JPH1046987A - Personnel transfer method for jacking method and device thereof - Google Patents

Abstract

PROBLEM TO BE SOLVED: To transfer personnel in an embedded pipe simply, efficiently, and safely by steering a personnel transfer vehicle automatically and making it run based on the information from a guide wire arranged along an axial direction in the inside of the embedded pipe. SOLUTION: An electromagnetic guide wire 30a is arranged on a floor surface inside an embedded pipe 20, and a sensor part 44 is arranged just above the electromagnetic guide wire 30a in the front and lower part of a transfer vehicle 40. Three sensors are arranged at an equal interval just above the electromagnetic guide wire 30a and on both sides thereof in the orthogonal direction to the electromagnetic guide wire 30a. If the sensor part 44 is deviated to the right and left for the electromagnetic guide wire 30a, a difference in the intensity of a magnetic field which is detected by electromagnetic sensors on the right and left occurs. A wheel 42 is steered automatically to the right and left by a predetermined amount for positional deviation to the right and left of the transfer vehicle 40 for the electromagnetic guide wire 30a by a microcomputer loaded on the transfer vehicle 40. It is possible to transfer personnel safely and securely and eliminate a necessity of permanent facility such as a rail by steering the transfer vehicle 40 automatically.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a method and an apparatus for transferring personnel for a propulsion method, and more particularly, to transferring personnel in a buried pipe when a propulsion method for propelling a buried pipe into the ground and burying the same is performed. The invention relates to a method and an apparatus for use in the method.

[0002]

2. Description of the Related Art In a propulsion method, a buried pipe can be laid without digging the ground, so that water and sewage in urban areas, etc.
Widely used for construction of gas and electric piping. In the propulsion method, automation or remote control of the entire work such as excavation equipment is being promoted.However, to perform surveying work, inspection and repair maintenance and other work of excavation equipment etc. necessary for each fixed propulsion distance, Workers need to enter the buried pipe.

On the other hand, the minimum number of ground excavation points required for the propulsion method, ie, the starting shaft and the reaching shaft, are reduced.
In order to improve work efficiency, it has been considered to extend the propulsion distance in one process as much as possible. In addition, a curve propulsion method of burying a buried pipe along a curved path is also widespread, and a curve propulsion at a steep angle is required depending on circumstances such as a road on which a buried pipe is laid. Increasingly, long-distance propulsion is required, including sharp-angle propulsion.

[0004]

When the long-distance propulsion method or the steep angle curve propulsion method is applied, the worker moves from the rear end of the buried pipe row to the front end where the excavation device is disposed. Is a very tedious and time-consuming task. In recent years, in long-distance propulsion such as 500 m or 1 km which has been adopted, the moving distance of an operator and the accompanying time greatly affect the workability of the entire propulsion method.

[0005] In particular, in the small-diameter propulsion method in which the diameter of the buried pipe is relatively small and the worker cannot move while standing, the worker must move a long distance while maintaining the forward bent posture. Not only increases the work time required for the work, but also puts a heavy burden on the feet and legs of the workers, which tends to cause the accumulation of fatigue and the accompanying decrease in attention, and demands improvements to improve productivity and safety. Have been.

Conventionally, in the shield construction method for constructing a large railway tunnel or the like, a track-type trolley has been laid in the tunnel, and has been used for transporting personnel as well as transporting earth and sand and work equipment. However, it is difficult to lay a large-scale device such as a trolley truck in the shield method in the propulsion method for sewerage or the like, particularly in the small-diameter propulsion method having a diameter of about 1500 mmφ or less. In addition, in the propulsion method, if the track of the toro truck is laid every time the buried pipes are sequentially added, the work time and labor for the trolley become extremely large, and the productivity of the propulsion method decreases.

[0007] It is an object of the present invention to provide a simple, efficient and safe method for transferring personnel in a buried pipe in the above-mentioned propulsion method.

[0008]

According to the present invention, there is provided a method for transferring personnel for a propulsion method, in which a conductor and a buried pipe connected to the back of the conductor are propelled into the ground, and the buried pipe is moved into the ground. In the buried propulsion method, this is a method of transferring personnel inside a buried pipe buried in the ground, and includes the following steps.

A step of arranging a guide line for generating guide information along an axial direction of the buried pipe; Mounting a person on a transfer vehicle that can travel in the buried pipe. A step of obtaining guidance information issued from a front guidance line and causing the transfer vehicle to travel while being automatically steered. Further, a personnel transfer device for a propulsion method according to the present invention includes a guide wire and a transfer vehicle. The guide line is detachably disposed inside the buried pipe along the axial direction of the buried pipe, and emits guidance information. The transfer vehicle includes: a boarding means on which a person is boarded; a trackless traveling means mounted on the boarding means and traveling in a buried pipe; an information acquisition means for acquiring guidance information from a guidance line; and a guidance obtained by the information acquisition means. Guidance steering means for automatically steering the traveling means based on the information.

The individual components will be described in detail. [Buried pipes] Buried pipes of various materials and applications to which the propulsion method can be applied are used. For example, it is composed of a steel pipe, a fume pipe, a concrete pipe, a synthetic resin pipe and the like, and is used for a sewer pipe, a gas pipe, an electric pipe and the like. Curved pipes are used as well as straight pipes.

[First conductor] The basic structure may be the same as that of a normal first conductor for a propulsion method. The leading conductor may be a digging device for propelling while excavating the ground, or a consolidation propulsion device for propelling while consolidating the ground, and may have both functions. The excavating device is provided with excavating means such as an excavating cutter and a cutter holding mechanism for holding and rotating the cutter. A sediment carrying-out mechanism that takes in excavated earth and sand and sends it backward, a muddy water supply mechanism that sends muddy water to facilitate excavation of the ground, and the like can be provided. Further, a motor and a control device for driving the above mechanism device, a hydraulic or pneumatic pipe for transmitting drive energy, a control cable, and the like are also housed. It is also possible to provide a surveying device for measuring the position of the leading conductor and a deflection mechanism for changing the propulsion direction of the leading conductor.

A connecting mechanism for connecting the buried pipe is provided at the rear of the leading conductor. [Basic process of the propulsion method] A thrust is applied to the leading conductor and the buried pipe connected to the back of the leading conductor from the main push jack etc. placed in the shaft at the rear end of the buried pipe, and the leading conductor and the buried pipe are added. Into the ground. Excavation and consolidation of the ground at the leading conductor. New buried pipes are successively added to the rear end of the buried pipes.

[Personnel transfer device] A guide line guide line is capable of emitting guidance information for guiding a transfer vehicle, and is a buried pipe which is successively added behind a leading conductor and propelled along a straight or curved path. Various electric cables and other information transmission lines are used as long as they can be arranged along the axial direction. In order to facilitate the handling in the buried pipe, the guide wire is preferably flexible or flexible. Guide wires of a fixed size may be sequentially connected.

The guidance information may include information that depends on the length of the guide line, that is, information on the position of the buried pipe in the axial direction, in addition to the information on the position of the guide line. Further, information on a specific position such as a stop position of the transfer vehicle may be included. An electromagnetic induction wire that generates a magnetic field is used as the induction wire. The strength of the magnetic field changes according to the radial distance from the electromagnetic induction wire. If the transfer vehicle is provided with a magnetic sensor as information acquisition means, relative position information of the transfer vehicle with respect to the guide line can be obtained from the presence or strength of the magnetic field detected by the magnetic sensor. If the strength of the magnetic field varies depending on the location, information on the position in the length direction of the guide line can be issued.

As a specific structure of the guide wire, an AC generator may be connected to a normal conductive cable. The conductive cable serving as the electromagnetic induction wire is preferably connected in a loop to the AC generator. Induction lines include electromagnetic induction lines that generate a magnetic field, those that emit radio signals,
Those that emit various signals that can be used as guidance information, such as those that emit optical signals, can be used. Further, the guide wire may emit a response signal or return a reflected signal in response to a signal emitted from the transport vehicle.

The guide wire does not need to be arranged exactly in the axial direction of the buried pipe, but is arranged so as not to deviate from the axial direction within a range that can guide the transfer vehicle with the required accuracy. I just need. The guide wire may be fixedly disposed in the buried pipe, but may be removably inserted into a groove or a guide installed in the buried pipe, or may be partially positioned with a hook or other locking means. It is preferable to easily place, move, and remove the buried pipe by placing it in the pipe or simply extending it to the floor of the buried pipe.

In the case of the loop-shaped conductive cable,
Two-way reciprocating conductive cables are placed in the buried pipe, so one conductive cable is used as an electromagnetic induction wire, and the other conductive cable is placed at a distance so as to prevent erroneous guidance and not hinder the traveling of the transport vehicle. It is preferable to keep it. The basic structure of the transport vehicles transport vehicles, various factories and public facilities, play area, stadium, etc., portability of vehicle equipment and the same structure which runs put the person or article is adopted. However, the transfer vehicle
It has an outer shape and structure corresponding to the internal shape of the buried pipe.

The transporting vehicle is provided with a means of riding in which a person can sit in a seated state, with his legs extended and sitting or lying down. In order to cope with a small diameter buried pipe, the transfer vehicle can be ridden by a person lying on his or her back. In order to ensure the safety and comfort of personnel, it is preferable to arrange a cushioning material in a place where the body hits, or to install a protective cover or a protective frame surrounding the body. Normally, it is sufficient to have a boarding means for one person, but it is also possible to provide a boarding means for a plurality of people. A luggage box or the like on which various equipment is mounted may be provided at the same time as the boarding means. It is also possible to provide a communicator for the occupants to communicate with the outside.

The trackless traveling means has steering wheels that can be steered to the left and right, moving wheels driven by a motor, and the like, and can travel freely in a buried pipe without being restricted by rails or the like. It is preferable that the arrangement of the wheels is taken into consideration so that the traveling means can travel on the floor of the buried pipe having a generally cylindrical cross section. Further, it is preferable to consider the arrangement of the traveling means or the in-pipe facilities so that facilities such as muddy water pipes arranged in the buried pipe do not obstruct the traveling.

It is preferable that the traveling means be capable of freely moving forward and backward by providing a reversible driving wheel or by providing a direction changing device. The driving force of the traveling means is easily supplied from a power source mounted on the transfer vehicle, but power can also be supplied from a guide wire or another power cable arranged in the buried pipe. As the information acquisition means mounted on the transport vehicle, various sensors or receivers for acquiring signals such as magnetism, radio waves, light, and the like in accordance with the guidance information emitted from the guidance wire are used. Further, the information acquisition means may be one which emits a signal toward the guide line and acquires information corresponding to the return from the guide line. The information acquisition means may acquire the information in a state in which it is in electrical or mechanical contact with the guide line, in addition to the means for acquiring the information without contacting the guide line. For example, position information of the transport vehicle with respect to the guide line can be obtained by a pressure sensor that mechanically contacts the guide line.

In the case where the above-described electromagnetic induction wire is used, if a set of three magnetic sensors arranged in a direction perpendicular to the electromagnetic induction wire is used as the information acquisition means, the magnetic field detected by the three magnetic sensors is used. Due to the difference in strength, left and right positional information of the transport vehicle with respect to the electromagnetic induction wire can be obtained easily and accurately. The guidance steering means controls the steering direction of the traveling means to the left or right based on the guidance information obtained from the information acquisition means. Specifically, the guidance information may be arithmetically processed by an arithmetic device such as a microcomputer, and the steered wheels of the traveling means may be automatically controlled by a motor or the like. As a specific mechanism for automatically steering the traveling means, an automatic steering mechanism in various ordinary vehicle devices is employed.

The transfer vehicle may be provided with steering means such as a steering wheel capable of manual steering by a person in addition to the automatic steering by the guidance steering means. Also, a manual emergency stop means and a speed adjusting means may be provided. Each subjoin the buried pipe behind the [personnel transportation method] induction line arrangement leading member, may be disposed guide wire from the rear end of the buried pipe column to the position of the leading body of the tip, the tip of the guide wire The guide wire may be sequentially drawn out as the buried pipe row is propelled in a state in which is disposed at the tip of the buried pipe row or the leading conductor. A guide wire can be added and extended at the rear end of the buried pipe row. After the guided vehicle is guided by the guide line arranged earlier and moves to the leading end of the guide line, it is possible to perform an operation of further extending the guide line from there toward the leading end side.

Arrangement of the transfer vehicle The transfer vehicle may be usually placed outside the buried pipe row in the shaft or on the ground surface, and may be carried into the buried pipe row only when personnel transfer is required. It may be arranged inside the buried pipe at a position where it does not become buried. Usually, it is sufficient to use one transfer vehicle for one buried pipe row, but if necessary, a plurality of transfer vehicles can be run at the same time.

The personnel transfer transport carriage ride is personnel at the rear end side of the buried pipe column of, if the automatic steering the transport carriage on the basis of the guidance information of the guide line with advancing the transport carriage, the predetermined position of the buried pipe string Transport vehicles and personnel are transported to. If necessary, personnel can also manually steer the transport vehicle.

When the personnel arrives at a predetermined position in the buried pipe, the transport vehicle may be retreated or changed direction and returned to the rear end of the buried pipe row, or the transport vehicle may be kept waiting until the personnel returns. Good. When transferring a plurality of personnel, the transfer vehicle can perform the transfer operation repeatedly. When the one-stage removal propulsion method is completed and there is no need to transfer personnel, the transport vehicle will be removed outside the buried pipe. After the propulsion is completed, personnel can be transferred for watertight work and finishing work inside the buried pipe. If the guide wire is removed, it can be used repeatedly for the next construction. However, if there is no problem in using the buried pipe, the guide wire may be left in the buried pipe.

[0026]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS As shown in FIG. 3, a basic step of the propulsion method is to propel an excavating device 10 and a buried pipe 20 in a horizontal direction from a side wall of a starting shaft H excavated on a ground E. The buried pipe 20 is laid in the ground E. The excavating device 10 excavates the ground E on the front surface, and the excavated earth and sand is discharged from the shaft H through the buried pipe 20. Although not shown, a thrust mechanism such as a main jack is arranged in the shaft H, and the excavating device 10 and the buried pipe 20 are propelled by applying a thrust to the rear end of the buried pipe 20.

Inside the buried pipe 20, a loop-shaped electromagnetic induction wire 30 is arranged along the axial direction. Electromagnetic induction wire 30
Is a flexible conductor cable in which the outer periphery of a conductor wire made of copper or the like is covered with an insulator such as synthetic resin or rubber. The electromagnetic induction wire 30 is connected to an AC oscillator 32 on the ground surface outside the shaft H. The AC oscillator 32 is connected to a commercial AC power supply, and can supply a high-frequency AC of about 1.5 kHz to the electromagnetic induction wire 30. As shown in FIG. 4, when a high-frequency AC is supplied to the electromagnetic induction wire 30, a magnetic field having an intensity gradient concentrically around the electromagnetic induction wire 30 is generated.

As shown in FIG. 1 and FIG.
, Two reciprocating electromagnetic induction wires 30a and 30b are arranged. At the center of the floor of the buried pipe 20, a pair of feed and discharge pipes 22 and 24 are arranged in parallel, and an electromagnetic induction wire 30a for guiding a transfer vehicle is arranged on the floor in the center space. Is done. In order to avoid magnetic effects from the steel pipes 22 and 24 made of steel tubes, a certain distance or more is provided between the electromagnetic induction wire 30a and the pipes 22 and 24.

The electromagnetic induction wire 30a is positioned on the floor of the buried pipe 20 at every fixed distance by a cable fastener (not shown). The other electromagnetic induction wire 30b is disposed at a distance from the side wall of the buried pipe 20, and is not directly used for guiding the transfer vehicle. As shown in FIG. 2, the transfer vehicle 40 has a cross-sectional shape considerably smaller than the inner diameter of the buried pipe 20, and the equipment in the buried pipe 20 can travel without obstruction. The transfer vehicle 40
It has four tire wheels 42. The wheels 42 of the transfer vehicle 20 are in contact with the floor surface of the buried pipe 20 on the outside, across the feed / discharge pipes 22 and 24, and run stably on the cylindrical curved floor surface.

In the lower front part of the transfer vehicle 40, the electromagnetic induction wire 30
The sensor unit 44 is disposed at a position corresponding to a position directly above “a”. As shown in FIG. 4, three magnetic sensors 44 </ b> L, 44 </ b> C, 44 </ b> R are arranged in the sensor unit 44 at equal intervals in a direction orthogonal to the axial direction of the electromagnetic induction wire 30. These magnetic sensors 44L... Detect concentric magnetic fields generated from the electromagnetic induction wire 30. By comparing the strengths of the magnetic fields detected by the respective magnetic sensors 44L,.
, That is, the position of the transfer vehicle 40 with respect to.

More specifically, if the sensor unit 44 of the transfer vehicle 40 is located directly above the electromagnetic induction wire 30, the central magnetic sensor 44
The magnetic field detected by C is strong, and the left and right magnetic sensors 44L, 4L
In 4R, a magnetic field that is weaker than the central magnetic sensor 44C but has the same strength on the left and right is detected. When the sensor unit 44, that is, the transfer vehicle 40 is shifted left and right with respect to the electromagnetic induction wire 30, a difference is generated between the magnetic fields of the left and right magnetic sensors 44L and 44R. If the left-right deviation becomes large, the magnetic sensor 44 on one side
L (or 44R) makes it impossible to detect the magnetic field,
The center magnetic sensor 44C is either the left or right magnetic sensor 44C.
The detection magnetic field is weaker than L (or 44R). In this way, the left and right positional deviation of the transfer vehicle 40 with respect to the electromagnetic induction wire 30 can be detected.

The guidance information obtained by the sensor unit 44 is input to an arithmetic unit and a control unit such as a microcomputer mounted on the transfer vehicle 40 (not shown),
The wheels 42 are steered left and right by a predetermined amount in accordance with the left and right displacement of the transport vehicle 40 with respect to 0. The upper part of the transfer vehicle 40 has a seat portion 46, on which a person M can sit while facing forward. The transfer vehicle 40 has a space in which work tools and equipment in addition to the personnel M can be mounted.

A method of transferring personnel using the above-described personnel transfer device will be described. As shown in FIG. 3, the loop-shaped electromagnetic induction wire 30 is arranged from the rear end of the buried pipe 20 to the digging device 10 through the buried pipe 20. Drilling device 10
Is moved forward and a new buried pipe 20 is added to the rear end of the 20 rows of buried pipes.
It is sent into 0.

As shown in FIG. 1, when a worker M rides on a transfer vehicle 40 disposed at the rear end of the 20 rows of buried pipes and advances the transfer vehicle 40, a magnetic field generated from the electromagnetic induction wire 30a is detected by the sensor unit 44. , The left and right displacement of the transfer vehicle 40 with respect to the electromagnetic induction wire 30a is detected. The steering mechanism of the wheels 42 is automatically controlled such that the transfer vehicle 40 travels right above the electromagnetic induction wire 30a. Therefore, the personnel M
It suffices to ride without worrying about the zero steering. Regardless of whether the propulsion route is a straight line, a curved line, or a mixture of the straight line and the curved line, the electromagnetic induction wire 30 is located at the center of the floor of the 20 rows of buried pipes.
As long as a is disposed, the transport vehicle 40 is automatically steered and travels along the center of the 20 rows of buried pipes.

When the transfer vehicle 40 reaches the target position, the personnel M manually stops the transfer vehicle 40 or stops the transfer vehicle 40 by automatic control. In order to stop the transfer vehicle 40 by automatic control, a generator of a magnetic field serving as a stop signal different from the electromagnetic induction wire 30a may be arranged at the stop position. To return the transport vehicle 40, the wheels 42 of the transport vehicle 40 may be rotated in the reverse direction, or the attitude of the transport vehicle 40 may be reversed.
The transfer vehicle 40 may be provided with a turning device.

[Other Embodiments] (a) In the above embodiment, the guide wire 30a is arranged at the center of the floor of the buried pipe 20, but if the guide information is obtained,
The guide wire 30a can be arranged at an arbitrary position of the buried pipe 20. For example, the guide wire 30 is installed on the ceiling of the buried pipe 20.
a, and guidance information from the guidance line 30a can be acquired by a sensor unit mounted on the upper part of the transfer vehicle 40.

(B) In the above embodiment, the transport vehicle 40 is
Although the vehicle travels on the tire wheels 42, a vehicle traveling on three wheels, a vehicle traveling on multiple wheels such as six wheels, and a vehicle having an endless track are also used. (c) In addition to the traveling vehicle 40, the traveling vehicle 40 is provided with a coupling before and after the traveling vehicle 40, and a plurality of traveling vehicles 4 are provided.
It is also possible to run integrally in a state in which 0 is flexibly connected.

[0038]

The method and apparatus for transferring personnel for a propulsion method according to the present invention can safely and safely steer a transfer vehicle that can travel in a buried pipe by guiding it with a guide line disposed in the buried pipe. The transfer of personnel can be performed reliably. In particular, for the propulsion method that takes various routes such as straight lines and curves, and new buried pipes are successively added, and the routes including such curves are propelled, permanent equipment such as rails is required. By using a guide wire that is unnecessary and easy to install and remove, the work required for personnel transfer can be performed very efficiently, and the equipment can be simplified. Since there is no need for a large-scale facility for occupying the buried pipes other than the guide wire, necessary personnel can be quickly transferred without impairing the original workability of the propulsion method.

[Brief description of the drawings]

FIG. 1 is a side sectional view showing a method of transferring personnel in a propulsion method according to an embodiment of the present invention.

FIG. 2 is a sectional view in a direction orthogonal to the previous figure.

FIG. 3 is a schematic sectional view showing the configuration of the entire propulsion method.

FIG. 4 is an explanatory diagram showing information transmission between an electromagnetic induction wire and a magnetic sensor.

[Explanation of symbols]

 Reference Signs List 10 excavation device 20 buried pipe 30, 30a, 30b electromagnetic induction wire 40 transfer vehicle 42 wheels 44 sensor unit 46 seat unit E ground H departure shaft M personnel

Claims (3)

[Claims] In a propulsion method for propelling a buried pipe in a ground by propelling a buried pipe connected to a rear side of the preconductor and a buried pipe in the ground, a buried pipe buried in the ground is provided. A method for transferring personnel inside, comprising: arranging a guide line for generating guidance information along an axial direction of the buried pipe; and mounting a personnel on a transfer vehicle that can travel in the buried pipe. Obtaining the guidance information emitted from the guidance line and causing the transport vehicle to travel while being automatically steered, comprising: 2. A propulsion method in which a leading conductor and a buried pipe connected behind the leading conductor are propelled into the ground, and the buried pipe is buried in the ground. An apparatus for transferring personnel inside, comprising: a guide line that is detachably disposed inside the buried pipe along an axial direction of the buried pipe and emits guidance information; a boarding means on which a person gets on; and a boarding means. Trackless traveling means mounted and traveling in a buried pipe, information acquisition means for acquiring guidance information from the guidance line, and guidance steering means for automatically steering the traveling means based on the guidance information obtained by the information acquisition means A personnel transfer device for a propulsion method, comprising: a transport vehicle having: 3. The guide wire according to claim 2, wherein the guide wire is an electromagnetic guide wire that generates a magnetic field when energized, and the information acquisition means of the transport vehicle has a magnetic sensor that detects a magnetic field generated by the guide wire. Personnel transfer equipment for the propulsion method.