JPH03260284A - Horizontal displacement detector of underground moving body - Google Patents

Abstract

PURPOSE:To obtain the horizontal displacement accurately and to promote the degree of accuracy of excavation by detecting the magnetic field generated from a magnetic field generation cable on the ground surface through the first and second detection coils, correcting the slippage of a horizontal position, and performing operations by means of a horizontal displacement operator. CONSTITUTION:The magnetic field is generated from a magnetic field generation cable provided by separation an outward traveling line and a return traveling line from the reference line of the ground surface 12 by a specific distance. After that, the magnetic field is detected by the first and second detection coils S1 and S2 provided on an underground excavator 10 and is inputted to a horizontal displacement operator 60 of a signal processor 22. The effects caused by pitching and rolling of the underground excavator 10 or difference of altitude of the ground surface 12, etc. are corrected by detected values of a propulsion distance meter 24, pitching inclination gauge 18, rolling inclination gauge 20 through a depth slippage operator 54, vertical position slippage operator 56 and horizontal position slippage operator 58. The horizontal displacement with the reference line of the underground excavator 10 is accurately calculated by the horizontal displacement operator 60.

Description

[Detailed Description of the Invention] [Industrial Application Field] The present invention relates to a horizontal displacement detection device for an underground moving body, and in particular to an underground displacement detection device for underground where a tunnel is excavated to bury water pipes, gas pipes, etc. underground. In order to propel the excavator according to the construction guide line,
The present invention relates to a horizontal displacement detection device for detecting horizontal displacement of an underground excavator underground.

[Conventional technology]

The applicant of this application obtains accurate data on the horizontal displacement mode of an underground excavator from the construction planning line in real time by simply laying a magnetic field generating cable on the ground surface in advance according to the construction planning line. We have filed a patent application (Japanese Patent Application No. 10700/1983) for a horizontal displacement measuring device for underground excavators.

In this invention, a magnetic field generating cable is laid on the ground surface so that the outgoing route and the incoming route are located at equal intervals from the planned construction line according to the planned construction line of the tunnel to be excavated by the underground excavator. However, an appropriate detection coil is disposed on the side of the underground excavator, and the magnetic field generated by the cable is detected by this coil.

That is, the magnetic fields generated by the outbound route and the return route are symmetrical with respect to a vertical plane passing through the construction planned line (the center line between the round trip routes). Therefore, by determining the strength of the magnetic field based on the output of the above-mentioned detection coil, it is possible to identify and measure whether the underground excavator is to the right or left of the construction plan line and its horizontal displacement mode. ing.

[Problem to be solved by the invention]

According to the above-mentioned conventional technology, although the initial objective of being able to effectively and continuously measure the horizontal displacement of an underground excavator from the construction plan line in real time can be achieved, the magnetic field generated by the magnetic field generating cable is changes in the horizontal direction and vertical direction (depth direction), so in the process of calculating the horizontal displacement, in addition to the output of the above detection coil, the vertical position of the underground excavator relative to the ground surface is In other words, the depth of the underground excavator is also required as a separate measurement value.

The depth of the underground excavator is determined using, for example, a known pressure subsidence gauge as follows.

The depth at the starting point of the underground excavator (specifically, the starting shaft) is determined using a pressure subsidence meter, and this determined depth is input into the calculation device as data in advance, and this depth data and the output of the above detection coil are used to calculate the depth. Based on this, the horizontal displacement is determined, and the underground excavator is controlled so that the horizontal displacement becomes zero, that is, the underground excavator moves along the construction plan line, and the underground excavator is moved to the same depth from the starting shaft to the destination shaft. I'm trying to keep it going as it is.

However, underground excavators move underground while pitching (changes in posture in the front-back direction) and rolling (changes in posture in the left-right direction). Furthermore, in reality, the ground surface along the construction plan line is not flat, and there is often a difference in elevation between the ground surface at the starting point and the ground surface where the underground excavator is currently located.

The conventional technology described above can accurately determine horizontal displacement when such pitching is not involved, but in reality, depth deviations occur due to the effects of pitching, etc. The inventors have found that it is not possible to accurately determine the horizontal displacement.

Therefore, the applicant corrected the effects of pitching and rolling of the underground excavator, height differences with respect to the starting point along the construction plan line, and set the depth of the detection coil to Y and the output voltage of the pair of detection coils ( induced electromotive force) is V, ,V,
Then, the horizontal displacement X of the detection coil with respect to the construction plan line is v, -ゞ゛ 7 ・------
- (1) An application was filed for a horizontal displacement measuring device that determines V'++ Vz 2 (Patent application No. 1-
No. 65352).

However, the above formula (1) was derived assuming that the relationships Y">1" and Y">x" are satisfied, where l is the distance between the magnetic field generating cable and the construction plan line. Therefore, when the underground excavator is located at a shallow position, that is, when the distance between the magnetic field generation cable and the detection coil is short, there is a problem in that errors occur.

The present invention has been made in view of these circumstances, and is capable of eliminating the effects of pitching of an underground moving object such as an underground excavator, and even if the underground moving object is located at a shallow underground position, The object of the present invention is to provide a horizontal displacement detection device for an underground moving body that can accurately determine the horizontal displacement of the underground moving body with respect to a reference line.

[Means and effects for solving the problem] In order to achieve the above object, the present invention detects the horizontal displacement of an underground mobile object moving underground along a reference line on the ground surface with respect to the reference line. A horizontal displacement detection device for an underground moving body, comprising: a magnetic field generating cable disposed at a predetermined distance apart from an outgoing route and a return route on both sides of the reference line; , first and second detection coils for detecting the magnetic field generated by the magnetic field generation cable, which are inclined at a predetermined angle on both sides of the traveling direction of the underground moving body with respect to the vertical axis;
initial depth storage means for storing the depth at the starting point of the underground mobile body; elevation difference storage means for storing the height difference from the starting point at each position on the reference line; A moving distance detection means for detecting;
pitching angle detection means for detecting a pitching angle of the underground mobile body; rolling angle detection means for detecting a rolling angle of the underground mobile body; an output of the movement distance detection means; and an output of the pitching angle detection means. depth deviation calculation means for calculating a depth deviation with respect to the starting point due to pitching of the underground moving body;
Based on the arrangement position of the detection coil and the output of the rolling angle detection means, a vertical positional shift of the first and second detection coils with respect to the underground moving body due to rolling of the underground moving body is determined. Vertical positional deviation calculating means to calculate, the height difference stored in the height difference storage means corresponding to the travel distance detected by the travel distance detection means, and the starting point stored in the initial depth storage means. , the calculated values obtained by the depth deviation calculation means and the vertical position deviation calculation means, and the output of the rolling angle detection means, the first and second horizontal positional deviation calculating means for calculating the horizontal positional deviation of the detection coil with respect to the underground mobile body; and the height difference storage means stores the height difference corresponding to the moving distance detected by the moving distance detecting means. the difference, the depth at the starting point stored in the initial depth storage means, the detected values of the first and second detection coils, the depth deviation calculation means, the vertical position 1 deviation calculation means, and the horizontal horizontal displacement calculating means for calculating a horizontal displacement of the underground mobile body with respect to the reference line based on the calculated value of the positional deviation calculating means, and the horizontal displacement calculating means is configured to calculate the horizontal displacement of the underground moving body with respect to the reference line based on the calculated value of the positional deviation calculating means. The present invention is characterized in that it calculates where x is the horizontal displacement with respect to the line, Y is the depth of the detection coil, and l is the distance from the reference line of the outgoing line and the incoming line of the magnetic field generating cable.

However, k-(V! V+)/(v, 10V,)
where 1 is the induced electromotive force generated in the first detection coil, and V2 is the induced electromotive force generated in the second detection coil.

In the present invention configured in this way, even if pitching occurs in the underground moving body, the depth shift of the underground moving body with respect to the starting point due to the pitching can be determined by the pitching angle detection means.

Furthermore, even if rolling occurs in the underground moving body, the vertical positional deviation and horizontal positional deviation of the detection coil relative to the underground moving body can be determined by the vertical positional deviation calculating means and the horizontal positional deviation calculating means.

In addition, the horizontal displacement calculating means calculates the distance between the underground mobile object and the underground mobile object based on the calculation results of each of the above-mentioned calculators, the depth at the starting point of the underground moving object (initial depth), and the height difference with respect to the starting point along the reference line. The horizontal displacement with respect to the reference line is calculated by correcting the effects of pitching, rolling, etc. and,
The calculation by the horizontal position deviation calculation means takes into account the distance between the reference line and the magnetic field generation cable, and the relationship between depth and horizontal displacement, so even if the underground moving object is located at a shallow underground position, Horizontal displacement can be determined with high accuracy.

[Embodiment] A preferred embodiment of the horizontal displacement detection device for an underground moving body according to the present invention will be described in detail with reference to the accompanying drawings. In this example, an underground excavator is assumed as the underground moving object, but the underground moving object is not limited to the underground excavating machine, and may be any tangible object that can move underground. Applicable.

FIG. 1 is an explanation of a position detection device for an underground excavator according to the present invention.

In FIG. 1, an underground excavator 10, which is an underground moving body, has first and second detection coils S, S, S, is the provision. The detection coils S and S2 are arranged to intersect with each other as will be described in detail later, and are attached to a predetermined position of the underground excavator 110 via the support device 16, so that the underground excavator 10 pitches (tilts in the front-rear direction). ) and rolling (
Even if the robot tilts from side to side, its posture will not change.

Further, inside the underground excavator 10, there is a pitching inclinometer 18 as a pitching angle detection means for detecting the pitching angle of the underground excavator 10, and a rolling angle detection means for detecting the rolling angle of the underground excavator IO. A rolling angle inclinometer 20 is disposed at an appropriate position. and,
The detection coil 51% S2, the pitching inclinometer 18, and the rolling angle inclinometer 20 are connected to a signal processing device 22, the details of which will be described later, installed in the starting shaft 23, which is the starting point of the underground excavator 10. This allows the detection signal to be input to the signal processing device 22. Further, the starting shaft 23 is provided with a propulsion distance meter 24 and a display device 26.

The propulsion distance meter 24 detects the moving distance R of the underground excavator 10 digging from the starting shaft 23 toward the reaching shaft 28 and inputs the detected distance to the signal processing device 22 . Then, the display device 26 is
Upon receiving the output signal of the signal processing device 22, the signal processing device 22
Displays the calculated result.

As shown in FIG. 2, the magnetic field generating cable 14 consists of an outgoing route 14a and an incoming route 14b, each of which follows a construction plan line (reference line) 30 for excavating a tonne that was determined by surveying or the like. They are laid on the ground surface 12 on both sides at a predetermined distance l. And magnetic field generation cable 14
are connected to a current supply bag 232 that supplies an appropriate alternating current, and when current flows as indicated by arrows A and B, for example, a concentric magnetic field centered on the reciprocating lines 14a and 14b is generated.

The first and second detection coils S, , S, which detect the strength of the magnetic field generated by the magnetic field generation cable 14, when viewed from the axial direction of the underground excavator 10, as shown in FIG. In addition, it is inclined by a predetermined angle φ (for example, 45 degrees) on both sides of the vertical line 34, and the above-mentioned support device 16 prevents the attitude of the underground excavator 10 from changing even if it pitches or rolls. Supported. And the detection coil S
1 and St are connected to preamplifiers 36 and 38 provided as needed, as shown in FIG. 4, and the comparison signal is input to the signal processing device 22 via the preamplifiers 36 and 38.

The signal processing device 22 is provided with a receiving amplifier 40.42 that amplifies the output of the preamplifier 36.38. In addition, the signal processing device 22 also processes a receiving amplifier 40 which is an analog signal.
．． An analog converter that converts the output of 42 into a digital signal.
A that converts the analog output signals of the digital converter (A/D converter) 44, 46, the propulsion distance meter 24, the pitching inclinometer 18, and the rolling angle inclinometer 20 into digital.
/D converters 48,50,52. Further, the signal processing device 22 includes a depth deviation calculation unit 54 which is a depth deviation calculation means, a vertical position deviation calculation unit 56 which is a vertical position deviation calculation unit, a horizontal position deviation calculation unit 58 which is a horizontal position deviation calculation unit, and a horizontal position deviation calculation unit 58 which is a horizontal position deviation calculation unit. Horizontal displacement calculator 6 which is a displacement calculator stage
0, a memory 62 as initial depth storage means and elevation difference storage means. This memory 62 includes the distance Ml of the magnetic field generation cable 14 from the construction plan line 30, the depth at the starting point of the underground excavator 10 (initial depth Y), and the detection coils S, , S, of the underground excavator 10. The installation in the vertical direction with respect to the center is approximately 1 tao, and the height difference H with respect to the starting point along the construction plan line 30 is stored.

The depth deviation calculator 54 determines the detection coil S associated with the pitching of the underground excavation 6110 based on the output signal of the propulsion distance meter 24 and the output signal of the pitching inclinometer 18, which are input via the A/D converter 48.50. , S2, and the calculation results are sent to the horizontal position shift calculator 58 and the horizontal displacement calculator 60.
and enter it.

The vertical position deviation calculator 56 also receives the output signal of the rolling angle inclinometer 20 input via the A/D converter 52 and the detection coils S, , S, which are stored in the memory 62.
When installing the underground excavator 10, the vertical positional deviation of the detection coils S, , St with respect to the underground excavator 10 is calculated based on the position d, and the horizontal positional deviation calculator 58 and horizontal displacement calculator 60.

Horizontal position shift calculation! S58 calculates the calculation results of the depth deviation calculation unit 54 and the vertical position deviation calculation unit 56 and the propulsion distance meter 24.
, the output signal of the rolling angle inclinometer 20 and the memory 62
The horizontal positional deviation of the detection coils S and S2 relative to the underground excavator 10 is calculated based on the height difference H along the construction plan line 30 stored in , and is sent to the horizontal displacement calculation unit 60.

The horizontal displacement calculator 60 includes the detection coil Sl inputted via the A/D converters 44 and 46, the detection signal of 52, the output signal of the propulsion distance meter 24, the depth deviation calculator 54, and the vertical position deviation calculator. 56 and the horizontal position 1 deviation calculating unit 58, and the initial depth Yo and height difference H stored in the memory 62, the construction plan for the detection coils S, SZ [3]
The horizontal displacement relative to 0 is calculated and output to the display device 26 for display.

The operation of the embodiment configured as described above is as follows.

First, the principle of detecting the horizontal displacement of the detection coils S1 and S2 with respect to the construction plan line 30 according to this embodiment will be explained based on FIG.

In FIG. 3, the detection coils S, , S, have their coil center points Cc on a vertical line 34 that includes the center of the underground excavator 1o, and are inclined left and right by ψ with respect to the vertical line 34. .

In addition, the detection coils S,, S2 have a coil center point Cc located at a depth Y, and are horizontally shifted by X to the right (positive direction) in the traveling direction of the underground excavator 1o with respect to the construction plan line 30. It is assumed that Then, the distance between the coil center point cc and the outward route 14a is rI, the angle that the line segment connecting the two makes with the vertical line is θ1, the distance between the coil center point c3 and the return route 14b is rt, and the line segment connecting the two is The angle with the vertical line is θ2
shall be.

At this time, the induced electromotive force V, , V, generated in the first and second detection coils St 1 and St is expressed as follows.

However, here is a constant determined quantitatively by the magnetic permeability of the earth, etc.

When the above equations (2) and (3) are transformed, V and V2 are expressed as in the following equations (4) and (5).

V+= ” (sinφcosθI −Cosψs
jnθ,)K(CO3ψcosθz + sinψsi
n/? z) 2 − ・−1−−−・(4) Vz= ” (sinφcoso, −cosφs
inθ2)rt −”((..3φ.., θ, + sinφsinθ1
)I ・----111・=(5) On the other hand, as can be easily seen from Figure 3, cose+=
Y(6) rl 5inθ1−1fall2Ω ・−・・−・(7) rl cosθx ” '−'−・
−(8) rt sane, = ” ” ” ' −−−0−
(9) rt is obtained. Therefore, from equations (4) to (9), θ1, θ
2 and set ψ=45°, the induced electromotive force ■, ■8 generated in the detection coils St, St are K'YI−x V, = −[−−] r 1 r 1 r
rK' Y l+x [-+1 r, r, r.

(10) %), = K (knee l+χ ]rt
rz rzKY l−χ −−(−+) rl rl r,・−・−
-111), where '=to/(T.

The above formulas (10) and (11) are further transformed into the following formula (12)
, (13).

・−−−−−1−(12) ・−・−1−−・・(13) Also, as can be easily seen from FIG. 3, rl and rl are rl ” = Y” + (j! -x)” ---(
14) rt”=Y”+(j!+x)”・
----- Since it is expressed as (15), these formulas (14),
Substituting (15) into equations (12) and (13), Vl,
Vi is (16) =-2' ((l-x) (Y2+(l+x)1
+(f+x) (Y” +(1-x)! )÷
((Y" + (f-x)"1x (Y" +
(II!+x)J]・−1−(17) Therefore, from these formulas, Vl Vz, V, +
■If you rearrange to find 2, you will get the following formula (18), % formula % (19) Then, if you divide each side of formula (18) by each side of formula (19), ゞ・−ゞ・= − 2xY ・−1・−−−−−(20)Vl +Vt (1+Y”)−x2 is obtained. This equation is discontinuous at the point xi = z” 10y”, but in other ranges Can be solved xt≦
If the solution is within the range of ``At
Horizontal V, +V with respect to the construction plan line 30 of t.

(1B) ...--(21) It can be obtained as follows. However, here = (vz
−Vl )/(■f +V,). In addition, the above formula (21) is expanded into a series as shown in (22), and the horizontal displacement
can be determined with sufficient accuracy.

In addition, if Y">1", Y")x"0), the formula (
2) The above equation (1) is obtained. Type 20 (23)
In equation (22), (i /Y”) → 0, and k
It is also derived when the term 2 is made negligible (Y") corresponding to x".

In this way, the depth Y of the detection coils St, St.

Distance Hi from the construction plan line 30 of the magnetic field generating cable 14!
, by detecting the induced electromotive force V, ,V, generated in the pair of detection coils S, ,S, the detection coil S
, , S with respect to the construction plan line 30, that is, the horizontal displacement of the underground excavator 10 with respect to the construction plan line 30 can be determined.

However, when the underground excavator 10 excavates underground, it moves forward while causing pitching and rolling. Further, the ground surface 12 along the construction plan line 30 is generally not flat but has undulations. Therefore, since the depth Y of the detection coils St, St is different from the initial depth Y0 at the start of excavation in the starting shaft 23, the initial depth Y, the detection coils S, , St
Therefore, in order to accurately determine the horizontal displacement of the underground moving body with respect to the construction plan line 30, it is necessary to correct the depth deviation due to pitching and rolling. There is. In this embodiment, such correction can be automatically performed by the signal processing device 22.

Hereinafter, a method for detecting horizontal displacement according to an embodiment will be specifically described.

Now, it is assumed that the underground excavator 10 has excavated from the starting point P to R along the route RT and reached the point P, as shown in FIG. Further, as in the sixth article, when the underground excavator 10 is not rolling, the detection coils S+ and Sz detect the vertical line 34 passing through the center C6 of the underground excavator 10.
It is assumed that it is installed at a position d0 away from the center C0 of the underground excavator 10.

The memory 62 of the signal processing device 22 stores the distance between the magnetic field generating cable 14 and the construction plan line 30! , the depth (initial depth) Yo at the starting point P of the underground excavator 10, and the installation of the detection coils S+ and St is at position d. , the elevation difference H, etc. of the starting point P0 relative to the ground surface 12 for each predetermined section R+, Rz, Rs, -'-...- along the construction plan line 30 are stored.

The initial depth Y0 can be easily measured by the operator at the starting shaft 23 using a pressure subsidence meter, etc., and the height difference H can be easily obtained by surveying, etc., and these measured values are determined by the installation position d, etc. It is stored in the memory 62 via the keyboard or the like. Note that the height difference H is positive (+) when it increases vertically upward.

The propulsion distance meter 24 detects the amount of excavation of the underground excavator 10, that is, the amount of movement of the underground excavator 10, and outputs the detected amount to the signal processing device 22. Further, the pitching inclinometer 18 measures the pitching angle θ2 of the underground excavator 10. The rolling angle inclinometer 20 detects the rolling angle θr of the underground excavator 10, and sends detection signals to the signal processing device 22, respectively.

The depth deviation calculator 50 of the signal processing device 22 reads the travel path MR of the underground excavator 10 output from the propulsion distance meter 24 and the pitching angle θ, t output from the pitching inclinometer 18 (step 100). The depth deviation Δy1 due to the pitching of the detection coils St, St is determined by the following equation (24) and sent to the horizontal position deviation calculator 58 and the horizontal displacement calculator 60. Here, the pitching angle θr is
Pitching downward with respect to the direction of travel is positive (+).

Therefore, when pitching occurs in the underground excavator 10, the depth Y of the coil center point C3 of the detection coils S1 and S2 in equation (21) is Y=Y, +ΔY pt
−'−・−・・−(25).

On the other hand, the ground surface at the point P has a height difference of H with respect to the ground surface at the starting point P0, and the magnetic field generating cable 14 laid on the ground surface 12 is located at the starting point P. This means that there is a difference in height by H compared to the actual height. Therefore, the depth Y of the coil center point Cc taking into account this height difference H is:
Therefore, the detection coil S+ takes pitching and height differences into consideration.
, S* with respect to the construction plan line 30 is expressed as (27). However, A=Y, +Δy H+ H.

When rolling occurs in the underground excavator 10, the vertical position deviation calculator 56 reads the detection coils S, . . . from the memory 62.
At the same time as reading out the position 711d, the rolling angle θ1.S is output by the rolling angle inclinometer 20. Then, the vertical position deviation calculator 56 is installed at position d. and rolling angle θ1. Based on the following equation (2
8), and in step 106), the calculation results are input to the horizontal position shift calculator 58 and the horizontal displacement calculator 60.

Δyre=do (I COsθ,, )
, --(28) Therefore, if pitching and rolling occur in underground excavation $110, the detection coils S, , S
.

The depth Y is Y ”” Yo+ΔVat+Δypt
−(29) is obtained. In addition, in the case of the embodiment, θr is defined as positive if it rotates clockwise toward the advancing direction of the underground excavator 10.

Furthermore, when rolling occurs in the underground excavator 10, as shown in FIG.
horizontally shifted by Δχ' from the center C0. As is clear from the figure, this deviation amount ΔX' is as follows: Δx'=d, sin θ, -------(
30), but for the horizontal direction, the detection coils S3, S! It is necessary to consider the factor of the angle of incidence of the magnetic field detected by the Therefore, the center C of the coil center point Cc
A horizontal positional deviation calculator 58 that calculates a relative positional deviation in the horizontal direction with respect to 0 receives and receives the calculation results from the depth deviation calculator 50 and the vertical positional deviation calculator 56, and also calculates the relative positional deviation in the horizontal direction from the depth deviation calculator 50 and the vertical positional deviation calculator 56. Read the movement path 11 [R of the aircraft 10. Read the height difference H and initial depth Y0 of the point P corresponding to this movement distance R from the memory 62.Step 1
08), the horizontal relative positional deviation Δx r of the coil center point Cc with respect to the center C0 of the underground excavator 10 is calculated by the following formula:
a is determined (step 110) and sent to the horizontal displacement calculator 60.

Δx,,”(Yo+Δy,L+Δy l−L+H)
×θ1. -J -------(31) Here, J is a constant determined in advance by experiment or simulation.

By the way, the horizontal displacement X++ of the center C0 of the underground excavator ■0 with respect to the construction needle i1 line 30 is as shown in FIG.
It can be determined as the value obtained by subtracting the horizontal relative positional deviation 8Xrll of the coil center point Cc with respect to the center C0 from the horizontal displacement X of the coil center point CC with respect to the working needle fi@30. This operation is performed in step 112.11 of FIG.
4, the horizontal displacement calculator 60 performs the calculation.

That is, the horizontal displacement calculator 60 reads the travel distance R of the underground excavator 10 output from the propulsion distance meter 24, reads the height difference H and initial depth Y corresponding to this travel distance R from the memory 62, and , Δy, t output by the depth shift calculator 50 and Δy output by the vertical position shift calculator 56
The depth Y of the coil center point Cc is determined by calculating the above-mentioned equation (29) from , , . Further, the horizontal displacement calculator 60 connects the detection coils S, ,
S.

In addition to taking in the detection signal of
Based on Δx7 outputted by 8 and the previously determined depth Y,
The following equation (32) is calculated to determine the horizontal displacement χ1 of the center C0 of the underground excavator 10 with respect to the construction plan line 30.

-Δxre・・−・−
(32) However, B=Y, +Δ3' pc+Δy r−
+H.

Then, the horizontal displacement calculator 60 calculates the determined horizontal displacement xlI
is output to the display device 26 to display how far the underground excavator IO is displaced with respect to the construction plan line 30 in either the left or right direction of the traveling direction.

Thereby, the operator can check the horizontal displacement X of the underground excavator 10 via the display device 26. It is possible to know in real time whether the underground excavator is moving with
Appropriate operations and processing can be performed. Also,
The calculation results of the horizontal displacement calculator 60 are manually input to a control device (not shown) that controls the underground excavator 10, and
It becomes possible to control so that O does not deviate from the construction plan line 30.

As explained above, according to the embodiment, the underground excavator 1
0 excavates while pitching or rolling, and even if there is a difference in height on the ground surface 12, the depth deviation due to pitching, the change in the height difference on the ground surface, and the detection coil S...
Horizontal displacement xl of the underground excavator lO with respect to the construction plan line 30 after correcting the relative positional shift of S, with respect to the underground excavator 10
l can be obtained accurately. Moreover, construction plan line 30
Since the distance of the magnetic field generating cable to , and the relationship between horizontal displacement XI and depth Y are considered, even if the underground excavator 10 is at a shallow position, the horizontal displacement
, can be determined accurately, and the efficiency of excavation work can be improved.

In the above embodiment, the horizontal displacement XI of the underground excavation 4110 is determined and the horizontal displacement x8 is controlled to be zero. However, step 10 in FIG.
2, the depth deviation Δy, L from the initial depth Y0 due to pitching can be determined, so the underground excavator 10 is moved to the starting point P, (starting shaft 23) so that this depth deviation Δy, L becomes zero. It is also possible to maintain the same depth from the shaft 28 to the reaching shaft 28.

Furthermore, in the embodiment described above, the construction plan line 30 is a straight line as shown in FIG. 2, but the construction plan line 30 may of course be a curved line. In this case as well, as in the embodiment, the horizontal displacement X11 (left-right positional deviation) from the construction plan line 30 can be accurately determined, and the underground excavation I ! Of course, 10 can be controlled.

Furthermore, in the embodiment described above, the horizontal displacement Under the circumstances, the corresponding detection device and corresponding arithmetic processing, etc. can be omitted as appropriate.For example, if the influence of the height difference can be ignored, the effort of storing the height difference H in the memory 62 in advance can be omitted. I can do it. Further, for example, if the influence of rolling can be ignored, the installation of the rolling angle inclinometer 20 can be omitted, and steps 104 to 110 in FIG. 8 can be omitted. In these cases, there is an advantage that the cost of the device can be significantly reduced.

Further, in the embodiment, the coil center point Cc of the detection coils S and St is the center Co (
Although the case has been described in which the detection coils S, , S, are arranged on a vertical line passing through the rolling center), the arrangement position of the detection coils S, , S, is not limited to this, and the coil center point Cc may be arranged at a position offset from the vertical line 34. may be set.

In the above embodiment, the case where alternating current is supplied to the magnetic field generating cable 14 has been explained, but direct current may also be supplied, and the magnetic field generating cable 14 does not need to be a single wire, but may be a plurality of cables. Alternatively, it may be a bundle of multiple cables, and the magnetic field generating cable 14
A flat permanent magnet that generates a magnetic field equivalent to that, a coil having a flat plate as a core, etc. may also be used.

〔Effect of the invention〕

As explained above, according to the present invention, by correcting the effects of pitching and rolling of the underground moving object and the effects of differences in height on the ground surface, the horizontal displacement of the underground moving object from the reference line can be accurately determined. As well as the basics you can ask for! 1
By considering the relationship between the distance and depth between the 1st wire and the magnetic field generating cable, and the horizontal displacement, even if the underground moving object is located at a shallow underground position, the horizontal displacement of the underground moving object relative to the reference line can be calculated. It can be determined accurately, and the accuracy of tunnel excavation work can be greatly improved.

[Brief explanation of drawings]

FIG. 1 is an explanatory diagram of a position detection device for an underground excavator according to an embodiment of the present invention, FIG. 2 is an explanatory diagram of a magnetic field generating cable, and FIG.
The figure is an explanatory diagram of the horizontal displacement detection principle according to the embodiment, Figure 4 is a block diagram of the configuration of the signal processing device according to the embodiment, and Figure 5 is the influence of depth deviation due to pitching of an underground excavator and difference in height of the ground surface. 6 is an explanatory diagram of the positional deviation of the detection coil due to rolling, Fig. 7 is an explanatory diagram of how to determine the horizontal displacement of the underground excavator with respect to the construction plan line, and Fig. 8 is the signal processing device. 2 is a flowchart illustrating the operation of FIG. 10--1 underground mobile body (underground excavator), 14 magnetic field generation cable, 18-1 pitching angle detection means (pitching inclinometer), 20--1 rolling angle detection means (rolling angle inclination needle) ), 22 ---- Signal processing device, 24-m = movement distance detection means (propulsion distance needle), 3
0...-Reference line (construction plan line), 54 Depth deviation calculation means (depth deviation calculation unit), 56 Vertical position deviation calculation means (
5 B --- Horizontal position deviation calculation means (horizontal position deviation calculation unit), 60 --- Horizontal displacement fIX means (horizontal displacement calculation unit).

Claims (1)

[Claims] (1) In a horizontal displacement detection device for an underground moving object that detects the horizontal displacement of an underground moving object moving underground along a reference line on the earth's surface with respect to the reference line, an outgoing route and a return route are connected to the reference line. magnetic field generating cables disposed at a predetermined distance on both sides of the subterranean mobile body; and magnetic field generating cables disposed at predetermined positions of the underground mobile body and inclined at a predetermined angle on both left and right sides in the traveling direction of the underground mobile body with respect to the vertical axis. first and second detection coils for detecting the magnetic field generated by the magnetic field generating cable; initial depth storage means for storing the depth at the starting point of the underground moving body; and the starting point at each position of the reference line. a height difference storage means for storing a height difference between the underground moving body; a moving distance detecting means for detecting a moving distance of the underground moving body; a pitching angle detecting means for detecting a pitching angle of the underground moving body; a rolling angle detection means for detecting a rolling angle of the body; and a depth shift with respect to the starting point due to pitching of the underground moving body is calculated based on the output of the moving distance detection means and the output of the pitching angle detection means. depth deviation calculation means for determining the distance between the first and second detection coils as the underground mobile body rolls, based on the arrangement positions of the first and second detection coils and the output of the rolling angle detection means; vertical positional deviation calculating means for calculating a positional deviation in the vertical direction with respect to the underground mobile body; and the height difference stored in the height difference storage means corresponding to the movement distance detected by the movement distance detection means; Based on the depth at the starting point stored in the initial depth storage means, the calculated values obtained by the depth deviation calculation means and the vertical position deviation calculation means, and the output of the rolling angle detection means, horizontal positional deviation calculating means for calculating a horizontal positional deviation of the first and second detection coils with respect to the underground moving body due to rolling of the underground moving body; the height difference stored in the height difference storage means, the depth at the starting point stored in the initial depth storage means, the detection values of the first and second detection coils, and the depth deviation. a calculation means, a horizontal displacement calculation means for calculating a horizontal displacement of the underground mobile body with respect to the reference line based on the calculation values of the vertical position deviation calculation means and the horizontal position deviation calculation means; The horizontal displacement calculating means is configured to calculate the horizontal displacement of the detection coil with respect to the reference line as x, the depth of the detection coil as Y, and the distance of the outgoing line and return line of the magnetic field generating cable from the reference line as l. , x=-Y/k{1-√(1+k^2[1+l^2/Y^
2]}) A horizontal displacement detection device for an underground moving body. However, k=(V_2-V_1)/(V_1+V_2)
Here, V_1 is an induced electromotive force generated in the first detection coil, and V_2 is an induced electromotive force generated in the second detection coil.