JPS5938557Y2 - Attitude position detection device for underground pipe burying machine - Google Patents

Description

[Detailed Description of the Invention] This invention relates to an apparatus for detecting the attitude and position of underground management equipment, which remotely measures the attitude and position of the preceding embedding machine body, which is located at the tip of a pipe body to be buried.

Conventional methods of burying underground pipes at a certain depth underground include:
A method in which a shield is provided at the tip of the pipe to be buried, and the earth and sand in front are excavated using this shield, and new pipes are successively added between the pipe and the shield to move forward, or a pipe that is forced into the ground. A method is already known in which a burying machine main body is provided at the tip of the excavator body and the main body is moved forward together with the pipe body when burying the excavator. Measures are being taken to bury pipes along the planned route.

In addition, various proposals have been made and implemented as the above-mentioned attitude control means, but in all cases, the position or attitude of the main body is measured and control is performed accordingly. Measurement is not recommended for long-distance propulsion because it requires a lot of space and may interfere with other equipment, such as excavation mechanisms or earth and sand transport mechanisms, or the measurement range is narrow and the tolerance for positional deviation of the burial machine body is small. There were drawbacks such as the inability to control posture and the ability to control posture.

This idea was made to eliminate this drawback, and by displaying a position scale on the condensing lens that condenses light onto the light receiving panel and downsizing the device itself, it can be easily installed inside the burial machine body. At the same time, the above position scale is observed by a transit with a floodlight installed in the shaft, and the positional deviation of the main body with respect to the propulsion reference line and the light from the floodlight that is focused on the light receiving plate by the condensing lens are detected. Provided is an attitude position detection device for underground management equipment that can simultaneously measure the deviation in the attitude of the main body from the deviation of the points and control the propulsion direction of the main body based on the obtained deviation signal, so that it can be adjusted to the propulsion reference line. This makes it possible to bury the tube body along the line with high precision.

This invention will be described in detail below with reference to an illustrated embodiment.

In the figure, reference numeral 1 denotes the burying machine main body attached to the tip of a small-diameter pipe body 2 to be buried.It is configured to be propelled underground as the pipe body 2 is press-fitted. A device A of this invention is installed.

In other words, in this device A, a condensing lens 4 having a grid-like position scale 4a engraved therein is fitted into the front opening of a cylindrical housing 3 (on the press-fit side of the tube body 2). A light source 5 is provided around the optical lens 4, so that the position scale 4a can be seen through from the rear.

Further, a light receiving plate 6 is provided on the rear surface of the housing 3 (on the main body 1 side) on the same center line as the condensing lens 4.

The light receiving panel 6 has a structure in which a large number of groups of photoelectric elements 6a are arranged in an array, and each group of photoelectric elements 6a is connected to an amplifier 7 installed on the rear surface of the main body 1.

The azimuth signal amplified by the amplifier 7 is input to the attitude display panel 9 installed on the press-fit side of the pipe body 2 via the cable 8.
The attitude of the main body 1 is displayed.

On the other hand, a transit 10 and a floodlight 11 are installed in the shaft on the press-fitting side of the tube body 2, located on the central axis of the tube body 2.

The above-mentioned transit 10 is located at the propulsion reference line B.
10 are placed so that their centers coincide with each other, and the displacement of the main body 1 with respect to the propulsion reference line B can be measured from the position scale 4a formed on the condenser lens 4.

Further, on the transilluminator 1-10, there is provided a light projector 11 that projects a light beam parallel to the propulsion reference line toward the device A. The light is focused as a light spot on the light receiving plate 6 provided at the focal point of the light spot, and the displacement of the main body 1 is measured as follows based on the position of this light spot.

If the main body 1, which is now being propelled along the propulsion reference line B by a hydraulic jack (not shown) installed in the shaft, deviates from the propulsion reference line B by a distance l without changing its attitude, as shown in Fig. 3A, By reading the position scale 4a provided on the condenser lens 4 with the transit 10 installed on the shaft side, the positional deviation of the main body 1 with respect to the propulsion reference line B can be accurately measured.

In addition, if the main body 1 deviates from its posture as shown in Figure 3 while it is propelling along the propulsion reference line B, the center of the position scale 4a coincides with the propulsion reference line B, so measurement by the transit 10 alone will not be enough. Measuring changes in the body 1 is difficult.

However, due to the attitude shift of the main body 1, the light spot of the light emitted from the light emitter 11 shifts on the light receiving panel 6 according to the amount of attitude shift of the main body 1. By looking at 9, the amount of deviation of the main body 1 can be accurately grasped on the shaft side.

On the other hand, during propulsion of the main body 1, the deviation of the main body 1 with respect to the propulsion reference line B and the deviation of the posture often occur in combination.

Figure 3 (c) shows this state; in this case, l
・By using both the measurement using the lungit 10 and the measurement using the light beam, the deviation of the main body 1 from the propulsion reference line B,
Posture deviations can be measured at the same time.

Therefore, by controlling the propulsion direction of the main body 1 based on these measurement results, the main body 1 can be accurately propelled along the propulsion reference line B.

Note that the light receiving plate 6 merely displays a position scale.
As shown in FIG. 4, the light spot projected on the tube may be photographed by a television camera 12 installed at the rear of the light receiving panel 6 and displayed by a television receiver 13 installed at the tube press-fit side. Furthermore, as shown in FIG. 5, the television camera 12 may be used directly as a light receiving panel.

As described in detail above, this idea is to integrate a condensing lens with a position scale and a light receiving panel into the main body of the burying machine, which is propelled into the ground before the pipe to be buried. A transit and a floodlight are installed on the side of the shaft that propels the body, and the positional deviation of the body with respect to the propulsion reference line and the deviation of the body's attitude are measured simultaneously.As the transit and the floodlight are integrated, It can be easily and accurately installed on the propulsion reference line in the shaft.

In addition, since the positional deviation and attitude deviation of the main body can be measured simultaneously, it is possible to propel the main body with higher accuracy than conventional methods that measure only one of the two. Becomes able to be propelled by viscosity.

Moreover, since the position scale is provided directly on the condensing lens that condenses the light from the device onto the light receiving plate L, and this is observed by the transit, the overall size is smaller and smaller than when these are installed separately. It can be formed at a low cost, and the size of the scale plate and lens can be made sufficiently large, so the permissible displacement amount of the burying machine body is large, and even when burying the tube over a long distance, the position of the body can be adjusted. and posture can be reliably grasped.

[Brief explanation of drawings]

The drawings show one embodiment of this invention, and FIG. 1 is a schematic diagram of the structure when the pipe is buried, FIG. 2 is a simple explanatory diagram, FIGS. FIG. 5 is an explanatory diagram showing another embodiment. 1 is the burial machine main body, 2 is the tube body, 4 is the condenser lens, 4a is the position scale, 6 is the light receiving plate, transit, and 11 is the projector. 9 is the display board, 10 is

Claims (1)

[Scope of utility model registration request] Inside the burying machine body 1, which is propelled underground in advance of the small-diameter pipe 2 to be buried, there is a condenser lens 4, which has a grid-like position scale 4a displayed on at least one side, in the shaft-side opening of the casing 3. is provided at the bottom of the housing 3, and its surface is connected to the condensing lens 4.
A light receiving plate 6 is provided at the focal position of the light receiving lens so as to be perpendicular to the optical axis of the light receiving plate 6, and an indicator board 9 provided on the shaft side is electrically connected to the light receiving plate 6 to determine the position of the light spot on the light receiving plate 6. By displaying the attitude of the main body 1 on the display panel 9 and observing the position scale 4a located on the propulsion reference line B in the shaft and provided on the condenser lens 4, A transit 10 for measuring the positional deviation of the main body 1 with respect to the propulsion reference line B, and a floodlight 11 that is provided integrally with the transit 10 and emits light toward the condenser lens 4 along the propulsion reference line B are installed. Attitude position detection device for underground management equipment.