JPH10267655A - Position-probing device of excavating pipe-jacking machine and method therefor - Google Patents

Abstract

PROBLEM TO BE SOLVED: To easily and accurately measure the position and the orientation direction of an excavating pipe-jacking machine by providing first and second coils being arranged horizontally and in parallel on the same vertical line, a third coil being arranged vertically, and a fourth coil being arranged horizontally, and detecting an AC magnetic field being generated by a coil for generation a magnetic field in the excavating pipe-jacking machine. SOLUTION: A coil CO for generating a magnetic field is installed horizontally (in a y-axis direction) and its generation magnetic filed is horizontal (in the y-axis direction) directly above. When a third coil C3 is moved on the ground, a generation voltage is minimized directly above (x=0) the coil CO for generating a magnetic field, thus the horizontal position (y=0) of the coil CO for generating a magnetic field can be determined. Since the coil CO for generating a magnetic field is directed in the y-axis direction at a position of x=y=0, the generation voltage of a fourth coil C4 is minimized when facing an x-axis direction, so that the orientation direction (y-axis direction) of the coil CO for generating a magnetic field can be determined. Since the strength of the generation magnetic field of the coil CO for generation a magnetic field varies depending upon the distance in Z-axis direction, the depth (the position of Z=0) can be determined from the magnetic field strength ratio between the first and second coils C1 and C2.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a position exploration apparatus and method for measuring the horizontal position, depth, and azimuth of a drilling propulsion machine that digs underground to bury an optical fiber cable or a sewer pipe. About.

[0002]

2. Description of the Related Art In recent years, in the underground laying work of optical fiber cables and sewage pipes, a non-cutting method using a drilling propulsion machine has become mainstream. This is because when laying an optical fiber cable or sewer pipe under the road, it is necessary to cut off traffic on the road with the open cut method, but there is almost no need to cut off traffic on the road with the non-cutting method. is there. Conventionally, generally used excavation propulsion devices include a tip device 52 having a head 51 for direction control, a main pushing device 54 fixed to a shaft 53, and a tip device 52 and a main pushing device 54 as shown in FIG.
And a propulsion pipe 55 formed of an iron hollow pipe connecting the propulsion pipe 55 and the propulsion pipe 55 is pushed into the ground by the main pushing device 54 to form a pipeline. On the other hand, a planning line L indicating a target excavation route is provided on the ground side.

In order to propel the excavator along the plan line L, it is necessary to know the direction (azimuth) together with the position of the tip device 52. For example, as shown in FIG. 24, even if the position of the tip device 52 matches the plan line L, but is not parallel to the plan line L, it is necessary to change the propulsion direction by tilting the head 51 as shown by a dotted line.

The position and direction of the tip device 52 of the excavator are measured as follows. First, the position along the planning line L is obtained from the pushing amount of the main pushing device 54. Next, the horizontal position perpendicular to the planning line L is measured by the electromagnetic induction method. In order to measure the horizontal position perpendicular to the planning line L by the electromagnetic induction method, as shown in FIG. 22 and FIG. 23 showing the AA cross section of FIG. , A coil B and C placed horizontally on the ground, and a coil D placed vertically. In order to generate an AC magnetic field in the coil A, a current is supplied to the coil A from an AC power supply.

In the above measurement configuration, the coil A
, An alternating magnetic field is generated, and its intensity is first measured by the coil D. Since the generated magnetic field is horizontal just above the coil A, if the coil D is moved right above the coil A at a right angle to the planning line L, the generated voltage of the coil D becomes zero, so that the horizontal position of the tip device 52 is known. be able to.

Next, the depth position of the tip device 52 from the surface of the ground is obtained by measuring the voltages generated by the coils B and C at a position immediately above the coil A. That is, since the magnetic field generated by the coil A changes depending on the distance, the depth of the coil A can be known based on the ratio of the generated voltages of the coils B and C, and the depth of the tip device 52 can be known. The angle (roll angle and pitch angle) in the vertical plane of the excavator is obtained by outputting a signal corresponding to the roll angle and the pitch angle from an inclinometer 56 provided in the tip device 52. Measuring.

Next, the angle (azimuth angle) in the horizontal plane is estimated from the angle formed by connecting a straight line between the two horizontal positions obtained by the electromagnetic induction method and the planning line L. .

[0008]

The above-described conventional excavation propulsion device has a three-dimensional position of the tip device 52 and a low-load device in a vertical plane.
Angle and pitch angle can be measured directly, but the angle in the horizontal plane (azimuth angle) is connected by a straight line between two horizontal positions obtained by the electromagnetic induction method, and the straight line and the planning line L An indirect measure of estimating from the angle between However, excavation propulsion devices are generally used on high-traffic roads in general, so that
If the position search time on the road 2 is long, traffic may be hindered. For this reason, the position exploration of the tip device 52 on the road is often performed sporadically rather than continuously, so that the estimation error of the azimuth angle becomes large, and the position control of the excavation thruster is performed with high accuracy. There is a problem that it is difficult to do. As a means for measuring the azimuth of the tip device 52, there is also a means for mounting a gyro on the tip device 52, but there is a problem that the configuration of the device is complicated and expensive.

Therefore, an object of the present invention is to provide a position search device and a position search method for an excavator capable of easily and highly accurately measuring the position and azimuth of the excavator.

[0010]

According to the first aspect of the present invention, a plurality of coils generate an alternating magnetic field generated by a magnetic field generating coil provided in an excavation propulsion machine so as to be horizontal and perpendicular to the direction of underground excavation propulsion. In the position search device of the excavation propulsion machine that detects the position and the azimuth of the excavation propulsion device based on the voltage generated by each coil, the plurality of coils are arranged horizontally and parallel on the same vertical line. A first coil and a second coil, a third coil arranged vertically, and a fourth coil arranged horizontally.

According to a second aspect of the present invention, in the position locating device for an excavating propulsion device according to the first aspect, the fourth coil is disposed at right angles to the first coil and the second coil.

[0012] The invention of claim 3 is claim 1 or claim 2.
In the position search device for an excavation propulsion device described in (1), there is provided means for detecting and displaying the depth position of the magnetic field generating coil based on the ratio of the generated voltage of the first coil and the second coil.

According to a fourth aspect of the present invention, in the position locating apparatus for an excavator according to any one of the first to third aspects, the voltage generated by the third coil or the fourth coil is minimized. That is, means for detecting and displaying the fact is provided.

According to a fifth aspect of the present invention, in the position search device for an excavator according to any one of the first to fourth aspects, the third coil and the fourth coil can be moved horizontally and vertically. A special coil.

According to a sixth aspect of the present invention, in the position locating apparatus for an excavating propulsion machine according to any one of the first to fifth aspects, the coil for generating a magnetic field is one of the first coil and the second coil. The voltage generated by the coil closer to
A first coil, a second coil, a third coil, and a fourth coil.
And a means for averaging the phase-detected voltages, and using the averaged voltages as the voltages generated by the coils.

According to a seventh aspect of the present invention, in the position exploring apparatus for an excavating propulsion device according to any one of the first to sixth aspects, the voltage generated by the first coil or the second coil and the third Means for indicating whether the sign of the voltage generated by the coil or the fourth coil matches or does not match.

According to an eighth aspect of the present invention, in the position exploring apparatus for an excavating propulsion device according to any one of the first to seventh aspects, the beam is located in a vertical plane including the central axis of the fourth coil. A means for irradiating light is provided.

According to a ninth aspect of the present invention, in the position exploration device for an excavating propulsion device according to any one of the first to eighth aspects, measurement for recognizing an angle with a reference line displayed on the ground surface is performed. Providing means.

The invention according to claim 10 is the invention according to claims 1 to 9
In the position locating device of the excavation propulsion machine according to any one of the above, the first coil, the second coil, the third coil, the fourth coil is provided in a housing rotatable in a horizontal plane, The housing is provided with a scale for recognizing a rotation angle, the first, second, and third coils are installed so that their centers coincide with the rotation axis, and the fourth coil has its axis passing through the rotation center. Or, it is arranged so that a straight line passing through the center at right angles to the axis passes through the center of rotation.

According to the eleventh aspect of the present invention, a plurality of coils detect an AC magnetic field generated by a magnetic field generating coil provided in the excavation propulsion machine so as to be horizontal and perpendicular to the direction of underground excavation propulsion. A method for detecting the position and azimuth of the excavator based on the generated voltage of the excavator, wherein the vertically disposed third coil is horizontally positioned on the magnetic field generating coil. Moving the horizontal position of the magnetic field generating coil at which the voltage generated by the third coil is minimized, and moving the fourth coil horizontally disposed at the horizontal position of the magnetic field generating coil to a horizontal plane. Azimuth searching step of searching for the azimuth of the magnetic field generating coil in which the voltage generated by the fourth coil is minimized, and the first coil and the first coil arranged horizontally and parallel on the same vertical line. Two The coil is arranged in a horizontal position of the magnetic field generating coil in parallel with the azimuth of the magnetic field generating coil, and the depth of the magnetic field generating coil is detected from the ratio of the generated voltages of the first coil and the second coil. To have a depth exploration process.

According to a twelfth aspect of the present invention, in the excavation propulsion machine position detecting method according to the eleventh aspect, the voltages generated by the first coil, the second coil, the third coil, and the fourth coil are determined. Averaging after phase detection.

Next, claims 1 to 4 and claim 11 will be described.
The operation of the invention will be described with reference to FIG. As shown in FIG. 1, the coordinate origin is set as the center of the magnetic field generating coil C0,
The vertical direction is the z axis, the direction of the center axis of the magnetic field generating coil C0 is the y axis, and the direction perpendicular thereto is the x axis. Since the x-axis position of the magnetic field generating coil C0 is known to be equal to the excavating distance of the excavator, the y-axis position and z
Measure the axial position. An alternating current is applied to the magnetic field generating coil C0 to generate an alternating magnetic field. Since the magnetic field generating coil C0 is installed horizontally (y-axis direction), the generated magnetic field is horizontal (y-axis direction) immediately above the magnetic field generating coil C0. Next, the position where the voltage generated by the third coil C3 becomes minimum is obtained by moving the third coil C3 on the ground surface. Since the third coil C3 is vertical, it generates an induced voltage proportional to the magnetic field component in the vertical direction. Therefore, the minimum point of the voltage generated by the third coil C0 is the position immediately above the magnetic field generating coil C0, and the position of
The horizontal position (position of y = 0) can be known. At this time, since the azimuth of the magnetic field generating coil C0 is unknown, the y direction is also unknown. Therefore, the third coil C3 cannot be strictly moved in the y-axis direction. However, since the magnetic field generated by the magnetic field generating coil C0 has a zero component in the z-axis direction only in the plane of y = 0, the position of y = 0 must be known unless the third coil C3 is moved in the x-axis direction. Can be.
In the case of the excavator, since the approximate azimuth of the magnetic field generating coil C0 can be known from the ground plan line, the third coil C3 may be moved in a direction perpendicular to the plan line, for example. Next, at the position of x = y = 0 obtained above, the azimuth of the fourth coil C4 is variously changed, and the angle at which the generated voltage is minimized is obtained. Since the magnetic field generated by the magnetic field generating coil C0 is oriented in the y-axis direction at the position of x = y = 0, the generated voltage is minimum when the fourth coil C4 is in the x-axis direction. Based on the above measurement, the magnetic field generating coil C0
Azimuth angle (direction of the y-axis). The third
If the buzzer sounds when the voltage generated by the coil reaches the minimum voltage, the horizontal position of the magnetic field generating coil can be easily recognized. The indication of the minimum voltage may be, for example, that a lamp is turned on. For the fourth coil, if the moment when the voltage generated by the fourth coil reaches the minimum voltage is displayed, the azimuth of the magnetic field generating coil can be easily recognized. As a method for determining the minimum voltage, a voltage generated by the first coil is
What is necessary is just to make the time when the voltage generated by the third coil and the fourth coil becomes sufficiently small, for example, when it becomes 1/100. Next, at the position of x = y = 0, the first coil C is set so as to be parallel (in the y-axis direction) to the magnetic field generating coil C0.
The first and second coils C2 are fixed. Magnetic field generating coil C
Since the intensity of the generated magnetic field of 0 varies depending on the distance in the z-axis direction, the magnetic field intensity ratio between the first coil C1 and the second coil C2,
That is, the depth (the position of z = 0) of the magnetic field generating coil C0 can be known from the voltages generated by the first coil C1 and the second coil C2. Usually, the length of the magnetic field generating coil C0 is about 10 cm, the distance from the magnetic field generating coil C0 to the ground is about 3 m, and the depth of the magnetic field generating coil C0 is compared with the length of the magnetic field generating coil C0. Big enough. At this time, the magnetic field generated by the magnetic field generating coil C0 on the ground can be regarded as a magnetic dipole, and the magnetic field strength on the z axis is inversely proportional to the cube of the distance from the center of the magnetic field generating coil C0. Therefore, the first coil C1 and the second coil C
Taking the ratio of the two generated voltages V1, V2, V2 / V1 = R 3 / (R + r) 3 ······ (1) wherein, R represents a first coil C1 and the magnetic field generating coil C0
And r is the distance between the first coil C1 and the second coil C2. Therefore, V1, V2, and r are measured, and equation (1) is obtained.
Can be obtained by substituting into R. As described above, according to the first to fourth and eleventh aspects, the horizontal position, the azimuth, and the depth of the magnetic field generating coil C0 can be known.

Next, the operation of the invention will be described. According to the above inventions, the difference between the third and fourth coils is the direction of the coils. Therefore, if the posture is changed by rotating the third or fourth coil, both the horizontal position and the azimuth of the magnetic field generating coil can be searched with a single coil and a signal processing circuit. Therefore, the third coil and the fourth coil can be integrated into one, so that the number of coils can be reduced and the circuit can be simplified.

Next, the operation of the present invention will be described. In the first and eleventh aspects of the present invention, the horizontal position, the azimuth, and the depth of the magnetic field generating coil are obtained from the voltages generated by the first to fourth coils. However, since a large amount of electromagnetic noise comes from a power line, a vehicle, and the like at an actual excavation site, an error occurs when simply measuring the voltages generated by the first to fourth coils. In particular, in the measurement of the horizontal position and the azimuth of the magnetic field generating coil, a position where the generated voltage of the third coil or the fourth coil is minimized is obtained, so that a large error occurs when electromagnetic noise comes. This is because, for example, when the third coil is located immediately above the magnetic field generating coil, the signal-to-noise ratio becomes zero because the voltage generated by the third coil is zero. The inventions of claims 6 and 12 reduce the influence of the noise, and will be described below. For the sake of explanation, the coil closer to the magnetic field generating coil among the first coil and the second coil will be referred to as a first coil. At this time, among the first to fourth coils, the first coil which is parallel to and close to the magnetic field generating coil generates the largest voltage by the magnetic field generated by the magnetic field generating coil. Therefore, the voltage generated by the first coil is least affected by flying noise among all the coils. Therefore, the voltages generated in the first to fourth coils are subjected to phase detection using the voltage generated in the first coil as a reference signal.
The phase detection is a signal processing method that generates a positive signal when the sign of the reference signal is positive, and generates a negative signal when the reference signal is negative, and multiplies the signal by the detected signal. When the phase-detected signal is time-averaged, a DC signal having the same frequency as the reference signal and a magnitude proportional to the same phase component is obtained from the detected signal.
A signal component having a frequency different from that of the reference signal and a signal component having the same frequency but a phase different by 90 degrees are removed. A signal having a phase 180 degrees different from that of the reference signal is regarded as a signal having the same phase and a negative sign. Due to the magnetic field generated by the magnetic field generating coil,
The voltages induced in the first to fourth coils have the same frequency and the same phase. On the other hand, the induced voltage due to the flying noise has various frequencies and phase components, and the components having the same frequency and the same phase as those of the magnetic field generating coil are extremely small. Therefore, the voltage generated by the first to fourth coils is phase-detected using the voltage generated by the first coil, which has the least influence of flying noise as a reference signal, and averaged. You can only get. As a result, as compared with the first and eleventh aspects of the present invention, it is possible to improve the accuracy of searching for the position and azimuth of the magnetic field generating coil.

Next, the operation of the present invention will be described. According to the first aspect of the present invention, when the horizontal position of the magnetic field generating coil is determined, the third coil is moved in the y-axis direction, and the position at which the generated voltage is minimized is determined. In this case, if it is known to which side the current position is shifted with respect to the position of y = 0, the search for the minimum generated voltage position becomes easy. As shown in FIG. 2, the direction of the magnetic field in the direction of the central axis of the third coil is inverted between y <0 and y> 0, so that the sign of the voltage generated by the third coil C3 is inverted. On the other hand, the positive and negative signs of the generated voltages of the first coil C1 and the second coil C2 do not reverse depending on the sign of y. Therefore, if it is determined whether the sign of the voltage generated by the first coil C1 or the second coil C2 matches the sign of the voltage generated by the third coil C3, the third coil C3 becomes y = 0. To which side it is shifted with respect to the position. The magnetic field in the direction of the central axis of the fourth coil C4 is shown in FIG.
As shown in (front view), since the direction is reversed depending on whether the angle formed with the x axis is positive or negative, the polarity of the voltage generated by the fourth coil C4 is reversed. On the other hand, the sign of the voltage generated by the first coil C1 and the voltage generated by the second coil C2 does not reverse depending on the sign of y. Therefore, it is known from the sign of the generated voltage of the first coil C1 or the second coil C2 and the sign of the generated voltage of the fourth coil C4 which of the fourth coil C4 is shifted with respect to the x-axis. Can be. In the case of the invention of claim 7,
The sign of the processed signal (the signal after phase detection and averaging)
This corresponds to the coincidence / inversion of the sign of the voltage generated by the first coil C1 with the sign of the voltage generated by the third coil C3 or the fourth coil C4. Therefore, the shift direction of the third coil C3 and the fourth coil C4 can be known from the sign of the processing signal.

Next, the operation of the invention will be described. According to the first aspect of the present invention, the fourth coil is orthogonal to the magnetic field generating coil when the generated voltage is minimum. Therefore, if a beam light such as a laser beam is emitted in the same vertical plane as the fourth coil, the direction of the magnetic field generating coil is displayed more clearly than when the fourth coil is simply used. Further, since the magnetic field generating coils are arranged at right angles to the propulsion direction of the excavator, the fourth coil, ie, the laser light, indicates the propulsion direction of the excavator. Therefore, for example, if the laser beam is irradiated to the ground surface one meter ahead of the fourth coil position, this means that the excavator has advanced one meter at the current azimuth angle. The time position will be displayed. Based on this, it is possible to correct the propulsion direction of the excavator and to accurately reach the target position.

Next, the operation of the ninth aspect of the present invention will be described. Normally, in excavation work, a reference line (planned line) indicating a target excavation position is displayed on the ground surface. If the angle between the reference line and the excavator can be quantitatively known, the positioning accuracy can be improved using, for example, past angle data. Generally, when the head of the excavator is tilted, the angle of the tip device changes, but the relationship between the two changes depending on the ground. On the other hand, if there is quantitative angle data, the relationship between the tip device angle and the head angle can be obtained, and the head angle for obtaining the desired tip device angle can be obtained based on the relationship data. Can be. As a means for measuring the angle, for example, there is a method of fixing a gyro to the fourth coil. First, at x = y = 0, the fourth coil, that is, the gyro, is oriented in the x-axis direction. Next, the gyro is moved to the position of the reference line, the azimuth of the gyro is made to coincide with the reference line, and the angle at which the gyro is rotated during this time is read. In this way, the angle between the excavator and the reference line can be known. If a gyro is used, the angle of the tip device can be directly obtained without using the present invention. However, in the present invention, since the measurement time of the gyro is short, there is an advantage that a low-accuracy and low-cost gyro can be used. The measurement error of the gyro is generally proportional to the measurement time. When the azimuth is measured by mounting a gyro on the advanced device, the entire construction period (usually several weeks) is the measurement time. On the other hand, in the present invention, the time (about several seconds) for rotating the gyro in the direction of the reference line from the x-axis direction is the measurement time. Therefore, in the present invention, even if a low-precision gyro is used, almost no error occurs.

The operation of the tenth aspect will be described. In the above-mentioned invention, in order to accurately measure the depth of the magnetic field generating coil, the first and second coils are located immediately above the magnetic field generating coil and are parallel to the magnetic field generating coil. There is a need. Further, in order to accurately measure the azimuth of the magnetic field generating coil, it is necessary to arrange the fourth coil at a point where the magnetic field generated by the magnetic field generating coil is perpendicular to the x-axis. According to the present invention, the above condition is automatically satisfied. First, claim 1 and claim 1
The third coil is positioned at x = y = 0 based on the operation of the first invention. Since the third coil is arranged at the center of rotation, the center of rotation also becomes x = y = 0. Next, the orthogonal direction of the magnetic field generating coil is detected by the fourth coil. FIG.
7 show the horizontal component of the magnetic field generated by the magnetic field generating coil C0. As shown in the figure, the magnetic field generated by the magnetic field generating coil C0 is perpendicular to the x-axis on the x-axis and the y-axis. Therefore, the fourth coil C4 must be located on the x-axis or the y-axis. In the present invention, the fourth coil C4 is arranged so that its axis passes through the center of rotation, or a straight line passing through the center at right angles to the axis passes through the center of rotation. In the former case, the fourth coil C4 moves as shown in FIG. 6, and it is on the x-axis that the fourth coil C4 is orthogonal to the magnetic field generated by the magnetic field generating coil C0. In the latter case, as shown in FIG. 7, the fourth coil C4 moves, and the fourth coil C4 is orthogonal to the magnetic field generated by the magnetic field generating coil C0 on the y-axis. That is, according to the present invention, even if the fourth coil C4 is not located immediately above the magnetic field generating coil C0, the magnetic field generating coil C4 can be used.
The direction perpendicular to 0 can be accurately known. Finally, the depth of the magnetic field generating coil is measured by the first and second coils. When the azimuth of the magnetic field generating coil is determined by the fourth coil, the first and second coils also rotate, but the first and second coils also rotate.
Are arranged at the center of rotation, so that they are always located immediately above the magnetic field generating coil even when they rotate. First,
Since the second coil rotates integrally with the fourth coil, if the first and second coils are orthogonal to the first coil, the fourth coil and the magnetic field generating coil are orthogonal to each other. Then, the parallelism between the first and second coils and the magnetic field generating coil is automatically established. By the above operation, the arrangement of the first, second and fourth coils required for accurate measurement of the azimuth and depth of the magnetic field generating coil is automatically satisfied. According to the present invention, the angle formed between the rotating part and the ground reference line can be measured. Since the fourth coil is fixed to the rotating part, the angle formed by the fourth coil and the reference line can be known, so that the angle formed by the magnetic field generating coil and the reference line can be known. Means for measuring the angle formed between the rotating part and the reference line include, for example, a fixed part capable of fixing the entire device on the ground and a rotating part rotatable thereon, and the reference line and the fixed part are fixed at a fixed angle. It is sufficient that the angle formed between the fixed portion and the rotating portion can be measured with a protractor. The angle formed between the fixed part and the rotating part may be measured by an electric means such as a potentiometer or an encoder.

[0029]

Next, embodiments of the present invention will be described with reference to the drawings. FIG. 8 is a partial cross-sectional view showing the overall configuration of the position locating device of the excavation propulsion device according to the first embodiment, and FIG. 9 is a cross-sectional view taken along line AA of FIG. As shown in FIGS. 8 and 9, the excavator 1 includes a tip device 3 having a head 2 for direction control and a main pushing device 5 fixed to a shaft 4. It digs in the inside, and then connects a propulsion pipe 6 composed of a number of hollow iron pipes to form a pipeline underground. Advanced device 3
Is provided with a magnetic field generating coil (hereinafter simply referred to as a coil) C0 and an AC power supply 8 therein. The coil C0 is supported by a bearing 9 so as to be freely rotatable in a vertical plane, and always keeps a horizontal position by its own weight. It has become.

On the ground, a planning line L indicating an excavation planning route is drawn. Further, a freely movable position search device 10 is provided, and the position search device 10 includes a sensor unit 11, a turntable 12, and a signal processing unit 13.

FIGS. 10, 11 and 12 are a front view, a side view and a plan view of the sensor unit 11 and the turntable 12, respectively.
As shown in FIG. 10, FIG. 11, and FIG.
Inside, a first coil C1, a second coil C2, and a third coil C3 are arranged. The first coil C1 and the second coil C2 are horizontal and parallel to each other. Further, the third coil C3 is rotatable around the horizontal axis 14, and by rotating, the horizontal posture (the state shown by the dotted line) orthogonal to the first coil C1 and the second coil C2 and the vertical posture ( (The state shown by the solid line). Note that, in this embodiment, the third coil C3 is in the horizontal posture (the state shown by the dotted line) orthogonal to the first coil C1 and the second coil C2, and the fourth coil C3 is described in the claims. Of the coil. A laser pointer 15 whose angle can be freely changed in a vertical plane is provided on the front surface of the sensor unit 11.
By adjusting the angle of 5, the laser can be positioned at a specific position on the ground surface.
Can be illuminated.

The turntable 12 has a fixed part 12A and a rotating part 12
B, and the rotating portion 12B can freely rotate around a vertical axis. The scale plate 16 is fixed to the outer edge of the rotating portion 12B so that the angle with the fixed portion 12A can be recognized. The fixing portion 12A has a plurality of marks 17 on the outer edge, so that the fixing portion 12A can always be installed at the same angle as the planning line L. A prism 18 is fixed to the lower surface of the sensor unit 11 and can be attached to and detached from a square hole drilled at the center of the upper part of the turntable 12, so that the sensor unit 11 and the turntable 12 are detachable. I have.

FIG. 13 is a block diagram showing the structure of the signal processing section 13. As shown in FIG. As shown in FIG. 13, the first coil C1, the second coil C2, and the third coil C3 are connected to the phase detection circuits 21, 22, and 23 of the signal processing unit 13. The phase detection circuits 21, 22, 23 are the first
The voltage generated by the first coil C1, the second coil C2, and the third coil C3 is subjected to phase detection using the voltage generated by the coil C1 as a reference signal. The phase detection circuits 21, 22, 2
The phase detection by 3 is a signal processing method that generates a positive signal when the sign of the reference signal is positive and generates a negative signal when the sign of the reference signal is negative, and multiplies the signal by the detected signal. When the phase-detected signal is time-averaged, a DC signal having the same frequency and the same phase as the reference signal of the detected signal is obtained. Therefore, a signal component having a frequency different from that of the reference signal or a signal component having the same frequency but a phase different by 90 degrees is removed. A signal having a phase 180 degrees different from that of the reference signal is regarded as a signal having the same phase and a negative sign.

The phase detection signals output from the phase detection circuits 21, 22, 23 are averaged by the averaging circuits 24, 25, 26. The averaged signals V1 and V2 of the first coil C1 and the second coil C2 are input to a division circuit 27. After the division circuit 27 performs the division of V2 / V1, the division signal is converted to a depth calculation circuit 29. Is input to In the depth calculation circuit 29, the depth of the coil C0 is calculated according to the equation (1), and is displayed on the depth display 33.

The first coil C1 and the third coil C
The averaged signals V1 and V3 of V.3 are
After the division of 3 / V1 is performed, the division value is displayed on the voltage display 34. When the V3 / V1 division value is input to the sign judgment circuit 30, the sign judgment circuit 30 judges the sign of the division value, and turns on the first lamp 37 or the second lamp 38 according to the sign. Let it.

The division value of V3 / V1 in the division circuit 28 is input to the level determination circuit 31, and when the level is determined, for example, when V3 / V1 becomes 1/100 or less, the first buzzer 35 is sounded. Also, the dividing circuit 28
Is input to the voltage / frequency conversion circuit 32, the voltage / frequency conversion circuit 32 uses the second buzzer 36 to generate an intermittent sound whose period changes in proportion to the absolute value of the input signal. generate.

The propulsion direction position (propulsion distance along the planning line L) of the horizontal position of the excavation propulsion machine 1
Can be accurately known from the length of the propulsion tube 6 extruded. Therefore, the position surveying device 10 measures the horizontal position, azimuth, and depth in the direction perpendicular to the planning line L of the excavator 1.
Hereinafter, these measurement methods will be described.

First, an AC voltage is applied from the AC power supply 8 to the coil C0 in the excavator 1. As a result, the coil C0 generates an AC magnetic field, and the first coil C0 on the ground.
1. An induced voltage is generated in the second coil C2 and the third coil C3.

Next, the third coil C3 is made vertical. Next, at a position advanced by the propulsion distance on the planning line L, the position locating device 10 is moved in a direction perpendicular to the planning line L, and the position where the voltage displayed on the voltage display 34 is minimized, that is, the third position The position where the voltage generated by the coil C3 becomes minimum is searched. Note that the azimuth of the sensor unit 11 is set so that the planning line L and the first coil C1 are substantially perpendicular to each other. At this time, the first coil C1 and the coil C0 are substantially parallel.
Since the third coil C3 is vertical, the generated voltage is minimized immediately above the coil C0. The third coil C3 is the coil C
The sign of the generated voltage changes depending on which side of the first lamp 3 is located with respect to the axial center of the first lamp 3.
7. By turning on the second lamp 38, the operator can
Of the coil C3 in the axial direction of the coil C0. Further, since the generated voltage of the third coil C3 is smaller as it is located immediately above the coil C0, the approximate distance can be known by the second buzzer 36. Further, at the moment when the voltage generated by the third coil C3 becomes minimum (below a predetermined value), the first buzzer is activated.
Since 35 sounds, the position immediately above the coil C0 can be known.

In a typical excavator, the length of the coil C0 is about 10 cm and the depth from the ground surface is about 3 m. Therefore, the magnetic field generated by the coil C0 on the ground can be regarded as the magnetic field generated by the magnetic dipole. Thus, for example, if the current depth D is known from the previous depth measurement,
According to the value of V3 / V1 in the voltage indicator 34, the horizontal distance y from immediately above the coil C0 can be estimated by y = DV3 / V1. Use of the above-mentioned measuring means facilitates accurate search of the position directly above. In addition, V
3 / V1 is determined only by the depth and the horizontal distance, and is not affected by the strength of the magnetic field generated by the coil C0. For this reason, it is possible to eliminate the influence of the output fluctuation of the AC power supply 8 in the tip device 3 and the like. For example, the level determination circuit 31 determines that V3 / V
When 1 is not more than 1/100, the first buzzer 35 is caused to sound. If the depth D is 3 m, the first buzzer 35 has a horizontal distance y of 1 cm from directly above the coil C0.
Rings below.

Next, the direction of the fixed portion 12A is set so that the mark 17 of the fixed portion 12A of the turntable 12 is parallel to the planning line L, and the rotation is made immediately above the coil C0 measured by the above means. Move center. When the third coil C3 is vertical, the center axis of the third coil C3 and the center of rotation of the turntable 12 are slightly apart, so that it is necessary to translate in parallel by the amount of the displacement.

Next, the azimuth at which the voltage generated by the third coil C3 is minimized is obtained by rotating the sensor unit 11 with the third coil C3 being horizontal. The third
It can be known from the value indicated on the voltage display 34 that the voltage generated by the coil C3 becomes minimum.

Since the third coil C3 is horizontal,
The voltage generated by the third coil C3 is minimized in a direction perpendicular to the coil C0. Then, by turning on the first lamp 37 and the second lamp 38, the worker knows the direction of displacement of the third coil C3, and changes the approximate displacement angle by the sound of the second buzzer 36 to the first position. Of the buzzer 35 makes it possible to know that the buzzer is at right angles to the coil C0.

When the third coil C3 is tilted by a small angle θ with respect to the direction perpendicular to the coil C0, the ratio between the voltage generated by the first coil C1 and the voltage generated by the third coil C3 becomes almost equal. θ. Accordingly, the approximate deviation angle of the third coil C3 can be known from the value displayed on the voltage indicator 34.

Next, by reading the scale plate 16, the angle formed between the coil C0 and the planning line L can be known. Next, the laser pointer 15 is turned on.
The angle of the laser pointer 15 is set so that, for example, the laser is irradiated on the ground surface 1 m ahead. At this time,
The laser irradiation point indicates an approximate position when the excavation propulsion machine 1 advances 1 m. Since the laser pointer 15 has a variable angle in the up-down direction, it can irradiate a position when the laser pointer 15 has advanced an arbitrary distance.

Finally, the depth indicator 33 reads the depth of the coil C0 calculated from the voltages generated by the first coil C1 and the second coil C2. As described above, the horizontal position, the azimuth angle, and the depth of the coil C0 can be known, and the future excavation position can be known. After the measurement is completed, the turntable 12 is detached from the sensor unit 11, and the third coil C3 and the laser pointer 15 are removed.
Is vertical, the sensor section 11 has a flat plate shape. For this reason, the position locating device 10 is easy to store and transport.

Next, a second embodiment will be described. FIG. 14 is a front view of a position locating device 10A according to a second embodiment in which a part of the position locating device 10 is changed,
FIG. 15 is a side view thereof. As shown in FIG. 14, when the sensor unit 11 has a notch 11A and the third coil C3 becomes vertical, the third coil C3 is turned to the rotating unit 12B.
It is located just above the rotation center of. Also,
When the third coil C3 becomes horizontal, its central axis passes through the center of rotation, and the centers of the first coil C1 and the second coil C2 coincide with the center of rotation. Therefore, in the first embodiment, after the horizontal position of the coil C0 is measured by the third coil C3, it is necessary to move the rotation center of the rotating unit 12B to the position of the third coil C3. However, this operation is not required in the second embodiment.

Next, a third embodiment will be described. FIG. 16 shows a position detecting device 10B according to the third embodiment.
FIG. 17 is a side view thereof. The position locating device 10B according to this embodiment includes the position locating device 1
It has a sensor unit 11B having a vertical third coil C3A and a horizontal fourth coil C4 instead of the 0, 10A third coil C3, and is shown in the signal processing unit block diagram of FIG. The third coil C3A and the fourth coil C4
Are switched by a switch SW.
When measuring the horizontal position of the coil C0, the third coil C3A is connected to the phase detection circuit 23, and when measuring the azimuth angle, the fourth coil C4 is connected to the phase detection circuit 23. Thus, the third coil C3A and the fourth coil C4
Is fixed, the position detecting devices 10 and 10 are fixed.
As in the case of the third coil C3 of A, a positional error due to the occurrence of “rattle” or “deformation” of the rotating part due to the horizontal and vertical rotation at each measurement is prevented. be able to.

Next, a fourth embodiment will be described. In the fourth embodiment, the rotary table 12 of the sensor unit 11 in the first embodiment is removed, and a level 4
FIG. 19 is a position detecting device 10C having a sensor portion 11C provided with a spherical projection 42 at a lower end portion.
Is a front view of the position detecting device 10C, FIG. 20 is a side view thereof,
FIG. 21 is a plan view thereof. When measuring the horizontal position, the azimuth angle, and the depth of the coil C0, the protrusion 42 is pressed against the ground surface, and the worker visually checks the level 41 and detects the sensor unit 1.
Make 1C vertical. In this state, the horizontal position, azimuth and depth of the coil C0 are measured by the same means as in the first embodiment. In this embodiment, the structure is simple because the sensor section 11C has no turntable. Further, since the level 41 is used, even if the ground surface is not horizontal or flat, the sensor unit 11C can be used.
Has the advantage that it can be kept vertical. Note that, since there is no equivalent to the scale plate 16 in the first embodiment in the position detecting device 10C, the angle between the planning line L and the coil C0 cannot be directly known, but the laser pointer 15 From the straight line connecting the indicated point and the projection 42,
The angle between the planning line L and the coil C0 can be known.

[0050]

According to the first to fourth and eleventh aspects of the present invention, the horizontal position, depth and azimuth of the magnetic field generating coil can be easily determined by the magnetic field generated by the magnetic field generating coil provided in the excavator. And can be measured with high accuracy.

According to the fifth aspect of the present invention, the third coil and the fourth coil can be integrated into one, the number of coils can be reduced, and the circuit can be simplified.

According to the sixth and twelfth aspects of the invention, the effect of external electromagnetic noise can be reduced.

According to the invention of claim 7, the horizontal position and the azimuth of the magnetic field generating coil can be easily searched.

According to the eighth aspect of the invention, the search for the azimuth and depth of the magnetic field generating coil can be further simplified.

According to the ninth aspect of the present invention, the angle between the excavator and the reference line can be easily known.

According to the tenth aspect of the present invention, the first, second, and third components necessary for accurate measurement of the azimuth and depth of the magnetic field generating coil are provided.
Since the arrangement of the fourth coil is automatically satisfied and the angle between the fourth coil and the reference line can be known, the angle between the magnetic field generating coil and the reference line can be easily known. .

[Brief description of the drawings]

FIG. 1 is an operation explanatory view of the inventions of claims 1 to 4 and 11;

FIG. 2 is an operation explanatory view of the invention of claim 7;

FIG. 3 is an explanatory diagram of a voltage generated by a fourth coil according to the invention of claim 7;

FIG. 4 is an explanatory diagram of a voltage generated by a fourth coil according to the invention of claim 7;

FIG. 5 is an operation explanatory view of the invention of claim 10;

FIG. 6 is an operation explanatory view of the invention of claim 10;

FIG. 7 is an operation explanatory view of the invention of claim 10;

FIG. 8 is a side sectional view of the first embodiment.

FIG. 9 is a sectional view taken along line AA of FIG. 8;

FIG. 10 is a front sectional view of the position locating device according to the first embodiment.

FIG. 11 is a side view of FIG. 10;

FIG. 12 is a plan view of FIG. 10;

FIG. 13 is an electric circuit block diagram according to the first embodiment.

FIG. 14 is a front sectional view of the position locating device according to the second embodiment.

FIG. 15 is a side sectional view of the position locating device according to the second embodiment.

FIG. 16 is a front sectional view of a position locating device according to a third embodiment.

FIG. 17 is a side sectional view of a position locating device according to a third embodiment.

FIG. 18 is an electric circuit block diagram of a third embodiment.

FIG. 19 is a front sectional view of a position detecting device according to a fourth embodiment.

FIG. 20 is a side sectional view of a position locating device according to a fourth embodiment.

FIG. 21 is a plan view of a position locating device according to a fourth embodiment.

FIG. 22 is a side cross-sectional view showing a configuration of a conventional position locating device for an excavation propulsion machine.

23 is a sectional view taken along line AA of FIG.

FIG. 24 is an explanatory diagram of direction control of a conventional excavator.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Excavation propulsion machine 11 Sensor part 12 Turntable 15 Laser pointer 16 Scale plate 17 Mark C0 Magnetic field generating coil C1 First coil C2 Second coil C3, C3A Third coil C4 Fourth coil 21, 22, 23 phase detection circuit 24, 25, 26 averaging circuit 27, 28 division circuit 29 depth calculation circuit 30 sign determination circuit 31 level determination circuit 32 voltage / frequency conversion circuit 33 depth display 34 voltage display 35 first Buzzer 36 second buzzer 37 first lamp 38 second lamp

 ──────────────────────────────────────────────────続 き Continuing on the front page (72) Kunio Hoshitani, Inventor: Nippon Telegraph and Telephone Corporation, 3-9-1-2 Nishishinjuku, Shinjuku-ku, Tokyo (72) Inventor: Kazuhiko Takahashi 3-192-1, Nishishinjuku, Shinjuku-ku, Tokyo No. Nippon Telegraph and Telephone Co., Ltd. (72) Inventor Masao Nosaka 1 Koto, Higashi-cho, Iwakura-shi, Aichi 1 Takachiho Sangyo Co., Ltd.

Claims (12)

[Claims] A plurality of coils detect an alternating magnetic field generated by a magnetic field generating coil provided in the excavation propulsion machine so as to be horizontal and perpendicular to the direction of underground excavation propulsion, and based on the voltage generated by each coil. In the position detecting device of the excavating propulsion device for exploring the position and the azimuth angle of the excavating propulsion device, the first coil and the second coil arranged horizontally and parallel on the same vertical line as the plurality of coils. And a third coil disposed vertically and a fourth coil disposed horizontally, the position detecting device of the excavator. 2. The position locating device for an excavator according to claim 1, wherein the fourth coil is arranged at right angles to the first coil and the second coil. 3. The position locating device for an excavating propulsion device according to claim 1, wherein the depth position of the magnetic field generating coil is determined based on a ratio between a voltage generated by the first coil and a voltage generated by the second coil. An excavation propulsion machine position locating device comprising means for detecting and displaying. 4. A position locating device for an excavation propulsion device according to claim 1, wherein the voltage detected by the third coil or the fourth coil is minimized. An excavation propulsion machine position locating device provided with a display means. 5. The position locating device for an excavating propulsion device according to claim 1, wherein a coil movable horizontally and vertically is provided as the third coil and the fourth coil. Drilling propulsion device position locating device. 6. A position locating device for an excavation propulsion device according to claim 1, wherein a coil closer to the magnetic field generating coil among the first coil and the second coil. Means for phase-detecting the generated voltages of the first coil, the second coil, the third coil, and the fourth coil using the generated voltage as a reference signal, and means for averaging the voltages detected by the phase detection. A position locating device for an excavating propulsion machine that uses and averages each voltage as a generated voltage of each coil. 7. The excavation propulsion machine according to claim 1, wherein the voltage generated by the first coil or the second coil and the voltage generated by the third coil or the fourth coil are detected. A position locating device for a drilling propulsion machine, comprising: means for indicating whether a sign of a voltage generated by a coil matches or does not match. 8. A position locating apparatus for an excavating propulsion machine according to claim 1, wherein said beam radiating means emits a beam light in a vertical plane including a central axis of said fourth coil. Locating device for excavation propulsion machine equipped with. 9. The excavation propulsion machine according to claim 1, further comprising a measuring unit for recognizing an angle with respect to a reference line displayed on the ground surface. Propulsion device position locator. 10. The excavation propulsion machine according to claim 1, wherein the first coil, the second coil, the third coil, and the fourth coil are arranged on a horizontal plane. Is provided in a housing rotatable within the housing, a scale is provided on the housing for recognizing a rotation angle, and the first, second, and third coils are installed such that the centers thereof coincide with the rotation axis, 4th
The position detecting device of the excavating thruster, wherein the coil of the excavator is arranged so that its axis passes through the center of rotation or a straight line passing through the center at right angles to the axis passes through the center of rotation. 11. An AC magnetic field generated by a magnetic field generating coil provided in the excavation propulsion machine so as to be perpendicular and horizontal to the direction of underground excavation propulsion is detected by a plurality of coils, and based on the voltage generated by each coil. A method for searching for the position and azimuth of the excavator, wherein the third coil disposed vertically is horizontally moved on the coil for generating a magnetic field. A horizontal position search step of searching for the horizontal position of the magnetic field generating coil in which the voltage generated by the third coil is minimized, and rotating the fourth coil horizontally disposed at the horizontal position of the magnetic field generating coil on a horizontal plane;
An azimuth angle searching step of searching for an azimuth angle of the magnetic field generating coil in which the generated voltage of the fourth coil is minimized, and the first coil and the second coil arranged horizontally and in parallel on the same plumb line. A depth at which the magnetic field generating coil is disposed at a horizontal position in parallel with an azimuth angle of the magnetic field generating coil, and a depth of the magnetic field generating coil is detected based on a ratio of generated voltages of the first coil and the second coil. A method for searching for the position of a drilling propulsion machine having a search step. 12. The method according to claim 11, wherein the first coil, the second coil,
A method for detecting the position of a drilling propulsion machine that averages the voltages generated by the third coil and the fourth coil after phase detection.