JPH08226297A - Method and equipment for detecting place of nose bit of propulsion machine for burying piping - Google Patents

Abstract

PURPOSE: To automate the detection of the place of the nose bit of a propulsion machine for burying a piping. CONSTITUTION: In a method, in which a transmission coil is incorporated to the nose bit 3 of a propulsion machine 1 for burying a piping, a magnetic field formed by the transmission coil is detected by receiving coils on the ground and the place of the nose bit is detected, a plurality of receiving coils are disposed in a row at intervals in the direction orthogonal to winding shafts so that these winding shafts run in parallel, thus constituting receiving units 8. A plurality of the receiving units are arranged at proper distances along a propulsion predetermined coarse so that the direction of the disposal of each receiving coil is crossed over the propulsion predetermined coarse of the piping 2 and monitored by a common monitor 13, and the places of the nose bit reaching the lower sections of each receiving unit are detected by the distribution of magnetic field strength received by a plurality of the receiving coils of each receiving coil on the monitor side.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a method and apparatus for detecting the position of a tip bit of a pipe burying propulsion device.

[0002]

2. Description of the Related Art In burying a pipe with a propulsion device, the position of the tip bit at the time of propulsion is detected moment by moment, so that the projected position and depth of the tip of the propelling pipe, that is, the soil cover. Is operating the propulsion unit while checking whether or not it is off the planned route.

As a typical method conventionally used for detecting the position of such a tip bit, as shown in FIG. 11, a tip bit c provided at the tip of a propulsion pipe b propelled from a propulsion machine a is used. Built-in oscillator coil (not shown),
There is a method of detecting the position by detecting the magnetic field formed by this transmitting coil on the ground using a detecting device d such as a pipe locator. In this method, an operator for position detection moves the detection device d by hand to search a position estimated to be the position of the tip bit c, and the ground projection position, that is, the tip bit of the tip bit c is determined by the peak of the magnetic field strength. The position directly above is detected and the soil cover is detected by a method such as the half-value method. Then, the position information is transmitted to the operator of the propulsion machine a, and the operator of the propulsion machine operates the propulsion machine a with reference to the transmitted position information.

[0004]

The above-mentioned conventional method has the following problems. An operator is required to search and detect the position of the tip bit. Little attention has been paid to the means of transmitting information between the operator and the operator of the propulsion machine to search and detect the position of the tip bit, and when the propulsion distance is relatively short, the information is transmitted in a loud voice. For long distances, a transceiver is used, which puts a heavy burden on the operator. As mentioned above, the piping propulsion is carried out through a series of steps such as confirmation of the tip position, transmission of positional information, and operation of the propulsion device. Therefore, the former two procedures are large bottles in order to speed up the piping propulsion. It has become a neck. The present invention is intended to solve the above problems.

[0005]

In order to solve the above-mentioned problems, in the present invention, first, a transmitting coil is built in the tip bit of a pipe burying propulsion device, and the magnetic field formed by this transmitting coil is received on the ground. In the method of detecting the position of the tip bit by detecting with a coil, a plurality of receiving coils are
The receiving units are constructed by arranging them in a direction orthogonal to the winding axes at intervals so that the winding axes are parallel to each other, and the receiving units are arranged in a row so that the receiving coils are lined up above the planned route of the pipe. As described above, a plurality of receiving units are arranged at appropriate distances along the planned route to be monitored by a common monitoring device, and the position of the leading end bit below each receiving unit is monitored by the monitoring device side. We propose a position detection method that detects by the distribution of the magnetic field strength received by multiple receiving coils of the receiving unit.

In the above method, the oscillator coil can be incorporated with the winding axis in the propulsion direction, in the direction perpendicular to the propulsion direction, or at an appropriate angle with respect to the propulsion direction.

Further, in the present invention, in the above method, the propulsion distance is measured in the pipe burying propulsion device, and the receiving unit emitting the constant method of the tip bit is identified on the monitoring device side by the measured propulsion distance of the pipe. I suggest that.

Further, in the present invention, in the above method, the identification information of itself is issued together with the position information of the tip bit, and the identification information identifies the receiving unit issuing the position information of the tip bit. Suggest to do.

Further, according to the present invention, a plurality of receiving units are formed by arranging a plurality of receiving coils in a row at right intervals in a direction orthogonal to the winding axes such that the winding axes are parallel to each other, and a plurality of receiving units. A position detecting device is proposed, which includes a monitoring device common to the receiving units and a communication means between the plurality of receiving units and the monitoring device, and the monitoring device is configured to display the position information of the tip bit from each receiving unit. .

The present invention proposes that the communication means in the above apparatus is a wireless communication device using a specific low power radio wave.

According to the present invention, in the above device, the display means of the monitoring device displays the position information of the tip bit from each receiving unit and the information of the propulsion distance from the propulsion distance measuring means provided in the propulsion device. It is proposed that the configuration be done.

Further, the present invention proposes that each receiving unit in the above device has a function of communicating its own identification information to the monitoring device.

[0013]

In propelling the pipe, when the tip bit reaches below a certain receiving unit, each receiving coil detects the magnetic field formed by the transmitting coil built in the tip bit, and the longitudinal direction of the receiving unit, That is, the distribution of the magnetic field strength in the direction crossing above the planned route of the pipe can be obtained.

The magnetic field strength along the receiving unit is greatest just above the transmitter coil and diminishes further away. Therefore, the magnetic field strength detected by the receiving coil located immediately above or closest to the transmitting coil becomes the largest, and the magnetic field strength detected becomes smaller as the transmitting coil is further away therefrom. Therefore, it is possible to detect the position of the receiving unit corresponding to the receiving coil where the detected value of the magnetic field strength is the maximum or the position obtained by interpolation etc. as the position directly above the tip bit, thus traversing above the planned route of propulsion of the pipe. It is possible to detect the position of the tip bit in the direction of movement, and thus the lateral deviation from the planned driving route.

If the correspondence between the magnetic field strength distribution along the receiving unit and the soil cover is obtained in advance by theoretical calculation, measurement, etc., the method similar to the conventional half-value method is used to calculate the magnetic field strength. It is possible to detect a position where the detected value is lower than the maximum value by a predetermined ratio and detect the soil cover based on the distance between this position and the maximum position. Therefore, the deviation in the vertical direction from the planned driving route can be detected.

The monitoring device can identify the receiving unit emitting the position information of the tip bit based on the measured propulsion distance or the identification information from each receiving unit, and thus the position of the tip bit along the planned route of propulsion. Can be detected.

Thus, when the pipe is propelled, each time the tip bit sequentially reaches below the plurality of receiving units arranged at appropriate intervals along the planned route, the position where the receiving unit is arranged and the position where the receiving unit is arranged. It is possible to detect the position of the tip bit in the, and therefore the deviation from the planned propulsion route, and display the detected position or deviation from the planned propulsion route by the monitoring device on the propulsion machine side and use it for operating the propulsion machine. be able to.

[0018]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Specific examples of the position detecting device and the position detecting method using the same according to the present invention will be described below with reference to the accompanying drawings. 1 and 2 are a longitudinal sectional view and a plan view, respectively, showing the overall configuration. In these drawings, reference numeral 1 is a propulsion device, 2 is a pipe for propelling, 3 is a tip bit provided at the tip of the pipe 2, and reference numeral 4a. , 4b are excavation holes on the starting side and the reaching side, respectively. As shown in FIG. 3, the tip bit 3 incorporates a transmitter coil 6 in which a winding shaft 5 is oriented in the axial direction of the pipe, and a transmitter device 7 such as a transmitter circuit and a battery. Since the propulsion method for burying the pipe by the above elements is known, the description thereof is omitted here. Further, in these figures, the propulsion pipe 2 is exaggeratedly drawn from the deviation from the planned propulsion route. The direction of the winding shaft 5 of the transmission coil 6 is the axial direction of the pipe as described above, that is, the propulsion direction of the tip bit 3, as well as the direction perpendicular to the propulsion direction or the direction inclined by an appropriate angle. Etc. are suitable, and a plurality of the transmission coils 6 can be incorporated.

Reference numeral 8 is a receiving unit, and the receiving unit 8 has a plurality of receiving coils 10 (1
0a, 10b, 10c, ...), and a receiver and a communication means are installed. Receiving coil 10
The winding shafts 11 (10a, 10b, 10c, ...) Are arranged in the longitudinal direction at appropriate intervals with the winding shafts 11 oriented in the direction orthogonal to the longitudinal direction of the body 9. Although not shown, the receiving device is composed of a circuit for measuring the magnetic field strength corresponding to each receiving coil 10, a battery, and the like. Further, the communication means is symbolically shown by the antenna 12 in FIG. 1, and has a configuration for transmitting a signal of the magnetic field strength corresponding to each receiving coil 10 from the receiving device to the monitoring device described later. As the communication means, for example, a wireless device using a specific low power radio wave can be applied.

As shown in FIGS. 1 and 2, a monitoring device 13 is installed on the side of the propulsion device 1. The monitoring device 13 includes a communication means 14 for communicating with the communication means of the receiving unit 8 and performs communication. The magnetic field intensity display means 15 corresponding to each of the receiving coils 10 obtained by the above-described method, such as a CRT display device, is provided.

In the above structure, the piping 2 by the propulsion device 1
When carrying out the burial work, a proper number of receiving units 8 are arranged on the ground along the planned route of the pipe 2 at intervals, and the monitoring device 13 is arranged near the propulsion unit 1. Each of the receiving units 8 corresponds to the central portion immediately above the planned driving route, and sets the length direction orthogonal to the planned driving route. Receiving unit 8 at an appropriate number of places, for example, a few
Are arranged so that communication with the monitoring device 13 is possible.

In the above structure, the operator of the propulsion machine 1 operates the propulsion machine 1 while checking the position information of the tip bit 3 displayed on the display means 15 of the monitoring device 13 as necessary to operate the piping 2 Carry out the promotion work of. That is, tip bit 3
However, when approaching below a certain receiving unit 8, the magnetic field formed by the starting coil 3 is applied to the respective receiving coils 10.
The magnetic field strength is gradually increased and is maximized when the tip bit 3 reaches directly below the receiving unit 8. Since the magnetic field strength detected by each of the receiving coils 10 at this time is displayed on the display means 15 of the monitoring device 13 via the communication means, the worker can select a certain receiving unit 8 according to the display content of the display means 15. The position of the tip bit 3 with respect to can be confirmed. The receiving unit 8 that emits such position information measures the propulsion distance of the pipe 2 in the propulsion machine 1 and displays it on the display means 15 of the monitoring device 13 or the receiving unit 8 displays itself. By being configured to emit identification information such as an identification code, transmitting this to the monitoring device 13, and displaying this information on the display means 15,
The position of the tip bit 3 can be detected by the monitoring device 13 including the position of the receiving unit 8.

For example, as shown in the figure, the strength of the magnetic field formed by the transmitting coil 6 in the direction in which the winding shaft 5 propels the tip bit 3 has a distribution of equal magnetic field strength shown in FIG. As shown in FIG. 6, the magnetic field strength detected by each receiving coil 10 is the largest at the receiving coil 10c located immediately above the transmitting coil 6, as shown in FIG. It becomes smaller as it gets away from it. In the example of FIGS. 5 and 6, the receiving unit 8 has a configuration in which 13 receiving coils 10 are arranged in a row, and as described above, the transmitting coil 3 of the tip bit 3 is provided immediately below the central receiving coil 10c of the receiving unit 8. positioned. The position of the receiving unit 8 corresponding to the receiving coil 10c having the maximum magnetic field strength, in this case, the central position of the receiving unit 8 can be detected as the position of the tip bit 3.

If the correspondence between the magnetic field strength distribution along the receiving unit 8 and the soil cover L is obtained in advance by theoretical calculation, measurement, etc., the same method as the conventional half-value method is used, The position of the receiving unit 8 where the detected value of the strength is C% which is a predetermined percentage lower than the maximum value, in this case, the distance between the position corresponding to the third receiving coil 10 from the left in the figure and the position where the magnetic field strength is maximum. l can be detected as the overburden L. The above is the case where the maximum position of the magnetic field strength and the position of C% coincide with the position of the receiving coil 10. However, if they do not coincide with each other, the position immediately above is determined by the corresponding position of the receiving unit obtained by interpolation or the like. And soil cover can be detected.

When the direction of the winding shaft 5 of the transmission coil 6 is not the direction of propulsion but is perpendicular or inclined to this direction, the magnetic field distribution is periodically rotated by rotating with the tip bit 3 in propulsion. Therefore, the magnetic field strength detected by each receiving coil 10 of the receiving unit 8 also changes. Even with such a variation, the position of the tip bit 3 described above can be detected by installing a peak hold circuit or the like in the receiving unit 8 or the monitoring device 13.

In the display means 15 of the monitoring device 13, the value of the magnetic field strength detected by each receiving coil 10 of the receiving unit 8 is displayed as a numerical value or a graph as it is, and the maximum magnetic field strength and C in the monitoring device 13 are displayed. %, The position of the receiving unit 8 may be calculated, and the derived position of the tip bit 3 may be displayed by a numerical value or a graph.

For example, in FIG. 6, the magnetic field strength detected by each receiving coil 10 of the receiving unit 8 is displayed as a bar graph relatively with the maximum value being 100%. On the other hand, FIGS. 9 and 10 show examples of other display methods. In these examples, in addition to the bar graph similar to FIG. 6, the position of the tip bit 3 derived by the above calculation is displayed in the cross-sectional shape of the pipe. ing. The displays in FIGS. 9 and 10 correspond to the detection operation when the route is deviated from the planned route indicated by the one-dot chain line in FIGS. 7 and 8 and the route is indicated by the broken line. Pipe 2 that was being promoted on the planned route at the point was B
At the point, both the lateral direction and the height direction are displaced. In FIG. 9 corresponding to the point A, the maximum value of the magnetic field strength is displayed at the output of the central receiving coil among the 11 receiving coils of the receiving unit 8, and between this position and the position of the value of C%. The distance also matches the depth of the planned route,
Therefore, the position of the tip bit 3 is displayed on the display means 15 without any deviation from the planned driving route. On the other hand, in FIG. 10 corresponding to the point B, the maximum value of the magnetic field strength appears as the output of the third receiving coil from the left side, and the C% value appears as the output of the fourth receiving coil from the right side. ing. Therefore, the position of the tip bit is displayed both horizontally and vertically with respect to the planned driving route shown by the broken line in the figure.

As described above, the operator of the propulsion machine 1 is
When propelling the pipe 2, each time the tip bit 3 sequentially reaches below the plurality of receiving units 8 arranged along the planned route, the position of the tip bit 3 at the position where the receiving unit 8 is arranged, The deviation from the planned propulsion route can be detected by the distribution of the magnetic field strength measured by the plurality of receiving coils 10, and information such as the detected position or the deviation from the planned propulsion route can be monitored on the propulsion machine 1 side by communication means. It can be transmitted to the device 13 and used for operating the propulsion device 1.

[0029]

As described above, the present invention has the following effects. Since the position of the tip bit and the transmission of that information can be automatically performed, the position of the tip bit is searched,
The number of personnel to detect can be reduced. The position information of the tip bit is transmitted to the operator of the propulsion machine momentarily by wireless communication means, so that the operator can operate the propulsion machine while checking the position of the propulsion pipe in real time. It becomes easier to speed up the piping promotion.

[Brief description of drawings]

FIG. 1 is a vertical cross-sectional view illustrating the entire configuration of the present invention.

FIG. 2 is a plan view illustrating the overall configuration of the present invention.

FIG. 3 is a front view showing a tip bit portion.

FIG. 4 is a perspective view showing a portion of a receiving unit.

FIG. 5 is a cross-sectional view showing the principle of position detection.

FIG. 6 is an explanatory diagram showing the principle of position detection and a display example in the monitoring device.

FIG. 7 is a vertical sectional view showing an example of a pipe propulsion operation.

FIG. 8 is a plan view showing an example of a pipe propulsion operation.

9 is an explanatory diagram showing a display example of a display unit corresponding to point A in FIGS. 7 and 8. FIG.

10 is an explanatory diagram showing a display example of a display unit corresponding to point B in FIGS. 7 and 8. FIG.

FIG. 11 is a vertical sectional view showing a conventional pipe propulsion method.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Propulsion machine 2 Piping 3 Tip bit 4a Transmission side excavation hole 4b Reaching side excavation hole 5 Winding shaft 6 Transmission coil 7 Transmission device 8 Reception unit 9 Body 10 Reception coil 11 Winding shaft 12 Antenna 13 Monitoring device 14 Communication means 15 Display means

Claims (10)

[Claims] 1. A method for detecting the position of a tip bit by incorporating a transmission coil in the tip bit of a pipe burying propulsion device and detecting the magnetic field formed by the transmission coil by a receiving coil on the ground to detect the position of the tip bit. Receiving units are constructed by arranging coils in a row in a direction orthogonal to the winding axes so that their winding axes are parallel to each other, and the receiving units are arranged such that the receiving coils are arranged in a direction above the planned route of the pipe. A plurality of receiving units are arranged at appropriate distances along the planned driving route so as to traverse, and are monitored by a common monitoring device, and the position of the tip bit reaching below each receiving unit is monitored by the monitoring device. The method for detecting the position of a tip bit of a pipe burying propulsion device is characterized in that the detection is performed by a distribution of magnetic field strengths received by a plurality of receiving coils of each receiving unit on the side. 2. The method for detecting the position of the tip bit of a pipe burying propulsion device according to claim 1, wherein the transmitting coil is built in the tip bit with the winding shaft as the propulsion direction. 3. The method for detecting the position of a tip bit of a pipe burying propulsion device according to claim 1, wherein the transmitting coil is built in the tip bit with the winding shaft in a direction perpendicular to the propulsion direction. 4. The method for detecting the position of the tip bit of a pipe burying propulsion device according to claim 1, wherein the transmitter coil is built in the tip bit with the winding shaft inclined at an appropriate angle from the propelling direction. 5. A propelling device for burying a pipe is used to measure a propulsion distance, and the receiving unit emitting position information of the tip bit is identified on the monitoring device side by the measured propulsion distance of the pipe. 1. The method for detecting the position of the tip bit of the pipe burying propulsion device according to 1. 6. Each receiving unit is configured to emit its own identification information together with the position information of the leading edge bit, and the receiving unit that is emitting the leading edge bit position information on the monitoring device side is identified by this identification information. The method for detecting the position of a tip bit of a pipe burying propulsion device according to claim 1. 7. A plurality of receiving units, which are formed by arranging a plurality of receiving coils at appropriate intervals in a direction orthogonal to the winding axes so that the winding axes are parallel to each other, and a plurality of receiving units. A common monitoring device, a plurality of receiving units and communication means between the monitoring devices, and the monitoring device is configured to display the position information of the tip bit from each receiving unit. Position detection device for tip bit of machine. 8. The position detecting device for the tip bit of a pipe burying propulsion device according to claim 7, wherein the communication means is a wireless communication device using a specific low-power radio wave. 9. The display means of the monitoring device displays the position information of the tip bit from each receiving unit and the information of the propulsion distance from the propulsion distance measuring means provided on the propulsion unit. Position detecting device for the tip bit of the described propulsion device for burying pipes. 10. The position detecting device for the tip bit of a pipe burying propulsion device according to claim 7, wherein each receiving unit has a function of communicating its own identification information to the monitoring device.