly accurately, by generating warning when the speed of a towed truck exceeds the preset maximum allowable speed. CONSTITUTION:At first, a moving vehicle is stopped in the vicinity of a region to be searched. A towed truck which is connected with a communication cable is towed. During the movement, a radiowave is transmitted into the underground part through a transmitting antenna. When there is an underground buried material in the soil, the radiowave reflected from the buried material is received through a receiving antenna 6. The signal is sent into a processor 13 in the moving vehicle through the communication cable. At the same time, the signal is sent to wheels for associative movement. When an operator moves the towed truck at a speed faster than an allowance speed too much, a position detecting signal A is inputted in an AND gate 19 from a position detecting circuit 10 during a period wherein an on-measurement signal B is being outputted into the AND gate. Therefore, the output side of the AND gate 19 becomes '1,' and a warning signal (b) is outputted into a pulse-width expanding circuit 20. The result is outputted into a warning device 21.

Description

DETAILED DESCRIPTION OF THE INVENTION [Field of Industrial Application] The present invention relates to an underground object exploration device that searches underground objects, such as gas pipes, water and sewage pipes, and electric cables, from the ground surface.

[Conventional technology]

When burying new objects underground or excavating tunnels etc. underground, if the location of the objects already buried underground is not accurately known in advance, the underground objects may be damaged during construction. It may cause a serious accident.

For this reason, conventionally, before construction begins, preliminary excavation is carried out along planned lines to ascertain and confirm the type and location of the objects already buried underground. When buried objects are buried underground, such as on roads, there are problems that cause traffic congestion and require a lot of construction costs.

In order to solve the above-mentioned problems, an underground object exploration device has already been developed that allows exploration of underground objects without excavating the ground surface.

For example, Japanese Patent Application No. 82-163486, Japanese Patent Application No. 62-17
No. 7839, patent application No. 62-244388, etc.

The exploration device of the above application emits radio waves (electromagnetic waves) from the ground surface to the underground, and receives reflected waves (echoes) reflected from the buried objects on the ground surface to locate the buried objects. It has the advantage that the position and depth of underground objects can be determined accurately in a short time.

[Problem to be solved by the invention] However, conventional exploration devices have the following problems.

In other words, a towing truck that travels on the ground is equipped with an antenna for transmitting and receiving, and a pulse generator such as a pulse encoder that generates a pulse every time the towing truck travels a certain distance, as shown in Figure 9. The position detection signal (pulse signal) and total data are sent to a processing device connected to the towing truck by a communication cable such as an optical cable, the measurement data is processed, and the results are displayed on a display device in real time. ing.

With the above exploration equipment, the time required for measurement is mainly
It is determined by the maximum repeatable period of the transmitting circuit, the display speed of the display device, the round trip time of radio waves required for exploration, etc.

Therefore, conventionally, the period of the trigger pulse generated by the transmission trigger circuit is set in accordance with these slower pulses, and measurement of a new point is started every time a position detection signal is input.

However, since the towing trolley is towed by a worker, its running speed is not constant, and as a result, the next position detection signal may be input while the previous point is being measured, as shown in Figure 10. As a result, when the position detection signal is input, a total of 71P1 of new points cannot be measured, and if you try to force measurement of a new point,
Because the measurement of the previous point is interrupted, the amount of information may be insufficient and the measurement result may be interpreted incorrectly, or the horizontal distance of the calculated underground cross section may be incorrect, resulting in the measurement of highly accurate underground objects. There were some problems, such as not being able to explore.

The present invention has been made in order to improve the above-mentioned problems, and it is an object of the present invention to provide an underground object exploration device that allows exploration of underground objects with high precision.

[Means and effects for solving the problem] In order to achieve the above object, the present invention provides a towing truck with a transmitting antenna that emits radio waves underground and receives radio waves reflected from underground objects. In the underground object exploration device, the towing cart is set in advance, and the device is provided with a receiving antenna, and the signal received by the receiving antenna is processed by a processing device and displayed as an image on a display device. By providing an alarm means that issues an alarm when the maximum permissible speed is exceeded, it is possible to judge whether the measured data is appropriate, and accurate measured data can always be obtained.

In addition, if the towing truck exceeds the maximum allowable speed, it is possible to tow the towing truck without exceeding the maximum allowable speed by decelerating it with a brake device or displaying the current speed of the towing truck with a speedometer. In addition, the present invention provides an underground buried object exploration device that applies strong braking when the current speed is near the maximum allowable speed, weakly brakes when there is a margin, and issues an alarm when the maximum allowable speed is exceeded. be.

〔Example〕 An embodiment of the present invention will be described in detail with reference to the drawings.

In the figure, 1 is a towing trolley that is towed on the surface of the exploration area by a working vehicle, and has wheels 2, casters 3, and a handle 4, and the bottom part is used for transmitting radio waves from the ground surface to the underground. An antenna 5 and a receiving antenna 6 for receiving reflected waves from the underground object 11 are provided, and these antennas 5.6 are connected to a transmitting circuit 7 and a receiving circuit 8, respectively.

Further, a pulse generator 9 such as a pulse encoder is linked to the axle 2a of the wheel 2, and each time the wheel 2 rotates, a position detection circuit 10 connected to the pulse generator 9 is activated as shown in FIG. A position detection signal A is output.

On the other hand, reference numeral 12 in the figure indicates a self-propelled mobile vehicle, and this mobile vehicle 12 is equipped with a processing device 13 shown in FIG. 2 and a display device 14 for displaying the processing results in real time. The transmitting/receiving circuit 7.8 and position detecting circuit 10 and the processing device 13 are connected by a communication cable 15 such as an optical cable, and are used to control the transmitting/receiving circuit 7.8 and position detecting circuit 10 and collect measurement data. It is supposed to be done.

That is, the processing device 13 is provided with a transmission trigger circuit 1B, and the transmission circuit 7 is activated by the trigger signal a emitted from the trigger circuit 16, and radio waves are emitted underground from the transmission antenna 5. , reflected waves from underground objects are received by the receiving antenna 6, and are sent from the receiving circuit 8 as Rf data to the processing device 13 via the communication cable 15.

Sample and hold circuit 17 provided in the processing device 13
holds the Rf data shown in FIG. 4 inputted from the receiving circuit 8, and performs equivalent sampling according to the transmission repetition period using the sampling signal inputted from the sampling control circuit 18 to convert it into Lf data. ing.

The sampling control circuit 18 starts operating in synchronization with the position detection signal A sent from the position detection circuit 10, and controls the sampling hold circuit 17 to perform sampling for one cycle, for example, 256 times. The pulse generating circuit 22, which is activated by the fall of the position detection signal, outputs the measuring signal B as shown in FIG. The Lf data is input to the display device 14 together with the position detection signal A output from the circuit 18, and the Lf data is displayed on the display device 14.

On the other hand, the position detection signal A from the position detection circuit 10 is also input to the AND gate 19, and when the position detection signal A and the total a$j signal B both become "1", the AND gate 19 issues an alarm. Signal Suga Pulse Width Expansion Circuit 2o
Output to.

The pulse width expansion circuit 20 expands the pulse width of the input alarm signal to a width that is easy for the work vehicle to hear and outputs it to an alarm device 21 such as a buzzer, thereby causing the alarm device 21 to issue an alarm. ing.

Next, to explain the operation, when searching for underground objects, the mobile vehicle is first stopped near the exploration area, and the towing vehicle 1 connected to the mobile vehicle 12 by the communication cable 15 is towed over the ground surface of the exploration area. While transmitting, radio waves are emitted underground from the transmitting antenna 5.

When there is a buried object 11 in the ground, radio waves reflected by the buried object 11 are received by the receiving antenna 6 and sent to the processing device 13 of the moving vehicle via the communication cable, and at the same time are linked to the wheels 2.

The pulses generated by the pulse generator 9 are transmitted to the position detection circuit 1.
The frequency is divided by 0 and the position detection signal A is sent to the processing device 13. The processing device 13 samples the Rf data input from the receiving circuit 8 using a sampling signal from a sampling control circuit 18 that operates in synchronization with the position detection signal A, and converts it into Lf data. At the falling edge of the position detection signal A output to the generation circuit 22, the pulse generation circuit 22 outputs the measurement signal B to the AND gate 19.

On the other hand, the position detection signal A at the beginning of total n1 is processed by the processing device 13.
During the measurement, the pulse generation circuit 22 sends the measurement signal B for a certain period of time to the AND gate 19.
It is output to.

After the first point measurement is completed, the measuring signal B
If the next position detection signal A is input to the processing device 13 when the value becomes "0", the moving speed of the towing truck 1 is below the maximum allowable speed and measurement is possible.
The measurement aFJ of the next point is started with the next position detection signal A, and at this time the alarm device 21 does not issue an alarm.

However, if the operator tows the towing trolley 1 too fast than the maximum allowable speed, the AND gate 1
While the measurement signal B is being output to 9, the position detection circuit 1
Since the signal is input from 0 to the AND gate 19, the output side of the AND gate 19 becomes “1” and the alarm signal is output to the pulse width expansion circuit 20.

This alarm signal is then expanded to a length that the operator can hear by the pulse width expansion circuit 20 and output to the alarm 21, which activates the alarm 21 and alerts the operator that the speed of the towing truck 1 has exceeded the maximum allowable speed. Alert you that something is happening.

This allows the operator to analyze the cross-sectional image displayed on the display device based on the assumption that the amount of information is missing, which prevents mistakes in judgment and enables the operator to re-measure as necessary. You will be able to obtain accurate information.

Note that FIG. 5(a) shows a cross-sectional image displayed on the display device 14, and FIG. 5(b) shows the measured position of the buried object 11.

As is clear from these figures, the position of the buried object is displayed as a circular arc on the screen, and the buried object 11 is not limited to metal pipes, but also vinyl chloride pipes, humid pipes, and the like can be detected.

On the other hand, in the above embodiment, when the towing speed of the towing truck 1 exceeds the maximum permissible value, the alarm 21 is used to issue an alarm. At the same time, a warning may be issued or the current vehicle speed may be displayed on the speedometer.

Next, to explain these, FIG. 6 shows the pulse width expansion circuit 2.
The signal output from 0 is output to the brake device 24 provided on the wheel 2 of the towing truck 1 to brake it, even if the vehicle speed of the towing truck 1 exceeds the maximum allowable speed. Since the speed is automatically reduced to below the maximum allowable speed, problems such as missing measurement data can be eliminated.

Further, FIG. 7 shows the current vehicle speed obtained by converting the position detection signal A output from the position detection circuit 10 into a voltage by the frequency-voltage converter 27, and the sampling control circuit 1.
The braking force is calculated by the braking circuit 29 from the maximum allowable speed obtained by converting the measurement signal B outputted from the pulse generating circuit 22 from 8 by the pulse width/voltage converter 28. The brake device 24 applies the brakes strongly when the speed is near the maximum allowable speed, and weakly when there is room, and the comparator 30 compares the pressures of both types, and if the current vehicle speed exceeds the maximum allowable speed, the alarm 21 issues an alarm. This system is designed to emit an alarm and can always measure at a speed below the maximum allowable speed, reducing measurement errors.If a measurement error occurs, it can be detected with an alarm, making it easy to take countermeasures such as re-measurement. .

Furthermore, FIG. 8 shows an embodiment in which the current and allowable maximum speeds of the above embodiment are displayed on the speedometer 32. The operator can check the speed of the towing truck 1 while checking the speedometer 32. If the maximum allowable speed is fixed in advance, a red zone 32a is provided as shown in FIG. 9, and the pointer 32b is set in the red zone. The speed of the towing truck 1 may be adjusted so as not to rush into the area 32.

〔Effect of the invention〕

As described in detail above, this invention provides a towing vehicle equipped with a transmitting antenna that emits radio waves underground and a receiving antenna that receives reflected waves from underground objects when the towing vehicle exceeds the maximum allowable speed. In this case, the towing truck's speed did not exceed the maximum allowable speed by issuing an alarm, braking to reduce the speed below the allowable maximum speed, or displaying the vehicle speed on the speedometer, etc. If the position detection signal is input during measurement and subsequent measurements cannot be made, or if the total i'1llJ
There is no risk of deciphering the measurement results without knowing that there is insufficient data.

This allows the location and depth of underground objects to be determined with high precision.
;11 constant, and high-speed measurement is also possible by measuring near the maximum allowable speed.

[Brief explanation of the drawing]

The drawings show an embodiment of the present invention, in which Fig. 1 is an overall configuration diagram, Fig. 2 is a block diagram of the same, Fig. 3 is an explanatory diagram showing a data processing situation, and Fig. 4 is a diagram showing a position detection signal and measurement. Timing chart of intermediate signal and alarm signal, Figure 5 (a) is a diagram showing the exploration results displayed on the display device, Figure 5 (b) is a cross-sectional view of the explored underground, Figures 6 to 9 The figure is an explanatory diagram showing another embodiment, and FIGS. 10 and 11 are explanatory diagrams of a conventional system. 1 is a towing truck, 5 is a transmitting antenna, 6 is a receiving antenna, 13 is a processing device, 14 is a display device, 24 is a braking device, and 32 is a speedometer. Applicant Komatsu Manufacturing Co., Ltd. Representative Patent Attorney Masaaki Yonehara

Claims (4)

[Claims] (1) The tow truck 1 is provided with a transmitting antenna 5 that emits radio waves underground, and a receiving antenna 6 that receives radio waves reflected from underground objects 11, and the receiving antenna 6 receives the radio waves. In the underground buried object exploration device, the signal is processed by the processing device 13 and displayed as an image on the display device 14, and an alarm is generated when the towing truck 1 exceeds a preset allowable maximum speed. An underground object exploration device equipped with an alarm means for detecting. (2) A brake device 2 that brakes the towing truck 1 when the towing truck 1 exceeds a preset allowable maximum speed.
4. The exploration device according to claim 1, further comprising: 4. (3) The exploration device according to claim 1, further comprising a speedometer 32 that displays the maximum allowable speed of the towing truck 1 and the current vehicle speed. (4) The current speed and allowable maximum speed of the towing truck 1 are detected, and if the current speed is near the allowable maximum speed, the brake system is applied strongly, and if there is a margin up to the allowable maximum speed, the brake system is applied weakly, and the brake system is applied to the allowable maximum speed. 2. The exploration device according to claim 1, wherein the alarm means generates an alarm when the speed is exceeded.