JPH09145848A - Probe penetrating device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To bring each probe positively into contact with underground buried material at the time of two probes penetrating into the ground and easily judges contact with the underground buried material. SOLUTION: A detecting part 2 of a probe penetrating device 1 is fitted to a track 4 through a robot arm 3. An oscillating probe 10 is fixed to a first housing 35 of the detecting part 2, and a vibration receiving probe 11 is fixed to a second housing 36. The respective housings 35, 36 are slidably enclosed in a casing 37. The center part of an oscillating member 46 is connected to the casing 37, and one end part of this oscillating member 46 is connected to the first housing through a first connecting member 47, while the other end part is connected to the second housing through a second connecting member 48.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a probe penetrating device for penetrating a probe into the ground in order to specify the type of an underground object using an elastic wave inherent to a substance.

[0002]

2. Description of the Related Art As a method of specifying the type of buried object,
There is a method in which an operator penetrates a probe into the ground, and the operator himself identifies the reflected sound or Fourier spectrum analysis when the probe is struck. However, in this case, since the identification accuracy is determined by the intensity of the reflection and the noise, stable identification becomes difficult. In addition, since it involves judgment by a person, it takes time and hinders labor saving and labor saving of the identification work.

In order to eliminate such inconvenience, a vibration is applied to an underground object, an elastic wave generated by the vibration of the underground object is received, and a recognition device for identifying the type of the underground object from the elastic wave. An objective detection method using the information can be considered. In this method, first, an oscillating probe for giving vibration to an underground object and a vibration receiving probe penetrate into the ground until they come into contact with the underground object. Next, an elastic wave generated by the oscillation probe applying vibration to the underground object is received by the vibration receiving probe, and the type of the underground object is identified by identifying the elastic wave.

As a method of intruding a pile or the like into the ground, Japanese Unexamined Patent Publication (Kokai) No. 55-98527 discloses a method of driving a pile vibrating in the extension direction further into the tip of the pile by vibrating soil for breaking into the pile and driving the pile. It has been disclosed. Also,
A method of burying a buried pipe in the ground is disclosed in Japanese Patent Application Laid-Open No. 58-8 / 1983.
Japanese Patent Application Publication No. 0095 discloses a device for detecting the resistive force of soil acting on the head by applying a lateral vibration to the head provided at the head position of the buried pipe and detecting the axial load.

[0005]

In such a conventional technique, when the oscillation probe and the vibration receiving probe penetrate, the contact between the probe and the buried object depends on the penetration angle or the shape of the buried object. Due to instability or uncertainty, there is a problem that it is not possible to accurately identify an underground object by elastic waves.

Further, when identifying an underground object by elastic waves, it is necessary to stop the penetration when each probe comes into contact with the object, but force is applied to each probe to penetrate it. With only the penetration force to penetrate into the ground becomes large, or the amount of change in penetration force fluctuates, so it is difficult to judge the contact between the tip of each probe and the buried object, and the penetration cannot be stopped quickly. The problem arises.

An object of the present invention is to ensure that each probe can abut against an underground object when two probes penetrate into the ground, and that at least one probe abuts against an underground object. The purpose of the present invention is to provide a probe penetrating device that can easily determine the probe penetration.

[0008]

SUMMARY OF THE INVENTION The present invention provides an oscillation probe for applying vibration to an underground object, a vibration receiving probe for receiving an elastic wave from the underground object, and the oscillation probe. A probe penetrating device comprising a needle and a penetrating means for penetrating the vibration receiving probe into the ground, wherein the penetrating means has coupling portions at both ends, and an intermediate portion is pivotally supported by the penetrating means so as to be swingable. A rocking member, a first connecting member for pin-connecting one of the connecting portions of the rocking member to the oscillation probe, and a pin connecting the other connecting portion of the rocking member to the vibration-receiving probe. And a linear guide means for linearly guiding the oscillation probe and the vibration receiving probe. According to the present invention, the oscillation probe and the vibration receiving probe are penetrated into the ground by the penetrating means, and are guided in the axial direction of each probe by the linear guide means. When the oscillating probe abuts the object buried in the ground and stops penetrating, the first connecting member for pin-connecting the oscillating probe and the swinging member is used as a fulcrum, and the second connecting member is The pin-joined side is pushed down, and the vibration-receiving probe pin-joined to the second connecting member is pushed down to abut the underground object. When the vibration-receiving probe comes into contact with the buried object first, both probes come into contact with the buried object by the same action. Therefore, each probe can be brought into contact with an underground object regardless of the shape of the object without applying excessive force to the object.

Further, the present invention is characterized in that a penetrating vibrator for applying vibration is attached to the oscillation probe and the vibration receiving probe. According to the present invention, the oscillating probe and the vibrating probe are provided with a penetrating vibrator for imparting vibration, thereby reducing the adhesion resistance and frictional resistance between each probe and the soil, and making the penetration smooth. become. Further, since it is possible to easily determine whether or not the ground contact object has been contacted, it is possible to promptly stop the penetrating operation at the time of contact.

Further, the present invention is characterized in that the penetrating vibrator applies vibration such that the tip of each probe makes a circular motion on a plane perpendicular to the axis of each probe. According to the present invention, the penetrating vibrator applies the vibration so that the tip of each probe makes a circular motion in a plane perpendicular to the axis of each probe, so that each probe is more smoothly placed underground. Because it can penetrate, it becomes clearer to distinguish whether or not it has contacted an underground object.

[0011]

FIG. 1 is a front view showing a probe penetration device 1 according to an embodiment of the present invention. The probe penetrating device 1 is configured such that a robot arm 3 is mounted on a movable carriage 4, and a detection unit 2 is attached to a tip of the robot arm 3. The robot arm 3 includes a base 5 rotatably connected to the carriage 4 about the axis L1, an arm 6 connected to the base 5 so as to be angularly displaceable about the axis L2, and an axis relative to the arm 6. An arm 7 is connected to the arm 7 so as to be angularly displaceable about the axis L3, and a rotating member 8 is connected to the arm 7 so as to be angularly displaceable about the axis L4, and connects the detection unit 2 rotatably about the axis L5. The rotary member 8 is provided with a six-axis force sensor 14 for detecting a force applied to the robot arm 3. Probe penetration device 1
Is moved by the carriage 4 to a desired point, and the robot arm 3 performs positioning for the detection unit 2 to penetrate. The robot arm 3 is controlled by the robot controller 9 based on the output of the six-axis force sensor 14, and positions the detection unit 2 at a desired position at a desired angle. The detection unit 2 includes an oscillation probe 10, a vibration probe 11, a casing 37 supporting each of the probes 10, 11, and a link means 57. Data from the vibration probe 11 is It is processed by the data processing device 13.

FIG. 2 is a block diagram showing the data processing device 13. The data processing device 13 includes the signal processing circuit 1
6. It includes an identification circuit 17, a display processing circuit 18, a display device 19, and a database circuit 20, and is connected to the vibration receiving probe 11.

At one end of the oscillation probe 10 provided in the first housing 35, an impact generator 21 for applying an impact to the embedded object 25 is provided. This shock generator 2
1 is controlled by the control device 15. Oscillation probe 10
Is penetrated into the ground 26 until it abuts against the buried object 25, and the impact applied by the shock generator 21 propagates through the oscillation probe 10 to the buried object 25, and Generates an elastic wave unique to the substance. Oscillation probe 1
0 is inserted, for example, at an angle of 30 ° to 45 ° with respect to the ground surface, and is excited by an impact of 1.1 kg to 1.3 kg.

A sensor 27 is attached to one end of the vibration receiving probe 11 provided in the second housing 36. The other end of the vibration receiving probe 11 penetrates into the underground 26 until it comes into contact with the buried object 25. The elastic wave generated in the embedded object 25 is received by the vibration receiving probe 11, propagates through the vibration receiving probe 11, and is converted into an electric signal by the sensor 27. This electric signal is input to the signal amplifier 28 of the signal processing circuit 16, the database circuit 20, and the display processing circuit 18.

The signal processing circuit 16 includes a signal amplifier 28, A
It includes an / D (analog / digital) converter 29, a waveform storage circuit 30, an FFT (fast Fourier transform) operation circuit 31, and an input vector generation circuit 32. In the signal processing circuit 16, an identification signal for identifying an underground object is created from the received elastic waves. That is, the sensor 2
The electric signal converted in 7 is input to the signal amplifier 28 and amplified. Unnecessary signals are removed using a filter included in the signal amplifier 28 as necessary. The signal processed by the signal amplifier 28 is converted into a digital signal by an A / D converter 29, and is then input to a waveform storage circuit 30 and stored as a time axis response signal.

The time axis response signal stored in the waveform storage circuit 30 is Fourier transformed by the FFT calculation circuit 31 to create a frequency response signal. From the created frequency response signal, the input vector generation circuit 32 creates a divided response signal divided for each of a plurality of frequency bands. For example, 20
A signal in a frequency band of Hz to 5 kHz is divided into a range of 10 to 100. For example, it is divided into 50. These divided signals are learned in advance, divided by the maximum value of each component in the data stored in the database circuit 20, and 0 to 1
Is normalized to the value of. The divided response signal thus created is the identification signal.

The identification circuit 27 includes a neural network 33 and an output vector determination circuit 34. As the neural network 33, for example, B
PNN is used. The divided response signal from the input vector generation circuit 32 is input to the neural network 33, an output signal for each type of underground buried object is created based on the divided response signal, and is provided to the output vector determination circuit 34. The output vector determination circuit 34 determines the type of the underground object based on the output signal level from the neural network 33. Output signals from the waveform storage circuit 30, the FFT operation circuit 31, the input vector generation circuit 32, the neural network 33, and the output vector determination circuit 34 are subjected to image processing by the display processing circuit 18, and are implemented, for example, by a liquid crystal display device. 19 is displayed.

FIG. 3 shows an oscillation probe 10 and a vibration receiving probe 11.
FIG. 4 is a simplified front view showing the connected state of FIG. The detection unit 2 includes a casing 37, an oscillation probe 10, a vibration receiving probe 11, and a link mechanism 57. The casing 37 houses the first housing 35 and the second housing 36 slidably. In the first housing 35, the impact from the impact generator 21 is
Is attached. The middle part of the oscillation probe 10 is bent by about 30 degrees, and the tip part has an axis L6 parallel to the axis L5.

The vibration receiving probe 11 to which the sensor 27 is fixed is mounted in the second housing 36. The vibration receiving probe 11 has an axis L7 parallel to the axis L5. First,
The second housings 35, 36 are formed in a hollow, substantially rectangular parallelepiped shape, are adjacent to each other, and are hollow casings 3 that open downward.
7 are slidably housed independently of each other in the direction of the axis L5. In this manner, the oscillation probe 10 and the vibration receiving probe 11 are guided in a linear direction parallel to each other. Probes 10 and 11 are fixed to one end portions 38 and 39 of the first and second housings 35 and 36, respectively, and the other end portions 40 and 41 of the first and second housings 35 and 36 and the bottom portion 42 of the casing 37. Between them, springs 43 and 44 are provided, respectively.

The first and second housings 35 and 36 and the casing 37 are connected by a link mechanism 57, and the link mechanism 57 includes a pair of rocking members 46, a pair of first connecting members 47, and a pair of second connecting members 48. Composed of and. The oscillation probe 1 is provided at one end 38 of the first housing 35.
A pair of protrusions 52 protruding downward with respect to 0 are provided,
Similarly, the second housing 36 is provided with a pair of protrusions 54 protruding with the vibration receiving probe 11 interposed therebetween. Link mechanism 57
In FIG. 3, a plurality of members are configured symmetrically with the probes 10 and 11 interposed therebetween. FIGS. 3 and 4 show the configuration viewed from the front, but the same configuration is provided on the back side. Projection 52
One end of a first connecting member 47 is connected via a pin 53 so as to be freely angularly displaceable, and the second connecting member 48 is also connected to the projection 54 via a pin 55. The other end of the first connecting member 47 is connected to one end of the swinging member 46 so as to be angularly displaceable by a pin 51, and similarly, the second connecting member 58 is connected to the other end of the swinging member 46 via a pin 53. You. The center of the swing member 46 is connected to one end of a pair of protrusions 50 projecting downward from the open end of the casing 37 by a pin 49 so as to be angularly displaceable. Even if angular displacement occurs, the function of the swing member is guaranteed.

The vibration receiving probe 11 fixed to the second housing 36 has an axis L7 parallel to the axis L5. The oscillation probe 10 fixed to the first housing 35 is bent toward the side close to the vibration receiving probe 11 as shown in FIG. 4, and further bent at a portion forming a distance A with the vibration receiving probe 11. It has an axis L6 and extends in a direction parallel to the axis L7 of the vibration receiving probe 11. Therefore, since the vibration-sensing probe 11 and the oscillation probe 10 extend in close proximity to each other and extend in parallel, the size and shape of the embedded object 25 are not so limited and the probes 10, 11 are not restricted.
Can be brought into contact with the embedded object 25. In this embodiment of the present invention, for example, the distance A is selected to be about 25 mm, and the distance B from the lower ends of the first and second housings 35 and 36 to the tips of the probes 10 and 11 is determined in this embodiment of the present invention. In this case, for example, 400 mm is selected. The bottom of the casing 37 is connected to the rotating member 8 of the robot arm 3 by the axis L.
It is connected rotatably around 5. A penetrating vibrator 58 described below is provided near the center of the probes 10 and 11.

Next, the operation of the detection unit 2 will be described. As shown in FIG. 3, the robot arm 3
Is arranged at a desired point at a desired angle, and a penetration force is applied through the casing 3 in the direction of the axis L6, L7 of each probe to penetrate. When the tip of the vibration receiving probe 25 first contacts the embedded object 25, the penetration of the vibration receiving probe 11 stops first, and the penetration force of the robot arm 3 transmitted to the swinging member 46 via the casing 37 is The center of the swinging member 46 and the pin 51 are pushed down via the pin 49 with the pin 53 of the second connecting member 48 connected to the penetrated vibration receiving probe 11 as a fulcrum. The pin 51 further pushes down the oscillation probe 10 via the first connecting member 47 to bring the tip of the oscillation probe 10 into contact with the embedded object 25. When the tips of the probes 10 and 11 come into contact with the object to be buried, the reaction force suddenly increases.
When it is determined that the tips of 0 and 11 have contacted the embedded object 25, the robot arm 3 stops the penetration. When the oscillating probe 10 first comes into contact with the buried object 25, both probes 1
0 and 11 abut against the buried object, and the penetration stops. Thereafter, as described above, an impact is applied to the embedded object 25 via the oscillation probe 10, the elastic wave generated by the embedded object 25 is received by the vibration receiving probe 11, and transmitted to the data processing device 13 via the sensor 33. The type of the sent underground object is determined.

Springs 43, 4 for connecting the first and second housings 35, 36 and the bottom 42 of the casing 37, respectively.
4 indicates that one of the probes 10 and 11 has an embedded object 25.
, The spring on the one probe side absorbs the penetrating force by the elastic force, and prevents applying excessive force to the buried object 25. Further, the springs 35 and 36 limit the difference d between the penetration amounts of the respective probes 10 and 11. For example, only one probe comes into contact with the end of the buried object 25 and the other probe comes off the buried object 25. The penetration prevents the link mechanism 57 from being damaged.

FIG. 5 is a sectional view showing an example of the penetrating vibrator 58 attached to the probes 10 and 11, respectively. FIG. 5A shows the axes L6 and L7 of the probes 10 and 11 respectively. Penetrating vibrator 58 for vibrating each of the probes 10 and 11 in a plane including
FIG. 5B shows a penetrating vibrator 58 that applies vibrations so that the probes 10 and 11 make a circular motion in a plane perpendicular to the axes L6 and L7.

The penetrating vibrator 58 shown in FIG. 5A is mounted above a portion where the respective probes 10 and 11 are parallel to each other, fixed in a hollow casing 62, and has a rotation axis L8.
A motor 64 having a rotating shaft 63 rotatable therearound;
It has a center of gravity at a position eccentric from the rotation shaft 63,
And an oscillating weight 65 attached to the oscillating member. The rotation axis L8 intersects perpendicularly with the axes L6, L7 of the probes 10, 11, respectively. Since the oscillating weight 65 is eccentrically attached to the rotary shaft 63, the motor 64 vibrates so as to make a circular motion in a plane perpendicular to the axis L <b> 8 of the rotary shaft 63 by the rotation of the oscillating weight 65, and further via the casing 62. Then, each of the probes 10 and 11 is vibrated in a plane including the axes L6 and L7.

The penetrating vibrator 58 shown in FIG. 5B is composed of a casing 62, a motor 64, a rotating shaft 63, and an oscillating weight 65. The rotating axis L9 of the rotating shaft 63 is Are provided in parallel with the respective axes L6, L7. Accordingly, the rotation of the oscillating weight 65 causes the motor 64 to vibrate so as to make a circular motion in a plane perpendicular to the rotation axis L9. That is, the probe is vibrated so as to make a circular motion in a plane perpendicular to the axis L6, L7 of each of the probes 10, 11.

When the probes 10 and 11 penetrate into the ground, vibrations are applied by the penetration exciter 58, respectively.
Vibration is applied to the soil particles contacted by the probes 10 and 11, thereby reducing the adhesion resistance and frictional resistance between the probes 10 and 11 and the soil, and reducing the penetration force required to penetrate the probes 10 and 11. Can be done.

When penetrating the probes 10, 11, each probe 1
An experiment was performed to compare the difference between the case where vibration was applied to 0 and 11 and the case where vibration was not provided.

The soil used in the experiment was dry loam soil, and a buried object 25 was buried at a depth of 12 cm from the surface of the ground. The penetration angle of each of the probes 10, 11 is 45 °, the feed speed of each of the probes 10, 11 is 2.5 mm per second, the vertical depth H of the tip of each of the probes 10, 11 from the ground surface, The necessary penetration force W was examined. The determination as to whether or not the tips of the probes 10, 11 have contacted the buried object 25 is made by determining the vertical depth H = 12.
It is determined that the contact has been made when the distance has reached cm or more.

In this experiment, four types of penetration methods A, B, C, and D were used for comparison. The penetrating method A is a method of penetrating without giving vibration to each of the probes 10 and 11.
Penetration method B is a method in which a force is applied while slowly prying the base end side around the tip of each of the probes 10 and 11 to perform the penetration. The penetrating method C is shown in FIG.
8, each probe 1 in a plane including the axes L6 and L7.
This is a method of penetrating while vibrating 0 and 11. In the penetrating method D, the penetrating is performed by using the penetrating vibrator 58 of FIG. 5B while sliding so that each of the probes 10 and 11 moves circularly in a plane perpendicular to the axes L6 and L7. Is the way. In the penetration method C and the penetration method D, each of the vibration exciters 58 for penetration is used.
Was set to 122 Hz. FIG. 6 is a graph showing the results of the above-described experiment. The vertical axis is the penetration force W required to penetrate each of the probes 10 and 11, and the horizontal axis is each probe 1
The vertical depth H indicates the depth of the tip of 0, 11 from the ground surface.

As can be seen from the graph, in the penetration method A, the penetration depth W gradually increases while fluctuating vertically from the vicinity of the vertical depth H = 3 cm, and the vertical depth H at which the buried object 25 is embedded.
= 12 cm, the slope increases and the penetration force W becomes 5
Even if it exceeds kg, H does not reach 12 cm. In the penetration method B, the penetration force W rises almost linearly from around the vertical depth H = 3 cm, and rises sharply from around H = 11.5 cm,
About 4.5 kg of force is required to finally contact the buried object 25. In the penetration method C, the penetration force is approximately 0 kg up to the vertical depth H = 6 cm, and then rises, descends once at the vertical depth H = 9 cm, and the penetration force W = 1 kg. Until it comes into contact, the penetration force W rises and finally comes into contact with the buried object 25 at a penetration force W of about 4.5 kg. In the penetration method D, although the penetration force W slightly rises once at the vertical depth H = 9 cm, the vertical depth H = 11.5c
The penetration force W is almost 0 kg up to m, from which it rises rapidly, and the penetration force W when contacting the buried object 25 is 1.75.
kg. Therefore, the penetration force when abutting against the buried object 25 of the penetration method D is less than half the force of the other penetration methods A, B and C. Furthermore, before the buried object 25 is buried 5
mm, the penetration force W is almost 0 kg, and rises sharply from there. Therefore, it is very easy to determine whether or not it has contacted the buried object 25 as compared with the other penetration methods A, B, and C.

[0032]

As described above, according to the present invention, the tip of the vibration receiving probe and the tip of the oscillation probe can be brought into contact with the underground object without being greatly affected by the shape of the object. It is. In addition, since the penetration of each probe can be made smooth by providing the vibration exciter for each probe, it is possible to easily determine whether or not the probe has contacted the underground object.
Therefore, the penetration in the contact state can be stopped quickly.

Further, by vibrating the penetrating vibrator in such a manner that each probe makes a circular motion with respect to the plane perpendicular to the axis of each probe, each probe penetrates into the ground more smoothly. Therefore, the distinction as to whether or not it has contacted the underground buried object becomes clearer.

[Brief description of the drawings]

FIG. 1 is a front view showing a probe penetration device 1 according to an embodiment of the present invention.

FIG. 2 is a block diagram of a data processing device 13;

FIG. 3 is a simplified front view showing a connected state of an oscillation probe 10 and a vibration receiving probe 11;

FIG. 4 is a cross-sectional view of the detection unit 2.

FIG. 5 is a cross-sectional view showing each example of a vibration exciter 58 for penetration.

FIG. 6 is a graph showing the relationship between the penetration input W of each of the probes 10 and 11 and the vertical depth H.

[Explanation of symbols]

 REFERENCE SIGNS LIST 1 probe penetrating device 2 detecting unit 3 robot arm 4 carriage 9 robot control device 10 oscillation probe 11 vibration receiving probe 13 data processing device 25 embedded object 37 casing 46 rocking member 47 first connecting member 48 second connecting member 57 Link mechanism 58 Penetrating shaker

Front Page Continuation (72) Inventor Fujio Iitaka 1-14-4 Aoba, Sagamihara City, Kanagawa Prefecture (72) Inventor Akihiro Nakayama 1 Kawasaki-cho, Kakamigahara City, Gifu Prefecture Kawasaki Heavy Industries Ltd. Gifu Factory (72) Inventor Satoshi Kimura No. 1 Kawasaki-cho, Kakamigahara-shi, Gifu Kawasaki Heavy Industries, Ltd. Gifu factory (72) Inventor Masayoshi Uno Kawasaki-cho, Kakamigahara city, Gifu Prefecture Kawasaki Heavy Industries, Ltd. Gifu factory

Claims (3)

[Claims] 1. An oscillation probe for applying vibration to an underground object, a vibration probe for receiving an elastic wave from an underground object, and the oscillation probe and the vibration probe. A probe penetrating device comprising: a penetrating means for penetrating into the ground; a rocking member having coupling portions at both ends and an intermediate portion pivotally supported by the penetrating means; A first connecting member that pin-connects one connecting portion of the member to the oscillation probe; a second connecting member that pin-connects the other connecting portion of the swinging member to the vibration receiving probe; A penetrating device comprising: an oscillating probe; and linear guide means for linearly guiding the vibration-receiving probe. 2. The probe penetrating device according to claim 1, wherein a penetrating vibrator for applying vibration is attached to the oscillation probe and the vibration receiving probe. 3. The probe penetrating device according to claim 2, wherein the penetrating vibrator applies vibration such that the tip of each probe makes a circular motion on a plane perpendicular to the axis of each probe. apparatus.