JPH07109888A - Jacking method and jacking device for tube - Google Patents

Abstract

PURPOSE:To lay small-bore tubes allowing no worker to enter accurately and automatically in a curve shape. CONSTITUTION:The opening difference to be provided between tubes 1 on the front side and rear side when the tubes 1 on the front side and rear side of each opening adjusting jack group 2 reach the change point of a planned track is inputted to a control device 22 as planned track data in advance. The control device 22 calculates the advance distances of the tubes 1 on the front side and rear side of the opening adjusting jack groups 2 from the advance distance based on the signal from a root thrust detecting sensor 17 and the average stroke based on the signals from individual opening adjustment detecting sensors 5 in individual opening adjusting jack groups 2. The control device 22 controls the actions of opening adjusting jacks 3 to provide the prescribed opening difference between the tubes l based on the planned track data when the shift distance of each tube l on the front side and rear side of each opening adjusting jack group 2 becomes equal to the distance from the start point to the change point.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a propulsion method and a propulsion device capable of automatically laying a pipe along a planned trajectory in a curved shape, and particularly to a small-diameter pipe (inner diameter of which the operator cannot enter). The present invention relates to a propulsion method for a tubular body and a propulsion device suitable for an inner diameter of 700 mm or less.

[0002]

2. Description of the Related Art Conventionally, in a propulsion method of laying a pipe in a curved shape along a planned track, Japanese Patent Publication No. 1-5624
The one described in Japanese Patent Publication No. 0 is known.

In the propulsion method described in the above publication, a starting curve point where a curved line portion starts from a straight line portion of a planned trajectory, an inflection point where another curved line portion starts from a curved line portion, an end bending point where a straight line portion starts from a curved line portion, and the like. When the unit provided with the predetermined tube body, the opening adjusting member and the like is propelled through the change point, the following process is performed.

First, when the preceding unit reaches the change point, a plurality of opening adjusting members arranged between the preceding unit and the succeeding unit are propelled by the unit length of the preceding unit after that point. In order to arrange the preceding unit on the predetermined planned trajectory with respect to the succeeding unit when it is struck, the outer peripheral side of the planned trajectory in the opening between the pipe end surface behind the preceding unit and the pipe end surface in front of the succeeding unit in advance. The region and the region on the inner peripheral side are adjusted and propelled so that a predetermined opening difference is provided.

Further, the opening adjusting member between the preceding unit and the succeeding unit is moved by the preceding unit when the succeeding unit reaches the change point and is propelled by the unit length of the succeeding unit after that time. The outer peripheral portion and the inner peripheral portion of the planned track at the opening between the tube end surface at the rear of the preceding unit and the tube end surface at the front of the succeeding unit so that they are arranged on a predetermined planned track for the succeeding unit. In addition, it is adjusted so as to provide a predetermined aperture difference and then propelled.

In the construction method in which the tube body is adjusted and propelled as described above, the pipe body can be laid in a curved shape with higher accuracy than other conventional propulsion construction methods.

However, when each unit reaches the change point of the planned trajectory, in the conventional construction method, the opening adjusting member is manually adjusted, so that the pipe body to be laid is a small-diameter pipe that the operator cannot enter. If so, the adjustment of the opening adjusting member cannot be performed, so that the pipe body having the small diameter cannot be accurately laid in a curved shape.

The present invention is to solve the above problems, and provides a propulsion method and a propulsion device for a pipe body capable of automatically laying a small-diameter pipe body that a worker cannot enter in a curved shape accurately. With the goal.

[0009]

A first propulsion method according to the present invention is an opening adjustment jack comprising a plurality of tubes and a plurality of opening adjustment jacks arranged between the front and rear tubes. A group or an annular cushioning material, an opening adjusting tube that covers the periphery of the front and rear tubular bodies and the opening adjusting jack group or the periphery of the cushioning material, and a leading conduit provided on the front end side of the leading tubular body, An original push jack that presses the rearmost tube body, an opening adjustment detection sensor that detects the stroke of each opening adjustment jack of the opening adjustment jack group, an original push detection sensor that detects the stroke of the original push jack, and A controller for controlling the operations of the opening adjustment jack and the original push jack by inputting signals from the opening adjustment detection sensor and the original push detection sensor, and the opening adjustment jack group, It is arranged at least between the first and second pipe bodies and between the second and third pipe bodies, and a straight line portion to a curved portion is provided by using the original push jack as a driving force. A pipe for propelling each pipe body along a planned trajectory from a starting point through a change point such as a starting starting point, an inflection point where another curved section starts from a curved section, and an ending bending point where a straight section starts from a curved section A method of propelling a body, wherein the control device is a tube body of the front side and the rear side when the tube bodies of the front side and the rear side of each opening adjustment jack group reach the change point. The opening difference to be provided between the input adjustment sensors is input in advance as the planned trajectory data, and the control device causes the propulsion distance based on the signal from the original push detection sensor and each opening adjustment detection sensor in each opening adjustment jack group. From the average stroke based on the signal from The moving distance of each tube body on the front side and the rear side of the straightening jack group is calculated, and the moving distance of each tube body on the front side and the rear side of each opening adjustment jack group is the distance from the start point to the change point. When they are equal, based on the planned trajectory data, controlling the operation of each opening adjustment jack so that a predetermined opening difference is provided between the tube bodies on the front side and the rear side of each opening adjustment jack group. Is characterized by.

A first propulsion device according to the present invention is a group of opening adjustment jacks or a ring-shaped buffer which is composed of a plurality of tubes and a plurality of opening adjustment jacks arranged between the front and rear tubes. Material, an opening adjustment tube that covers the periphery of the front and rear tube bodies and the opening adjustment jack group or the periphery of the cushioning material, and a leading conduit provided on the front end side of the leading tube body,
An original push jack that presses the rearmost tube body, an opening adjustment detection sensor that detects the stroke of each opening adjustment jack of the opening adjustment jack group, an original push detection sensor that detects the stroke of the original push jack, and A controller for controlling the operations of the opening adjustment jack and the original pressing jack by inputting signals from the opening adjustment detecting sensor and the original pressing detection sensor, and the opening adjusting jack group includes at least the head and Between the tube with the second and the second
Between the 3rd and 3rd pipes, and the inflection point where a curved portion starts from a straight line portion and another curved portion starts from a curved line portion by using the original push jack as a propulsive force. , And a propulsion device for a tubular body that propels each of the tubular bodies along a planned trajectory from a starting point through a transition point such as an inflection point where a straight line portion starts from a curved portion, and the control device includes the transition point. The opening difference to be provided between the front and rear pipes when the front and rear pipes of each opening adjustment jack group arrive at is input in advance as planned trajectory data. ,
The control device, the propulsion distance based on the signal from the original push detection sensor, the average stroke based on the signal from each aperture adjustment detection sensor in each aperture adjustment jack group,
From the above, the moving distance of each of the front and rear pipes of each opening adjustment jack group is calculated, and the moving distance of each of the front and rear pipes of each opening adjustment jack group changes from the starting point to the change. When it becomes equal to the distance to the point, based on the planned trajectory data, in order to provide a predetermined opening difference between the tube body of the front side and the rear side of each opening adjustment jack group, It is characterized by controlling the operation.

In the first propulsion device according to the present invention, an orientation sensor for detecting the horizontal axial direction of the tubular body is arranged in the leading tubular body, and an indicator is connected to the control device. Then, the control device may cause the display unit to display the construction locus of the leading pipe body based on the moving distance of the leading pipe body and the signal from the direction sensor.

A second propulsion method according to the present invention is a group of opening adjustment jacks or a ring-shaped buffer which comprises a plurality of tubes and a plurality of opening adjustment jacks arranged between the front and rear tubes. Material, an opening adjustment tube that covers the periphery of the front and rear tube bodies and the opening adjustment jack group or the periphery of the cushioning material, and a leading conduit provided on the front end side of the leading tube body,
An original push jack that presses the rearmost tube body, an opening adjustment detection sensor that detects the stroke of each opening adjustment jack of the opening adjustment jack group, an original push detection sensor that detects the stroke of the original push jack, and An azimuth sensor which is arranged on the top tube and detects the horizontal axial direction of the tube, and an opening adjustment jack which receives signals from the opening adjustment detection sensor, the original push detection sensor, and the azimuth sensor. A control device for controlling the operation of the original push jack,
And the opening adjustment jack group is disposed at least between the first and second pipe bodies and between the second and third pipe bodies, and As a propulsion force, a method of propulsion of a pipe body in which each pipe body is propelled from a starting point along a planned trajectory including a curved portion, and the planned trajectory is two-dimensionally expressed on a horizontal plane by the control device. xy
It is input as coordinate data, the control device, from the thrust distance based on the signal from the original push detection sensor, and the average stroke based on the signal from each opening adjustment detection sensor in each opening adjustment jack group, from, The moving distance of the leading tube is calculated, the tangential direction on the planned trajectory corresponding to the moving distance is calculated from the xy coordinate data, and the leading tube based on the calculated value of the tangential direction and the signal from the orientation sensor. The opening difference to be provided between the leading pipe body and the rear side pipe body immediately after is controlled while controlling the operation of the front opening adjustment jack group immediately after the leading pipe body so that there is no difference in the azimuth. Calculated from each opening adjustment detection sensor that detects the stroke of each opening adjustment jack of the head opening adjustment jack group, stored, and the propulsion distance based on the signal from the original push detection sensor, Note From the average stroke based on the signal from each aperture adjustment detection sensor in each aperture adjustment jack group, the moving distance of the pipe immediately before the subsequent aperture adjustment jack group is calculated, and the subsequent aperture adjustment jack group When each immediately preceding pipe reaches the control position of the front pipe,
Each opening adjustment of the subsequent opening adjustment jack group is made so as to generate an opening difference corrected by the pipe length ratio corresponding to the stored opening difference between the tube bodies on the front side and the rear side with the opening adjustment jack group therebetween. It is characterized by controlling the operation of the jack.

A second propulsion device according to the present invention is a group of opening adjustment jacks or a ring-shaped buffer which is composed of a plurality of tubes and a plurality of opening adjustment jacks arranged between the front and rear tubes. Material, an opening adjustment tube that covers the periphery of the front and rear tube bodies and the opening adjustment jack group or the periphery of the cushioning material, and a leading conduit provided on the front end side of the leading tube body,
An original push jack that presses the rearmost tube body, an opening adjustment detection sensor that detects the stroke of each opening adjustment jack of the opening adjustment jack group, an original push detection sensor that detects the stroke of the original push jack, and An azimuth sensor which is arranged on the top tube and detects the horizontal axial direction of the tube, and an opening adjustment jack which receives signals from the opening adjustment detection sensor, the original push detection sensor, and the azimuth sensor. A control device for controlling the operation of the original push jack,
An indicator connected to the control device, wherein the opening adjustment jack group is at least between the first and second pipe bodies and between the second and third pipe bodies. , Which is a propulsion device for a pipe body that uses the original push jack as a propulsive force to propel each pipe body from a starting point along a planned trajectory including a curved portion, wherein the control device includes: The planned trajectory is input as two-dimensional xy coordinate data on a horizontal plane, and the control device causes the propulsion distance based on the signal from the original push detection sensor and each aperture adjustment detection sensor in each aperture adjustment jack group. From the average stroke based on the signal from, the moving distance of the leading tube is calculated, the tangential direction on the planned trajectory corresponding to the moving distance is calculated from the xy coordinate data, and the calculated value of the tangential direction. Based on the signal from the direction sensor The opening of the opening adjustment jack group immediately after the leading tube body is controlled so that there is no difference in the direction of the leading tube body, and the opening to be provided between the leading tube body and the immediately following rear side tube body. The difference is calculated from each opening adjustment detection sensor detecting the stroke of each opening adjustment jack of the head opening adjustment jack group and stored, and the propulsion distance based on the signal from the original push detection sensor, From the average stroke based on the signal from each aperture adjustment detection sensor in each of the aperture adjustment jack groups, the moving distance of the pipe immediately before the subsequent aperture adjustment jack group is calculated, and the moving distance of the subsequent aperture adjustment jack group is calculated. When each immediately preceding tubular body reaches the control position of the leading tubular body, a pipe length ratio corresponding to the stored opening difference is provided between the front and rear tubular bodies with the opening adjustment jack group in between. Corrected opening So as to produce a difference,
Controls the operation of each opening adjustment jack of the subsequent opening adjustment jack group, and can display the construction trajectory of the leading tube on the display based on the movement distance of the leading tube and the signal from the direction sensor. It is characterized by

A third propulsion method according to the present invention is a group of opening adjustment jacks or a ring-shaped buffer which is composed of a plurality of tubes and a plurality of opening adjustment jacks arranged between the front and rear tubes. Material, an opening adjustment tube that covers the periphery of the front and rear tube bodies and the opening adjustment jack group or the periphery of the cushioning material, and a leading conduit provided on the front end side of the leading tube body,
An original push jack that presses the rearmost tube body, an opening adjustment detection sensor that detects the stroke of each opening adjustment jack of the opening adjustment jack group, an original push detection sensor that detects the stroke of the original push jack, and An azimuth sensor which is arranged in the leading pipe body and detects a horizontal axial direction of the pipe body, and a vertical axis angle sensor which is arranged in the leading pipe body and detects a vertical axial direction of the pipe body, A controller for inputting signals from the opening adjustment detection sensor, the original push detection sensor, the azimuth sensor, and the vertical axis angle sensor to control the operation of the opening adjustment jack and the original push jack. A group of jacks is arranged at least between the first and second pipe bodies and between the second and third pipe bodies, and each of the above-mentioned push jacks is used as a driving force. Curve the tube from the start A method of propulsion of a pipe body propelled along a planned orbit including, wherein the controller is made to input the planned orbit as three-dimensional xyz coordinate data, and the controller pushes the original push. From the propulsion distance based on the signal from the detection sensor and the average stroke based on the signal from each opening adjustment detection sensor in each of the opening adjustment jack groups, the moving distance of the leading tube body was calculated, and the moving distance was corresponded to the moving distance. The horizontal azimuth and the vertical ordinate in the tangential direction on the planned trajectory are calculated from the xyz coordinate data, and the calculated values of the horizontal azimuth and the vertical ordinate in the tangential direction, the azimuth sensor, and the vertical axis are calculated. Controls the operation of the front opening adjustment jack group immediately after the front tube so that there is no difference between the horizontal azimuth of the front tube and the vertical ordinate based on the signal from the shaft angle sensor. In addition, the opening difference to be provided between the leading tube body and the tube body on the rear side immediately after is calculated from each opening adjustment detection sensor that detects the stroke of each opening adjustment jack of the leading opening adjustment jack group. Then, from the propulsion distance based on the signal from the original push detection sensor and the average stroke based on the signal from each aperture adjustment detection sensor in each of the aperture adjustment jack groups, the subsequent aperture adjustment jack is stored. When the moving distance of the tube immediately before the group is calculated and each tube immediately before the subsequent opening adjustment jack group reaches the control position of the leading tube, the front side with the opening adjustment jack group in between. The operation of each aperture adjustment jack of the subsequent aperture adjustment jack group is controlled so that an aperture difference corrected by the pipe length ratio corresponding to the stored aperture difference is generated between the pipe body on the rear side and the pipe body on the rear side. It

A third propulsion device according to the present invention is a group of opening adjustment jacks or a ring-shaped buffer which is composed of a plurality of tubes and a plurality of opening adjustment jacks arranged between the front and rear tubes. Material, an opening adjustment tube that covers the periphery of the front and rear tube bodies and the opening adjustment jack group or the periphery of the cushioning material, and a leading conduit provided on the front end side of the leading tube body,
An original push jack that presses the rearmost tube body, an opening adjustment detection sensor that detects the stroke of each opening adjustment jack of the opening adjustment jack group, an original push detection sensor that detects the stroke of the original push jack, and An azimuth sensor which is arranged in the leading pipe body and detects a horizontal axial direction of the pipe body, and a vertical axis angle sensor which is arranged in the leading pipe body and detects a vertical axial direction of the pipe body, A control device for inputting signals from the aperture adjustment detection sensor, the original push detection sensor, the azimuth sensor, and the vertical axis angle sensor to control the operation of the aperture adjustment jack and the original push jack, and a controller connected to the control device. And a display device for displaying the opening adjustment jacks, the opening adjustment jack group including at least a portion between the first and second pipe bodies, and a second
Between the third and third pipe bodies, and propelling the pipe bodies from the starting point along a planned trajectory including a curved portion by using the original push jack as a propulsive force. A construction method, wherein the control device is made to input as the xyz coordinate data in which the planned trajectory is three-dimensionally expressed, and the control device causes the propulsion distance based on the signal from the original push detection sensor and From the average stroke based on the signal from each aperture adjustment detection sensor in the aperture adjustment jack group,
The moving distance of the leading tube is calculated, the horizontal azimuth in the tangential direction and the vertical ordinate on the planned trajectory corresponding to the moving distance are calculated from the xyz coordinate data, and the horizontal azimuth in the tangential direction and In order to prevent a difference between the calculated value of the vertical ordinate angle and the horizontal azimuth and the vertical ordinate angle of the lead tube based on the signals from the azimuth sensor and the ordinate sensor, the lead tube does not have a difference. Controls the operation of the front opening adjustment jack group immediately after, and determines the opening difference to be provided between the front tube body and the immediately rearward tube body by adjusting the stroke of each opening adjustment jack of the front opening adjustment jack group. It is calculated from each detected opening adjustment detection sensor and stored in memory, and the propulsion distance based on the signal from the original push detection sensor and the signal from each opening adjustment detection sensor in each opening adjustment jack group. From the average stroke, based on,
When the moving distance of the tube immediately before the subsequent opening adjustment jack group is calculated and each tube immediately before the subsequent opening adjustment jack group reaches the control position of the leading tube, the opening adjustment jack group Between the tube body of the front side and the back side that put
The operation of each aperture adjustment jack of the subsequent aperture adjustment jack group is controlled so as to generate the aperture difference corrected by the pipe length ratio corresponding to the stored aperture difference, and further, from the movement distance of the leading pipe body and the direction sensor. It is characterized in that the construction locus of the leading pipe can be displayed on the display device based on the above signal.

[0016]

In the first propulsion method and propulsion device according to the present invention, when the pipes on the front side and the rear side of each opening adjustment jack group reach the control device, The opening difference to be provided between the pipe bodies on the front side and the rear side is previously input as planned trajectory data.

Then, as the pipe body is sequentially propelled, the control device causes the propulsion distance based on the signal from the original push detection sensor and the average stroke based on the signal from each aperture adjustment detection sensor in each aperture adjustment jack group. From, the moving distances of the front and rear pipes of each opening adjustment jack group are calculated.

Then, the control device, based on the planned trajectory data, when the moving distance of each of the front and rear pipes of each opening adjustment jack group becomes equal to the distance from the start point to the predetermined change point, The operation of each opening adjustment jack is controlled so that a predetermined opening difference is provided between the front and rear tubes of each opening adjustment jack group.

Therefore, at the beginning of the propulsion,
It will be automatically propelled in a curved shape along the planned track and laid, and the subsequent pipe will be laid following it. By the way, if the pipe body has a small diameter, only the cushioning material is placed at the rear end of the succeeding pipe body and the cushioning material is bent without adjusting the opening adjustment jack. This makes it easy to follow the pipe body and, in addition to the fact that the laying distance of the pipe body having a small diameter is generally short, it is possible to lay a subsequent pipe body without significantly lowering the accuracy.

Further, a low-cost cushioning material is provided between the pipe bodies instead of the opening adjustment jack, and even when a pipe body having a small diameter is provided so that an operator cannot enter the pipe body. Even if the cushioning material is not collected after installation, the construction cost can be kept low.

In the case of soft soil, an opening adjustment jack group may be arranged between the third and subsequent pipes. In this case, the opening adjustment jacks may be arranged between the third and subsequent pipes. The accuracy of laying can be improved as compared with the case where only the cushioning material is arranged.

Therefore, in the first propulsion method and propulsion device, it is possible to automatically and accurately lay a small-diameter pipe body in a curved shape that a worker cannot enter. Further, the manual work of the worker can be minimized, and the work period and the work cost can be reduced.

Further, in the first propulsion device, a heading tube is provided with an azimuth sensor for detecting the horizontal axial direction of the tube, and an indicator is connected to the control device so that the control device If the construction locus of the leading tube is displayed on the display based on the moving distance of the leading tube and the signal from the direction sensor, the construction period and the construction cost can be further reduced. In addition, the measurement of the conventional construction trajectory,
An operator entered the inside of the pipe, and in each visible area, an optical distance meter, a transit, etc. were sequentially arranged to measure. Therefore, when laying small-diameter pipes that operators cannot enter inside, measurement is possible only when the curved laying of the pipes can be seen from the starting point to the end point, and most curved construction tracks can be measured. I couldn't.

In the second propulsion method and propulsion device according to the present invention, the heading tube of the first propulsion method and propulsion device is provided with an azimuth sensor capable of detecting a horizontal azimuth and is controlled. The device is made to input the planned trajectory as two-dimensional xy coordinate data on the horizontal plane.

Further, in the second propulsion method and propulsion device according to the present invention, as the subsequent pipes are sequentially advanced behind the leading pipe, the control device controls From the propulsion distance based on the signal and the average stroke based on the signal from each aperture adjustment detection sensor in each aperture adjustment jack group, the travel distance of the lead tube is calculated, and on the planned trajectory corresponding to this travel distance. Tangential direction of x
It is calculated from y-coordinate data.

Then, the control device first sets a group of opening adjustment jacks immediately after the front tube so that there is no difference between the calculated value in the tangential direction and the direction of the front tube based on the signal from the direction sensor. Control operation.

Further, the control device detects an opening difference to be provided between the leading tube body and a tube body on the rear side immediately after, by detecting the stroke of each opening adjustment jack of the leading opening adjustment jack group. It is calculated from the detection sensor and stored.

Then, the control device uses the propulsion distance based on the signal from the original push detection sensor and the average stroke based on the signal from each aperture adjustment detection sensor in each aperture adjustment jack group to determine the subsequent aperture adjustment jack group. The moving distance of the pipe body immediately before is calculated, and when each pipe body immediately before the subsequent opening adjustment jack group reaches the control position of the leading pipe body, the front side and the rear side with the opening adjustment jack group in between. The operation of each aperture adjustment jack of the subsequent aperture adjustment jack group is controlled so that an aperture difference corrected by the pipe length ratio corresponding to the stored aperture difference is generated between the pipe bodies of the above.

Therefore, in the second propulsion method and propulsion device according to the present invention, the leading pipe body is closed-loop controlled and propelled more accurately along the planned trajectory than in the first propulsion method and propulsion device. Since it is laid and installed, and the subsequent tube is also driven and installed following the leading tube,
Compared with the first propulsion method and propulsion device, it is possible to more accurately lay a small-diameter pipe body in an arbitrary curved shape such as an ellipse.

Of course, in the second propulsion device according to the present invention, the control device displays the construction trajectory of the lead tube on the display based on the moving distance of the lead tube and the signal from the direction sensor. Therefore, it can contribute to the reduction of the construction period and the construction cost.

In the third propulsion method and propulsion device according to the present invention, a vertical axis angle sensor capable of detecting a vertical direction is further arranged at the leading pipe body of the second propulsion method and propulsion device. At the same time, the planned trajectory is input as xyz coordinate data that is three-dimensionally represented.

Then, in the third propulsion method and propulsion device according to the present invention, the control device controls the operation from the original push detection sensor as the succeeding pipe bodies are sequentially advanced behind the leading pipe body. From the propulsion distance based on the signal and the average stroke based on the signal from each aperture adjustment detection sensor in each aperture adjustment jack group, the travel distance of the lead tube is calculated, and on the planned trajectory corresponding to this travel distance. The horizontal azimuth in the tangential direction and the vertical axis of the vertical axis are calculated from the xyz coordinate data.

Then, the controller firstly calculates the horizontal azimuth in the tangential direction and the calculated vertical ordinate angle and the horizontal azimuth and the vertical azimuth of the lead tube based on the signals from the azimuth sensor and the ordinate sensor. The operation of the front opening adjustment jack group immediately after the front tube body is controlled so that there is no difference between the vertical axis and the vertical axis.

Further, the control device detects the opening difference to be provided between the leading tube body and the tube body on the rear side immediately after the opening adjustment jack for detecting the stroke of each opening adjustment jack of the leading opening adjustment jack group. It is calculated from the detection sensor and stored.

Then, the control device uses the propulsion distance based on the signal from the original push detection sensor and the average stroke based on the signal from each opening adjustment detection sensor in each opening adjustment jack group to determine the subsequent opening adjustment jack group. The moving distance of the pipe body immediately before is calculated, and when each pipe body immediately before the subsequent opening adjustment jack group reaches the control position of the leading pipe body, the front side and the rear side with the opening adjustment jack group in between. The operation of each aperture adjustment jack of the subsequent aperture adjustment jack group is controlled so that an aperture difference corrected by the pipe length ratio corresponding to the stored aperture difference is generated between the pipe bodies of the above.

Therefore, in the third propulsion method and propulsion device of the present invention, the leading tube is closed-loop controlled based on the three-dimensional xyz coordinate data, as compared with the second propulsion method and propulsion device. Since it is propelled and laid along the planned trajectory with high accuracy, it is possible to lay a small-diameter pipe body in a three-dimensional arbitrary curved shape as compared with the second propulsion method and propulsion device.

Of course, in the third propulsion device according to the present invention, the control device displays the construction trajectory of the lead tube on the display based on the moving distance of the lead tube and the signal from the direction sensor. Therefore, it can contribute to the reduction of the construction period and the construction cost.

[0038]

Embodiments of the present invention will be described below with reference to the drawings.

As shown in FIG. 1, a propulsion device M1 used in the propulsion method of the first embodiment has a small-diameter pipe body (inner diameter of 700 mm or less) 1 made of a plurality of steel pipes, fume pipes, etc., and an opening adjusting jack 3. , A cushioning material 11, an opening adjusting tube 13, a leading conduit 15 including a blade or a shield machine arranged on the front end side of the leading tube body 1A, a source push jack 16, and a control device 2
2 is provided.

The opening adjustment jack 3 of the embodiment comprises a hydraulic jack 4 which is feedback controlled.
As shown in FIGS. 2 and 3, four pipes are arranged between the end faces of the pipe bodies 1 and 1 by being shifted by 45 ° from the upper, lower, left, and right sides, and one group of opening adjustment jacks 2 is formed by four units. Become.

The mechanism of the opening adjusting jack 3 will be briefly described. The hydraulic jack 4 in which the piston rod 4b capable of reciprocating in the cylinder 4a is arranged, and the differential transformer capable of detecting the stroke of the piston rod 4b. And a solenoid valve 6 that applies a predetermined hydraulic pressure to the hydraulic jack 4, and a calculator 8 that receives a signal from the aperture adjustment detection sensor 5 to control the solenoid valve 6. (See FIG. 4).

Then, the base side of the cylinder 4a and the tip side of the piston rod 4b are respectively attached to the bracket 9.1.
By using 0, the pipes 1 are mounted on the front side and the rear side of the adjacent pipes 1. 2 and 3 show the case where the pipe body 1 is a steel pipe, and when the pipe body 1 is a fume pipe, the pipe body 1 is thick and the fume pipe is weak in tensile force. As shown in FIGS. 14 and 15, the opening adjustment jack 3 is mounted between the front side and the rear side of the adjacent pipe bodies 1 without using a bracket, and is attached to the pipe body. It works only in the direction of pressing 1. Reference numeral 9 denotes a steel plate-made contact plate, and 10 denotes a cushioning member made of a hard rubber plate.

The calculator 8 is an amplifier that amplifies the difference between the command signal from the control device main body 23 and the signal from the sensor 5, which will be described later, so that the piston rod 4b has a predetermined stroke. The power difference is further amplified by the power amplifier 7 to control the solenoid valve 6.

Since this control is a construction method for propelling the tubular body 1 in the soil, it does not have to be a quick response. For example, when the opening adjustment jack 3 is expressed in the form of a transmission function, FIG.
As shown in. Here, K represents gain and S represents integration.

In this control, the hydraulic jack 4
Means that the piston rod 4b is operated in a form in which the amount of oil flowing through the solenoid valve 6 is integrated, and as long as there is a difference between the command signal from the control device main body 23 and the signal from the sensor 5, it is integrated. In this manner, the hydraulic jack 4 is operated, and is operated until the command signal and the signal from the sensor 5 become zero. Also,
The solenoid valve 6, the power amplifier 7, and the calculator 8 are respectively
A linear characteristic that outputs an output proportional to the input may be used, but in terms of cost, the calculator 8 is PWM (pulse width modulation).
Alternatively, the solenoid valve 6 and the power amplifier 7 may be two-position on / off control so that the proportional characteristics are equivalent as a whole.

In the opening adjustment jack group 2 including the opening adjustment jack 3 as described above, a command from the controller main body 23 (not shown) is applied to each of the left and right two of the four tubes 1 and 1. By inputting a signal, a predetermined aperture difference can be provided between the pipes 1 and 1. The arithmetic unit 8 and the power amplifier 7 are arranged in the control device 22 described later.

The opening adjusting jack group 2 has at least a space between the leading pipe body 1A and the second pipe body 1B and a second pipe body 1B in order to lay the leading pipe body 1 along the planned trajectory. It is arranged between the third tubular body 1B and the third tubular body 1C.

The cushioning material 11 is formed of a foamed plastic material as a continuous or intermittent annular shape capable of contacting the end surface of the tubular body 1, and is, for example, a product name "Cubsler".
(Manufactured by Shinmei Sangyo Co., Ltd.) can be exemplified, and the thickness is 10 to 40 mm.
It may be selected appropriately within the above range and fixed to one end surface between the tube bodies 1 using an adhesive. Cushioning material 11
When the attempt is made to follow the trajectory of the leading tube 1A and an aperture difference is generated between the subsequent tubes 1, the inner portion of the curve of the trajectory is compressed and deformed to move the tube 1 to the leading tube 1A. The function is to follow the locus of the curved line and to average the load of the propulsive force acting on the end surface of the tubular body 1.

Since the cost of the cushioning material 11 is lower than that of the opening adjustment jack 3, it is possible to prevent the construction cost from increasing even if the cushioning material 11 is not recovered after the pipe body 1 is laid. Therefore, in order to reduce the construction cost, it is preferable to dispose the cushioning material 11 between the third and subsequent pipe bodies rather than disposing the opening adjustment jack group 2.

When the cushioning material 11 is arranged between the pipes 1, compressive stress locally acts on the end face of the pipe 1 at the inner side of the curved line of the pipe 1. Tube 1
Since it is necessary to suppress the compressive stress within an allowable value so as not to be damaged, it is necessary to limit the radius of the curved track of the pipe body 1 to be laid. And, for example, it is necessary to make the opening difference between the tubular bodies within 30 mm, and when the nominal diameter of the tubular body 1 is 350 mm or more, the radius R is R ≧ T × B.
It is limited to c / S = 2.43 Bc / 0.03 = 81 Bc. T is the pipe length (2.43 m), Bc is the pipe outer diameter, and S is the upper limit of the aperture difference (30 mm).

The opening adjusting tube 13 is made of a steel tube and has a cylindrical shape.
Alternatively, it is arranged so as to cover the periphery of the cushioning material 11. As shown in FIGS. 1 to 3, these opening adjustment tubes 13 are pressed against a rubber ring 14 arranged on the outer peripheral surface of the tube body 1 to improve the watertightness of the opening adjustment jack group 2 and the cushioning material 11. Will be secured.

The source push jack 16 is composed of a hydraulic jack and is for propelling the pipe body 1. A plurality of the original push jacks 16 are arranged in the vertical shaft 19 that is excavated at the starting point of the planned trajectory, and one surface of the inner peripheral surface of the vertical shaft 19 is used as the support wall 20.
That is, the piston rod 16b is simultaneously extended to the same length to propel the tubular body 1. The piston rod 16
Since the stroke b is shorter than the entire length of the tubular body 1, the tubular body 1 is propelled by using a plurality of spacers 18 made of steel plates or the like. Incidentally, if the stroke of the piston rod 16b is large, the spacer 18 becomes unnecessary.

The original push jack 16 is provided with an original push detection sensor 17 which is arranged in the cylinder 16a and which can detect the stroke of the piston rod 16b.

The control device 22 is arranged in the vicinity of the vertical shaft 19, and as shown in FIG. 6, the control device main body 23 and the display 2 are provided.
4, indicator 25, keyboard 26, operation panel 27, power supply 2
8 and the like. A hydraulic pressure source 21 that supplies hydraulic pressure to the hydraulic jacks 4 and the original push jacks 16 of the opening adjustment jacks 3 is disposed near the vertical shaft 19.

The control device main body 23 of the first embodiment is provided with a predetermined control part and storage part in addition to the calculation part 23a, and the control device main body 23 has a front side of the opening adjustment jack group 2 at the change point. When the tube 1 and the tube 1 on the rear side reach, the opening difference to be provided between the tube 1 on the front side and the tube 1 on the rear side of the opening adjustment jack group 2 that has reached the change point is , Is previously input as planned trajectory data by using the keyboard 26 or the like. The planned trajectory data can be displayed on the display 24.

Then, the control device body 23 opens the opening based on the propulsion distance based on the signal from the original push detection sensor 17 and the average stroke based on the signal from each opening adjustment detection sensor 5 in each opening adjustment jack group 2. Adjustment jack group 2
The moving distance between the front tube body 1 and the rear tube body 1 is calculated. When the cushioning material 11 is provided between the pipe bodies, the cushioning material 11 is compressed and deformed when the pipe body 1 is propelled,
Since the amount of compression is small when viewed from the entire length of the pipe body 1, it is ignored when calculating the propulsion distance.

Further, when the moving distance between the front tube 1 and the rear tube 1 of the opening adjustment jack group 2 becomes equal to the distance from the start point to the change point, the control device body 23 makes a plan. Based on the trajectory data, the opening adjustment jack that has reached the change point so that a predetermined opening difference is provided between the front tube body 1 and the rear tube body 1 of the opening adjustment jack group 2 that has reached the change point. The operation of the opening adjustment jacks 3 of each opening adjustment jack group 2 between the front tube body 1 and the rear tube body 1 of the group 2 is controlled. In addition, this control device body 2
A block diagram showing the control of No. 3 is shown in FIG.

Next, the opening difference as the planned trajectory data will be specifically described. In the propulsion method of the first embodiment, the pipe 1 is provided with the front conduit 15, the opening adjustment jack group 2, the cushioning material 11, and the opening. Three A and B with adjustment tube 13 pre-assembled
・ Promoted in units of C. The unit A is configured such that the front conduit 15 is attached to the tip of the tube body 1, and the opening adjustment jack group 2 and the opening adjustment tube 13 are attached to the rear end of the tube body 1. Unit B is tube 1
An opening adjustment jack group 2 and an opening adjustment tube 13 are attached to the rear end of the rear end. The unit C is configured by attaching a cushioning material 11 and an opening adjustment tube 13 to the rear end of the tube body 1.

Then, as described in Japanese Patent Publication No. 1-56240, as shown in FIG. 8, the unit A is located at the starting curve point where the curved portion starts from the straight portion as the change point of the planned trajectory. After reaching, when the unit A is propelled by the length of the unit A, it is desirable that the unit A constitutes a chord of a curved portion. Therefore, when the unit A reaches the starting curve point in advance, a predetermined opening difference is provided between the unit B and the succeeding unit B so that the chord of the curved portion can be formed after the subsequent propulsion.

In the case shown in FIG. 8, the aperture difference S1 is S1.
= Wtan δ (Wtan δ1 / 2 = W · δ1 / 2 = W · Ta
/ 2R). In addition, W is the outer diameter of the units A and B, δ
Is the opening angle, Ta is the length of the unit A, and R is the radius of curvature of the curve.

After that, when the unit B succeeding the unit A reaches the starting curve point and the unit B is further propelled by the length of the unit B, the unit A, as shown in FIG. , It is desirable to form a curved string with the unit B. Therefore, when the unit B reaches the starting point in advance, the unit A and the unit B can be driven after the propulsion.
A predetermined aperture difference is provided between the unit B and the subsequent unit B so that and can form a curved chord.

In the case shown in FIG. 9, the aperture difference S1 is S1.
= Wtan δ (Wtan (δ1 + δ2) / 2 = W (δ1 + δ
2) / 2 = W (Ta + Tb) / 2R). Tb is the length of unit B.

The unit B itself is also beginning to enter the curved portion, and a predetermined aperture difference is required between the units B and C so that the unit A can smoothly follow the unit A. The aperture difference S2 is the same as that described above. Substituting a predetermined value into the equation of S2 = Wtan δ
It becomes 2/2 (= W · δ2 / 2 = W · Tb / 2R).

As described above, the opening adjustment of the opening adjusting jack group 2 between the unit A and the unit B is performed when the unit A reaches the starting curve point and when the succeeding unit B reaches the starting curve point. If the opening adjustment of the opening adjustment jack group 2 between the subsequent unit B and the unit C is performed once when the unit B reaches the starting point, From the end of the straight line until the end of the straight line, the unit A can be smoothly driven on the planned orbit without any other operation.

These opening adjustments can be carried out at change points such as a start curve point where a curved line section starts from a straight line section, an inflection point where another curve starts from a curved line section, and an end curve point where a straight line section starts from a curved line section. For example, the leading unit A can be propelled to a predetermined planned trajectory.

Between the units B and C, the unit B
The opening is adjusted twice when the unit reaches the change point and when the unit C reaches the change point, and the opening is not adjusted between the subsequent units C and C, but the pipe body 1 has a small diameter. Then, the unit C subsequent to the units A and B is easily driven by following the units A and B, and further, in the pipe body 1 having a small diameter, the laying distance is generally short, so that the accuracy is deteriorated. The tube body 1 can be suppressed and propelled along the planned trajectory.

By the way, in order to improve the laying accuracy for reasons such as when the soil is soft, the group of openings adjusting jacks 2 and the opening adjusting tube 13 are provided at the rear end of the tube body 1 between the units C and C at predetermined positions. One or two units D (not shown) attached with and may be arranged. When the unit D is arranged between the units C and C, the opening adjustment of the unit D is performed similarly to the units A and B described above (the opening adjustment jack group 2 of the unit D is adjusted twice). )
Should be done.

A group of opening adjustment jacks is provided in the control device main body 23 when the unit A / B or the unit D reaches the change point and the units B / C behind them reach the change point. The aperture difference to be provided between the unit having 2 and the unit on the rear side thereof is input in advance as planned trajectory data. Actually, the stroke difference of each opening adjustment jack 3 of the opening adjustment jack group 2 is input to the control device main body 23. Then, the value is the value of each opening adjustment jack 3 of the opening adjustment jack group 2.
Is placed at a position shifted by 45 ° from the top, bottom, left and right between the pipes 1, 1, so that the stroke difference between the two opening adjustment jacks 2 on the left and right is half the actual opening difference between the units to be installed. A value of ^1/2 has been entered.

The movement distance of each unit in the control device main body 23 is calculated as follows. First, based on the signal from the original push detection sensor 17, the strokes of the piston rod 16b of one original push jack 16 are integrated to calculate the propulsion distance of the leading unit A.
Further, based on the signal from each opening adjustment detection sensor 5, in all the opening adjustment jack groups 2 arranged in the side shaft,
The average stroke of each opening adjustment jack 3 of each jack group 2 is calculated. Then, the average stroke of each jack group 2 is integrated in correspondence with all the jack groups 2 in the shaft, and the propulsion distance of the first unit A calculated previously is added to that value to move the first unit A. Calculate the distance.

Then, based on the moving distance of the unit A,
The moving distance of each unit can be calculated by sequentially subtracting the length up to a predetermined unit (the value obtained by adding the total length of each unit and the average stroke of the opening adjustment jack group 2).

Therefore, in the propulsion method and propulsion device M1 of the first embodiment, the units A, B, C, and D are sequentially inserted into the vertical shaft 19, and each unit is driven by the propulsion force of the original push jack 16. If the control device main body 23 is driven, the propulsion distance based on the signal from the original push detection sensor 17 and the average stroke based on the signal from each aperture adjustment detection sensor 5 in each aperture adjustment jack group 2, From the above, the moving distance of each unit is calculated, and the units A, B, C having the opening adjustment jack group 2 are further calculated.
When the moving distance between the unit and the unit on the rear side becomes equal to the distance from the start point to the change point, based on the planned trajectory data, the units A, B, C that reached the change point and the unit on the rear side Aperture adjustment jacks 3 of each aperture adjustment jack group 2 between the units A, B, and C that have reached the change point and the unit on the rear side so that a predetermined aperture difference is provided therebetween.
The command signal will be output to.

Therefore, the leading unit A is automatically propelled in a curved shape along the planned trajectory, and the succeeding units are laid following it, as described in the section of the action and effect of the invention described above. The same effect will be obtained.

In the propulsion apparatus M1 used in the propulsion method of the first embodiment, the heading tube 1A is provided with a direction sensor 29 for detecting the horizontal axial direction of the tube 1A, and the main body of the controller. 23, based on the moving distance of the head unit A and the angle signal from the azimuth sensor 29,
Display 2 of the construction track of the top unit A in the form of xy coordinates
By displaying in 4, it is possible to further reduce the construction period and the construction cost. Incidentally, if the construction trajectory and the planned trajectory can be displayed on the display 24 at the same time, the construction situation and the accuracy of the construction trajectory can be evaluated at the same time.

A gyro compass can be exemplified as the azimuth sensor 29, and this gyro compass can detect the azimuth on the earth by using a top (gyro) that rotates at high speed. Some gyro compasses are equipped with various methods for correcting gyro errors due to rotation of the earth and automatically correcting errors due to acceleration and deceleration. For example, a method using a liquid stabilizer, a method in which a gyrosphere is floated in the liquid, a difference is provided between the center of gyro and the center of buoy, and the difference is corrected. Such a gyro compass is most used for navigation of ships.

As another azimuth sensor 29, a horizontal axis gyro utilizing a spinning frame whose rotation axis is oriented horizontally is used.
A magnetic compass, that is, a signal from a sensor that floats a bar magnet in liquid to detect magnetic north, can be used as an example of a gyro magnetic compass that is used to correct the azimuth error of a horizontal axis gyro.This compass is used in aircraft. ing.

Further, in place of the gyro using a spinning top, a vibration gyro using the vibration of a rod, a gas gyro using the Coriolis force acting on the gas flow, or an optical path difference of laser light is used. A small and high performance gyro such as the used laser gyro can also be used. Since these small gyros output an angular velocity signal, this output is integrated by an electric circuit or a computer to obtain an azimuth angle signal. In addition, since the error is accumulated over a long time, the signals output from these gyros become an error when the unit A being laid is stationary. Therefore, the error is erased to improve the accuracy. be able to.

Next, the propulsion method of the second embodiment will be explained. The propulsion device M2 used in the second embodiment is
As shown in FIG. 1, a heading sensor 29 capable of detecting a heading in the horizontal direction is provided in the front conduit 15 of the propulsion device M1, and
As shown in FIG. 10, the main body 33 of the control device 22 includes two calculation units 33a and 33b and a predetermined control unit and storage unit (not shown), and the planned trajectory is two-dimensionally expressed on the horizontal plane in xy coordinates. Data is input, and the calculation unit 33b
Thus, closed loop control (feedback control) is performed so as to eliminate the error between the azimuth in the tangential direction of the planned trajectory obtained from the xy coordinate data of the planned trajectory and the signal from the azimuth sensor 29.

In the closed loop control, generally, the loop gain, which is the product of the individual gains of the constituent elements in the loop, is increased and the error signal is controlled to zero. The arithmetic unit 33b is a part that serves as a control device generally called a controller. The controller has a PID characteristic, that is, a characteristic in which P (proportional), I (integral), and D (differential) characteristics are combined, and each PID characteristic is adjusted according to the characteristic of the object to be controlled. Can be adjusted. P serves to adjust the gain of all frequency bands,
I serves to adjust the gain only in the low frequency band, and D serves to adjust the gain only in the high frequency band. The gain of the PID is adjusted according to the control target, and the loop gain is increased to control the error signal to zero. When the error signal becomes zero, the angle of the tangential direction of the planned track matches the angle signal from the azimuth sensor, and the unit A can be installed so as to match the planned track accurately.

Further, the two-dimensional coordinate data input to the control device main body 33 of the second embodiment is as shown in FIG.
The values of x and y at many points on the planned trajectory are input to the control device body 33 using the keyboard 26. In addition, this data is obtained by controlling the planned trajectory by using a graphic reader such as a drum scanner or a curve tracer.
You may enter it directly into. Further, this data is configured so that it can be displayed on the display 24 and confirmed after the input.

Then, the control by the control device main body 33 is as follows.
The procedure is as follows.

A. First, based on the signal from the original push detection sensor 17, the strokes of the piston rod 16b of one original push jack 16 are integrated to calculate the propulsion distance of the leading unit A. Further, based on the signal from each opening adjustment detection sensor 5, the average stroke of each opening adjustment jack 3 of each jack group 2 in all the opening adjustment jack groups 2 arranged in the side shaft is calculated. Then, the average stroke of each jack group 2 is integrated in correspondence with all the jack groups 2 in the shaft, and the propulsion distance of the first unit A calculated previously is added to that value to move the first unit A. Calculate the distance (L).

B. Also, dy and dx of the dL component at each point of the planned trajectory are obtained from the xy coordinate data, and the angle ψ ₀ in the tangential direction of each point is calculated as ψ ₀ = tan ⁻¹ (dy / dx).

Further, the length L ₀ on the planned trajectory up to each point
Is calculated as L ₀ = ∫ ((dy) ² + (dx) ² ) ^1/2 . Then, the length L _{0 up} to each point and the tangent angle ψ ₀ at each point are stored in the storage unit.

Note that a. b. The calculation unit 33a performs the calculation in.

C. In the calculation unit 33b, the signal of the tangent angle ψ ₀ according to the moving distance (L) is input, and the angle signal ψ from the azimuth sensor 29 is input, and (ψ
₀₋ ψ) × (K _I / S + K _P + K _D S) is calculated.

Note that K _I is an integral gain, K _P is a proportional gain, and K _D is a differential gain. Also, 1 / S is the integral, S
Represents the derivative. Further, K _I , K _P , and K _D are control gains of PID control, and are set in advance according to the control target.

Then, in accordance with the value of ψ ₀ −ψ, the left and right two opening adjustment jacks 3 in the opening adjustment jack group 2 are controlled so that the value of ψ ₀ −ψ becomes zero. To do.

At this time, the locus of the unit A is calculated and stored at regular intervals based on the moving distance (L) and the angle signal ψ, and the construction track is displayed on the display 24. .

D. Then, based on the signal of the opening adjustment detection sensor 5 that detects the stroke of each opening adjustment jack 3 in the opening adjustment jack group 2 at the beginning when the value of ψ ₀ −ψ becomes zero, the first unit A The control device body 33 stores the opening difference provided between the unit B and the subsequent unit B.

E. After that, Unit A was promoted sequentially,
When the succeeding unit B / D moves to the position that controls the unit A, the unit B / D that has reached that position
The aperture adjustment jacks 3 of the subsequent aperture adjustment jack group 2 are controlled so that a predetermined corrected aperture difference obtained by correcting the stored aperture difference is generated between the unit and the unit immediately after.

The moving distance of the succeeding unit is calculated in advance by the length Tb.Tc.Td of the succeeding unit (Tc is the length of the unit C and Td is the length of the unit D).
The control unit main body 33 is made to input sequentially, and the arithmetic unit 33
In a, the length to the unit based on the moving distance L of the unit A (a value obtained by adding the total length of each unit in between and the average stroke of the opening adjustment jack group 2)
It can be calculated by subtracting.

In addition, the corrected aperture difference is obtained by correcting the aperture difference because the lengths of the units are different, and the unit length ratio (Tx (control Unit length) / Ta (Unit A
Length)) is multiplied by.

The propulsion method and propulsion device M2 of the second embodiment
Then, the leading unit A is closed-loop controlled and is accurately propelled along the planned track to be laid, and the subsequent units B, C, and D that follow are also propelled and laid following Unit A. As compared with the case of the first embodiment, the pipe body 1 can be laid more accurately. By the way, even when the unit D is not used, the unit A is accurately propelled along the planned trajectory, and the unit B having the subsequent opening adjustment jack group 2 is also propelled accordingly. Body 1 has a small diameter,
Due to the short laying distance, the subsequent unit C
Will be laid one after another with a reduction in accuracy. Next, the propulsion method of the third embodiment will be explained. As shown in FIG. 1, the propulsion device M3 used in the third embodiment can detect the horizontal direction in the front conduit 15 of the propulsion device M1. A vertical azimuth sensor 29 and a vertical axis angle sensor 30 capable of detecting a vertical axis angle in the vertical direction, and
As shown in FIG. 12, the main body 43 of the
a. 43b and a predetermined control unit / storage unit (not shown), the data of the xyz coordinate that represents the planned trajectory in three dimensions is input, and the horizontal direction calculated from the xyz coordinate data of the planned trajectory by the calculation unit 33b. The closed-loop control (feedback control) is performed so as to eliminate the error between the direction and azimuth and the vertical ordinate and the signals from the azimuth sensor 29 and the ordinate sensor 30.

The vertical axis angle sensor 30 is the azimuth sensor 2
Various gyros can be used in the same manner as in No. 9, and for example, a gyro that uses the rotation of a top has a rotation axis oriented in the vertical direction. In this case, since an error occurs with the passage of time, the weight is used to detect the vertical direction, and the signal is used to correct the rotation axis of the gyro so that it always faces the vertical direction.

The vibration gyro, gas gyro, and laser gyro described for the orientation sensor 29 can also be used in the same manner by mounting them in a direction in which the vertical axis angular velocity in the vertical direction can be detected. In these gyros, the integration of the angular velocity signal to obtain the angle signal, the use of the stationary state of the unit A to eliminate the error, etc.
This is the same as described above.

Further, the vertical axis angle sensor 30 may be constructed by using a weight. That is, in order to prevent unnecessary vibrations, a weight is hung down on damping oil or the like like a pendulum, and the inclination between the pendulum and the surrounding portion of the front conduit 15 is detected. In this case, the output from the sensor includes the vibration component when excavating in the soil of the unit A, but since the necessary signal requires an extremely low frequency component, the output from the sensor is passed through the low pass filter. , The noise component due to the vibration may be removed.

Further, the direction sensor 29 and the vertical axis angle sensor 3
As a unit of 0 and 0, the unit A receives the rolling moment due to the resistance of the soil surface when the excavation is advanced, and it is accompanied by a slight roll angle deviation. It is desirable to detect the vertical axis angle. An example of the sensor for this purpose is an inertial navigation device used in an aircraft. When this inertial navigation device is attached to the unit A for use, first, the unit A
Of the three axes, that is, the vertical axis angle (pitch angle), the roll angle (yaw angle), and the yaw angle (roll angle) for each of the three axes using a laser gyro etc., to detect each angular velocity, These are electrically integrated to obtain each angle signal. afterwards,
A computer in the inertial navigation device performs coordinate conversion of the above three-axis angle signals into values in inertial space coordinates to obtain an azimuth angle and a vertical axis angle in the inertial space coordinates, and the azimuth angle and the vertical axis. The angle signal of the angle may be input to the control device main body 43.

As shown in FIG. 13, the three-dimensional coordinate data input to the control device body 43 of the third embodiment are the values of x, y and z at many points of the planned trajectory, and the keyboard 26 Is input to the main body 43 of the control device.
In addition, this data is displayed on the display 24 after inputting,
It is configured so that you can check.

The control by the control device body 43 is as follows.
The procedure is as follows.

A. First, based on the signal from the original push detection sensor 17, the strokes of the piston rod 16b of one original push jack 16 are integrated to calculate the propulsion distance of the leading unit A. Further, based on the signal from each opening adjustment detection sensor 5, the average stroke of each opening adjustment jack 3 of each jack group 2 in all the opening adjustment jack groups 2 arranged in the side shaft is calculated. Then, the average stroke of each jack group 2 is integrated in correspondence with all the jack groups 2 in the shaft, and the propulsion distance of the first unit A calculated previously is added to that value to move the first unit A. Calculate the distance (L).

B. Also, dy, dx, and dz of the components of dL at each point of the planned trajectory are obtained from the xyz coordinate data,
And an angle theta ₀ angle [psi ₀ and the vertical component of the horizontal component of the tangential ^{_{points, ψ 0 = tan -1 (dy}} / dx), θ 0
= Tan ^-1 (dz / dx).

Further, the length L ₀ on the planned trajectory up to each point
L ₀ = ∫ ((dy) ² + (dx) ² + (dz) ² )
Calculate as ^1/2 . Then, the length L ₀ to each point,
The angles ψ ₀ and θ ₀ at each point are stored in the storage unit.

Note that a. b. The calculation unit 43a performs the calculation.

C. In the calculation unit 43b, a signal of the angle ψ ₀ · θ ₀ according to the movement distance (L) is input, and the angle signal ψ from the azimuth sensor 29 and the angle signal θ from the vertical axis angle sensor 30 are input. Input, (ψ _{0 −} ψ)
× (K _I / S + K _P + K _D S) and (θ ₀ −θ) × (G
_I / S + G _P + G _D S) is calculated.

Incidentally, K_I , G_I Is the integral gain, K_P , G
_P Is the proportional gain, K_D , G_D Is the differential gain. Well
In addition, 1 / S represents integration and S represents differentiation. Furthermore, K_I , K
_P , K _D , G_I , G_P , G_D Is each control target of PID control.
It is IN, and is determined in advance according to the control target.

Then, in accordance with the values of (ψ ₀ −ψ) and (θ ₀ −θ), the left and right upper and lower two opening adjustment jacks 3 in the front opening adjustment jack group 2 are controlled, and (ψ ₀
The values of −ψ) and (θ ₀ −θ) are controlled to be zero.

At this time, the locus of the unit A is calculated and stored at regular intervals based on the moving distance (L) and the angle signal ψ · θ, and the construction track is displayed on the display unit 24. To do.

D. And (ψ ₀ −ψ) and (θ ₀ −θ)
Based on the signal of the opening adjustment detection sensor 5 that detects the stroke of each opening adjustment jack 3 when the values of and become zero, the opening provided between the leading unit A and the succeeding unit B. The control device main body 43 stores the difference.

E. After that, Unit A was promoted sequentially,
When the succeeding unit B / D moves to the position that controls the unit A, the unit B / D that has reached that position
The aperture adjustment jacks 3 of the subsequent aperture adjustment jack group 2 are controlled so that a predetermined corrected aperture difference obtained by correcting the stored aperture difference is generated between the unit and the unit immediately after.

The calculation of the moving distance of the succeeding unit is similar to that of the second embodiment, and the lengths Tb, Tc, and Td of the succeeding units are sequentially input to the control device main body 43 in advance. In the calculation unit 43a, if the moving distance L of the unit A is used as a reference, the length to that unit (the value obtained by adding the total length of each unit in between and the average stroke of the opening adjustment jack group 2) is subtracted. , Can be calculated.

As in the second embodiment, the correction aperture difference is also calculated by the unit length ratio (Tx (length of control unit) / Ta) based on the stored aperture difference described above in the calculating section 43a.
(Length of unit A)).

The propulsion method and propulsion device M3 of the third embodiment.
Then, in addition to the effect of the second embodiment, the pipe body 1 can be accurately laid along an arbitrary curve in the three-dimensional planned trajectory.

[Brief description of drawings]

FIG. 1 is a cross-sectional view schematically showing a propulsion device according to an embodiment of the present invention.

FIG. 2 is a vertical cross-sectional view showing the vicinity of the opening adjustment jack group of the embodiment.

3 is a sectional view taken along line III-III in FIG.

FIG. 4 is a block diagram of a control system of the opening adjustment jack.

FIG. 5 is a block diagram showing FIG. 4 in the form of a transfer function.

FIG. 6 is a front view of the control device.

FIG. 7 is a block diagram of a control system of the first embodiment.

FIG. 8: After the unit reaches the change point (starting point),
Furthermore, it is a schematic diagram showing a state in which the unit length is propelled on the planned orbit.

FIG. 9 is a schematic view showing a state in which the unit is further propelled by a unit length which is subsequent to the state shown in FIG.

FIG. 10 is a block diagram of a control system of a second embodiment.

FIG. 11 is a diagram showing a state in which a planned trajectory is represented by xy coordinates.

FIG. 12 is a block diagram of a control system of a third embodiment.

FIG. 13 is a diagram showing a state in which a planned trajectory is represented by xyz coordinates.

FIG. 14 is a vertical cross-sectional view showing a modified example of the opening adjustment jack.

15 is a sectional view taken along line XV-XV in FIG.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 ... Tube body, 2 ... Opening adjustment jack group, 3 ... Opening adjustment jack, 5 ... Opening adjustment detection sensor, 11 ... Buffer material, 13 ... Opening adjustment tube, 15 ... Front conduit, 16 ... Original pushing jack, 17 ... Original Push detection sensor, 22 ... Control device, 23.33.43 ... Control device main body, 24 ... Indicator, 29 ... Direction sensor, 30 ... Vertical angle sensor, M1, M2, M3 ... Propulsion device.

Claims (7)

[Claims] 1. A group of opening adjustment jacks or a ring-shaped cushioning member composed of a plurality of pipes and a plurality of opening adjustment jacks arranged between the front and rear pipes, and an edge between the front and rear pipes. An opening adjustment tube that covers the surroundings and the group of opening adjustment jacks or the periphery of the cushioning material, a leading conduit provided on the front end side of the leading tube body, a source push jack that presses the last tube body, and the opening adjustment tube. Each opening adjustment detection sensor for detecting the stroke of each opening adjustment jack of the jack group, the original push detection sensor for detecting the stroke of the original push jack, and the signals from the opening adjustment detection sensor and the original push detection sensor are input. A control device for controlling the operation of the opening adjustment jack and the original push jack, and the opening adjustment jack group includes at least a space between the first and second pipe bodies and a second space. Between the eye and the third pipe body, the start point where a curved line portion starts from a straight line portion and the inflection point where another curved line portion starts from a curved line portion are arranged between the eye and the third tubular body, with the original push jack as a driving force. , And through a change point such as an inflection point at which a straight line portion starts from a curved portion, a method of propulsion of a pipe body for propelling each of the pipe bodies along a planned trajectory from a start point, in the control device, to the change point. When the pipe bodies on the front side and the rear side of each opening adjustment jack group arrive, the opening difference to be provided between the pipe bodies on the front side and the rear side is input in advance as planned trajectory data. Every, the control device, from the propulsion distance based on the signal from the original push detection sensor, and the average stroke based on the signal from each aperture adjustment detection sensor in each of the aperture adjustment jack groups, from the each aperture adjustment jack group Distance of the front and rear tubes When the moving distance of each of the front and rear tube bodies of each opening adjustment jack group becomes equal to the distance from the start point to the change point, each opening is calculated based on the planned trajectory data. A method for propelling a tubular body, characterized in that the operation of each of the opening adjustment jacks is controlled so that a predetermined opening difference is provided between the front and rear tubular bodies of the adjustment jack group. 2. A group of opening adjustment jacks or a ring-shaped cushioning member composed of a plurality of tube bodies and a plurality of opening adjustment jacks arranged between the front and rear tube bodies, and an edge between the front and rear tube bodies. An opening adjustment tube that covers the surroundings and the group of opening adjustment jacks or the periphery of the cushioning material, a leading conduit provided on the front end side of the leading tube body, a source push jack that presses the last tube body, and the opening adjustment tube. Each opening adjustment detection sensor for detecting the stroke of each opening adjustment jack of the jack group, the original push detection sensor for detecting the stroke of the original push jack, and the signals from the opening adjustment detection sensor and the original push detection sensor are input. A control device for controlling the operation of the opening adjustment jack and the original push jack, and the opening adjustment jack group includes at least a space between the first and second pipe bodies and a second space. Between the eye and the third pipe body, the start point where a curved line portion starts from a straight line portion and the inflection point where another curved line portion starts from a curved line portion are arranged between the eye and the third tubular body, with the original push jack as a driving force. , And a propulsion device for a tubular body that propels each of the tubular bodies along a planned trajectory from a starting point through a transition point such as an end point where a straight line portion starts from a curved portion, wherein the control device includes the transition point. When the tube body of the front side and the rear side of each opening adjustment jack group arrives at, the opening difference to be provided between the tube bodies of the front side and the rear side,
Pre-input as planned trajectory data, the control device, from the thrust distance based on the signal from the original push detection sensor, and the average stroke based on the signal from each aperture adjustment detection sensor in each aperture adjustment jack group, from, The moving distance of each tube body on the front side and the rear side of each opening adjustment jack group is calculated, and the moving distance of each tube body on the front side and the rear side of each opening adjustment jack group is from the start point to the change point. When the distance becomes equal to, the operation of each opening adjustment jack is performed based on the planned trajectory data so that a predetermined opening difference is provided between the tube bodies on the front side and the rear side of each opening adjustment jack group. A propulsion device for a tubular body characterized by being controlled. 3. A heading tube is provided with an orientation sensor for detecting a horizontal axial direction of the tube, and an indicator is connected to the control device. The propulsion device for a tubular body according to claim 2, wherein the construction trajectory of the leading tubular body can be displayed on the display based on a moving distance of the tubular body and a signal from the direction sensor. 4. A group of opening adjustment jacks or an annular cushioning member composed of a plurality of tube bodies and a plurality of opening adjustment jacks arranged between the front and rear tube bodies, and an edge between the front and rear tube bodies. An opening adjustment tube that covers the surroundings and the group of opening adjustment jacks or the periphery of the cushioning material, a leading conduit provided on the front end side of the leading tube body, a source push jack that presses the last tube body, and the opening adjustment tube. An opening adjustment detection sensor that detects the stroke of each opening adjustment jack of the jack group, an original push detection sensor that detects the stroke of the original push jack, and a horizontal axis of the tubular body that is arranged on the leading pipe body. A direction sensor that detects a direction, and a control device that inputs the respective signals from the opening adjustment detection sensor, the original push detection sensor, and the direction sensor to control the operations of the opening adjustment jack and the original push jack, The opening adjustment jack group is disposed at least between the first and second pipe bodies and between the second and third pipe bodies, and As a propulsive force, a method of propulsion of a pipe body in which each pipe body is propelled from a starting point along a planned trajectory including a curved portion, and the planned trajectory is expressed in two dimensions on a horizontal plane by the control device. By inputting as xy coordinate data, the control device calculates a propulsion distance based on a signal from the original push detection sensor and an average stroke based on a signal from each aperture adjustment detection sensor in each aperture adjustment jack group. , The moving distance of the leading tube is calculated, and the tangential direction on the planned trajectory corresponding to the moving distance is calculated as xy
The operation of the front opening adjustment jack group immediately after the front tube is performed so that there is no difference between the calculated value in the tangential direction and the direction of the front tube based on the signal from the direction sensor calculated from the coordinate data. Along with the control, the opening difference that should be provided between the leading tube body and the tube body on the rear side immediately after is calculated from each opening adjustment detection sensor that detects the stroke of each opening adjustment jack of the leading opening adjustment jack group. Then, from the propulsion distance based on the signal from the original push detection sensor and the average stroke based on the signal from each aperture adjustment detection sensor in each aperture adjustment jack group, the subsequent aperture adjustment is performed. The moving distance of the tube immediately before the jack group is calculated, and when each tube immediately before the subsequent opening adjustment jack group reaches the control position of the leading tube, the opening adjustment jack group is interposed. The operation of each aperture adjustment jack of the subsequent aperture adjustment jack group is controlled so that an aperture difference corrected by the pipe length ratio corresponding to the stored aperture difference is generated between the front and rear pipe bodies. The tube construction method. 5. A group of opening adjustment jacks or a ring-shaped cushioning member composed of a plurality of tube bodies and a plurality of opening adjustment jacks arranged between the front and rear tube bodies, and an edge between the front and rear tube bodies. An opening adjustment tube that covers the surroundings and the group of opening adjustment jacks or the periphery of the cushioning material, a leading conduit provided on the front end side of the leading tube body, a source push jack that presses the last tube body, and the opening adjustment tube. An opening adjustment detection sensor that detects the stroke of each opening adjustment jack of the jack group, an original push detection sensor that detects the stroke of the original push jack, and a horizontal axis of the tubular body that is arranged on the leading pipe body. A direction sensor that detects a direction, and a control device that inputs the respective signals from the opening adjustment detection sensor, the original push detection sensor, and the direction sensor to control the operations of the opening adjustment jack and the original push jack, An indicator connected to the control device,
The opening adjustment jack group is disposed at least between the first and second pipe bodies and between the second and third pipe bodies, and A propulsion device for a pipe body for propelling each pipe body from a starting point along a planned trajectory including a curved portion as propulsive force, wherein the control device displays the planned trajectory in a two-dimensional manner on a horizontal plane. Input as the xy coordinate data, the control device, from the propulsion distance based on the signal from the original push detection sensor, and the average stroke based on the signal from each aperture adjustment detection sensor in each aperture adjustment jack group, The moving distance of the leading tube is calculated, and the tangential direction on the planned trajectory corresponding to the moving distance is calculated as xy
The operation of the front opening adjustment jack group immediately after the front tube is performed so that there is no difference between the calculated value in the tangential direction and the direction of the front tube based on the signal from the direction sensor calculated from the coordinate data. Along with the control, the opening difference that should be provided between the leading tube body and the tube body on the rear side immediately after is calculated from each opening adjustment detection sensor that detects the stroke of each opening adjustment jack of the leading opening adjustment jack group. Then, from the propulsion distance based on the signal from the original push detection sensor and the average stroke based on the signal from each aperture adjustment detection sensor in each aperture adjustment jack group, the subsequent aperture adjustment is performed. The moving distance of the tube immediately before the jack group is calculated, and when each tube immediately before the subsequent opening adjustment jack group reaches the control position of the leading tube, the opening adjustment jack group is interposed. The operation of each opening adjustment jack of the subsequent opening adjustment jack group is controlled so that an opening difference corrected by the tube length ratio corresponding to the stored opening difference is generated between the front and rear tube bodies. A propulsion device for a tubular body, wherein a construction trajectory of the leading tubular body can be displayed on the display based on a moving distance of the leading tubular body and a signal from the direction sensor. 6. A group of opening adjusting jacks or a ring-shaped cushioning member composed of a plurality of tube bodies and a plurality of opening adjusting jacks arranged between the front and rear tube bodies, and an edge between the front and rear tube bodies. An opening adjustment tube that covers the surroundings and the group of opening adjustment jacks or the periphery of the cushioning material, a leading conduit provided on the front end side of the leading tube body, a source push jack that presses the last tube body, and the opening adjustment tube. An opening adjustment detection sensor that detects the stroke of each opening adjustment jack of the jack group, an original push detection sensor that detects the stroke of the original push jack, and a horizontal axis of the tubular body that is arranged on the leading pipe body. An azimuth sensor for detecting a direction, a vertical axis angle sensor disposed on the leading tube body to detect a vertical axial direction of the tube body,
A control device for inputting respective signals from the opening adjustment detection sensor, the original push detection sensor, the azimuth sensor, and the vertical axis angle sensor to control the operation of the opening adjustment jack and the original push jack; A group of jacks is arranged at least between the first and second pipe bodies and between the second and third pipe bodies, and each of the above-mentioned push jacks is used as a driving force. A method for propelling a pipe body from a starting point along a planned trajectory including a curved portion, wherein the planned trajectory is three-dimensionally represented by the control device.
It is input as coordinate data, the control device, a propulsion distance based on a signal from the original push detection sensor, and an average stroke based on a signal from each aperture adjustment detection sensor in each aperture adjustment jack group, The moving distance of the leading tube is calculated, and the horizontal azimuth in the tangential direction and the vertical ordinate angle on the planned trajectory corresponding to the moving distance are calculated from the xyz coordinate data, and the horizontal azimuth in the tangential direction and In order to prevent a difference between the calculated value of the vertical ordinate angle and the horizontal azimuth and the vertical ordinate angle of the lead tube based on the signals from the azimuth sensor and the ordinate sensor, the lead tube does not have a difference. The opening difference that should be provided between the leading tube body and the immediately following rear side tube body is controlled by controlling the operation of the leading opening adjustment jack group immediately after that. It is calculated from each opening adjustment detection sensor that detects the stroke of the jack and stored in memory, and the propulsion distance based on the signal from the original push detection sensor and each opening adjustment detection sensor in each opening adjustment jack group. From the average stroke based on the signal of, the moving distance of the tube immediately before the subsequent opening adjustment jack group is calculated, and each tube immediately before the subsequent opening adjustment jack group is the control position of the leading tube. When the opening adjustment jack is reached, a subsequent opening adjustment jack is formed so that an opening difference corrected by the tube length ratio corresponding to the stored opening difference is generated between the front and rear tubes with the group of opening adjustment jacks in between. A propulsion method for a pipe body characterized by controlling the operation of each opening adjustment jack of the group. 7. A group of opening adjustment jacks or a ring-shaped cushioning member composed of a plurality of tube bodies and a plurality of opening adjustment jacks arranged between the front and rear tube bodies, and an edge between the front and rear tube bodies. An opening adjustment tube that covers the surroundings and the group of opening adjustment jacks or the periphery of the cushioning material, a leading conduit provided on the front end side of the leading tube body, a source push jack that presses the last tube body, and the opening adjustment tube. An opening adjustment detection sensor that detects the stroke of each opening adjustment jack of the jack group, an original push detection sensor that detects the stroke of the original push jack, and a horizontal axis of the tubular body that is arranged on the leading pipe body. An azimuth sensor for detecting a direction, a vertical axis angle sensor disposed on the leading tube body to detect a vertical axial direction of the tube body,
A control device for inputting signals from the aperture adjustment detection sensor, the original push detection sensor, the azimuth sensor, and the vertical axis angle sensor to control the operation of the aperture adjustment jack and the original push jack, and a controller connected to the control device. And a display unit according to claim 1, wherein the opening adjustment jack group is disposed at least between the first and second tubular bodies and between the second and third tubular bodies, A method for propelling a pipe body, in which each of the pipe bodies is propelled along a planned trajectory including a curved portion from a start point by using the original push jack as a propulsive force, wherein the planned trajectory is three-dimensional in the control device. Xy represented
It is input as z coordinate data, and the control device calculates a propulsion distance based on a signal from the original push detection sensor and an average stroke based on a signal from each aperture adjustment detection sensor in each aperture adjustment jack group. , Calculating the moving distance of the leading tube, calculating the horizontal azimuth in the tangential direction and the vertical ordinate angle on the planned orbit corresponding to the moving distance from the xyz coordinate data, and calculating the horizontal azimuth in the tangential direction. And the calculated value of the vertical axis of ordinate and the head tube so that there is no difference between the horizontal azimuth and the vertical axis of the head tube based on the signals from the azimuth sensor and the ordinate sensor. While controlling the operation of the front opening adjustment jack group immediately after the body, the opening difference that should be provided between the front tube body and the rear side tube body immediately after the body is determined by each opening of the front opening adjustment jack group. It is calculated from each aperture adjustment detection sensor that detects the stroke of the straightening jack and is stored, and the propulsion distance based on the signal from the original push detection sensor and each aperture adjustment detection sensor in each aperture adjustment jack group. From the average stroke based on the signal from, the moving distance of the tube immediately before the subsequent opening adjustment jack group is calculated, and each tube immediately before the subsequent opening adjustment jack group is the control of the leading tube. When the position is reached, the subsequent opening adjustment is performed so that an opening difference corrected by the tube length ratio corresponding to the stored opening difference is generated between the front and rear tube bodies that sandwich the opening adjustment jack group. The operation of each opening adjustment jack of the jack group is controlled, and further, the construction trajectory of the leading tube can be displayed on the display based on the moving distance of the leading tube and the signal from the direction sensor. And a tubular propulsion device.