JPH0754254B2 - Horizontal displacement measuring device for underground excavator - Google Patents
Horizontal displacement measuring device for underground excavatorInfo
- Publication number
- JPH0754254B2 JPH0754254B2 JP61010700A JP1070086A JPH0754254B2 JP H0754254 B2 JPH0754254 B2 JP H0754254B2 JP 61010700 A JP61010700 A JP 61010700A JP 1070086 A JP1070086 A JP 1070086A JP H0754254 B2 JPH0754254 B2 JP H0754254B2
- Authority
- JP
- Japan
- Prior art keywords
- magnetic field
- cable
- horizontal displacement
- underground excavator
- field detection
- 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.)
- Expired - Lifetime
Links
Landscapes
- Geophysics And Detection Of Objects (AREA)
- Excavating Of Shafts Or Tunnels (AREA)
- Measurement Of Length, Angles, Or The Like Using Electric Or Magnetic Means (AREA)
Description
【発明の詳細な説明】 〔産業上の利用分野〕 本発明は、水道管・ガス管等を地中埋設するためにトン
ネル掘進を行う地中掘削機を施工計画線通り推進すべ
く、該地中掘削機の地中における水平変位を計測する地
中掘削機の計測装置に関するものである。DETAILED DESCRIPTION OF THE INVENTION [Industrial field of application] The present invention is directed to the promotion of an underground excavator for tunnel excavation to bury a water pipe, a gas pipe, etc., according to a construction plan line. The present invention relates to a measuring device for an underground excavator that measures horizontal displacement of the intermediate excavator in the ground.
従来、こうした水道管やガス管を埋設することを目的と
した比較的小口径の地中掘削機においては、掘削スペー
スが小さい上に曲線掘削なども頻繁に行なわれるなどと
いった性格上、この掘削位置を計測、確認するに、レー
ザトランシット等を用いた光学測量は適用できないし、
特にこの水平方向の変位に関してはこれを正確に計測す
ること自体が不可能であるというのが実情であった。こ
れに対し最近、地中掘削機内部に磁気発生素子を設置
し、この磁気発生素子から発生する交番磁界の地表での
特徴を利用して、地中掘削機の真上の地表点あるいは真
上の地表点からの変位を計測する方法が特公昭58−1103
0発明の名称「シールド機の水平位置探知方法」を基本
としていくつか提案されている。Conventionally, in underground excavators with a relatively small diameter for the purpose of burying such water pipes and gas pipes, the excavation position is small because the excavation space is small and curved excavation is often performed. In order to measure and confirm, optical survey using laser transit etc. cannot be applied,
In particular, it was impossible to accurately measure the horizontal displacement. On the other hand, recently, a magnetism generating element was installed inside the underground excavator, and by utilizing the characteristics of the alternating magnetic field generated from this magnetometer on the surface of the earth, the ground point directly above or above the underground excavator was used. The method of measuring the displacement from the ground surface point is Japanese Patent Publication Sho 58-1103.
0 Several proposals have been made based on the title of the invention, "Horizontal position detection method for shield machine".
こうした方法によれば、地中掘削機の水平位置について
確かにこれを計測することはできるものの、この実用に
際しては、上記の磁気検出素子が所定の姿勢で設置され
た探査器を地表の目標地点へ運搬し、設置、探査せねば
ならないことから、計測担当人員の増加や計測の手間・
時間がかかる等の新たな問題が生じることとなる。まし
て、交通量の多い道路ではこのような計測方法は不可能
に等しく、頻繁な交通遮断を行うに至っては地中掘削機
を用いた管埋設方法の本来の利点を失なわせるものであ
る。According to such a method, it is possible to measure the horizontal position of the underground excavator with certainty, but in this practical use, a probe equipped with the above magnetic detection element in a predetermined posture is used as a target point on the surface of the earth. Since it has to be transported to, installed and explored,
New problems such as taking time will occur. In addition, such a measuring method is almost impossible on a road with a large amount of traffic, and the frequent advantages of the method of burying a pipe using an underground excavator lose the original advantage when it comes to frequent traffic interruptions.
この発明では、地中掘削機の施工計画線に応じてこれか
ら等間隔ずつ離間してその往路線と復路線とが位置する
よう地表面に磁界発生ケーブルを敷設し、地中掘削機の
側に適宜の磁界検出素子を配設してこれに上記ケーブル
の発生磁界を検出せしめるようにする。こうした場合こ
れらの磁界は、上記施工計画線（往復路ケーブルの中心
線）の鉛直面を境とする右半方向と左半方向とで例えば
そのレベル比が異なるものであり、こうした磁界のレベ
ル比の変化を上記磁界検出素子の出力に基づいて判別す
るようにすれば、当該地中掘削機が上記ケーブルの鉛直
面について右方にあるか左方にあるかその水平変位態様
を有効にしかもリアルタイムで連続的に識別計測するこ
とができる。In the present invention, the magnetic field generating cable is laid on the ground surface so that the forward route and the return route are located at equal intervals from each other according to the construction plan line of the underground excavator, and on the side of the underground excavator. An appropriate magnetic field detecting element is provided so that the magnetic field generated by the cable can be detected. In such a case, these magnetic fields have, for example, different level ratios in the right half direction and the left half direction with the vertical plane of the above-mentioned construction planning line (center line of the reciprocating path cable) as a boundary. Is determined based on the output of the magnetic field detecting element, whether the underground excavator is on the right side or the left side of the vertical plane of the cable, the horizontal displacement mode is effectively and in real time. It is possible to continuously identify and measure.
このように、この発明によれば、施工計画線に応じて地
表面に予め磁界発生ケーブルを敷設しておくだけで、地
中掘削機の当該施工計画線からの水平変位態様について
の正確なデータをリアルタイムで連続的に得ることがで
きる。したがって、車輌の通過等に対する上記ケーブル
の保護さえ行なっておけば、交通を一切遮断する必要も
なく、また上述したデータのリアルタイムによる連続採
取に伴なって当の地中掘削機を連続制御するようにすれ
ば、施工精度も格段に向上する。Thus, according to the present invention, by simply laying a magnetic field generating cable in advance on the ground surface according to the construction planning line, accurate data on the horizontal displacement mode of the underground excavator from the construction planning line can be obtained. Can be continuously obtained in real time. Therefore, as long as the above cables are protected against the passage of vehicles, there is no need to interrupt the traffic at all, and the continuous excavation of the above-mentioned data will enable continuous control of the underground excavator. If this is done, the construction accuracy will be greatly improved.
はじめに、第５図および第６図を参照してこの発明の原
理を説明する。First, the principle of the present invention will be described with reference to FIGS. 5 and 6.
いま、第５図に示すように、地表面EP上に、所定に離間
した往路線10aおよび復路線10bからなる磁界発生ケーブ
ル10を敷設し、これに適宜の電流を流したとすると、該
ケーブル10のこれら往復路線10aおよび10bを中心として
その周囲には同第５図に示す態様で同心円状に磁界Haお
よびHbが発生する。この発明では、こうして発生される
磁界HaおよびHbを同図に示すような２つの磁界検出素子
S1およびS2に同時に検出せしめる。そしてここでは簡単
のため、これら２つの磁界検出素子S1およびS2は互いに
その磁界検出方向が直交し、かつそれぞれが上記ケーブ
ル10の鉛直面に対して45度の角度に維持されるとする。
こうした条件下で、各パラメータを同第５図のように、
すなわち L:磁界発生ケーブル10の往復路線間距離 D:磁界検出素子S1およびS2の深度 r1,r2:磁界発生ケーブル10から磁界検出素子S1およびS2
までの距離 X:磁界検出素子S1およびS2の上記往復路ケーブル中心
（施工計画線PL）からの水平変位 X1:磁界検出素子S1およびS2のケーブル復路線10bからの
水平変位 X2:磁界検出素子S1およびS2のケーブル往路線10aからの
水平変位 θ1:ケーブル復路線10bを中心としてその鉛直面と磁界
検出素子S1およびS2とのなす角度 θ2:ケーブル往路10aを中心としてその鉛直面と磁界検
出素子S1およびS2とのなす角度 のように設定すれば、上記２つの磁界検出素子S1および
S2による検出磁界のレベル比はこれをＲとすると次式で
表わされる。Now, as shown in FIG. 5, if a magnetic field generating cable 10 composed of a forward route 10a and a backward route 10b, which are separated from each other by a predetermined distance, is laid on the ground surface EP, and an appropriate electric current is applied to the cable, the cable is generated. Magnetic fields Ha and Hb are generated concentrically around the 10 round-trip lines 10a and 10b in the manner shown in FIG. In the present invention, the magnetic fields Ha and Hb thus generated are separated by two magnetic field detecting elements as shown in FIG.
Simultaneously detect S1 and S2. Here, for simplification, it is assumed that the two magnetic field detection elements S1 and S2 have their magnetic field detection directions orthogonal to each other and are maintained at an angle of 45 degrees with respect to the vertical plane of the cable 10.
Under such conditions, each parameter is set as shown in FIG.
That is, L: distance between the round trip lines of the magnetic field generation cable 10 D: depth of the magnetic field detection elements S1 and S2 r 1 , r 2 : from the magnetic field generation cable 10 to the magnetic field detection elements S1 and S2
Distance X: Horizontal displacement of the magnetic field detection elements S1 and S2 from the center of the round trip cable (construction planning line PL) X 1 : Horizontal displacement of the magnetic field detection elements S1 and S2 from the cable return line 10b X 2 : Magnetic field detection horizontal displacement theta 1 from the cable forward line 10a of the elements S1 and S2: the vertical plane around a cable recovery line 10b and the magnetic field detecting elements S1 and S2 angle between theta 2: its vertical plane around the cable forward path 10a If it is set like the angle formed by the magnetic field detecting elements S1 and S2,
The level ratio of the magnetic field detected by S2 is represented by the following equation, where R is R.
Ｒ＝（V11＋V21）／（V12＋V22） …（１） ここで、V11,V21,V12,V22は上記磁界発生ケーブル10の
往復路線10aおよび10bと上記２つの磁界検出素子S1およ
びS2との組み合せによって計算される値である。例え
ば、右変位方向をｘの正の方向とすると、上記各パラメ
ータは と表わされ、これらパラメータを用いてこのV11,V21,V
12,V22を表わすと次式の通りとなる。R = (V 11 + V 21 ) / (V 12 + V 22 ) ... (1) where V 11 , V 21 , V 12 and V 22 are the reciprocating routes 10a and 10b of the magnetic field generating cable 10 and the two magnetic fields described above. It is a value calculated by the combination with the detection elements S1 and S2. For example, assuming that the right displacement direction is the positive direction of x, the above parameters are And these parameters are used to calculate this V 11 , V 21 , V
12 and V 22 are expressed as follows.
これら（３）〜（６）式のV11,V21,V12,V22の値を先の
（１）式に代入して、水平変位量×〔ｍ〕と当のレベル
比Ｒとの関係をグラフ化したのが第６図である。この第
６図のグラフでは、Ｄ＝1m,2m,3mといった３様の地中深
さを想定し、これら地中深さ別に上記磁界検出素子S1お
よびS2による検出磁界のレベル比Ｒと同磁界検出素子S1
およびS2の往復路ケーブル中心（施工計画線PL）鉛直面
VPからの水平変位量との関係を表わしている。 By substituting the values of V 11 , V 21 , V 12 , and V 22 in these equations (3) to (6) into the above equation (1), the horizontal displacement amount x [m] and the corresponding level ratio R can be calculated. FIG. 6 is a graph showing the relationship. In the graph of FIG. 6, three types of underground depth such as D = 1 m, 2 m, and 3 m are assumed, and the level ratio R of the magnetic field detected by the magnetic field detecting elements S1 and S2 and the same magnetic field for each of these underground depths. Detector element S1
Center of round-trip cable of S and S2 (construction planning line PL) Vertical plane
It shows the relationship with the horizontal displacement from VP.
さてこの第６図のグラフによれば、上述した条件下にお
かれる２つの磁界検出素子S1およびS2が上記往復路ケー
ブル中心に対してその鉛直面VPすなわち水平変位量
「０」の位置にあれば、その地中深さＤがいかなる値で
あれ、その各検出磁界のレベル比は「１」となることが
わかる。しかも、これら磁界検出素子S1およびS2が上記
水平変位量「０」の位置から右半方向に変位する場合
は、同レベル比Ｒが Ｒ＞１ となり、逆に左半方向に変位する場合は、同レベル比Ｒ
が Ｒ＜１ となってこの例外は生じない。また、そもそもこうした
水平変位計測手法によれば、上記地中深さＤによる影響
も受け難い。Now, according to the graph of FIG. 6, the two magnetic field detecting elements S1 and S2 under the above-mentioned conditions are located at the position of the vertical plane VP, that is, the horizontal displacement "0" with respect to the center of the reciprocating cable. For example, it can be seen that whatever the value of the depth D of the ground, the level ratio of each detected magnetic field is "1". Moreover, when the magnetic field detecting elements S1 and S2 are displaced in the right half direction from the position of the horizontal displacement amount "0", the same level ratio R becomes R> 1, and conversely, when they are displaced in the left half direction, Same level ratio R
R <1 and this exception does not occur. In addition, according to such a horizontal displacement measuring method, it is difficult to be influenced by the depth D in the ground.
以上総括すれば、磁界検出方向が互いに直交し、かつそ
のそれぞれが往復する磁界発生ケーブル10の鉛直面に対
して45度の角度に維持される２つの磁界検出素子S1およ
びS2にて同ケーブル10の発生磁界を検出するとき、これ
ら検出磁界のレベル比がＲがＲ＝１であればこれら磁界
検出素子S1およびS2は往復路ケーブル中心に対して水平
変位量「０」の位置にあり、同レベル比ＲがＲ＞１であ
れば同磁界検出素子S1およびS2は同往復路ケーブル中心
に対して右半方向に変位した位置にあり、さらに同レベ
ル比ＲがＲ＜１であれば同磁界検出素子S1およびS2は同
往復路ケーブル中心に対して左半方向に変位した位置に
あるといった結論を得る。また、同レベル比Ｒの値に応
じてその各変位量をも併せ求めることができる。これら
変位量は、磁界検出素子S1およびS2自身の地中深さＤと
略無関係に同レベル比Ｒに対応する。In summary, the two magnetic field detection elements S1 and S2 are maintained at an angle of 45 degrees with respect to the vertical plane of the magnetic field generation cable 10 in which the magnetic field detection directions are orthogonal to each other and each of which reciprocates. When the level ratio of these detected magnetic fields is R = 1 when detecting the generated magnetic field, the magnetic field detection elements S1 and S2 are at the position of horizontal displacement "0" with respect to the center of the reciprocating path cable. If the level ratio R is R> 1, then the same magnetic field detection elements S1 and S2 are located at positions displaced in the right half direction with respect to the center of the reciprocating cable, and if the level ratio R is R <1, the same magnetic field is detected. It can be concluded that the detecting elements S1 and S2 are displaced in the left half direction with respect to the center of the round-trip cable. Further, the respective displacement amounts can also be obtained according to the value of the same level ratio R. These displacement amounts correspond to the same level ratio R, which is substantially independent of the depth D of the magnetic field detecting elements S1 and S2 themselves.
なおここでは、上記２つの磁界検出素子S1およびS2の上
記ケーブル鉛直面に対する配置角度を上述の如く限定し
たが、基本的には、これら磁界検出素子S1およびS2の磁
界検出方向が同ケーブル鉛直面について互いに対称とな
るような角度に維持されさえすれば、上記と同様の原理
に基づいてその水平変位態様に間する計測を行なうこと
ができる。Here, the arrangement angle of the two magnetic field detection elements S1 and S2 with respect to the cable vertical plane is limited as described above, but basically, the magnetic field detection directions of the magnetic field detection elements S1 and S2 are the same as the cable vertical plane. As long as they are maintained at such angles that they are symmetric with respect to each other, it is possible to perform measurement in the horizontal displacement mode based on the same principle as described above.
第１図乃至第４図は、こうした原理に基づいて構成した
この発明にかかる地中掘削機の水平変位計測装置の一実
施例を示すものであり、以下これら第１図乃至第４図を
参照して該実施例の構成並びに動作を詳述する。FIGS. 1 to 4 show an embodiment of a horizontal displacement measuring device for an underground excavator according to the present invention, which is constructed based on such a principle. Refer to FIGS. 1 to 4 below. The configuration and operation of this embodiment will be described in detail.
第１図は作業状態にあるとする地中掘削機を含む該実施
例装置の大まかな構成を横断面図をもって模式的に示し
たものであり、また第２図は同実施例装置の平面構成を
模式的に示したものであり、さらに第３図は同地中掘削
機の進行方向から見た該実施例装置の要部断面構造を模
式的に示したものであり、これら図において、EPは地表
面、SHは発進立坑、EHは、到達立坑、10は該地表面EP上
の施工計画線PLに沿ってその往路線10aと復路線10bとが
これから当間隔ずつ離間して並行するよう敷設された磁
界発生ケーブル、20は地中掘削機、21は該掘削機20のヘ
ッド、22は該ヘッド21を支持する支持アーム、23は該支
持アーム22を推進せしめる推進ジャッキ、S1およびS2は
例えばコイルからなる前述した磁界検出素子、24はこれ
ら磁界検出素子S1およびS2の磁界検出方向が常に先の第
５図に示した関係となるようこれを地中掘削機20の支持
アーム22内に支持する姿勢支持枠、25は上記磁界検出素
子S1およびS2の検出信号を伝送する信号機、30は図示の
如く地上に設けられて上記ケーブル10に対する給電を行
なうとともに上記信号線25を介して伝送される磁界検出
素子S1およびS2の検出信号に基づき当の地中掘削機20の
水平変位計測のための信号処理を一括して実行する操作
盤をそれぞれ示す。この操作盤30の構成については第４
図に詳しく示す。FIG. 1 is a schematic cross-sectional view of a rough structure of the apparatus of this embodiment including an underground excavator that is in a working state, and FIG. 2 is a plan view of the apparatus of the same embodiment. FIG. 3 is a schematic diagram showing the cross-sectional structure of the main part of the apparatus of this embodiment viewed from the traveling direction of the underground excavator. In these figures, EP Is the ground surface, SH is the starting shaft, EH is the reaching shaft, 10 is the outward route 10a and the return route 10b along the construction planning line PL on the ground surface EP so that they are parallel to each other at equal intervals. A laid magnetic field generating cable, 20 is an underground excavator, 21 is a head of the excavator 20, 22 is a support arm that supports the head 21, 23 is a propulsion jack that propels the support arm 22, and S1 and S2 are For example, the above-mentioned magnetic field detection element composed of a coil, 24 is the magnetic field of these magnetic field detection elements S1 and S2. A posture support frame that supports the inside of the support arm 22 of the underground excavator 20 such that the outgoing direction always has the relationship shown in FIG. 5, 25 transmits the detection signals of the magnetic field detection elements S1 and S2. A traffic signal, 30 is provided on the ground as shown in the figure, supplies electric power to the cable 10 and, based on the detection signals of the magnetic field detection elements S1 and S2 transmitted through the signal line 25, the horizontal level of the underground excavator 20. The operation panels that collectively perform signal processing for displacement measurement are shown. The configuration of this operation panel 30 is the fourth
Details are shown in the figure.
すなわち第４図に示すように、この操作盤30は、上述し
た地中掘削機20の水平変位量を示す目盛位置に適宜に対
応してLEDがアレイ状に配列された表示器40を併せ具え
るとともに、適宜の繰り返し周波数を有する交流信号を
発振する発振器31、該発振された交流信号を電力増幅し
てこれを前記磁界発生ケーブル10に供給する電力増幅器
32、前記信号線25を介して伝送される磁界検出素子S1お
よびS2の磁界検出信号を格別に同一の利得をもって増幅
する信号増幅器33aおよび33b、これら増幅された信号の
中からノイズ成分を除去して有効信号成分のみを選択的
にろ波する帯域通過フィルタ（BPF）34aおよび34b、こ
れらろ波信号を整流や平滑化するなどして所要に波形整
形する整形回路35aおよび35b、これら波形整形された２
つの信号を用いた除算を実行して前述した磁界検出素子
S1およびS2による検出磁界のレベル比Ｒに相当する値を
出力する除算器36、同レベル比Ｒのとり得る値について
予め所望の比較基準レベルが設定される基準レベル設定
器37、これら設定された比較基準レベルと上記除算器36
の出力レベルとを比較してその大小に関する結果を同設
定された各比較基準レベルとの対応のもとに出力するレ
ベル比較器38、該比較出力に基づき上記表示器40のLED
アレイのうちの該当するLEDを点灯駆動するLED駆動回路
39をそれぞれ具えて構成されるもので、先の原理に基づ
き次に述べる態様をもって地中掘削機20の水平変位計測
のための信号処理を実行する。That is, as shown in FIG. 4, the operation panel 30 also includes a display device 40 in which LEDs are arrayed in an array corresponding to the scale position indicating the horizontal displacement amount of the underground excavator 20 described above. And an oscillator 31 that oscillates an AC signal having an appropriate repetition frequency, and a power amplifier that power-amplifies the oscillated AC signal and supplies it to the magnetic field generation cable 10.
32, signal amplifiers 33a and 33b for amplifying the magnetic field detection signals of the magnetic field detection elements S1 and S2 transmitted through the signal line 25 with exceptionally the same gain, and removing noise components from these amplified signals. Bandpass filters (BPF) 34a and 34b that selectively filter only the effective signal component, shaping circuits 35a and 35b that shape the required waveform by rectifying or smoothing these filtered signals, and these waveform shaping 2
The magnetic field detection element described above by performing division using two signals
A divider 36 that outputs a value corresponding to the level ratio R of the magnetic field detected by S1 and S2, a reference level setter 37 that sets a desired comparison reference level in advance for the possible values of the level ratio R, and these set values. Comparison reference level and the above divider 36
Level comparator 38 that compares the output level of the above and outputs the result regarding its magnitude in correspondence with each set comparison reference level, and the LED of the display 40 based on the comparison output.
LED drive circuit that turns on and drives the corresponding LED in the array
Signal processing for measuring the horizontal displacement of the underground excavator 20 is executed in the following manner based on the above principle.
いま、上記発振器31および電力増幅器32を通じて前記磁
界発生ケーブル10に交流電流が供給されたとすると、例
えば先の第５図に示したような同ケーブル10のそれぞれ
往路線10aおよび復路線10bの中心とした同心円磁界Haお
よびHbが発生する。地中掘削機20内に同第５図に示す態
様で搭載された磁界検出素子S1およびS2がこれら往復路
ケーブル中心すなわち施工計画線PLの鉛直面VPについて
右半方向にあるか左半方向にあるかによって、この発生
された磁界についてのこれら素子S1およびS2による検出
磁界のレベル比Ｒが「１」を境にして上下することは先
の原理の説明において述べた通りである。この操作盤30
は、こうした２つの磁界検出素子S1およびS2による検出
磁界のレベル比ＲがＲ＞１であるがＲ＜１であるかとい
った関係、並びにその度合に応じた水平変位量を上記レ
ベル比較器38を通じて判定するとともに、この結果を上
記表示器40を通じて可視表示する。先の第６図を参照し
て詳述するに、この際例えば、上記基準レベル設定器37
に上記検出磁界のレベル比Ｒの「１」と約「0.8」とに
相当する電圧値が予設定されていて、同レベル比Ｒの実
際の値が「0.8〜１未満」の間となったときには、上記
レベル比較器38は、これら値の前述した比較に基づいて
同計測レベル比Ｒが上記の予設定基準レベル範囲にある
旨判断し、LED駆動回路39を通じて表示器40の該当するL
EDすなわち「左方向へ０〜20cm」を示すLEDを点灯せし
める。これによりオペレータは、地中掘削器20の当該水
平変位量が施工計画線PLに対し「左方向へ０〜20cm」の
範囲にあることを知ることができる。また同様に、上記
基準レベル設定器37に同検出磁界のレベル比Ｒの「１」
と約「1.3」とに相当する電圧値が予設定されていて、
同レベル比Ｒの実際の値が「１〜1.3未満」の間となっ
たときには、同レベル比較器38は、これら値の上記同様
の比較に基づいて同計測レベル比Ｒが上記の予設定基準
レベル範囲にある旨判断し、LED駆動回路39を通じて表
示器40の該当するLEDすなわち「右方向へ０〜30cm」を
示すLEDを点灯せしめる。これによりオペレータは、地
中掘削機20の当該水平変位量が施工計画線PLに対し「右
方向へ０〜30cm」の範囲にあることを知ることができ
る。一般的には、同水平変位量をｎ段階の分解能をもっ
て知りたければ、上記基準レベル設定器37に（ｎ−１）
種の比較基準レベルを用意すればよい。Now, assuming that an alternating current is supplied to the magnetic field generation cable 10 through the oscillator 31 and the power amplifier 32, for example, as shown in FIG. 5, the center of the forward route 10a and the backward route 10b of the cable 10, respectively. Generated concentric magnetic fields Ha and Hb. The magnetic field detecting elements S1 and S2 mounted in the underground excavator 20 in the manner shown in FIG. 5 are located in the right half direction or the left half direction with respect to the center of the round trip cable, that is, the vertical plane VP of the construction planned line PL. As described above, the level ratio R of the magnetic field detected by these elements S1 and S2 with respect to the generated magnetic field rises and falls with "1" as a boundary, depending on the existence of the magnetic field. This operation panel 30
Through the level comparator 38, the relationship between the level ratio R of the magnetic fields detected by the two magnetic field detecting elements S1 and S2 is R> 1 but R <1 and the horizontal displacement amount according to the degree. Along with the determination, the result is visually displayed on the display 40. As described in detail with reference to FIG. 6 above, in this case, for example, the reference level setting device 37
A voltage value corresponding to "1" and about "0.8" of the level ratio R of the detected magnetic field is preset, and the actual value of the level ratio R is between "0.8 and less than 1". At this time, the level comparator 38 determines that the measured level ratio R is within the preset reference level range based on the above-mentioned comparison of these values, and the corresponding L of the display 40 is passed through the LED drive circuit 39.
ED, that is, the LED indicating "0 to 20 cm to the left" is turned on. Thereby, the operator can know that the horizontal displacement amount of the underground excavator 20 is in the range of “0 to 20 cm to the left” with respect to the construction planning line PL. Similarly, the reference level setter 37 sets the level ratio R of the detection magnetic field to "1".
And the voltage value corresponding to about "1.3" is preset,
When the actual value of the same level ratio R is between "1 and less than 1.3", the same level comparator 38 determines that the same measurement level ratio R is the preset standard based on the same comparison of these values. It is determined that the level is within the level range, and the corresponding LED of the display 40, that is, the LED indicating "0 to 30 cm to the right" is turned on through the LED drive circuit 39. This allows the operator to know that the horizontal displacement amount of the underground excavator 20 is in the range of “0 to 30 cm to the right” with respect to the construction planning line PL. Generally, if it is desired to know the same horizontal displacement amount with n steps of resolution, the reference level setter 37 (n-1)
It suffices to prepare a reference level for comparison of species.
こうして地中掘削機20による掘削作業に伴なって該掘削
機20の上記往復路ケーブル中心からの（施工計画線PLか
らの）水平変位態様並びにその変位量が連続的に計測さ
れ、上記表示器40を通じてこの計測内容が逐次リアルタ
イムでモニタされる。また、この実施例では、上述の如
く２つの磁界検出素子S1およびS2による検出磁界のレベ
ル比の値によって上記水平変位量を求めていることか
ら、同地中掘削機20のヨーイングやピッチング等の影響
を受けない正確な計測実現される。Thus, along with the excavation work by the underground excavator 20, the horizontal displacement mode (from the construction planning line PL) from the center of the reciprocating path cable of the excavator 20 and the displacement amount thereof are continuously measured, and the indicator is displayed. Through 40, the measurement contents are sequentially monitored in real time. Further, in this embodiment, since the horizontal displacement amount is obtained by the value of the level ratio of the magnetic fields detected by the two magnetic field detecting elements S1 and S2 as described above, the yawing and pitching of the underground excavator 20 can be performed. Accurate measurement that is not affected is realized.
なお、上記の実施例では、磁界発生ケーブル10に交流電
流を供給するようにしたが、この供給する電流は直流電
流であっても勿論よい。In the above embodiment, the alternating current is supplied to the magnetic field generating cable 10, but the supplied current may be a direct current.
また、この磁界発生ケーブル10自体単線である必要はな
く、複数のケーブル若しくはこれら複数のケーブルを束
ねたものであってもよい。Further, the magnetic field generation cable 10 itself does not have to be a single wire, and may be a plurality of cables or a bundle of these plurality of cables.
また、同実施例では、先の第５図および第６図に基づい
て説明した原理に従って、２つの磁界検出素子の各磁界
検出方向（角度）を設定したが、同原理の説明で補足し
たように、基本的には、これら素子の磁界検出方向は上
記ケーブルの鉛直面について互いに対称となるような角
度に維持されさえすればよい。すなわちこうした場合、
前述した左右の変位態様を判別するためのこれら磁界検
出素子による検出磁界のレベル比（Ｒ）の値を該設定し
た角度に応じて変更すればよい。Further, in the embodiment, the magnetic field detection directions (angles) of the two magnetic field detection elements are set according to the principle described based on FIGS. 5 and 6 above, but it is supplemented in the description of the principle. Basically, it suffices that the magnetic field detection directions of these elements are maintained at angles that are symmetrical to each other with respect to the vertical plane of the cable. So in these cases,
The value of the level ratio (R) of the detected magnetic field by these magnetic field detection elements for discriminating the left and right displacement modes described above may be changed according to the set angle.
さらに同実施例では、表示器40として第４図に図示した
ようなLEDアレイを配したものを用い、この点灯態様を
もって地中掘削機20の施工計画線PLに対する水平変位量
を表示するようにしたが、こうした表示方法は任意であ
り、他に例えば、アナログのレベルメータを用い、前記
レベル比Ｒ＝１を中心とした該メータ指針の振れ方向並
びにその度合をもって同地中掘削機20の水平変位量を表
示したり、あるいはただ単に「右変位」および「左変
位」といった変位方向だけを２値的に表示したりするよ
うにしてもよい。Further, in this embodiment, an LED array as shown in FIG. 4 is used as the display 40, and the horizontal displacement amount of the underground excavator 20 with respect to the construction planned line PL is displayed in this lighting mode. However, such a display method is arbitrary, and in addition, for example, an analog level meter is used, and the horizontal direction of the underground excavator 20 is determined by the swing direction of the meter pointer around the level ratio R = 1 and the degree thereof. The displacement amount may be displayed, or only the displacement directions such as “right displacement” and “left displacement” may be displayed in binary.
さらにはまた、同実施例では、磁界検出素子S1およびS2
の出力を直接操作盤30内の信号増幅器33aおよび33bに伝
送するようにしたが、他に地中掘削機20内に適宜の前置
増幅器を設け、伝送し易い電圧レベルまでこれら磁界検
出素子S1およびS2の出力を予増幅するようにしてもよ
い。これによれば、同計測装置のより安定した運営を図
ることができるようになる。Furthermore, in the same embodiment, the magnetic field detecting elements S1 and S2 are
The output of the above is directly transmitted to the signal amplifiers 33a and 33b in the operation panel 30, but in addition, an appropriate preamplifier is provided in the underground excavator 20, and these magnetic field detecting elements S1 up to a voltage level that is easy to transmit. The outputs of S2 and S2 may be pre-amplified. According to this, it becomes possible to achieve more stable operation of the measuring device.
また、操作盤30の上述した信号処理にかかる回路につい
ては、これをマイクロコンピュータに置き換え、この随
時の演算によって同水平変位量を求めるようにしてもよ
い。Further, the circuit relating to the above-mentioned signal processing of the operation panel 30 may be replaced with a microcomputer and the same horizontal displacement amount may be obtained by the calculation at any time.
ところで、上述の説明では、２つの磁界検出素子S1およ
びS2による各検出磁界のレベル比に基づいて地中掘削機
の水平変位を求めることを前提としたが、要はこれら検
出磁界レベルの適宜な比較に基づけば同水平変位態様に
関する必要十分な情報は得られるものであり、他に例え
ば、これら検出磁界レベルの差分をとったりする方法等
も十分に採用可能である。By the way, in the above description, it is premised that the horizontal displacement of the underground excavator is obtained based on the level ratio of the respective magnetic fields detected by the two magnetic field detection elements S1 and S2. Based on the comparison, necessary and sufficient information regarding the horizontal displacement mode can be obtained, and other methods such as taking a difference between the detected magnetic field levels can be sufficiently adopted.
また、因みに、同地中掘削機の深さ方向の変位について
は、周知の傾斜計を用いることでこれを十分な精度で計
測することができる。In addition, it is possible to measure the displacement in the depth direction of the underground excavator with sufficient accuracy by using a well-known inclinometer.
第１図はこの発明にかかる地中掘削機の水平変位計測装
置の一実施例についてその構成の概要を模式的に示す横
断面図、第２図は同実施例装置の平面構成を模式的に示
す平面図、第３図は同実施例装置の正面方向からみた部
分断面図、第４図は同実施例装置の操作盤構成を示すブ
ロック図、第５図はこの発明の計測原理を説明するため
の略図、第６図は第５図に示した２つの磁界検出素子に
よって検出される磁界のレベル比とその磁界中心からの
水平変位量との関係を示すグラフである。 10……磁界発生ケーブル、20……地中掘削機、21……ヘ
ッド、22……支持アーム、23……推進ジャッキ、24……
姿勢支持枠、25……信号線、30……操作盤、31……発振
器、32……電力増幅器、33a,33b……信号増幅器、34a,3
4b……帯域通過フィルタ、35a,35b……波形整形回路、3
6……除算器、37……基準レベル設定器、38……レベル
比較器、39……LED駆動回路、40……表示器、S1,S2……
磁界検出素子。FIG. 1 is a cross-sectional view schematically showing the outline of the configuration of an embodiment of a horizontal displacement measuring device for an underground excavator according to the present invention, and FIG. 2 is a schematic plan view of the device of the same embodiment. FIG. 3 is a plan view showing a partial cross-sectional view of the apparatus of the same embodiment seen from the front side, FIG. 4 is a block diagram showing the configuration of an operation panel of the apparatus of the same embodiment, and FIG. 6 is a graph showing the relationship between the level ratio of the magnetic field detected by the two magnetic field detecting elements shown in FIG. 5 and the horizontal displacement amount from the center of the magnetic field. 10 …… magnetic field generation cable, 20 …… underground excavator, 21 …… head, 22 …… support arm, 23 …… propulsion jack, 24 ……
Posture support frame, 25 …… signal line, 30 …… control panel, 31 …… oscillator, 32 …… power amplifier, 33a, 33b …… signal amplifier, 34a, 3
4b …… Band pass filter, 35a, 35b …… Wave shaping circuit, 3
6 …… divider, 37 …… reference level setter, 38 …… level comparator, 39 …… LED drive circuit, 40 …… display, S1, S2 ……
Magnetic field detection element.
Claims (3)
隔を保って敷設される磁界発生ケーブルと、 該ケーブルに適宜の電流を供給する電流供給手段と、 地中掘削機に配設され、磁界検出方向が該掘削機の進行
方向正面からみて鉛直方向から所定角度傾斜した方向と
なるよう固定支持されて前記ケーブルから発生される磁
界を検出する第１の磁界検出素子と、 同じく地中掘削機に配設され、磁界検出方向が該掘削機
の進行方向正面からみて前記第１の磁界検出素子の磁界
検出方向と鉛直方向軸について線対称となる角度をもっ
て交差する方向となるよう固定支持されて前記ケーブル
から発生される磁界を検出する第２の磁界検出素子と、 これら第１および第２の磁界検出素子による検出磁界レ
ベルの比較に基づいて前記地中掘削機の前記往復路ケー
ブル中心に対する右左方の水平変位を測定する判定手段
と を具えた地中掘削機の水平変位計測装置。Claim: What is claimed is: 1. A magnetic field generation cable laid on the surface of the earth at a constant distance between the forward route and the backward route, a current supply means for supplying an appropriate current to the cable, and a magnetic field generation cable for the underground excavator. A first magnetic field detection element that is provided and fixedly supported so as to detect a magnetic field generated from the cable, the magnetic field detection direction being fixed and supported so as to be a direction inclined by a predetermined angle from the vertical direction when viewed from the front of the traveling direction of the excavator; The magnetic field detection direction is arranged in the underground excavator, and the magnetic field detection direction is a direction intersecting with the magnetic field detection direction of the first magnetic field detection element at an angle of line symmetry with respect to the vertical axis when viewed from the front of the traveling direction of the excavator. A second magnetic field detection element that is fixedly supported and detects a magnetic field generated from the cable, and the forward movement of the underground excavator based on a comparison of the detected magnetic field levels by the first and second magnetic field detection elements. A horizontal displacement measuring device for an underground excavator, comprising a determining means for measuring the horizontal displacement to the right and left of the center of the return path cable.
掘削機の進行方向正面からみて鉛直方向となす所定角度
は45度である特許請求の範囲（１）項記載の地中掘削機
の水平変位計測装置。2. The underground excavator according to claim 1, wherein the predetermined angle formed by the first and second magnetic field detecting elements and the vertical direction when viewed from the front of the traveling direction of the excavator is 45 degrees. Horizontal displacement measuring device.
界検出素子による各検出磁界レベルのレベル比に基づい
て前記地中掘削機の水平変位を判定する特許請求の範囲
第（２）項記載の地中掘削機の水平変位計測装置。3. The method according to claim 2, wherein the determining means determines the horizontal displacement of the underground excavator based on the level ratio of the magnetic field levels detected by the first and second magnetic field detecting elements. A horizontal displacement measuring device for an underground excavator according to the paragraph.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP61010700A JPH0754254B2 (en) | 1986-01-21 | 1986-01-21 | Horizontal displacement measuring device for underground excavator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP61010700A JPH0754254B2 (en) | 1986-01-21 | 1986-01-21 | Horizontal displacement measuring device for underground excavator |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPS62169012A JPS62169012A (en) | 1987-07-25 |
| JPH0754254B2 true JPH0754254B2 (en) | 1995-06-07 |
Family
ID=11757565
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP61010700A Expired - Lifetime JPH0754254B2 (en) | 1986-01-21 | 1986-01-21 | Horizontal displacement measuring device for underground excavator |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPH0754254B2 (en) |
Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS6454246A (en) * | 1987-08-25 | 1989-03-01 | Nippon Kokan Kk | Correction of measuring position for pig for inspecting pipe body |
| JP2551805B2 (en) * | 1988-02-23 | 1996-11-06 | 株式会社小松製作所 | Horizontal displacement measuring device for underground excavator |
| JPH0335114A (en) * | 1989-06-30 | 1991-02-15 | Komatsu Ltd | Position measuring device for underground digging machine |
| JP4615762B2 (en) * | 2001-05-23 | 2011-01-19 | 株式会社日立国際電気 | Moving object detection system |
-
1986
- 1986-01-21 JP JP61010700A patent/JPH0754254B2/en not_active Expired - Lifetime
Also Published As
| Publication number | Publication date |
|---|---|
| JPS62169012A (en) | 1987-07-25 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| JPH03260281A (en) | Position detector of underground excavator | |
| JPH0772472B2 (en) | Horizontal deviation measuring device for underground excavator | |
| JPH0754254B2 (en) | Horizontal displacement measuring device for underground excavator | |
| EP0481077B1 (en) | Device for measuring position of underground excavator | |
| JPS5811030B2 (en) | How to detect horizontal position of shield machine | |
| US5107938A (en) | Apparatus for detecting position of underground excavator | |
| JP3124780B2 (en) | Shield surveying method | |
| JP3224004B2 (en) | Drilling tube tip location method | |
| JP2551805B2 (en) | Horizontal displacement measuring device for underground excavator | |
| JPS62132111A (en) | Apparatus for measureing horizontal displacement of underground excavator | |
| JP2757058B2 (en) | Underground excavator relative position detector | |
| JP3684157B2 (en) | Propeller tube position measuring apparatus and method | |
| JPS625117A (en) | Position detector of excavating machine | |
| JPH0521483B2 (en) | ||
| JPS625119A (en) | Position detector of excavating machine | |
| JP2819044B2 (en) | Underground excavator position detector | |
| JPH03257323A (en) | Apparatus for measuring position of shield propelling and excavation | |
| JPS62168013A (en) | Position measuring instrument for underground excavator | |
| JP2786238B2 (en) | Excavator horizontal position measurement device | |
| JPS62132112A (en) | Method and apparatus for measuring horizontal displacement of underground excavator | |
| JPS62132110A (en) | Apparatus for measuring horizontal displacement quantity of underground excavator | |
| JPH0525048B2 (en) | ||
| JPH03251788A (en) | Apparatus for measuring position of shield excavator | |
| JPH08145671A (en) | Method for detecting position of underground excavator | |
| JPH07103775B2 (en) | Horizontal displacement detection device for underground vehicles |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| EXPY | Cancellation because of completion of term |