JP5873052B2 - Method and apparatus for detecting inclination of underground excavation head - Google Patents

Description

  The present invention relates to a method and an apparatus for detecting the inclination of an underground excavation head in an underground excavation method in which small and medium diameter pipes and the like that cannot be entered by humans are laid from the ground toward the ground.

  Conventionally, it is necessary to embed a pipeline from the ground to the ground directly under the structure such as a building, or to inject chemicals into the soil to improve the ground below the structure. In the United States, a head has been developed in which the direction of travel can be freely controlled. It has become possible to lay pipes that are bent arbitrarily without the need to install. Patent Document 1 describes such a digging apparatus and a digging method using the digging apparatus.

  FIG. 4 is a conceptual diagram when the lower part of the structure is improved using such an excavator. Reference numeral 1 is an excavation head, reference numeral 5 is a connecting rod, reference numeral 6 is an excavator, and reference numeral S is a structure. is there. Boring is started obliquely from the ground side of the structure S toward the ground, and when the predetermined depth is reached, the direction of the excavation head is changed to the horizontal direction, and thereafter, the boring is performed horizontally. Flexible connecting rods 5 are connected one after the other behind the digging head 1. The part surrounded by the broken line is the target ground to be improved.

  FIG. 5 is a cross-sectional view of an embodiment of the excavation head 1 described in Patent Document 1. Reference numeral 11 denotes a jet nozzle, and reference numeral 12 denotes a fluid path through which a high-pressure fluid such as water is supplied. The jet nozzle 11 is directed at an angle of about 5 degrees with respect to the central axis of the digging head 1. Therefore, if the digging head 1 moves forward while applying rotation, the digging head 1 moves straight, but if it moves forward without applying rotation, the digging head 1 moves in an oblique direction according to the jet nozzle 11.

  FIG. 6 is an external view of the excavator 6 similarly described in Patent Document 1. Reference numeral 61 is a base, reference numeral 62 is a forward frame that moves on the base, reference numeral 63 is a motor for rotation, reference numeral 64 is a chain, reference numeral 65 is A forward motor, reference numeral 5 is a connecting rod which is a forward tube. The advance frame 62 is provided with a clamp for fixing the connecting rod 5 and a chuck for gripping and rotating the connecting rod 5, and when this is combined with the advance mechanism, the connecting rod 5 is advanced or rotated without rotating. While moving forward.

  Patent Document 1 describes that the current position of the digging head 1 can be detected by the receiver by equipping the digging head 1 with a wireless transmitter and a directional antenna. It is described that an electrolytic transducer is incorporated in the detection of the inclination of the above.

  It is important to know the current position and inclination of the excavation head when excavating small and medium-diameter underground pipes that cannot be accessed by humans. It is important to know whether it is facing, that is, whether the jet nozzle 11 is facing up, down, left, or right with respect to the axis.

  In Patent Document 2, a metal ball is placed on two intersecting rails, and the two rails are conducted through the metal ball to detect that the inclination of the digging head is a set value. An inclination detecting device for an underground excavation device that emits light is described. However, in this method, since it can be determined only whether or not the inclination is a specific set value, there is a problem that the inclination cannot be measured continuously and control cannot be freely performed.

JP-A 61-257501 JP 2010-168862 A

  Here, the work procedure of the underground excavation method according to the present invention will be described briefly. As described above, the excavation head 1 is attached to the tip, the connecting rod 5 is connected to the rear thereof, and this is attached to the excavator 6 shown in FIG. 6, and high pressure fluid is ejected from the jet nozzle 11 at the tip of the excavation head 1. The connecting rod 5 also serves as a high-pressure fluid feed pipe, so that the high-pressure fluid supplied from the high-pressure pump passes through the inside of the connecting rod 5 from the end of the connecting rod 5. 1 is reached. When the excavator 6 is pushed forward to the full stroke, the excavation is interrupted, the connecting rod 5 is removed from the excavator 6, the water supply hose is also removed, a new connecting rod 5 is connected to the rear, and the rear end is set again. The water hose is set in the pit and digging again. Accordingly, the unit length of the connecting rod 5 is within the forward stroke of the excavator, for example, about 1.5 m. Therefore, if excavating a distance of 15 m, the setup is changed about 10 times. Ten or more connecting rods 5 must be connected.

  In order to control the excavation work, it is necessary to always know at which position the excavation head is currently located and in which direction the jet nozzle 11 is directed. For example, in the excavation head 1 shown in FIG. 7, if the inclination in the pitching direction shown in (a) and the inclination in the rolling direction around the axis shown in (b) are known, the direction of the excavation head 1 in the next excavation work can be determined. It can be corrected.

  In Patent Document 1, there is a description that it is only necessary to provide a radio transmitter in the excavation head. However, at work sites where there are structures such as buildings in the ground, radio waves are transmitted on the ground. Often it is difficult to receive reliably. Therefore, even if an angle measuring device such as an inclinometer is placed in the excavation head, it is most realistic to connect a communication cable to this and take it out from the end of the connecting rod 3 and receive the measurement data with a receiver on the ground. is there.

  However, as described above, in the excavation work, it is necessary to change the setup frequently. In each case, the communication cable is temporarily removed to connect the new connecting rod 5, and the communication cable is passed through the new connecting rod 5. Therefore, it is necessary to connect to the receiver again.

  This causes the setup change time to be shortened as much as possible to be greatly prolonged, and also causes a poor connection of the communication cable and impairs the reliability of the excavation work.

  The present invention detects the inclination of the underground excavation head that eliminates the disconnection and reconnection of the communication cable for each setup change, shortens the setup change time, improves the efficiency of the excavation work, and improves the reliability of the control. The object is to realize a method and its apparatus.

The present invention is defined in claim 1, in underground excavation work Konaka diameter of the excavation underground in front advances and rotates while successively connect the tube-like connecting rod to the rear of the boring head, near the boring head An inclinometer is attached to the sensor, and the measured value of the inclinometer is converted into an optical signal and transmitted backward, and an optical signal receiving means is inserted into the connecting rod to receive the optical signal behind the digging head. is allowed, a slope detection method of the underground boring head to eject the said measurements at the rear of the connecting rod by a communication cable connected to the optical signal receiving means, when connecting the connecting rods of the tubular, wherein The optical signal receiving means is once taken out from the connecting rod without removing the communication cable, and when the measured value is taken out after connecting a new connecting rod, the optical signal receiving means is again inserted into the connecting rod. A slope detection method of the underground boring head, characterized in the insertion child.

According to a second aspect of the present invention, in addition to the communication cable, a messenger wire is connected to the optical signal receiving means, and the optical signal receiving means is connected by the messenger wire when the tubular connecting rod is connected. The optical signal receiving means is pushed into the connecting rod by the messenger wire when the measured value is taken out after the new connecting rod is connected after the connecting rod is already connected. The method for detecting the inclination of the underground excavation head according to claim 1.

According to a third aspect of the present invention, there is provided a small and medium digging head comprising a digging head that digs in the ground, a tubular linking rod connected to the rear of the digging head, and a digging machine that advances and rotates the linking rod. in gradient detection device in the ground excavation proceeds heads that put in the ground excavation apparatus of diameter, the the boring head near the inclinometer for measuring the inclination of the boring head, a measured value of the inclinometer in the optical signal A conversion means for converting; a transmitter for transmitting the optical signal; and an optical signal receiving means inserted from the rear of the connecting rod to a location where the optical signal can be received in the connecting rod, The optical signal receiving means is a waterproof casing having a front surface closed with glass, a receiving element disposed in the casing, a communication cable for transmitting an optical signal caught by the receiving element to the rear, It is inclination detecting device of the underground excavation proceeds head, characterized in that a serial optical signal receiving means and a messenger wire connected to the casing for loading and unloading in the connecting rod.

  The present invention described in claim 4 is the underground head detecting device for tilting of the underground head according to claim 3, wherein the inclinometer measures the tilt in two directions of the rolling head and the pitching direction. .

  According to the present invention, since the receiving unit is once taken out every time the setup is changed, the work of removing and reconnecting the communication cable is unnecessary, the setup change time can be shortened, and the excavation work is made efficient. It has excellent effects of ensuring safety and improving control reliability.

It is sectional drawing which shows the principal part of the underground excavation apparatus of an Example. It is sectional drawing which shows the transmission unit periphery of an Example. It is sectional drawing which shows the receiving unit of an Example. It is a conceptual diagram of the excavation work which uses a conventionally well-known excavator. It is sectional drawing which shows an example of a conventionally well-known excavation head. It is an external view which shows an example of a conventionally well-known excavation machine. It is explanatory drawing explaining the inclination of 2 directions in this invention.

  Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the drawings.

FIG. 1 is a side view mainly showing a cross section of a main part of an excavation apparatus that performs underground excavation work according to an embodiment. Connecting rods 5a, 5b, 5c,... Are connected to the rear of the cylindrical body 2 to which the digging head 1 is integrally attached at the tip. The cylinder 2 has a built-in unit for transmitting an angle measurement value, which will be described in detail later. Reference numeral 33 denotes an attitude sensor (inclinometer) therein , and 35 denotes a red light that converts measurement data into an optical signal for transmission. The light emitting diode.

  The transmission unit 3 may be installed in the digging head 1 itself, but if that is difficult, the transmission unit 3 may be installed in the vicinity of the digging head 1, that is, in a portion integrated with the digging head 1. .

On the other hand, the receiving unit 4 is arranged behind the transmitting unit 3. This is pushed by a messenger wire 45 from a base with a ground excavator not shown in the figure, and a communication cable 44 is connected to the receiving unit 4.

  The signal emitted from the light emitting diode 35 is caught by the receiving unit 4 and transmitted to the ground via the communication cable. Only between the light emitting diode 35 and the receiving unit 4 is a wireless optical communication, and the cable is not coupled, and before and after it is a wired signal path.

  The inside of the connecting rod 5 is filled with water, and earth and sand are also mixed therein, so that it is difficult for normal radio waves and sound waves to be transmitted, but the light of the red light emitting diode is efficiently transmitted.

  The receiving unit 4 is once pulled out to the ground every time the setup is changed, and after the new connecting rod 5 is connected, it is inserted into the connecting rod 5 again. However, it is not necessary to remove the connection of the communication cable 44. Since the receiving unit 4 is put in and out quickly by the messenger wire 45, the setup change operation can be completed in a short time, and the reliability of the communication cable 44 is not impaired.

  In addition, since the receiving unit 4 can be taken in and out, it is only necessary to detect the signal at the stage of insertion and insert the signal up to a reliable position.

  FIG. 2 is a cross-sectional view showing the digging head 1 and the cylindrical body 2 and the transmission unit 3 housed therein. The cylindrical body 2 is configured to supply a fluid to the jet nozzle 11, and a plug body 34 is screwed behind to form a space free of water, and the transmission unit 3 is accommodated therein. Reference numeral 31 denotes a casing of the transmission unit 3, reference numeral 32 denotes a battery unit, and reference numeral 33 denotes an inclinometer. In recent years, a biaxial inclinometer that can measure the pitching direction and the rolling direction at the same time has been developed. If this is used, the internal configuration becomes extremely compact.

  The measurement data of the inclinometer is converted into a coded pulse signal, and is emitted as a blinking signal of light from a light emitting diode 35 installed in the plug body 34. Reference numeral 36 denotes a glass plate which transmits only light and is waterproof. A coupler 22 for connecting to the connecting rod 5 is provided further rearward of the cylindrical body 2.

  The type of the optical signal is not specified, but in the case of a light emitting diode, the signal processing is stable because the rise and fall of the blinking are good.

  FIG. 3 is a sectional view showing the receiving unit 4. A glass plate 42 is provided on the front surface of the cylindrical casing 41, and a receiving element 43 is placed in a waterproof space behind the glass plate 42 to catch an optical signal. The signal is transmitted to the ground via a communication cable 44 connected at the rear. The communication cable 44 is long enough to be used until the end of the excavation work. When an optical fiber is used as the communication cable 44, it becomes compact in the case of a small diameter tube or the like, and the workability is improved.

  On the rear side of the casing 41, there are provided an outlet for the communication cable 44 and an attachment hole for fixing the messenger wire 45 for taking in and out the receiving unit 4.

  In addition, although the example which measures the pitching of the digging head 1 and the inclination of both rolling directions was demonstrated above, the direction of a yawing direction is further detected by the same method, for example using the attitude | position detection means using a gyroscope. You can also. Further, the position of the digging head from the digging machine can be estimated by a conventionally known method such as estimating from the total extension of the connecting rod 5 used or using a linear encoder in combination with the messenger wire 45. Furthermore, the inclinometer in the present invention includes a measuring instrument that detects an angle such as a gyro.

  DESCRIPTION OF SYMBOLS 1 ... Digging head, 2 ... Cylindrical body, 3 ... Transmitting unit, 4 ... Receiving unit, 5 ... Connecting rod, 6 ... Digging machine, 11 ... Jet nozzle, 22 ... Coupler, 31, 41 ... Casing, 32 ... Battery unit, 33 ... Inclinometer, 34 ... Plug, 35 ... Light emitting diode, 36, 42 ... Glass plate, 43 ... Receiving element, 44 ... Communication cable, 45 ... Messenger wire, 61 ... Base, 62 ... Advance frame, 63 ... For rotation Motor, 64 ... chain, 65 ... forward motor, S ... structure.

Claims (4)

In underground excavation work Konaka diameter of the excavation underground in front advances and rotates while successively connected to the rear of the boring head tube-like connecting rod, mounting an inclinometer near the boring head, the inclinometer The measured value is converted into an optical signal and transmitted backward, and the optical signal receiving means is inserted into the connecting rod to receive the optical signal behind the digging head and connected to the optical signal receiving means. a slope detection method of the underground boring head to eject the said measurements at the rear of the connecting rod by a communication cable, to connect the connecting rods of the tubular, removing the communication cable the optical signal receiving means once removed from the connecting rod, after connecting the new connecting rod, characterized again and inserting child said optical signal receiving means in the connecting rod when retrieving the measurement without Inclination detection method of the middle boring head. In addition to the communication cable, a messenger wire is connected to the optical signal receiving means,
When connecting the tubular connecting rod, the optical signal receiving means is pulled out behind the already connected connecting rod by the messenger wire,
When the measured value is taken out after the new connecting rod is connected, the optical signal receiving means is pushed into the connecting rod by the messenger wire.
The method of detecting the degree of inclination of the underground excavation head according to claim 1. A boring head for boring the ground, a tubular connecting rod connected to the rear of the boring head, drilling underground that put in the ground excavation apparatus Konaka diameter consisting of a shield machine for advancing and rotating the connecting rod In the inclination detecting device of the advance head,
In the vicinity of the excavation head, provided with an inclinometer for measuring the inclination of the excavation head, conversion means for converting the measured value of the inclinometer into an optical signal, and a transmitter for transmitting the optical signal , the connection Further comprising optical signal receiving means inserted from the rear of the rod to a location where the optical signal can be received in the connecting rod;
The optical signal receiving means includes a casing having a waterproof structure whose front is closed with glass, a receiving element disposed in the casing, a communication cable for transmitting an optical signal caught by the receiving element to the rear, and the optical signal. A messenger wire connected to the casing for taking in and out the receiving means into and from the connecting rod.
Inclination detecting device of the underground excavation proceeds head, characterized in that. Underground excavation proceeds head inclination detecting apparatus according to claim 3, characterized in that said inclinometer is configured to measure the two directions of inclination of the rolling direction and the pitching direction of the boring head.

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