JPH1165653A - Receiving device for controlling propulsion object steering and method for using the same - Google Patents
Receiving device for controlling propulsion object steering and method for using the sameInfo
- Publication number
- JPH1165653A JPH1165653A JP9228060A JP22806097A JPH1165653A JP H1165653 A JPH1165653 A JP H1165653A JP 9228060 A JP9228060 A JP 9228060A JP 22806097 A JP22806097 A JP 22806097A JP H1165653 A JPH1165653 A JP H1165653A
- Authority
- JP
- Japan
- Prior art keywords
- propulsion
- pair
- receiving
- distance
- receiving coils
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 238000000034 method Methods 0.000 title claims description 17
- 238000006073 displacement reaction Methods 0.000 claims abstract description 49
- 230000007246 mechanism Effects 0.000 claims abstract description 21
- 238000000926 separation method Methods 0.000 claims description 12
- 239000003380 propellant Substances 0.000 claims description 5
- 238000002474 experimental method Methods 0.000 abstract description 3
- 230000001141 propulsive effect Effects 0.000 abstract 2
- 230000004907 flux Effects 0.000 description 14
- 238000004364 calculation method Methods 0.000 description 10
- 238000013459 approach Methods 0.000 description 7
- 230000007423 decrease Effects 0.000 description 6
- 230000005540 biological transmission Effects 0.000 description 5
- 238000010586 diagram Methods 0.000 description 5
- 230000005674 electromagnetic induction Effects 0.000 description 3
- 230000009471 action Effects 0.000 description 2
- 238000006243 chemical reaction Methods 0.000 description 2
- 230000002093 peripheral effect Effects 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 230000009467 reduction Effects 0.000 description 2
- 238000004088 simulation Methods 0.000 description 2
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical group [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 description 1
- 230000005856 abnormality Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 239000004576 sand Substances 0.000 description 1
- 239000013589 supplement Substances 0.000 description 1
Landscapes
- Excavating Of Shafts Or Tunnels (AREA)
- Measurement Of Length, Angles, Or The Like Using Electric Or Magnetic Means (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
Description
【0001】[0001]
【発明の属する技術分野】本発明は、地中に埋設管を敷
設する場合等の推進工法に使用する推進体操向制御用の
受信装置及びその使用方法に関し、更に詳しくは、地中
を推進方向変更自在に推進可能な推進体の先端部に設け
られてその長手方向に沿った軸芯を有する発信コイルが
発生する磁界に重畳された発信信号を受信自在で、且
つ、前記推進体の推進開始点から予定到達部までの推進
計画線を含む鉛直面を挟む左右2箇所に配置可能な一対
の受信コイルを備え、その一対の受信コイルが受信する
二つの受信信号の信号強度を比較して得られる前記推進
体の推進位置の前記推進計画線からの横方向変位量に基
づいて前記推進体を前記推進計画線に沿って操向制御す
るための推進体操向制御用の受信装置及びその使用方法
に関する。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a receiver for controlling the steering of a propulsion body used in a propulsion method such as when laying a buried pipe in the ground, and a method of using the same. A transmitting signal superimposed on a magnetic field generated by a transmitting coil provided at a distal end portion of the propulsion body which can be changed and propelled and having an axis along its longitudinal direction is freely received, and propulsion of the propulsion body is started. It has a pair of receiving coils that can be arranged at two places on the left and right sides of the vertical plane including the propulsion planning line from the point to the scheduled arrival point, and compares the signal strength of the two received signals received by the pair of receiving coils. Receiving device for propulsion body steering control for steering control of the propulsion body along the propulsion planning line based on the amount of lateral displacement of the propulsion position of the propulsion body from the propulsion planning line, and a method of using the same About.
【0002】[0002]
【従来の技術】従来、この種の推進体操向制御用の受信
装置としては、前記左右一対の受信コイルが固定用フレ
ームに所定の離間距離で固定設置されたものがあった。
そして、前記受信装置を前記鉛直面を中央に挟むように
設置して、推進体操向制御装置が、そのような受信コイ
ルにより求まる左右の受信信号の信号強度の比から、前
記推進体の推進位置の前記推進計画線からの横方向変位
量を計算し、その横方向変位量の極性から前記推進体の
前記推進計画線に対する左右のずれの方向と、その絶対
値からそのずれの程度を判別して、その横方向変位量を
出力表示装置等に表示して、前記推進体の操向作業者が
該推進体操向制御装置の操作部を操作して推進方向の修
正を行い得るように構成していた。2. Description of the Related Art Conventionally, as a receiving device for controlling the steering of a propulsion body, there has been a receiving device in which the pair of left and right receiving coils are fixedly installed at a predetermined distance from a fixing frame.
Then, the receiver is installed so as to sandwich the vertical plane at the center, and the propulsion body steering control device determines the propulsion position of the propulsion body from the ratio of the signal intensities of the left and right reception signals obtained by such a reception coil. The lateral displacement amount from the propulsion plan line is calculated, and the direction of the lateral displacement of the propulsion body with respect to the propulsion plan line from the polarity of the lateral displacement amount and the degree of the deviation are determined from the absolute value. Then, the lateral displacement amount is displayed on an output display device or the like, so that the operator of the propulsion body can operate the operation unit of the propulsion body steering control device to correct the propulsion direction. I was
【0003】かかる従来の推進体操向制御用の受信装置
を使用した推進制御方法を説明すると、先ず、前記固定
用フレームに取り付けられ一体化した前記左右一対の受
信コイルの中央部に設けられた照準機によって、前記左
右一対の受信コイル間を結ぶ線分を垂直2等分して得ら
れる受信コイル側の照準線を前記推進計画線に一致させ
ることで、前記左右一対の受信コイルを前記鉛直面の両
側で左右対称の状態になるように設置し、この状態で、
前記推進体の前記発信コイルに交流電流を流して、前記
発信コイルの軸芯に対して対称な磁界強度分布を有し、
磁界強度が時間的に変化する磁界を発生させて、この磁
界を前記左右一対の受信コイルが各別に電磁誘導作用に
よって磁界強度に比例する電圧値として検出することに
より、前記推進計画線に対する左右のずれを検出するも
のであった。ここに、前記推進体の推進過程の前半で
は、前記推進体と前記一対の受信コイルとの間の距離が
長い状態にあり、磁界強度が当該距離が長い程弱くなる
ので、前記各受信コイルの鎖交磁束を最大にすべく前記
受信コイルの軸芯と磁界の夫々の方向を一致させるのが
好ましく、従って、前記左右一対の受信コイルは、夫々
の軸芯を前記推進計画線と平行になるように設置してあ
った。A propulsion control method using such a conventional propulsion body steering control receiving device will be described. First, an aiming provided at the center of the pair of left and right receiving coils attached to the fixing frame and integrated. The line of sight connecting the pair of left and right receiving coils is bisected vertically by the machine to match the aiming line on the side of the receiving coil with the propulsion plan line. It is installed so that it is symmetrical on both sides of the
An alternating current is passed through the transmitting coil of the propulsion body, and has a magnetic field intensity distribution symmetric with respect to the axis of the transmitting coil,
By generating a magnetic field in which the magnetic field strength changes with time, the left and right pair of receiving coils detect the magnetic field as a voltage value proportional to the magnetic field strength by the electromagnetic induction action separately, so that the left and right with respect to the propulsion plan line are detected. The deviation was detected. Here, in the first half of the propulsion process of the propulsion body, the distance between the propulsion body and the pair of reception coils is in a long state, and the longer the distance, the weaker the magnetic field intensity is. It is preferable that the direction of the axis of the receiving coil and the direction of the magnetic field coincide with each other so as to maximize the flux linkage. Therefore, the pair of left and right receiving coils have their respective axes parallel to the propulsion planning line. Was installed as follows.
【0004】[0004]
【発明が解決しようとする課題】しかし、前記推進体が
前記受信コイルに接近してくると、前記受信コイルでの
磁界の方向が最早、夫々の軸芯方向と一致せず、鎖交磁
束が減少して、受信信号強度が左右不均等に低下し、測
定精度が急激に低下し、誤って操向誘導指示するという
問題が発生するために、この種の推進体操向制御用の受
信装置を使用する場合は、上記問題を回避するために、
前記予定到達部よりも上記問題が発生しない距離だけ後
方に、つまり、前記推進開始点から見てより遠方側に設
置する必要があるところ、前記推進体の予定到達部が家
屋等の外壁に接近しており、前記受信コイルを前記予定
到達部の後方に十分離して設置できない場合があった。
一方、前記推進体が前記受信コイルの軸心の延長線を含
む鉛直面で挟まれる範囲を逸脱した場合には、前記一対
の受信コイルで検出されるそれぞれの受信強度は、水平
面上で見て軸芯方向に左右対称に分布する発信コイルに
よる磁界強度分布の中で左側又は右側のいずれか一方の
磁界を検出するに過ぎず、前記推進計画線に対する左右
のずれを検出することは不可能になるという問題点があ
った。本発明は、かかる実情に着目してなされたもので
あり、その目的は、上述の問題点を解消し、受信コイル
の設置状況によって不適切な誘導指示を受ける可能性が
ある場合であっても、その不適切な誘導指示の発生を極
力回避して、正しい推進計画線に沿った推進体の操向制
御を可能とする推進体操向誘導装置を提供する点にあ
る。However, when the propulsion body approaches the receiving coil, the direction of the magnetic field in the receiving coil no longer matches the respective axis directions, and the linkage flux is reduced. This causes a problem that the received signal strength decreases unequally to the left and right, the measurement accuracy sharply decreases, and the problem of incorrectly instructing steering guidance occurs. If you use it,
The scheduled arrival portion of the propulsion body approaches the outer wall of a house or the like, where it needs to be installed behind the scheduled arrival portion by a distance that does not cause the above problem, that is, it needs to be installed farther away from the propulsion start point. In some cases, the receiving coil cannot be sufficiently separated behind the scheduled arrival portion.
On the other hand, when the propulsion body deviates from the range sandwiched by the vertical plane including the extension of the axis of the reception coil, the respective reception intensities detected by the pair of reception coils are viewed on a horizontal plane. In the magnetic field intensity distribution due to the transmitting coil distributed symmetrically in the axial direction, only one of the left and right magnetic fields is detected, and it is impossible to detect the left-right deviation from the propulsion plan line. There was a problem of becoming. The present invention has been made in view of such a situation, and the object is to solve the above-described problems and to provide a case where an inappropriate guidance instruction may be received depending on the installation state of the receiving coil. Another object of the present invention is to provide a propulsion body steering guidance device that can minimize the generation of the inappropriate guidance instruction and control the propulsion body steering along a correct propulsion plan line.
【0005】[0005]
【課題を解決するための手段】この目的を達成するため
の本発明による推進体操向制御用の受信装置の第一の特
徴構成は、特許請求の範囲の欄の請求項1に記載した通
り、地中を推進方向変更自在に推進可能な推進体の先端
部に設けられてその長手方向に沿った軸芯を有する発信
コイルが発生する磁界に重畳された発信信号を受信自在
で、且つ、前記推進体の推進開始点から予定到達部まで
の推進計画線を含む鉛直面を挟む左右2箇所に配置可能
な一対の受信コイルを備え、その一対の受信コイルが受
信する二つの受信信号の信号強度を比較して得られる前
記推進体の推進位置の前記推進計画線からの横方向変位
量に基づいて前記推進体を前記推進計画線に沿って操向
制御するための推進体操向制御用の受信装置であって、
前記一対の受信コイルの離間距離を変更可能な受信コイ
ル位置調節機構を設けてある点にある。つまり、前記推
進体が前記一対の受信コイルに接近するにつれて、前記
推進体に設置された発信コイルからの磁界を検出する前
記受信コイルの鎖交磁束数が変動するが、受信コイル位
置調節機構により、前記一対の受信コイルの離間距離を
変更調節することにより、前記一対の受信コイルの鎖交
磁束数の減少を抑制して推進体の推進位置の前記推進計
画線からの横方向変位量の計算精度を確保することがで
きるのである。To achieve the above object, a first characteristic configuration of a receiving device for controlling steering of a propulsion unit according to the present invention is as described in claim 1 of the claims. A transmitting signal superimposed on a magnetic field generated by a transmitting coil provided at a distal end portion of a propulsion body capable of changing the propulsion direction underground and having an axis along the longitudinal direction thereof is freely receivable, and It has a pair of receiving coils that can be arranged at two places on the left and right sides of the vertical plane including the propulsion planning line from the propulsion starting point of the propulsion body to the scheduled arrival part, and the signal strength of two received signals received by the pair of receiving coils Receiving for propulsion body steering control for steering control of the propulsion body along the propulsion planning line based on the amount of lateral displacement of the propulsion position of the propulsion body from the propulsion planning line obtained by comparing A device,
The present invention is characterized in that a receiving coil position adjusting mechanism capable of changing a distance between the pair of receiving coils is provided. That is, as the propulsion body approaches the pair of reception coils, the number of interlinkage magnetic fluxes of the reception coil that detects a magnetic field from the transmission coil installed on the propulsion body changes. By changing and adjusting the separation distance between the pair of receiving coils, the reduction in the number of interlinkage magnetic fluxes of the pair of receiving coils is suppressed, and the lateral displacement amount of the propulsion position of the propulsion body from the propulsion plan line is calculated. Accuracy can be ensured.
【0006】同第二の特徴構成は、特許請求の範囲の欄
の請求項4に記載した通り、地中を推進方向変更自在に
推進可能な推進体の先端部に設けられてその長手方向に
沿った軸芯を有する発信コイルが発生する磁界に重畳さ
れた発信信号を受信自在で、且つ、前記推進体の推進開
始点から予定到達部までの推進計画線を含む鉛直面を中
央に挟む左右2箇所に配置可能な一対の受信コイルを備
え、その一対の受信コイルが受信する二つの受信信号の
信号強度を比較して得られる前記推進体の推進位置の前
記推進計画線からの横方向変位量に基づいて前記推進体
を前記推進計画線に沿って操向制御するための推進体操
向制御用の受信装置であって、前記一対の受信コイルの
軸芯の推進計画線に対する傾きを左右対称に変更可能な
受信コイル位置調節機構を設けてある点にある。つま
り、第一の特徴構成で説明したと同様に、前記推進体が
前記一対の受信コイルに接近するにつれて、前記推進体
に設置された発信コイルからの磁界を検出する前記受信
コイルの鎖交磁束数が変動するが、受信コイル位置調節
機構により、前記一対の受信コイルの軸芯の推進計画線
に対する傾きを左右対称に変更調節することにより、前
記一対の受信コイルの鎖交磁束数の減少を抑制して推進
体の推進位置の前記推進計画線からの横方向変位量の計
算精度を確保することができるのである。[0006] The second characteristic configuration is, as described in claim 4 in the claims section, provided at the tip end of a propulsion body capable of changing the direction of propulsion underground and extending in the longitudinal direction. Receiving a transmission signal superimposed on a magnetic field generated by a transmission coil having an axial core along the left and right sides sandwiching a vertical plane including a propulsion planning line from a propulsion start point of the propulsion body to a scheduled arrival portion at the center A pair of receiving coils that can be arranged at two locations, and a lateral displacement of the propulsion position of the propulsion body from the propulsion plan line obtained by comparing the signal intensities of two reception signals received by the pair of receiving coils. A propulsion body steering control receiving device for performing steering control of the propulsion body along the propulsion planning line based on an amount, wherein a tilt of an axis of the pair of receiving coils with respect to the propulsion planning line is symmetrical. Adjustable receiving coil position It lies in the fact that is provided with a mechanism. That is, as described in the first characteristic configuration, as the propulsion body approaches the pair of reception coils, the interlinkage magnetic flux of the reception coil that detects a magnetic field from the transmission coil installed on the propulsion body. Although the number fluctuates, the inclination of the axis of the pair of reception coils with respect to the propulsion plan line is changed and adjusted symmetrically by the reception coil position adjustment mechanism, thereby reducing the number of interlinkage magnetic fluxes of the pair of reception coils. Thus, the calculation accuracy of the lateral displacement of the propulsion position of the propulsion body from the propulsion plan line can be ensured.
【0007】本発明による推進体操向制御用の受信装置
の使用方法の第一の特徴構成は、特許請求の範囲の欄の
請求項2に記載した通り、上述した第一又は第二の特徴
構成を有する推進体操向制御用の受信装置の使用方法で
あって、前記受信コイル位置調節機構は、前記推進体が
前記一対の受信コイルに近接したときに、前記一対の受
信コイルの離間距離を短く調節する点にある。つまり、
前記推進体と前記一対の受信コイルとの間の距離が長い
状態にある場合に前記各受信コイルの鎖交磁束を最大確
保すべく、前記左右一対の受信コイルを、夫々の軸芯が
前記推進計画線と平行になるように設置してあるが、逆
に、前記推進体と前記一対の受信コイルとの間の距離が
接近するにつれて前記各受信コイルの鎖交磁束数が減少
するので、推進体が前記一対の受信コイルに近接したと
きに、前記各受信コイルの鎖交磁束数を確保するべく前
記一対の受信コイルの離間距離を短く調節して、推進体
の推進位置の前記推進計画線からの横方向変位量の計算
精度を確保するのである。[0007] A first characteristic configuration of the method of using the receiving device for propulsion body steering control according to the present invention is the first or second characteristic configuration described above, as described in claim 2 of the claims. A method of using a receiving device for propulsion body steering control having: wherein the receiving coil position adjusting mechanism shortens a separation distance between the pair of receiving coils when the propelling device approaches the pair of receiving coils. The point is to adjust. That is,
When the distance between the propulsion body and the pair of receiving coils is long, the left and right pair of receiving coils are respectively propelled by the respective shaft cores so as to maximize the interlinkage magnetic flux of the respective receiving coils. Although it is installed so as to be parallel to the planning line, conversely, as the distance between the propulsion body and the pair of receiving coils decreases, the number of interlinkage magnetic fluxes of each of the receiving coils decreases. When the body is close to the pair of receiving coils, the distance between the pair of receiving coils is adjusted to be short so as to secure the number of interlinkage magnetic fluxes of the respective receiving coils, and the propulsion plan line of the propulsion position of the propulsion body is adjusted. The accuracy of calculation of the amount of lateral displacement from is ensured.
【0008】同第二の特徴構成は、特許請求の範囲の欄
の請求項3に記載した通り、上述した第一又は第二の特
徴構成を有する推進体操向制御用の受信装置の使用方法
であって、前記推進体が前記受信コイルの軸心の延長線
を含む鉛直面で挟まれる範囲を逸脱した場合に、前記一
対の受信コイルの離間距離を長く調節する点にある。つ
まり、前記一対の受信コイルによる信号強度比、或いは
信号強度比に基づき得られた推進体の推進位置の前記推
進計画線からの横方向変位量により、前記推進体が前記
受信コイルの軸心の延長線を含む鉛直面で挟まれる範囲
を逸脱したと判断される場合に、前記一対の受信コイル
の離間距離を長く調節すれば、前記一対の受信コイルで
検出されるそれぞれの受信強度は、水平面上で見て軸芯
方向に左右対称に分布する発信コイルによる磁界強度分
布の中で左側及び右側双方の磁界を各別に検出すること
ができ、推進体を推進開始点に戻して再度の推進体操向
制御を行わずとも、推進体の推進位置の前記推進計画線
からの横方向変位量の計算精度を確保しながら、継続し
て目標地点まで推進体操向制御を行えるのである。[0008] The second characteristic configuration is a method of using the propulsion body steering control receiving device having the above-described first or second characteristic configuration, as described in claim 3 of the claims. Further, when the propulsion body deviates from a range sandwiched by a vertical plane including an extension of the axis of the reception coil, the distance between the pair of reception coils is adjusted to be long. That is, the propulsion body is positioned at the axis of the reception coil by the signal intensity ratio of the pair of reception coils or the lateral displacement amount of the propulsion position of the propulsion body obtained from the signal intensity ratio from the propulsion plan line. If it is determined that the distance deviated from the range sandwiched by the vertical plane including the extension line, if the distance between the pair of receiving coils is adjusted to be longer, the respective reception intensities detected by the pair of receiving coils will be in a horizontal plane. The magnetic field on both the left and right sides can be separately detected in the magnetic field intensity distribution by the transmitting coil distributed symmetrically in the axial direction as seen above, and the propulsion body is returned to the propulsion start point and the propulsion operation is performed again. Even if the direction control is not performed, the propulsion body steering control can be continuously performed to the target point while securing the calculation accuracy of the lateral displacement amount of the propulsion position of the propulsion body from the propulsion plan line.
【0009】同第三の特徴構成は、特許請求の範囲の欄
の請求項5に記載した通り、上述した第三の特徴構成を
有する推進体操向制御用の受信装置の使用方法であっ
て、前記受信コイル位置調節機構は、前記推進体が前記
一対の受信コイルに近接したときに、前記一対の受信コ
イルの軸芯の推進計画線に対する傾きを大に調節する点
にある。つまり、前記推進体と前記一対の受信コイルと
の間の距離が長い状態にある場合に前記各受信コイルの
鎖交磁束を最大確保すべく、前記左右一対の受信コイル
を、夫々の軸芯が前記推進計画線と平行になるように設
置してあるが、逆に、前記推進体と前記一対の受信コイ
ルとの間の距離が接近するにつれて前記各受信コイルの
鎖交磁束数が減少するので、推進体が前記一対の受信コ
イルに近接したときに、前記各受信コイルの鎖交磁束数
を確保するべく前記一対の受信コイルの軸芯の推進計画
線に対する傾きを大に調節、推進体の推進位置の前記推
進計画線からの横方向変位量の計算精度を確保するので
ある。The third characteristic configuration is a method of using the propulsion body steering control receiving device having the third characteristic configuration described above, as described in claim 5 of the claims. The receiving coil position adjusting mechanism is characterized in that when the propulsion body approaches the pair of receiving coils, the inclination of the axis of the pair of receiving coils with respect to the propulsion plan line is largely adjusted. That is, when the distance between the propulsion body and the pair of receiving coils is long, the left and right pair of receiving coils are respectively aligned with each other in order to secure the maximum interlinkage magnetic flux of each of the receiving coils. Although it is installed so as to be parallel to the propulsion plan line, conversely, as the distance between the propulsion body and the pair of receiving coils is reduced, the number of interlinkage magnetic fluxes of each of the receiving coils decreases. When the propulsion body approaches the pair of reception coils, the inclination of the axis of the pair of reception coils with respect to the propulsion plan line is largely adjusted to secure the number of interlinkage magnetic fluxes of the reception coils. The calculation accuracy of the lateral displacement amount of the propulsion position from the propulsion plan line is ensured.
【0010】[0010]
【発明の実施の形態】以下、本発明の第一の実施の形態
を図面に基づいて説明する。図1に示すように、地中を
推進方向変更自在に推進可能な推進体1の先端部にその
長手方向に沿った軸芯を有する発信コイル2が設けら
れ、前記推進体1の推進開始点Bから予定到達部Aまで
の推進計画線L0 を含む鉛直面を中央に挟む左右対称位
置に左右一対の受信コイル3R ,3L を備えた本願発明
に係る推進体操向制御用の受信装置が作業者によって設
置された状態で、前記発信コイル2に所定の変調がかけ
られた電流を流すことにより磁界が発生し、前記受信コ
イル3R,3L が前記磁界に重畳された発信信号を受信
し、電磁誘導で各受信コイル3R,3L に発生する電圧
値を受信信号4R ,4L の信号強度として出力して、推
進体操向制御装置(以下、「制御装置」という)が、そ
の受信信号4R ,4L の信号強度に基づいて、前記推進
体1を前記推進計画線L0 に沿って推進開始点Bから予
定到達部Aまで推進するように操向制御する。DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, a first embodiment of the present invention will be described with reference to the drawings. As shown in FIG. 1, a transmitting coil 2 having an axis along a longitudinal direction is provided at a distal end portion of a propulsion body 1 that can be propelled so that the propulsion direction can be changed underground. Receiving device for propulsion body steering control according to the present invention, comprising a pair of left and right receiving coils 3 R and 3 L at symmetrical positions with respect to a vertical plane including the propulsion planning line L 0 from B to the scheduled arrival part A at the center. When a current modulated by a predetermined modulation is applied to the transmitting coil 2 in a state where is installed by an operator, a magnetic field is generated, and the receiving coils 3 R and 3 L generate a transmitting signal superimposed on the magnetic field. It receives and outputs voltage values generated in the respective receiving coils 3 R and 3 L by electromagnetic induction as signal strengths of the received signals 4 R and 4 L , and the propulsion body steering control device (hereinafter, referred to as “control device”). , based on the signal strength of the received signal 4 R, 4 L, the estimated To steering control so as to promote the body 1 from the propulsion start point B along the promotion plan line L 0 to the scheduled arrival portion A.
【0011】前記推進体操向制御用の受信装置は、図6
及び図7(イ)、(ロ)に示すように、並行配置された
一対の第一筒状体32a,32bの中央部を第一環状部
材31で外嵌固定し、各第一筒状体32a,32bにそ
の軸心方向両側にそれぞれ出退自在な一対の第二筒状体
33a,33bを内挿するとともに、各第二筒状体33
a,33bにその軸心方向一端側にそれぞれ出退自在な
第三筒状体34a,34bを内挿し、さらに前記第三筒
状体34a,34bのそれぞれの一端側を一対の第二環
状部材35で外嵌固定してあり、左右それぞれ一対の第
三筒状体34a,34bの一端部に磁界検出部30a,
30bを取り付けて構成してある。前記第二筒状体33
a,33b及び第三筒状体34a,34bの上端部にそ
の軸心方向に溝部33c,33d,34c,34dを形
成するとともに、それら第二及び第三筒状体33a,3
3b,34a,34bをそれぞれ外嵌する第一及び第二
筒状体32a,32b,33a,33bの内周面端部
に、前記溝部33c,33d,34c,34dへ嵌入す
るピン32p,33pを突出配置してある。前記磁界検
出部30a,30bは、前記筒状体32a、32bの軸
心と直交する軸心周りに巻回された受信コイル3R ,3
L と、その前後端に配された保護用のフランジ30c,
30dと、コイル前後に突出したコイル軸芯37とから
構成してあり、前記コイル軸芯37の両端突出部に前記
第三筒状体34a,34bの端部を嵌入固定してあり、
以て、コイル軸芯37が前記推進計画線L0 と平行配置
されるように構成してある。前記第一環状部材31を、
支持フレームに一定高さで取りつけて、前記磁界検出部
30a,30bが地面と接当しないように、且つ、一対
の第二筒状体33a,33b及び第三筒状体34a,3
4bが協動して前記第一筒状体32a,32bの軸芯方
向一端側に出退自在に構成してあり、図7(ロ)に示す
ように、前記溝部33c,33d,34c,34dの端
部に前記ピン32p,33pが接当する位置まで前記第
二又は第三筒状体33a,33b,34a,34bを左
右方向に突出させることにより、前記推進計画線L0 に
対する左右の離間距離を一致させながら、前記一対の受
信コイル3R ,3L の離間距離を三段階に調節可能に構
成してある。即ち、上述した出退自在な筒状体機構が、
一対の受信コイル3R ,3L の離間距離を変更可能な受
信コイル位置調節機構38となる。The receiving device for controlling propulsion body steering is shown in FIG.
As shown in FIGS. 7A and 7B, the central portions of a pair of first cylindrical bodies 32a and 32b arranged in parallel are externally fitted and fixed by a first annular member 31, and each of the first cylindrical bodies is fixed. A pair of second tubular bodies 33a, 33b which can be extended and retracted respectively on both sides in the axial direction are inserted into the second tubular bodies 33a, 32b.
a and 33b are respectively inserted with third cylindrical bodies 34a and 34b which can be extended and retracted at one axial end thereof, and one end of each of the third cylindrical bodies 34a and 34b is connected to a pair of second annular members. The magnetic field detecting portions 30a, 35b are fixed to the outside at one end of a pair of third cylindrical bodies 34a, 34b, respectively.
30b is attached. The second cylindrical body 33
At the upper ends of the a and 33b and the third cylindrical bodies 34a and 34b, grooves 33c, 33d, 34c and 34d are formed in the axial direction thereof, and the second and third cylindrical bodies 33a and 3d are formed.
Pins 32p, 33p to be fitted into the grooves 33c, 33d, 34c, 34d are respectively provided at the inner peripheral surface ends of the first and second cylindrical bodies 32a, 32b, 33a, 33b for externally fitting the 3b, 34a, 34b, respectively. It is arranged to protrude. The magnetic field detectors 30a and 30b are provided with receiving coils 3 R and 3 wound around an axis orthogonal to the axis of the cylindrical bodies 32a and 32b.
L and protection flanges 30c arranged at the front and rear ends thereof,
30d and a coil shaft core 37 projecting back and forth of the coil, and the ends of the third cylindrical bodies 34a and 34b are fitted and fixed to the projecting portions of both ends of the coil shaft core 37,
Than Te, and it is configured to coil axis 37 is arranged parallel to the propulsion planned line L 0. The first annular member 31,
The magnetic field detectors 30a and 30b are attached to the support frame at a fixed height so that the magnetic field detectors 30a and 30b do not contact the ground, and a pair of second cylindrical bodies 33a and 33b and a third cylindrical body 34a and 3
4b cooperate with each other so that the first cylindrical bodies 32a and 32b can freely move back and forth toward one axial end thereof, and as shown in FIG. 7B, the grooves 33c, 33d, 34c and 34d. of the pin 32p at an end portion, the to a position where 33p is Setto second or third tubular body 33a, 33b, 34a, by protruding and 34b in the lateral direction, separation of the left and right with respect to the promotion plan line L 0 The distance between the pair of receiving coils 3 R and 3 L can be adjusted in three stages while making the distances match. That is, the above-mentioned retractable cylindrical body mechanism is
The receiving coil position adjusting mechanism 38 is capable of changing the distance between the pair of receiving coils 3 R and 3 L.
【0012】図1に示すように、前記制御装置は、横方
向変位量演算手段5と誘導指示部6とからなる推進体操
向誘導装置10と、前記推進体1の推進並びに操向を制
御する推進操作部11、及び、前記推進体1の推進経路
に関する初期設定値を入力する設定入力部12を備えて
構成される。前記横方向変位量演算手段5は、前記受信
信号4R ,4L の信号強度比Rと前記推進体1の前記推
進開始点Bからの推進距離XS とから前記推進体1の前
記推進計画線L0 からの横方向変位量を計算する横方向
変位量演算部7と、前記受信信号4R ,4L の信号強度
が一定閾値以上であるかを判定する信号強度判定部8
と、前記信号強度判定部8の判定結果と前記推進距離X
S より、前記受信信号4 R ,4L の有効性を判定する受
信信号有効性判定部9を備えている。[0012] As shown in FIG.
Propulsion exercises consisting of direction displacement amount calculation means 5 and guidance instruction section 6
The direction guidance device 10 and the propulsion and steering of the propulsion body 1 are controlled.
The propulsion operation unit 11 to be controlled and the propulsion path of the propulsion body 1
Setting input unit 12 for inputting initial setting values related to
Be composed. The lateral displacement amount calculating means 5 receives the reception signal.
Signal 4R, 4LAnd the signal strength ratio R of the propulsion body 1
Propulsion distance X from starting point BSFrom the front of the propulsion body 1
Note promotion plan line L0Lateral direction to calculate lateral displacement from
A displacement calculating unit 7;R, 4LSignal strength
Signal strength determination unit 8 for determining whether or not is greater than a certain threshold
And the result of determination by the signal strength determination unit 8 and the propulsion distance X
SThe received signal 4 R, 4LTo determine the validity of
A signal validity determination unit 9 is provided.
【0013】前記制御装置はマイクロコンピュータシス
テムを基本とするハードウェア構成を採用しており、前
記横方向変位量演算手段5は、マイクロコンピュータ
(図示せず)とそれに所定の機能を実行させるための実
行プログラムから構成されており、その実行プログラム
は外部記憶装置またはマイクロコンピュータ内の読み出
し専用メモリ(図示せず)に格納されて、実行段階にお
いてマイクロコンピュータ内のランダムアクセスメモリ
(図示せず)に転送され実用に供される一般的なハード
ウェア構成を採用している。前記誘導指示部6は、具体
的には、前記設定入力部12から入力された設定値で特
定される推進経路上における前記推進体1の側面方向よ
り見た現在位置を表示する第1表示装置13と前記推進
体1の実際の推進軌跡を平面視した状態で表示する第2
表示装置14からなり、前記横方向変位量演算手段5で
算出された前記推進体1の推進位置毎の横方向変位量Δ
Y が前記第2表示装置14のディスプレイ上にプロット
されて前記推進体1の実際の推進軌跡が表示される。前
記設定入力部12から入力される設定値の一例として
は、具体的には、図2に示すように、道路15と宅地1
6との境界から前記推進体1の予定到達部Aまでの宅地
距離17、前記推進体1の推進開始地点Bから前記境界
までの道路距離18と、前記推進開始地点Bの道路地表
面からの道路深さ19と、前記境界の側溝の前記道路地
表面からの側溝深さ20と、前記道路地表面からの前記
宅地16の宅地高21と、前記宅地16から前記予定到
達部Aまでの深さである迎え堀量22とがあり、これら
の設定値が入力されることによって鉛直面内での推進経
路が特定される。The control device employs a hardware configuration based on a microcomputer system. The lateral displacement calculating means 5 includes a microcomputer (not shown) and a computer for executing a predetermined function. The execution program is stored in an external storage device or a read-only memory (not shown) in the microcomputer, and is transferred to a random access memory (not shown) in the microcomputer in an execution stage. The general hardware configuration used for practical use is adopted. Specifically, the guidance instructing unit 6 is a first display device that displays a current position of the propulsion unit 1 on a propulsion route specified by a setting value input from the setting input unit 12 as viewed from a side surface direction. 13 and a second display for displaying the actual propulsion trajectory of the propulsion body 1 in a plan view.
A lateral displacement amount Δ for each propulsion position of the propulsion body 1 calculated by the lateral displacement amount calculating means 5.
Y is plotted on the display of the second display device 14 to display the actual propulsion trajectory of the propulsion body 1. As an example of the setting values input from the setting input unit 12, specifically, as shown in FIG.
6 from the boundary of the propulsion unit 1 to the scheduled arrival part A, the road distance 18 from the propulsion start point B of the propulsion unit 1 to the boundary, and the distance of the propulsion start point B from the road surface. Road depth 19, gutter depth 20 of the boundary gutter from the road ground surface, housing land height 21 of the housing land 16 from the road ground surface, and depth from the housing land 16 to the scheduled arrival portion A The propulsion route in the vertical plane is specified by inputting these set values.
【0014】作業者は前記第1表示装置13と前記第2
表示装置14の表示を参照しながら、前記推進体1の推
進及び操向を前記推進操作部11を操作して制御を行
う。前記推進体1の推進は、前記推進開始地点Bに設け
られたピット23内に推進機24が設置され、前記推進
機24によって前記推進体1の後方に接続される推進管
25を次々と地中に押し込むことで実行される。また、
推進体先端面の一部が推進体長手方向に対して斜めに加
工されたテーパー面に形成され、そのテーパー面に作用
する抵抗力の横方向成分の作用により進行方向が操作可
能に構成され、前記推進体1の操向、つまり、推進方向
の変更は、前記テーパー面を前記推進体1の軸芯に対し
て回転調節することにより行う。An operator operates the first display device 13 and the second display device 13.
The propulsion and steering of the propulsion body 1 are controlled by operating the propulsion operation unit 11 while referring to the display on the display device 14. For the propulsion of the propulsion unit 1, a propulsion unit 24 is installed in a pit 23 provided at the propulsion start point B, and a propulsion pipe 25 connected to the rear of the propulsion unit 1 by the propulsion unit 24 is continuously grounded. It is executed by pushing it inside. Also,
Part of the propulsion body tip surface is formed in a tapered surface that is machined obliquely to the propulsion body longitudinal direction, and the traveling direction is configured to be operable by the action of the lateral component of the resistance acting on the tapered surface, The steering of the propulsion body 1, that is, the change of the propulsion direction, is performed by adjusting the rotation of the tapered surface with respect to the axis of the propulsion body 1.
【0015】前記横方向変位量演算手段5について説明
する。図1に示すように、前記発信コイル2に所定の変
調がかけられた電流を流すことにより発生した磁界を、
前記一対の受信コイル3R ,3L が前記磁界に重畳され
た発信信号として受信し、電磁誘導で各受信コイル
3R ,3L に発生する電圧値を受信信号4R ,4L の信
号強度として、前記横方向変位量演算手段5に対し出力
する。更に、前記横方向変位量演算手段5には、前記推
進操作部11から、前記推進機24が推進した距離を前
記推進体1の推進距離XS として入力される。尚、前記
推進距離XS は前記推進機24から入力される構成でも
構わない。The lateral displacement calculating means 5 will be described. As shown in FIG. 1, a magnetic field generated by flowing a current subjected to predetermined modulation to the transmitting coil 2 is represented by:
The pair of receiving coils 3 R , 3 L receive as transmission signals superimposed on the magnetic field, and the voltage value generated in each of the receiving coils 3 R , 3 L by electromagnetic induction is the signal strength of the received signals 4 R , 4 L. Is output to the lateral displacement calculating means 5. Furthermore, the transverse displacement amount calculation means 5, from the propulsion operation unit 11 is input the distance which the propulsion unit 24 is promoted as the driving distance X S of the propellant 1. Note that the propulsion distance X S is may be configured to input from the propulsion unit 24.
【0016】前記横方向変位量演算手段5に入力された
前記受信信号4R ,4L の電圧値をA/D変換して前記
左右一対の受信コイル3R ,3L の左側のA/D変換後
の電圧値を右側の同電圧値で除した信号強度比Rを生成
する。この信号強度比Rと前記推進距離XS を前記横方
向変位量演算部7に入力して、前記左右一対の受信コイ
ル3R ,3L の実際の設置状態における前記左右一対の
受信コイル3R ,3L間を結ぶ線分の垂直2等分線に相
当する照準線L1 からの前記推進体1の存在位置の横方
向相対変位量EY を計算する。具体的には、図3に示す
2次元モデルにおいて、数式1、数式2、及び、数式3
からなる連立方程式を解法して横方向相対変位量EY が
導出される。The voltage values of the received signals 4 R and 4 L input to the lateral displacement amount calculating means 5 are A / D-converted and the A / Ds on the left side of the pair of left and right receiving coils 3 R and 3 L are converted. A signal intensity ratio R is generated by dividing the converted voltage value by the same voltage value on the right. The propulsion distance X S this signal intensity ratio R is inputted to the lateral direction displacement calculating unit 7, 3 the pair of receiving coils R, 3 L actual of said pair of receiving coils in the installed state of the 3 R to calculate the relative lateral displacement E Y of the location of propellant 1 from sight line L 1 corresponding to the perpendicular bisector of the segment connecting the 3 L. Specifically, in the two-dimensional model shown in FIG.
Is solved to solve for the lateral relative displacement E Y.
【0017】[0017]
【数1】R=(DR /DL )3 R = (D R / D L ) 3
【数2】DR 2 =x2 +(DC /2+EY )2 D R 2 = x 2 + (D C / 2 + E Y ) 2
【数3】DL 2 =x2 +(DC /2−EY )2 ## EQU3 ## D L 2 = x 2 + (D C / 2−E Y ) 2
【0018】但し、DR は右側の受信コイル3R と前記
発信コイル2間の距離、DL は左側の受信コイル3L と
前記発信コイル2間の距離、DC は前記左右一対の受信
コイル3R ,3L 間の距離、xは前記予定到達部Aと前
記発信コイル2間の距離であって、xは総推進長(図2
に示す前記宅地距離17と前記道路距離18の和に相
当)から前記推進距離XS を引いた値に略等しい。ま
た、EY の正方向は前記予定到達部Aの方向を向いて右
方向とする。しかしながら、数式1、数式2、及び、数
式3を解法して得られた横方向相対変位量EY は、主と
して、前記左右一対の受信コイル3R ,3L の軸芯方向
と前記発信コイル2が発生する磁界の方向とが正確には
一致していないために、実際の推進経路に対して誤差が
生じるが、図4に示すように、この誤差は、実験的に一
定の横方向変位量をもって前記推進体1を前記推進計画
線L0 と平行に直進させた場合、数式1、数式2、及
び、数式3を解法して得られた横方向相対変位量EY よ
り求まる推定推進経路は、実際の推進経路に対して平行
移動したものと見なせるため、前記横方向変位量演算部
7の出力値である前記横方向相対変位量E Y に一定の補
正係数を乗じた横方向変位量ΔY を、前記横方向変位量
演算手段5の出力値とする。尚、前記左右一対の受信コ
イル3R ,3L を前記推進計画線L0 に対して前記照準
線L1 を位置させて設置することで、前記横方向変位量
ΔY が前記推進体1の前記推進計画線L0 からの横方向
変位量に一致する。However, DRIs the right receiving coil 3RAnd said
Distance between transmitting coils 2, DLIs the left receiving coil 3LWhen
Distance between the transmitting coils 2, DCIs the pair of left and right reception
Coil 3R, 3LThe distance between x and the scheduled arrival part A and the front
X is the distance between the transmitting coils 2 and x is the total propulsion length (FIG. 2).
The sum of the residential land distance 17 and the road distance 18 shown in
The propulsion distance XSSubstantially equal to the value obtained by subtracting. Ma
EYThe right direction is to the right of the scheduled arrival section A
Direction. However, Equation 1, Equation 2, and the number
Lateral relative displacement E obtained by solving Equation 3YIs with the Lord
Then, the pair of left and right receiving coils 3R, 3LAxis direction of
And the direction of the magnetic field generated by the transmitting coil 2 is exactly
Because they do not match, there is an error with respect to the actual propulsion route.
Although this error occurs, as shown in FIG.
The propulsion unit 1 with the constant lateral displacement
Line L0When moving straight in parallel with
And the lateral relative displacement E obtained by solving Equation 3.YYo
The estimated propulsion path obtained is parallel to the actual propulsion path.
Since it can be regarded as having moved, the lateral displacement amount calculating section
7, which is the output value of the lateral relative displacement E YA certain supplement
Lateral displacement Δ multiplied by positive coefficientYIs the lateral displacement
The output value of the calculating means 5 is used. In addition, the pair of receiving
Il 3R, 3LTo the promotion plan line L0Aiming against said
Line L1The lateral displacement amount can be obtained by installing
ΔYIs the propulsion plan line L of the propulsion body 10Lateral direction from
It matches the displacement.
【0019】前記横方向変位量ΔY が所定の精度を維持
するためには、前記受信信号4R ,4L の信号強度が、
前記各受信コイル3R ,3L と前記発信コイル2との距
離を適切に反映し得る一定レベル以上である必要があ
り、前記信号強度判定部8は、常時、前記推進体1が受
信コイル3R ,3L 側に接近することにより前記発信コ
イル2による磁界との鎖交磁束が減少することに起因し
て、前記受信信号4R ,4L の信号強度である夫々のA
/D変換後の電圧値の少なくとも一方が所定の閾値以下
となる場合を、異常に接近しており前記横方向変位量Δ
Y が所定の精度を維持できない状態であると判定してい
る。尚、当該判定は、A/D変換前であっても構わな
い。また、前記設定入力部12から入力された設定値に
よって特定された前記推進体1の鉛直面内での推進経路
における推進深さdと前記受信信号4R ,4L の有効性
が保証されない前記各受信コイル3R ,3L からの距離
XN は、前記左右一対のコイル3R ,3L の離間距離が
長い程長くなる傾向があるために、コイル3 R ,3L の
離間距離をパラメータとして予め実験またはシミュレー
ション等で求められる。一例として前記離間距離を1m
とした場合が図4及び図5に示されており、前記推進深
さdと前記距離XN の関係は前記パラメータ毎にテーブ
ル化して前記受信信号有効性判定部9内の記憶装置に格
納されている。前記受信信号有効性判定部9は、前記推
進操作部11から入力された前記推進距離XS と前記推
進深さdと前記距離XN の関係より、前記推進体1が前
記各受信コイル3R ,3L に対して予め実験等で前記受
信信号4R ,4L の有効性が保証されないことが判明し
ている距離内に到達していることの判定を行い、前記信
号強度判定部8の判定結果との、何れか先に発生した判
定結果に基づいて、前記受信信号4R ,4L の有効性が
保証できないと判断して、受信不能信号Fを発生し、前
記横方向変位量演算部7及び前記誘導指示部6に対して
出力する。The lateral displacement ΔYMaintains the required accuracy
To do so, the received signal 4R, 4LSignal strength is
Each of the receiving coils 3R, 3LAnd the distance between the transmitting coil 2
It must be above a certain level that can properly reflect the separation
The signal strength determination unit 8 always receives the signal from the propulsion unit 1.
Shin coil 3R, 3LApproaching the
Due to the decrease of the magnetic flux linkage with the magnetic field by
And the reception signal 4R, 4LSignal strength of each A
At least one of the voltage values after the / D conversion is equal to or less than a predetermined threshold
When it is abnormally close and the lateral displacement Δ
YHas determined that the specified accuracy cannot be maintained.
You. Note that the determination may be made before A / D conversion.
No. Also, the setting value input from the setting input unit 12
The propulsion path in the vertical plane of the propelling body 1 thus specified
Depth d and the received signal 4R, 4LEffectiveness of
Each receiving coil 3 for which the performance is not guaranteedR, 3LDistance from
XNIs the pair of left and right coils 3R, 3LThe separation distance of
The longer the length, the longer the coil 3 R, 3Lof
Experiment or simulation in advance with the separation distance as a parameter
Required in the event. As an example, the separation distance is 1 m
FIG. 4 and FIG. 5 show the case where
D and the distance XNThe relationship of
Into a storage device in the reception signal validity determination unit 9
Has been delivered. The reception signal validity determination unit 9
The propulsion distance X input from the advance operation unit 11SAnd said
Advancement depth d and the distance XNThe propelling body 1 is in front of
Each receiving coil 3R, 3LIn advance through experiments, etc.
Signal 4R, 4LProved that the validity of the
Is determined to have arrived within the distance
The judgment result of the signal strength judgment unit 8
The received signal 4R, 4LThe effectiveness of
Judging that it cannot be guaranteed, generates a reception impossible signal F,
For the lateral displacement calculation unit 7 and the guidance instruction unit 6
Output.
【0020】推進体操向制御の開始時点で、前記受信コ
イル位置調節機構38により左右の受信コイル3R ,3
L の離間距離が最大となるように設定されていた受信装
置に対して、前記誘導指示部6に受信不能信号Fに対応
した表示がなされた時点で、作業者は、前記受信コイル
位置調節機構38を操作して、前記一対の受信コイル3
R ,3L の離間距離を短く調節する。At the start of the propulsion body steering control, the receiving coil position adjusting mechanism 38 controls the left and right receiving coils 3 R and 3 R.
At a point in time when a display corresponding to the non-reception signal F is displayed on the guidance instructing unit 6 with respect to the receiving device set so that the separation distance of L becomes the maximum, the operator sets the receiving coil position adjusting mechanism. 38, the pair of receiving coils 3
Adjust the distance between R and 3 L to be shorter.
【0021】以下に別実施の形態を説明する。上述した
実施形態では、前記受信信号有効性判定部9による判定
手順として、前記推進操作部11から入力された前記推
進距離XS と前記推進深さdと前記距離XN の関係よ
り、前記受信信号4R ,4L の有効性が保証されないこ
とが判明している距離内に到達しているか否かの判定結
果と、前記信号強度判定部8の判定結果との、何れか先
に発生した異常判定結果に基づいて、前記受信信号
4R ,4L の有効性が保証できないと判断して、受信不
能信号Fを発生するものを説明したが、前記受信信号有
効性判定部9による判定手順として、前記受信信号
4R,4L の有効性が保証されないことが判明している
距離内に到達していることの判定、又は、前記信号強度
判定部8の判定結果のいずれか一方のみの判定を行うも
のであってもよい。Another embodiment will be described below. In the embodiment described above, the reception signal validity determination unit 9 determines the reception procedure based on the relationship between the propulsion distance X S , the propulsion depth d, and the distance X N input from the propulsion operation unit 11. Either of the judgment result of whether or not the signals 4 R and 4 L have reached the distance in which the validity of the signals 4 R and 4 L is not guaranteed or the judgment result of the signal strength judgment unit 8 occurs earlier. A description has been given of the case where the validity of the received signals 4 R and 4 L cannot be guaranteed based on the result of the abnormality determination, and the unreceivable signal F is generated. As a result, it is determined that the received signals 4 R and 4 L have reached the distance within which the validity is not guaranteed, or only one of the determination results of the signal strength determination unit 8 is determined. A determination may be made.
【0022】上述した実施形態では、前記受信コイル位
置調節機構38として、前記推進計画線L0 に対する左
右の離間距離を一致させながら、前記一対の受信コイル
3R,3L の離間距離を三段階に調節可能なものを説明
したが、離間距離の調節は一段であっても多段であって
も、又、連続的に調節できるものであってもよく、その
構造も上述のものに限定されるわけではない。In the above-described embodiment, the receiving coil position adjusting mechanism 38 adjusts the distance between the pair of receiving coils 3 R , 3 L in three stages while making the left and right distances to the propulsion planning line L 0 coincide. Although the adjustable distance has been described, the adjustment of the separation distance may be performed in one step or in multiple steps, or may be continuously adjustable, and the structure is also limited to the above. Do not mean.
【0023】上述した実施形態では、前記横方向変位量
ΔY が所定の精度を得ることができない程に前記推進体
1が前記受信コイル3R ,3L に接近した場合に、前記
受信コイル位置調節機構38を操作して前記受信コイル
3R ,3L の離間距離を短く調節する場合を説明した
が、前記受信信号有効性判定部9が、前記横方向変位量
ΔY に基づいて前記推進体1が前記受信コイル3R ,3
L の軸心の延長線を含む鉛直面で挟まれる範囲を逸脱し
たことの判定を行い、前記信号強度判定部8による判定
結果との、何れか先に発生した判定結果、に基づいて前
記受信信号4R ,4L の有効性が保証できないと判断し
て、受信不能信号Fを発生し、前記横方向変位量演算部
7及び前記誘導指示部6に対して出力するように構成し
てもよい。この場合には、作業者が、前記誘導指示部6
の表示に基づいて、前記一対の受信コイル3R ,3L の
離間距離を長く調節することにより、前記推進体1が前
記受信コイル3R ,3L の軸心の延長線を含む鉛直面で
挟まれる範囲内に位置するように調節することになる。[0023] In the above embodiment, when the lateral displacement delta Y is the propellant 1 to the extent that it is impossible to obtain a predetermined accuracy has approached to the receiving coil 3 R, 3 L, the receiving coil located Having described the case of adjusting shorten the distance of the receiver coil 3 R, 3 L by operating the adjustment mechanism 38, the received signal validity determining unit 9, the propulsion on the basis of the lateral displacement delta Y The body 1 has the receiving coils 3 R , 3
A determination is made that the distance deviates from the range sandwiched by the vertical plane including the extension of the axis of L , and the reception is performed based on the determination result generated by the signal strength determination unit 8 or the determination result that occurred earlier. If it is determined that the validity of the signals 4 R and 4 L cannot be guaranteed, the reception failure signal F is generated and output to the lateral displacement calculation unit 7 and the guidance instruction unit 6. Good. In this case, the operator operates the guidance instruction unit 6.
By adjusting the distance between the pair of receiving coils 3 R and 3 L to be long based on the display of the above, the propulsion body 1 is positioned in a vertical plane including an extension of the axis of the receiving coils 3 R and 3 L. It will be adjusted so that it is located within the range to be sandwiched.
【0024】上述した実施形態では、前記一対の受信コ
イル3R ,3L は、その軸心が推進計画線L0 と平行に
なるように設置された場合を説明したが、図8に示すよ
うに、中央部に備えた操作レバーの回動に連動したラッ
クRにより鉛直軸心周りに回動可能に支持された前記一
対の受信コイル3R ,3L を、コイル軸心と推進計画線
L0 となす傾きθが左右対称に変更可能な受信コイル位
置調節機構38を設けて、上述した実施形態における前
記推進体1の前記一対の受信コイル3R ,3Lへの近接
判断と同様の判断がなされた場合に、前記一対の受信コ
イル3R ,3Lの軸心の推進計画線L0 に対する傾きを
大に調節して、鎖交磁束の減少を押さえるように構成す
るものであってもよい。In the above-described embodiment, the case where the pair of receiving coils 3 R and 3 L are installed such that their axes are parallel to the propulsion planning line L 0 has been described, but as shown in FIG. The pair of receiving coils 3 R , 3 L supported rotatably about a vertical axis by a rack R interlocked with the rotation of an operation lever provided at the center portion is connected to a coil axis and a propulsion plan line L. 0 and the inclination θ formed by providing a reception coil position adjusting mechanism 38 can be changed symmetrically, proximity determination similar determination to the pair of receiving coils 3 R, 3 L of the propellant 1 in the embodiment described above In this case, the inclination of the axis of the pair of receiving coils 3 R , 3 L with respect to the propulsion planning line L 0 is largely adjusted to suppress the reduction of the interlinkage magnetic flux. Good.
【0025】上述した実施形態では、受信コイル位置調
節機構38の操作条件の一つとして、前記信号強度判定
部8が、前記推進体1が受信コイル3R ,3L 側に接近
することにより前記発信コイル2による磁界との鎖交磁
束が減少することに起因して、前記受信信号4R ,4L
の信号強度の少なくとも一方が所定の閾値以下となる場
合を説明したが、前記推進体1が受信コイル3R ,3L
側に異常に接近する場合とは別に、受信コイル3R ,3
L の近傍または受信コイル3R ,3L の軸心の延長線で
囲まれる領域内に、前記発信コイル2による磁界を乱す
鉄製構造物や発電機等のノイズ源がある場合に、前記信
号強度判定部8が前記受信信号4R ,4 L の信号強度の
少なくとも一方が所定の高低閾値の範囲から逸脱したこ
とを検出して、前記受信信号有効性判定部9が前記受信
信号4R ,4L の有効性が保証できないと判断して、受
信不能信号Fを発生し、前記横方向変位量演算部7及び
前記誘導指示部6に対して出力するように構成し、作業
者はその指示に基づいてそれらの影響を回避低減させる
ように受信コイル位置調節機構38を操作するように構
成してもよい。In the above-described embodiment, the position of the receiving coil is adjusted.
As one of the operating conditions of the joint mechanism 38, the signal strength determination is performed.
The propulsion unit 1 includes the receiving coil 3.R, 3LApproaching the side
To perform linkage with the magnetic field by the transmitting coil 2.
Due to the reduced bundle, the received signal 4R, 4L
If at least one of the signal strengths of
In the above description, the propulsion body 1 is connected to the receiving coil 3.R, 3L
In addition to the case of abnormally approaching the side, the receiving coil 3R, 3
LNear or receiving coil 3R, 3LWith an extension of the axis of
Disturb the magnetic field generated by the transmitting coil 2 in the enclosed area
If there is a noise source such as an iron structure or a generator,
The signal strength determination unit 8 determines whether the received signal 4R, 4 LSignal strength
At least one of them has deviated from the predetermined threshold range
And the received signal validity judging unit 9 detects
Signal 4R, 4LJudgment that the validity of
Generates an unreliable signal F,
It is configured to output to the guidance instruction unit 6, and
Avoids and reduces their effects based on the instructions
To operate the receiving coil position adjusting mechanism 38 as described above.
May be implemented.
【0026】[0026]
【発明の効果】以上説明したように、本発明によれば、
推進体の予定到達部が家屋等の外壁に接近しており、前
記受信コイルを前記予定到達部の後方に十分離して設置
できない場合であっても、一対の受信コイルの離間距離
を調節し、又は、一対の受信コイルの軸芯の推進計画線
に対する傾きを左右対称に変更調節することにより、推
進体を予定到達部Aに対してほぼ満足できる範囲内に誘
導することができるようになった。さらに、推進体が推
進計画線から大きく外れて前記受信コイルの軸心の延長
線を含む鉛直面で挟まれる範囲を逸脱した場合であって
も、一対の受信コイルの離間距離を調節することにより
前記推進計画線からの横方向変位量を正確に捕捉でき、
推進体を予定到達部Aに対してほぼ満足できる範囲内に
誘導することができるようになった。As described above, according to the present invention,
Even when the scheduled arrival part of the propulsion body is close to the outer wall of the house, and the receiving coil cannot be installed sufficiently behind the scheduled arrival part, the separation distance between the pair of receiving coils is adjusted, Alternatively, the propulsion body can be guided within a substantially satisfactory range with respect to the scheduled arrival portion A by changing and adjusting the inclination of the axis of the pair of receiving coils with respect to the propulsion planning line in a bilaterally symmetric manner. . Furthermore, even when the propulsion body deviates greatly from the propulsion plan line and deviates from the range sandwiched by the vertical plane including the extension of the axis of the reception coil, by adjusting the separation distance between the pair of reception coils, The amount of lateral displacement from the propulsion plan line can be accurately captured,
The propulsion body can be guided within a substantially satisfactory range with respect to the scheduled arrival portion A.
【0027】尚、特許請求の範囲の項に、図面との対照
を便利にするために符号を記すが、該記入により本発明
は添付図面の構成に限定されるものではない。[0027] In the claims, reference numerals are written for convenience of comparison with the drawings, but the present invention is not limited to the configuration of the attached drawings by the entry.
【図1】本発明に係る推進体操向誘導装置のブロック構
成と周辺装置との関係を示す説明図FIG. 1 is an explanatory diagram showing a relationship between a block configuration of a propulsion body steering guidance device according to the present invention and peripheral devices.
【図2】本発明に係る推進体操向誘導装置を使用する推
進工法作業現場の一例を示す鉛直断面図FIG. 2 is a vertical sectional view showing an example of a propulsion method work site using the propulsion body steering guidance device according to the present invention.
【図3】横方向変位量演算部の演算過程を説明する発信
コイルと受信コイルとの関係を示す2次元モデルの平面
図FIG. 3 is a plan view of a two-dimensional model illustrating a relationship between a transmitting coil and a receiving coil, illustrating a calculation process of a lateral displacement calculation unit.
【図4】横方向変位量のシミュレーション値、実験値、
及び、真値の比較図FIG. 4 shows a simulation value, an experimental value, and a lateral displacement amount.
And comparison of true value
【図5】受信信号の有効性が保証されない受信コイルか
らの距離と推進深さの関係図FIG. 5 is a diagram showing a relationship between a distance from a receiving coil and a propulsion depth where the validity of a received signal is not guaranteed.
【図6】推進体操向制御用の受信装置の説明図FIG. 6 is an explanatory diagram of a receiving device for propulsion body steering control.
【図7】推進体操向制御用の受信装置の説明図FIG. 7 is an explanatory diagram of a receiving device for propulsion body steering control.
【図8】別実施形態を示す推進体操向制御用の受信装置
の説明図FIG. 8 is an explanatory diagram of a receiving device for propulsion body steering control according to another embodiment.
1 推進体 2 発信コイル 3R ,3L 受信コイル 4R ,4L 受信信号 6 誘導指示部 10 推進体操向誘導装置 38 受信コイル位置調節機構 A 予定到達部 B 推進開始点 F 受信不能信号 L0 推進計画線 L1 照準線 XS 推進距離 ΔY 横方向変位量REFERENCE SIGNS LIST 1 Propulsion body 2 Transmitting coil 3 R , 3 L receiving coil 4 R , 4 L receiving signal 6 Guidance instruction unit 10 Propulsion unit steering guidance device 38 Receiving coil position adjustment mechanism A Scheduled arrival unit B Propulsion start point F No reception signal L 0 promotion plan line L 1 sight line X S propulsion distance delta Y lateral displacement
フロントページの続き (72)発明者 十川 孝志 兵庫県尼崎市浜1丁目1番1号 株式会社 クボタ技術開発研究所内 (72)発明者 山田 幸重 兵庫県尼崎市浜1丁目1番1号 株式会社 クボタ技術開発研究所内Continued on the front page (72) Inventor Takashi Togawa 1-1-1, Hama, Amagasaki-shi, Hyogo Prefecture Inside Kubota R & D Laboratories Co., Ltd. (72) Inventor Yukige Yamada 1-1-1, Hama, Amagasaki-shi, Hyogo Prefecture Kubota R & D Co., Ltd. In the laboratory
Claims (5)
進体(1)の先端部に設けられてその長手方向に沿った
軸芯を有する発信コイル(2)が発生する磁界に重畳さ
れた発信信号を受信自在で、且つ、前記推進体(1)の
推進開始点(B)から予定到達部(A)までの推進計画
線(L0 )を含む鉛直面を挟む左右2箇所に配置可能な
一対の受信コイル(3R ),(3L )を備え、その一対の
受信コイル(3R ),(3L )が受信する二つの受信信号
(4R ),(4L )の信号強度を比較して得られる前記推
進体(1)の推進位置の前記推進計画線(L0 )からの
横方向変位量(ΔY )に基づいて前記推進体(1)を前
記推進計画線に沿って操向制御するための推進体操向制
御用の受信装置であって、 前記一対の受信コイル(3R ),(3L )の離間距離を変
更可能な受信コイル位置調節機構(38)を設けてある
推進体操向制御用の受信装置。1. A propelling body (1) capable of changing the direction of propulsion underground so as to be capable of changing its propulsion direction, and is superimposed on a magnetic field generated by a transmitting coil (2) having an axis along its longitudinal direction. The propulsion body (1) is disposed at two positions on the left and right sides of a vertical plane including a propulsion plan line (L 0 ) from the propulsion start point (B) to the scheduled arrival portion (A). possible pair of receiving coils (3 R), (3 L ) equipped with a, the pair of receiving coils (3 R), (3 L ) two receiving signals receives (4 R), signal (4 L) the promotion plan line the propulsion body (1) on the basis of the lateral displacement (delta Y) from said promotion plan lines propulsion position of the propellant obtained by comparing the intensity (1) (L 0) along a reception apparatus of a propulsion gymnastic direction control for steering control, the pair of receiving coils (3 R), distance (3 L) Receiving device promote gymnastics direction control which is provided with changeable receive coil position adjusting mechanism (38).
装置の使用方法であって、 前記受信コイル位置調節機構(38)は、前記推進体
(1)が前記一対の受信コイル(3R ),(3L )に近接
したときに、前記一対の受信コイル(3R ),(3 L )の
離間距離を短く調節する推進体操向制御用の受信装置の
使用方法。2. A reception for propulsion body steering control according to claim 1.
A method of using the device, wherein the receiving coil position adjusting mechanism (38) includes the propulsion body.
(1) is the pair of receiving coils (3R), (3LClose to)
Then, the pair of receiving coils (3R), (3 L)of
Propulsion body steering control receiving device that adjusts the separation distance short
how to use.
装置の使用方法であって、 前記推進体(1)が前記受信コイル(3R ),(3L )の
軸心の延長線を含む鉛直面で挟まれる範囲を逸脱した場
合に、前記一対の受信コイル(3R ),(3L )の離間距
離を長く調節する推進体操向制御用の受信装置の使用方
法。3. The method of using a receiving device for controlling the steering of a propulsion unit according to claim 1, wherein the propulsion unit (1) is an extension of the axis of the receiving coils (3 R ) and (3 L ). A method of using a propulsion body steering control receiving device for adjusting the distance between the pair of receiving coils (3 R ) and (3 L ) to be long when the distance between the pair of receiving coils (3 R ) and (3 L ) deviates from the range sandwiched by the vertical planes.
進体(1)の先端部に設けられてその長手方向に沿った
軸芯を有する発信コイル(2)が発生する磁界に重畳さ
れた発信信号を受信自在で、且つ、前記推進体(1)の
推進開始点(B)から予定到達部(A)までの推進計画
線(L0 )を含む鉛直面を中央に挟む左右2箇所に配置
可能な一対の受信コイル(3R ),(3L )を備え、その
一対の受信コイル(3R ),(3L )が受信する二つの受
信信号(4R ),(4L )の信号強度を比較して得られる
前記推進体(1)の推進位置の前記推進計画線(L0 )
からの横方向変位量(ΔY )に基づいて前記推進体
(1)を前記推進計画線に沿って操向制御するための推
進体操向制御用の受信装置であって、 前記一対の受信コイル(3R ),(3L )の軸芯の推進計
画線(L0 )に対する傾きを左右対称に変更可能な受信
コイル位置調節機構(38)を設けてある推進体操向制
御用の受信装置。4. A superimposed magnetic field generated by a transmitting coil (2) provided at the tip of a propelling body (1) capable of changing the direction of propulsion underground and having an axis along its longitudinal direction. And the left and right sides of a vertical plane including the propulsion plan line (L 0 ) from the propulsion start point (B) of the propulsion body (1) to the scheduled arrival part (A) at the center. a pair of receiving coils (3 R), that can be placed in (3 L) equipped with a, the pair of receiving coils (3 R), (3 L ) two receiving signals receives (4 R), (4 L ) The propulsion plan line (L 0 ) of the propulsion position of the propulsion body (1) obtained by comparing the signal intensities of
A propulsion body steering control receiving device for performing steering control of the propulsion body (1) along the propulsion plan line based on a lateral displacement (Δ Y ) from the pair of receiving coils. (3 R), (3 L) of promotion plan line axis (L 0) reception apparatus for propulsion gymnastic direction control which is provided with receiving changeable symmetrically tilt coil position adjusting mechanism (38) for.
装置の使用方法であって、 前記受信コイル位置調節機構(38)は、前記推進体
(1)が前記一対の受信コイル(3R ),(3L )に近接
したときに、前記一対の受信コイル(3R ),(3 L )の
軸芯の推進計画線(L0 )に対する傾きを大に調節する
推進体操向制御用の受信装置の使用方法。5. The reception for propulsion body steering control according to claim 4.
A method of using the device, wherein the receiving coil position adjusting mechanism (38) includes the propulsion body.
(1) is the pair of receiving coils (3R), (3LClose to)
Then, the pair of receiving coils (3R), (3 L)of
Shaft center propulsion plan line (L0Adjust the inclination to)
How to use the receiver for propulsion body steering control.
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP22806097A JP3354842B2 (en) | 1997-08-25 | 1997-08-25 | Receiver for propulsion body steering control and method of using the same |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP22806097A JP3354842B2 (en) | 1997-08-25 | 1997-08-25 | Receiver for propulsion body steering control and method of using the same |
Publications (2)
Publication Number | Publication Date |
---|---|
JPH1165653A true JPH1165653A (en) | 1999-03-09 |
JP3354842B2 JP3354842B2 (en) | 2002-12-09 |
Family
ID=16870576
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP22806097A Expired - Fee Related JP3354842B2 (en) | 1997-08-25 | 1997-08-25 | Receiver for propulsion body steering control and method of using the same |
Country Status (1)
Country | Link |
---|---|
JP (1) | JP3354842B2 (en) |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2011179995A (en) * | 2010-03-02 | 2011-09-15 | Airec Engineering Corp | Tunneling system, horizontal direction measuring method |
-
1997
- 1997-08-25 JP JP22806097A patent/JP3354842B2/en not_active Expired - Fee Related
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2011179995A (en) * | 2010-03-02 | 2011-09-15 | Airec Engineering Corp | Tunneling system, horizontal direction measuring method |
Also Published As
Publication number | Publication date |
---|---|
JP3354842B2 (en) | 2002-12-09 |
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