JPH0372291A - Method and device for measuring position of underground excavator - Google Patents
Method and device for measuring position of underground excavatorInfo
- Publication number
- JPH0372291A JPH0372291A JP1206966A JP20696689A JPH0372291A JP H0372291 A JPH0372291 A JP H0372291A JP 1206966 A JP1206966 A JP 1206966A JP 20696689 A JP20696689 A JP 20696689A JP H0372291 A JPH0372291 A JP H0372291A
- Authority
- JP
- Japan
- Prior art keywords
- magnetic
- excavator
- sensor network
- underground
- magnetic sensor
- 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.)
- Pending
Links
- 238000000034 method Methods 0.000 title claims abstract description 12
- 238000009412 basement excavation Methods 0.000 claims abstract description 12
- 238000004364 calculation method Methods 0.000 claims description 6
- 238000001514 detection method Methods 0.000 claims description 6
- 230000005389 magnetism Effects 0.000 abstract description 15
- 238000005259 measurement Methods 0.000 abstract description 6
- 238000010586 diagram Methods 0.000 description 7
- 230000000694 effects Effects 0.000 description 4
- 230000003287 optical effect Effects 0.000 description 4
- 239000011159 matrix material Substances 0.000 description 3
- 230000035945 sensitivity Effects 0.000 description 3
- 239000003990 capacitor Substances 0.000 description 2
- 230000007613 environmental effect Effects 0.000 description 2
- 238000002474 experimental method Methods 0.000 description 2
- 239000000696 magnetic material Substances 0.000 description 2
- 230000001427 coherent effect Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000001186 cumulative effect Effects 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000005279 excitation period Effects 0.000 description 1
- 238000007667 floating Methods 0.000 description 1
- 230000004907 flux Effects 0.000 description 1
- 238000009499 grossing Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000004804 winding Methods 0.000 description 1
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- Geophysics And Detection Of Objects (AREA)
Abstract
Description
【発明の詳細な説明】
〔産業上の利用分野〕
本発明は、地中掘削機の位置計測装置に係り、特に、シ
ールド機械等の地中掘削機の二次元座標位置や三次元座
標位置を求めることのできる地中掘削機の位置計測装置
の改良に関する。[Detailed Description of the Invention] [Industrial Application Field] The present invention relates to a position measuring device for an underground excavator, and in particular, it is used to measure the two-dimensional coordinate position or three-dimensional coordinate position of an underground excavator such as a shield machine. This invention relates to improvements in position measuring devices for underground excavators.
従来から、例えば、シールド工法におけるシールド掘削
機の発進立坑内にレーザー等のコヒーレントな光を発生
させる光学発信装置を設置して、この装置より、トンネ
ル計画線を照射し、シールド掘削機に取り付けたターゲ
ット上の光点を読み取ることによって、シールド掘削機
の偏位、偏角を求めている。Conventionally, for example, in the shield construction method, an optical transmitter that generates coherent light such as a laser is installed in the starting shaft of a shield excavator, and this device illuminates the tunnel planning line and is attached to the shield excavator. By reading the light spot on the target, the deflection and declination angle of the shield excavator are determined.
あるいは、方位ジャイロと、圧力式沈下計、傾斜計及び
セグメント長さを基準とする走行距離計を組み合わせて
、基準位置からの相対的な位置を求める方法も知られて
いる。Alternatively, a method is known in which a relative position from a reference position is determined by combining an azimuth gyro with a pressure-type subsidence gauge, an inclinometer, and an odometer based on segment length.
ところが、トンネルが屈曲して掘削される場合、トラン
シットなどによる坑内ａｌｌＪ ｍは測定点を多く持つ
必要があってリアルタイムに計Ｍ１できず実際的でない
。また、レーザー光を用いる方法は、立坑からのレーザ
ー光が、ターゲットに照射できない場合が生じ、光学発
信装置を適切な位置に移動しなければならない。しかも
、トンネル計画線が屈曲していると、レーザー光を直接
計画路線の全長に照射できないので、ターゲットと光学
ｉＴＦＬＪｍ装置とトンネル計画線との位置関係をそれ
ぞれ互いの角度や距離−を測定し、その結果から計算に
より計画路線を求めた後にシールド掘削機の偏位、偏角
が算出されることになる。このため、光学発信装置の移
設や測定及び計算に人手がかかり、掘進作業の能率が低
下するという問題がある。さらにジャイロを用いた方法
は、累積誤差の問題があり、長距離掘削には向かず、ま
た急曲線、連続曲線に対しても同様に不向きである。However, when a tunnel is excavated with a bend, it is necessary to have a large number of measurement points for all J m underground by means of transit, etc., and it is not possible to measure M1 in real time, which is not practical. Furthermore, in the method using laser light, the laser light from the shaft may not be able to irradiate the target, and the optical transmitter must be moved to an appropriate position. Moreover, if the tunnel planning line is curved, the laser beam cannot be directly irradiated over the entire length of the planning line, so the positional relationship between the target, the optical iTFLJm device, and the tunnel planning line is measured by measuring the angle and distance between each other. After calculating the planned route from the results, the deflection and yaw angle of the shield excavator are calculated. For this reason, there is a problem in that relocation of the optical transmitter, measurement, and calculation require manpower, which reduces the efficiency of excavation work. Furthermore, the method using a gyro has the problem of cumulative errors and is not suitable for long-distance excavation, and is similarly unsuitable for sharp curves and continuous curves.
本発明は、上記従来の問題点に着目し、トンネル計画線
が長距離や曲線である場合であってもリアルタイムに地
中掘削機の位置を自動的かつ効率的に計１ｆＦＩするこ
とができる地中掘削機の位置計測方法及びその装置を堤
供することを目的とする。The present invention focuses on the above-mentioned conventional problems, and the present invention has been developed to automatically and efficiently determine the position of an underground excavator in real time by a total of 1fFI even when the tunnel planning line is long or curved. The purpose is to provide a method and device for measuring the position of medium excavators.
上記目的を達成するために、本発明に係る地中掘削機の
位置計測方法は、地中掘削機の掘削線上方に地中の磁力
変化を検出する複数の磁気センサからなる磁気センサ網
を設置し、地中掘削機に付帯した磁気発生手段に基づく
磁力変化を前記磁気センサ網により検出して前：ｃ！掘
削機の平面位置を検出するようにした。また第二の発明
に係る地中掘削機の位置計測装置は、地中を掘削進行す
る掘削機に設けられた磁気発生手段と、複数の磁気セン
サを平面上に配置した磁気センサ網と、前記掘削機に付
帯した磁気発生手段の移動に伴う磁力変化に基づく磁気
センサ検出信号と前記磁気センサ網の座標位置とから前
記掘削機の平面位置を算出する演算手段とを有する構成
としたものである。この場合において、前記磁気センサ
網の周囲を取り囲むコイルを設けることができ、また、
前記装置は深さ位置計測手段を具備するとともに、前記
演算手段は当該深さ位置計測手段からの出力信号を入力
し、三次元位置を演算出力可能とするように構成するこ
とができる。In order to achieve the above object, a method for measuring the position of an underground excavator according to the present invention includes installing a magnetic sensor network consisting of a plurality of magnetic sensors that detect changes in magnetic force underground above the excavation line of the underground excavator. Then, the magnetic sensor network detects changes in the magnetic force based on the magnetic generation means attached to the underground excavator, and then: c! The horizontal position of the excavator is now detected. Further, a position measuring device for an underground excavator according to a second invention includes: a magnetic generation means provided in an excavator that excavates underground; a magnetic sensor network in which a plurality of magnetic sensors are arranged on a plane; The excavator is configured to have a calculation means for calculating a planar position of the excavator from a magnetic sensor detection signal based on a change in magnetic force accompanying movement of a magnetism generating means attached to the excavator and a coordinate position of the magnetic sensor network. . In this case, a coil may be provided surrounding the magnetic sensor network, and
The apparatus may include a depth position measuring means, and the calculating means may be configured to receive an output signal from the depth position measuring means and to be able to calculate and output a three-dimensional position.
上記構成によれば、水平面内の既知の位置に磁気センサ
網を複数配置することで、各センサの水平面内の座標が
決定される。このセンサ網によって、磁性体で構築され
た地中掘削機外壁、あるいは、地中掘削機の所定位置に
取り付けられた磁石等によって構成される磁気発生手段
からの磁気を検知することで、地中掘削機の水平面内で
の位置が検出される。深さ方向に関しては、例えば圧力
沈下計等の深さ位置検出手段を地中掘削機内に配し基準
位置からの深さを得て、これを前記演算手段に出力し、
平面位置データに深さデータを加味して出力させること
ができる。これによって地中掘削機の位置を三次元にリ
アルタイムに検出することができるのである。According to the above configuration, by arranging a plurality of magnetic sensor networks at known positions within the horizontal plane, the coordinates of each sensor within the horizontal plane are determined. This sensor network detects magnetism from the outer wall of the underground excavator made of magnetic material, or from magnetic generation means such as magnets attached to predetermined positions of the underground excavator. The position of the excavator in a horizontal plane is detected. Regarding the depth direction, for example, a depth position detection means such as a pressure subsidence meter is arranged in the underground excavator to obtain the depth from the reference position, and output this to the calculation means,
It is possible to add depth data to plane position data and output it. This makes it possible to detect the position of an underground excavator in three dimensions in real time.
特に磁気センサ網を取り囲むようにコイルを配置するこ
とにより、磁気センサの置かれた領域に基準磁界を発生
させることができ、環境磁場を−様し、感度調整を行う
ことができる。In particular, by arranging the coils to surround the magnetic sensor network, a reference magnetic field can be generated in the area where the magnetic sensors are placed, and the environmental magnetic field can be varied to adjust the sensitivity.
以下に本発明に係る地中掘削機の位置計δＩｌｊ方法及
びその装置の具体的実施例を図面を参照して詳細に説明
する。DESCRIPTION OF THE PREFERRED EMBODIMENTS Specific embodiments of the underground excavator position meter δIlj method and its apparatus according to the present invention will be described in detail below with reference to the drawings.
第１図に第一実施例に係る地中掘削機の位置計測装置の
外観構成図を示す。実施例に係る地中掘削機の位置計測
装置は、複数の磁気センサ１０を海上面を含む地上面側
に平面状に配列し、特に相互の関係位置が確定されるよ
うにマトリックス配置した磁気センサ網１２を備えてい
る。FIG. 1 shows an external configuration diagram of a position measuring device for an underground excavator according to a first embodiment. The position measuring device for an underground excavator according to the embodiment includes a plurality of magnetic sensors 10 arranged in a plane on the ground surface side including the sea surface, and in particular magnetic sensors arranged in a matrix so that the relative positions of each other are determined. A net 12 is provided.
磁気センサ網１２の構成要素である磁気センサ１０とし
ては、フラックスゲートが最適であるが、形状的に大型
化が許されるのであれば、複数のプロトン磁力計の採用
も可能になる。本実施例ではフラックスゲートの一種で
ある磁気マルチセンサを使用している。これは、第２図
に示したように、棒状の磁心１４を有し、この磁心１４
には１次、２次巻線１６．１８が施されており、２次側
には共振用のコンデンサＣｓが接続されている。共振電
圧は、コンパレータとして動作するオペアンプＱ１に入
力され、アンプ出力は可変抵抗Ｒ１を通して１次側に励
磁電流を供給するとともに、抵抗ＲｏとコンデンサＣｏ
による積分回路を介して出力するようになっている。し
たがって、この磁気センサ１０の出力信号は、磁心１４
に外部磁界が作用しない場合には、第３図（ａ＞に示す
ように、正負対称の台形波であるが、外部磁界が存在す
ると、バイアス効果により棒状磁心の正負の励磁期間に
差が生じる。マイナス磁界（Ｓ極）が磁心１４に作用し
た場合には第３図（ｂ）に示すように、また、プラス磁
界（Ｎ極）が磁心１４に作用した場合には第３図（Ｃ）
に示すようなオペアンプＱ１出力電圧波形が得られるの
である。この台形波ヲ抵抗ＲＯｓコンデンサＣｏ Ｌよ
つ゛て平滑化することで外部磁界に比例した出力ｖｏを
検出できる。Although a fluxgate is optimal as the magnetic sensor 10 that is a component of the magnetic sensor network 12, if the shape allows for an increase in size, it is also possible to employ a plurality of proton magnetometers. In this embodiment, a magnetic multi-sensor, which is a type of flux gate, is used. As shown in FIG. 2, this has a rod-shaped magnetic core 14, and this magnetic core 14
is provided with primary and secondary windings 16, 18, and a resonance capacitor Cs is connected to the secondary side. The resonant voltage is input to an operational amplifier Q1 that operates as a comparator, and the amplifier output supplies an exciting current to the primary side through a variable resistor R1, and also connects a resistor Ro and a capacitor Co.
It is designed to be outputted via an integrating circuit. Therefore, the output signal of this magnetic sensor 10 is
When no external magnetic field acts on the bar-shaped magnetic field, it is a trapezoidal wave with positive and negative symmetry, as shown in Figure 3 (a), but when an external magnetic field is present, a difference occurs between the positive and negative excitation periods of the rod-shaped magnetic core due to the bias effect. When a negative magnetic field (S pole) acts on the magnetic core 14, as shown in FIG. 3(b), and when a positive magnetic field (N pole) acts on the magnetic core 14, as shown in FIG. 3(C).
The operational amplifier Q1 output voltage waveform as shown in is obtained. By smoothing this trapezoidal wave with the resistor ROs capacitor CoL, an output vo proportional to the external magnetic field can be detected.
前記磁気センサ網１２は地中掘削機２０の掘削進行予定
線の上方に設置されるが、この地中掘削機２０には磁気
発生手段として磁石２２をその天端に取り付けである。The magnetic sensor network 12 is installed above the planned excavation progress line of the underground excavator 20, and a magnet 22 is attached to the top of the underground excavator 20 as a magnetism generating means.
この磁石２２は永久磁石や電磁石によって構成すること
ができるが、地中掘削機２０のシールド管自体を磁性体
によって構築し本体自身を磁気発生手段とすることもで
きる。このような磁石２２を付帯した地中掘削機２０を
前記磁気センサ網１２の下部にて通過させることにより
、磁石２２の上方に位置する磁気センサ１０がその磁気
を外部磁気をして検知することができる。これにより既
知座標をもつ磁気センサ網１２と、外部磁気を検出した
磁気センサ１０の位置関係により、水平面内での地中掘
削機２０の位置を検知することができるのである。This magnet 22 can be constituted by a permanent magnet or an electromagnet, but it is also possible to construct the shield pipe of the underground excavator 20 itself from a magnetic material and use the main body itself as a magnetism generating means. By passing the underground excavator 20 equipped with such a magnet 22 under the magnetic sensor network 12, the magnetic sensor 10 located above the magnet 22 detects the magnetism by external magnetism. I can do it. Thereby, the position of the underground excavator 20 in a horizontal plane can be detected based on the positional relationship between the magnetic sensor network 12 having known coordinates and the magnetic sensor 10 that detects external magnetism.
第４図は当該地中掘削機の位置計測装置の装置構成ブロ
ック図である。マトリックスの磁気センサ網１２を構成
する各磁気センサ１０からの出力信号はアンプ２４によ
って増幅、整流、平滑化され磁気のレベルに応じた直流
信号に変換される。各磁気センサ１０からの出力信号を
取り込むＡＤ変換器２６が設けられ、このＡＤ変換器２
６ではそれら信号をディジタル信号に変換して演算装置
２８に出力する。演算装置２８は地中掘削機２０の操作
場所などに置かれ、ＡＤ変換された信号を取り込み、予
め設定記憶されている磁気センサ網１２の座標位置デー
タと、各磁気センサ１０の出力レベル信号の変位が一定
レベル以上の変動があった場合に、当該レベル変動のあ
る磁気センサ１０の位置を地中掘削機２０が通過中であ
ると判断して、地中掘削機２０の磁気センサ網１２上の
位置を特定し、地中掘削機２０の水平位置を出力させる
ことができるＯ
また、地中掘削機２０に深さ位置計測手段としての圧力
式沈下計３０を搭載し、この圧力式沈下計３０の計測信
号を演算装置２８に取り込むようにしている。この圧力
式沈下計３０の出力から地中掘削機の深さ位置を検知し
、前記平面位置データとの同期を図って出力することに
より、地中掘削機２０の地中での三次元位置を検出する
ことができる。演算装置２８からの出力は表示装置３２
に出力し、視覚的に識別し易い状態で演算データを表示
させるようにすればよい。表示装置３２による出力例と
して第５図に磁気センサ網１２によって検知された地中
掘削機２０の磁気データを処理した画面例を示す。FIG. 4 is a block diagram of the configuration of a position measuring device for the underground excavator. The output signal from each magnetic sensor 10 constituting the matrix magnetic sensor network 12 is amplified, rectified, and smoothed by the amplifier 24 and converted into a DC signal according to the level of magnetism. An AD converter 26 that takes in output signals from each magnetic sensor 10 is provided, and this AD converter 2
6 converts these signals into digital signals and outputs them to the arithmetic unit 28. The computing device 28 is placed at a location where the underground excavator 20 is operated, takes in the AD-converted signal, and calculates the coordinate position data of the magnetic sensor network 12 that has been set and stored in advance, and the output level signal of each magnetic sensor 10. If the displacement changes above a certain level, it is determined that the underground excavator 20 is passing through the position of the magnetic sensor 10 with the level change, and the information is displayed on the magnetic sensor network 12 of the underground excavator 20. The position of the underground excavator 20 can be specified and the horizontal position of the underground excavator 20 can be outputted. 30 measurement signals are taken into the calculation device 28. By detecting the depth position of the underground excavator from the output of this pressure type subsidence gauge 30 and outputting it in synchronization with the planar position data, the three-dimensional position of the underground excavator 20 underground can be determined. can be detected. The output from the arithmetic device 28 is displayed on the display device 32.
The calculated data may be displayed in a state where it can be easily identified visually. As an example of output from the display device 32, FIG. 5 shows an example of a screen in which magnetic data of the underground excavator 20 detected by the magnetic sensor network 12 is processed.
Ｎ極側を十方向にＳ極側を一方向にし、各磁気センサ１
０の位置での磁気データをプロットしデータ間を線で結
ぶことにより、図のような鳥轍図が描かれる。あるいは
、検知レベルに応じた色分け、濃淡分けによっても表示
効果がある。Each magnetic sensor 1 has the north pole side in ten directions and the south pole side in one direction.
By plotting the magnetic data at the 0 position and connecting the data with lines, a bird track diagram as shown in the figure can be drawn. Alternatively, display effects can be achieved by color-coding or shading according to the detection level.
このような処理は周知のコンピュータの画像処理アルゴ
リズムによって処理することによって簡単に表示させる
ことができる。Such processing can be easily displayed by processing using a well-known computer image processing algorithm.
なお、この構成例では、磁気発生手段としての磁石２２
を電磁石により構成し、構内に取り付けられた電源３４
から電流を供給することによって磁場を発生させるもの
としている。Note that in this configuration example, the magnet 22 as the magnetism generating means
A power supply 34 is constructed of an electromagnet and installed in the premises.
A magnetic field is generated by supplying current from the
なお、第１図中のコイル３６は、磁気センサの置かれた
環境磁場が強い場合に、その磁場を打ち消すために、あ
るいは、各磁気センサの感度調整時に、校正用基準磁界
を発生させる目的に設置されたもので、必要に応じて装
着すればよい。また、用途を変えればループ式受信アン
テナの役目をする磁気センサにもなり得る。この例では
、コイル３６をヘルムホルツコイルとし、磁気センサ網
１２が置かれる領域の磁場を一様にし、外部磁場の影響
が発生し易いようにしている。The coil 36 in Figure 1 is used to cancel the magnetic field when the magnetic sensor is placed in a strong environment, or to generate a reference magnetic field for calibration when adjusting the sensitivity of each magnetic sensor. It is installed and can be installed as needed. In addition, if the application is changed, it can also be used as a magnetic sensor that functions as a loop-type receiving antenna. In this example, the coil 36 is a Helmholtz coil, and the magnetic field in the area where the magnetic sensor network 12 is placed is made uniform, so that the influence of an external magnetic field is likely to occur.
第６図に地中掘削機の位置計測装置の別の実施例を示す
。海底内にトンネルを構築する場合は立坑を多く設置で
きない。そのため、地中掘削機２０の掘削距離を短くす
るため地中掘削機２０を相対して発進し、地中内で接合
する必要力する。その際２台の地中掘削機２０の天端に
磁石２２を取り付け、地中接合位置上の海面に磁気セン
サ網１２を設置することで、海上で地中掘削機の水平面
内での相対位置を計測できる。FIG. 6 shows another embodiment of the position measuring device for an underground excavator. When building a tunnel under the sea, it is not possible to install many vertical shafts. Therefore, in order to shorten the excavation distance of the underground excavator 20, the underground excavator 20 is started facing each other to apply the necessary force for joining underground. At that time, by attaching magnets 22 to the tops of the two underground excavators 20 and installing the magnetic sensor network 12 on the sea surface above the underground joint position, the relative positions of the underground excavators 20 in the horizontal plane can be determined at sea. can be measured.
この場合は磁気センサ網１２をフロートに取り付けて海
面上に浮かせて載置するようにすればよい。あるいは海
底に設置してもかまわない。In this case, the magnetic sensor net 12 may be attached to a float and placed floating on the sea surface. Alternatively, it can be installed on the ocean floor.
また、地中掘削機２０内に圧力式沈下計３０などを設置
することで、地中掘削Ｆｊ＆２０の深さ方向の位置を得
られるので、３次元的な相対位置を得ることができる。Further, by installing a pressure type subsidence gauge 30 or the like in the underground excavator 20, the position of the underground excavation Fj & 20 in the depth direction can be obtained, so that the three-dimensional relative position can be obtained.
第７図は上記２台の地中掘削機２０を地中接合する場合
の机上実験を行った例であり、８×６個の磁気センナマ
トリックス上に磁化された２つのボルトを置き近づけて
いった場合の表示装置３２による検知状況を示し、第７
図（Ａ）は第８図（Ａ）に示すようにボルト３３ａ。FIG. 7 is an example of a desktop experiment in which the above-mentioned two underground excavators 20 are connected underground, in which two magnetized bolts are placed on an 8×6 magnetic sensor matrix and brought closer together. 7 shows the detection status by the display device 32 when
Figure (A) shows the bolt 33a as shown in Figure 8 (A).
３３ｂ相互が近接した状態にある場合を、同（Ｂ）は第
８図（Ｂ）に示すように両ボルト３３ａ、３３ｂが相互
に接合した状態にある場合の出力例である。図示のよう
に、出力データの外部磁界の変化を検出することにより
、簡易に識別することができ、地中掘削機２０の位置検
出を確実に行うことができることが理解される。8(B) is an example of output when both bolts 33a, 33b are in a mutually connected state as shown in FIG. 8(B). As shown in the figure, it is understood that by detecting changes in the external magnetic field of the output data, identification can be made easily and the position of the underground excavator 20 can be reliably detected.
なお、上記実施例では、磁気センサ網１２は矩形格子点
に磁気センサ１０を配置した例に付いて説明したが、こ
の配列方法は任意に設定することができ、三角格子等の
交点に配置することもでき、磁気センサ１０相互の位置
関係が確定することができる配列であればよい。また、
深さ位置計測手段には、前記圧力式沈下計３０の他、Ｕ
字管式沈下計、あるいは、傾斜計と掘削距離計測手段を
組み合せたものを用いることができる。In the above embodiment, the magnetic sensor network 12 has been described with reference to an example in which the magnetic sensors 10 are arranged at rectangular lattice points, but this arrangement method can be set arbitrarily, and the magnetic sensor network 12 can be arranged at intersection points of a triangular lattice, etc. Any arrangement is sufficient as long as the mutual positional relationship of the magnetic sensors 10 can be determined. Also,
In addition to the pressure type subsidence gauge 30, the depth position measuring means includes U
A subsidence meter or a combination of an inclinometer and an excavation distance measuring means can be used.
以上説明したように、本発明に係る地中掘削機の位置計
δＰノ方法およびその装置によれば、シールド掘削機な
どの掘削機の二次元あるいは三次元的な位置を自動的、
連続的、かつリアルタイムに計測できるとともに、計計
１による掘削休止の必要がなく、また計測による人手が
いらないので、作業効率を向上させることができる。As explained above, according to the method and device for the position meter δP of an underground excavator according to the present invention, the two-dimensional or three-dimensional position of an excavator such as a shield excavator can be automatically determined.
In addition to being able to measure continuously and in real time, there is no need to suspend excavation by the meter 1, and there is no need for manpower for measurement, so work efficiency can be improved.
更に、計画路線が急曲線、連続曲線掘削であっても、屈
曲に伴う計測の不都合がない。あるいはシールド径が小
さくても計ａｌｌｌが可能となる。Furthermore, even if the planned route is excavated with sharp curves or continuous curves, there will be no inconvenience in measurement due to bends. Alternatively, even if the shield diameter is small, all of the above can be achieved.
また、積算計Ａｐｊではないので、長距離掘削をおこな
っても誤差が生じないという効果が得られる。磁気セン
サ網を囲むコイルを設置することにより環境磁場を調整
して感度調整ができるという効果も得られる。Moreover, since it is not an integrated totalizer Apj, it is possible to obtain the effect that no error occurs even if long-distance excavation is performed. By installing a coil surrounding the magnetic sensor network, it is also possible to adjust the sensitivity by adjusting the environmental magnetic field.
第１図は実施例に係る地中掘削機の位置計計１装置の構
成例を示す斜視図、第２図は磁気センサの構成図、第３
図（ａ） 、（ｂ） 、（ｅ）は磁気センサの出力波形
図、第４図は地中掘削機の位置計測装置の構成ブロック
図、第５図は地中掘削機の位置計測装置の出力画ｅ！例
、第６図は地中掘削機の位置計測装置の海上での使用例
を示す側面図、第７図（Ａ）、（Ｂ）はその実験例の出
力画像例、第８図は第７図（Ａ）、（Ｂ）で示す出力画
像例における磁化されたボルトのそれぞれの位置を示す
説明である。
１０は磁気センサ、１２は磁気センサ網、２０は地中掘
削機、２２は磁石（磁気発生手段）、２８は演算装置、
３０は圧力式沈下計。FIG. 1 is a perspective view showing a configuration example of a position meter 1 device of an underground excavator according to an embodiment, FIG. 2 is a configuration diagram of a magnetic sensor, and FIG.
Figures (a), (b), and (e) are output waveform diagrams of the magnetic sensor, Figure 4 is a block diagram of the configuration of the position measuring device for an underground excavator, and Figure 5 is a diagram of the position measuring device for an underground excavator. Output image e! For example, Figure 6 is a side view showing an example of using the position measuring device of an underground excavator at sea, Figures 7 (A) and (B) are output image examples of the experiment example, and Figure 8 is the This is an explanation showing the respective positions of magnetized bolts in the output image examples shown in Figures (A) and (B). 10 is a magnetic sensor, 12 is a magnetic sensor network, 20 is an underground excavator, 22 is a magnet (magnetism generating means), 28 is a calculation device,
30 is a pressure type subsidence gauge.
Claims (4)
出する複数の磁気センサからなる磁気センサ網を設置し
、地中掘削機に付帯した磁気発生手段に基づく磁力変化
を前記磁気センサ網により検出して前記掘削機の平面位
置を検出することを特徴とする地中掘削機の位置計測方
法。(1) A magnetic sensor network consisting of a plurality of magnetic sensors that detect changes in magnetic force underground is installed above the excavation line of an underground excavator, and changes in magnetic force based on magnetic generation means attached to the underground excavator are detected as described above. A method for measuring the position of an underground excavator, characterized in that the planar position of the excavator is detected by detection using a magnetic sensor network.
手段と、複数の磁気センサを平面上に配置した磁気セン
サ網と、前記掘削機に付帯した磁気発生手段の移動に伴
う磁力変化に基づく磁気センサ検出信号と前記磁気セン
サ網の座標位置とから前記掘削機の平面位置を算出する
演算手段とを有する地中掘削機の位置計測装置。(2) Changes in magnetic force due to the movement of a magnetic generating means provided on an excavator that excavates underground, a magnetic sensor network in which a plurality of magnetic sensors are arranged on a plane, and the magnetic generating means attached to the excavating machine. A position measuring device for an underground excavator, comprising a calculation means for calculating a planar position of the excavator from a magnetic sensor detection signal based on the magnetic sensor and a coordinate position of the magnetic sensor network.
たことを特徴とする請求項２に記載の地中掘削機の位置
計測装置。(3) The position measuring device for an underground excavator according to claim 2, further comprising a coil surrounding the magnetic sensor network.
、前記演算手段は当該深さ位置計測手段からの出力信号
を入力し、三次元位置を演算して出力することを特徴と
する請求項２または３に記載の地中掘削機の位置計測装
置。(4) The device includes a depth position measuring means, and the calculating means inputs an output signal from the depth position measuring means, calculates and outputs a three-dimensional position. 3. The position measuring device for an underground excavator according to 2 or 3.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP1206966A JPH0372291A (en) | 1989-08-11 | 1989-08-11 | Method and device for measuring position of underground excavator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP1206966A JPH0372291A (en) | 1989-08-11 | 1989-08-11 | Method and device for measuring position of underground excavator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPH0372291A true JPH0372291A (en) | 1991-03-27 |
Family
ID=16531953
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP1206966A Pending JPH0372291A (en) | 1989-08-11 | 1989-08-11 | Method and device for measuring position of underground excavator |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPH0372291A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH05264740A (en) * | 1992-03-21 | 1993-10-12 | Kajima Corp | Nondestructive method and apparatus for measuring underground structure position |
| US6780679B2 (en) | 2002-03-20 | 2004-08-24 | Renesas Technology Corp. | Semiconductor device and method of manufacturing the same |
-
1989
- 1989-08-11 JP JP1206966A patent/JPH0372291A/en active Pending
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH05264740A (en) * | 1992-03-21 | 1993-10-12 | Kajima Corp | Nondestructive method and apparatus for measuring underground structure position |
| US6780679B2 (en) | 2002-03-20 | 2004-08-24 | Renesas Technology Corp. | Semiconductor device and method of manufacturing the same |
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