JPH04350296A - Propulsion direction/position detector for propulsion machine for propulsion execution method - Google Patents

Abstract

PURPOSE:To detect the direction and position of a propulsion machine, at one place without shifting receiving coils, by using a detector in which at least five receiving coils in the same direction on a horizontal plane out of a plurality of receiving coils which are arranged on a transport basic body, while changing the axial direction on the horizontal plane, are arranged on the X, Y axis lines, respectively. CONSTITUTION:A propulsion direction and position detector 10 is constituted by arranging receiving coils 9a, 9d, 9e, 9f, and 9g in parallel on the X, Y axis lines 13 respectively so that the receiving coils 9a-9d are set in radial form from a center point 12 on a transport basic body 11. Then, the detector 10 is arranged above the estimated position of the presence of an expulsion machine. Then, the magnetic field intensity distribution measured by the receiving coils 9a-9d is plotted for the angle in which each receiving coil exists, and the direction of the propulsion machine is detected through the approximate calculation of the curved line passing through these points. Further, the magnetic field intensity distribution which is received for measurement by the receiving coils 9a, 9d, 9e, 9f, and 9g is plotted, and the position of the propulsion machine is detected through the approximate calculation of the curved line passing through these points.

Description

[Detailed description of the invention]

0001

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a device for detecting the propulsion direction and propulsion position of a propulsion machine for a propulsion construction method used, for example, when burying a cable underground without excavation.

0002

[Prior Art] Recently, a propulsion tube has been connected to the rear of a propulsion machine.
A propulsion method was proposed in which a pusher placed in the construction pit pushes in the propulsion pipe and propels the propulsion machine to form a trenchless tunnel at the rear in the direction of travel, and studies have been made to apply it to cable burying work. ing.

[0003] In this propulsion method, a transmitting coil is mounted on the propulsion vehicle, a magnetic field is transmitted from the transmitting coil to the ground, and the position of the propulsion machine is sequentially plotted by receiving this magnetic field with a receiving coil on the ground. By connecting the plot points, the propulsion direction of the propulsion machine was detected.

[0004] Furthermore, by moving the receiving coil on the ground in the X and Y directions in a horizontal plane, the position of the propulsion machine has been detected from the maximum position of the received magnetic fields in the X and Y directions.

[0005]

[Problem to be Solved by the Invention] However, with such a propulsion direction and propulsion position detecting device, it is difficult to detect both the propulsion direction and the propulsion position unless multiple positions of the propulsion device are plotted while moving the receiving coil. There was a problem that I couldn't do it. Another object of the present invention is to provide a device for detecting the propulsion direction and propulsion position of a propulsion machine for a propulsion method, which can detect the propulsion direction and propulsion position of the propulsion machine by measuring at one location and without moving the receiving coil. There is a particular thing.

[0006]

[Means for Solving the Problems] To explain the means of the present invention for achieving the above object, the present invention includes a transmitting coil with the coil axis directed in the propulsion direction, and transmits a magnetic field to the ground from the transmitting coil. A propulsion direction and propulsion position detecting device for a propulsion machine for a propulsion method in which a trenchless tunnel is formed at the rear of the traveling direction by propulsion, which includes a conveyance base disposed on the ground, and a coil shaft attached to the conveyance base. A plurality of horizontal receiving coils are arranged with their coil axes oriented in the same direction in the horizontal plane, and at least five receiving coils with their coil axes oriented in the same direction in the horizontal plane are arranged on the transport base along the X-axis, They are characterized by being arranged side by side on the Y-axis line.

[0007]

[Operation] In this way, when detecting the propulsion direction of a propulsion machine equipped with a transmitting coil with the coil axis directed in the propulsion direction,
By placing multiple receiving coils on the ground with their coil axes horizontal and changing the direction of the coil axes in the horizontal plane, these receiving coils measure the magnetic field strength from the transmitting coil, and the received magnetic field strength is maximized. The propulsion direction of the propulsion machine can be determined from the direction of the coil axis of the receiving coil where the received magnetic field strength is the minimum, or from the direction perpendicular to the coil axis of the receiving coil where the received magnetic field strength is the minimum, by measuring at one location and without moving the receiving coil. can be detected.

[0008] Furthermore, on the ground, at least five receiving coils with their coil axes oriented in the same direction in the horizontal plane are arranged side by side on the X- and Y-axes, so these receiving coils can detect the signal from the transmitting coil. By measuring the magnetic field strength,
The propulsion position of the propulsion device can be detected from the maximum position of the received magnetic field strength in the X and Y directions in the horizontal plane by measuring at one location and without moving the receiving coil.

[0009]

DESCRIPTION OF THE PREFERRED EMBODIMENTS FIG. 1 is a diagram showing the principle of detecting the propulsion direction of a propulsion device according to the present invention. Under the ground below ground 1,
The propulsion device 2 is propelled by receiving propulsive force from the following propulsion tube 3. The propulsion pipe 3 is adapted to be propelled by receiving propulsive force from a pusher placed in a construction pit (not shown). The propulsion device 2 includes a propulsion body 5 having a rotating head portion 4 at its tip, and the rotation head portion 4 is driven to rotate around an axis 6 by a motor (not shown) built in the propulsion body 5. There is. The rotating head section 4 is provided with a pressure receiving surface 4a for bending the propulsion device 2 in the direction in which earth pressure is applied during propulsion. A transmitter coil 7 is wound and fixed around the outer periphery of the propulsion body 3. Therefore, the coil axis of the transmitting coil 7 faces the propulsion direction of the propulsion device 2. The transmitter coil 7 generates a magnetic field 8 as shown, and the magnetic field 8 reaches the ground.

One receiving coil 9 is placed on the ground with its coil axis horizontal.

Next, a method of detecting the propulsion direction of the propulsion device 2 using the propulsion device 2 and the receiving coil 9 will be explained. When detecting the propulsion direction of the propulsion device 2, the receiving coil 9 on the ground is rotated around a vertical axis with its coil axis horizontal, and the transmitting coil 7 that the receiving coil 9 receives is rotated.
Measure the intensity distribution of the magnetic field 8 from.

When such a measurement is performed, a magnetic field strength distribution with respect to the rotation angle as shown in FIG. 2 is obtained. in this case,
The propulsion direction of the propulsion device 2 is the direction of the coil axis of the receiving coil 9 when the receiving magnetic field strength is maximum, or the direction perpendicular to the coil axis of the receiving coil 9 when the receiving magnetic field strength is minimum.

Next, the principle of detecting the position of the propulsion device 2 according to the present invention is that when the receiving coil is moved with its coil axis pointing in the same direction, the received magnetic field of the receiving coil is directly above the transmitting coil. This takes advantage of the property of maximum.

FIG. 3 shows an embodiment of a device for detecting the propulsion direction and propulsion position of a propulsion machine for a propulsion method according to the present invention. FIG. 3 shows a plan view of the propulsion direction and propulsion position detection device 10 provided on the ground. The propulsion direction and propulsion position detecting device 10 includes a transport base 11, and the transport base 11 has a plurality of receiving coils 9a to 9d whose coil axes are horizontal. They are arranged radially with respect to the center point 12. These receiving coils 9a to 9d are used for detecting the direction of propulsion. The transport base 11 also includes five receiving coils 9a, 9d, 9e, 9f, and 9g whose coil axes are oriented in the same direction in the horizontal plane, X-axes that are perpendicular to each other,
They are arranged side by side on line 13 of the Y axis. That is, the receiving coils 9a and 9d are arranged at both ends on the line 13X of the X-axis, and the receiving coils 9e and 9g are arranged on the line 13Y of the Y-axis.
The receiving coil 9f is placed on the X-axis and Y-axis line 1.
It is placed at the cross point on 3X, 13Y. These receiving coils 9a, 9d, 9e, 9f, and 9g are used for detecting the propulsion position. In this case, the receiving coil 9
a and 9d are designed to be used for both.

Next, as shown in FIG. 1, how to detect the propulsion direction and propulsion position of the propulsion device 2 equipped with the transmitting coil 7 using the propulsion direction and propulsion position detecting device 10.
I will explain about it. The propulsion direction and propulsion position detection device 1
0 is placed above the position where the propulsion device 2 is expected to be present.

In this state, the magnetic field 8 from the transmitting coil 7 is measured by the receiving coils 9a to 9d. Each receiving coil 9a
The distribution of the magnetic field strength received by ~9d is determined by each receiving coil 9a~
By plotting the angle at which 9d exists, approximating a curve passing through these plot points, and determining its maximum and minimum values, the measurement results shown in FIG. 4 are obtained. Therefore, based on this measurement result, the propulsion direction of the propulsion device 2 can be detected from the direction of the coil axis of the receiving coil where the received magnetic field strength is the maximum, or from the direction perpendicular to the coil axis of the receiving coil where the received magnetic field strength is the minimum. can.

[0017] Also, receiving coils 9a, 9d, 9e, 9f
, 9g, the magnetic field 8 from the transmitting coil 7 is measured. By plotting the distribution of the magnetic field strength received by each receiving coil 9a, 9d, 9e, 9f, and 9g, and calculating an approximation of the curve passing through these plot points, and finding the maximum value, the measurement result as shown in Fig. 5 is obtained. Since this is obtained, it can be seen that the propulsion device 2 exists directly below the position where the magnetic field strength is maximum in the X direction and maximum in the Y direction.

The receiving coils 9a to 9d for detecting the propulsion direction of the propulsion device 2 are not arranged radially with respect to a common center point 12 as shown in FIG. 3, but these receiving coils simply align the coil axis horizontally. It is also possible to change the direction of the coil axis in the horizontal plane and arrange it on the conveyance base 11 in this state. Even in this case, since the directions of the respective receiving coils 9a to 9d are known, the propulsion direction of the propulsion device 2 can be detected in the same manner as described above.

Furthermore, in this case, if there are at least three receiving coils, for example 9a, 9b, and 9c, the direction of propulsion of the estimator 2 can be detected.

[0020]

[Effects of the Invention] As explained above, according to the propulsion direction and propulsion position detecting device for a propulsion machine for propulsion construction method according to the present invention,
The following effects can be obtained.

(A) When detecting the propulsion direction of a propulsion machine equipped with a transmitting coil with the coil axis directed in the propulsion direction, a plurality of receiving coils with the coil axis horizontal are placed on the ground, and the coil axis is oriented in the horizontal plane. Since the receiving coils are arranged in different directions, by measuring the magnetic field strength from the transmitting coil with these receiving coils, it is possible to determine the direction of the coil axis of the receiving coil where the received magnetic field strength is maximum, or the direction where the received magnetic field strength is minimum. The propulsion direction of the propulsion device can be detected by measuring at one location in a direction perpendicular to the coil axis of the receiving coil and without moving the receiving coil.

(B) At least five receiving coils with their coil axes oriented in the same direction in the horizontal plane are arranged on the ground along the X- and Y-axes, so these receiving coils can be used to By measuring the magnetic field strength of
The propulsion position of the propulsion device can be detected from the maximum position of the received magnetic field strength in the X and Y directions in the horizontal plane by measuring at one location and without moving the receiving coil.

(C) Both the propulsion direction and propulsion position of the propulsion device can be detected.

[Brief explanation of the drawing]

FIG. 1 is a perspective view showing the principle of detecting the propulsion direction of a propulsion device according to the present invention.

FIG. 2 is a distribution diagram of magnetic field strength with respect to rotation angle when measurement is performed according to the principle shown in FIG. 1;

FIG. 3 is a plan view showing an example of a propulsion direction and propulsion position detection device of a propulsion machine for a propulsion method according to the present invention.

FIG. 4 is a distribution diagram of magnetic field strength measured by each receiving coil in order to detect the propulsion direction in this embodiment.

FIG. 5 is a distribution diagram of magnetic field strength measured by each receiving coil in order to detect a propulsion position in this embodiment.

[Explanation of symbols]

DESCRIPTION OF SYMBOLS 1...Ground, 2...Propulsion machine, 3...Propulsion tube, 4...Rotating head section, 5...Propulsion body, 6...Axis, 7...Transmission coil, 8...Magnetic field, 9, 9a to 9g...Reception coil, 10... Propulsion direction and propulsion position detection device, 11...Transportation base, 12...Center point, 13
X...X-axis line, 13Y...Y-axis line.

Claims (1)

[Claims] Claim 1: A propulsion method for a propulsion method, which is equipped with a transmitter coil with the coil axis directed in the propulsion direction, and is propelled underground while transmitting a magnetic field to the ground from the transmitter coil to form a trenchless tunnel behind the propulsion direction. A propulsion direction and propulsion position detecting device for an aircraft includes a transport base disposed on the ground, and a plurality of receiving coils with coil axes made horizontal are arranged on the transport base with the coil axes changing directions in a horizontal plane. , and a propulsion machine for a propulsion method, characterized in that at least five receiving coils with coil axes oriented in the same direction in a horizontal plane are arranged side by side on the X-axis and Y-axis line on the conveying base. Propulsion direction and propulsion position detection device.