JPH07103775B2 - Horizontal displacement detection device for underground vehicles - Google Patents

Description

Description: TECHNICAL FIELD The present invention relates to a horizontal displacement detecting device for an underground moving body, and more particularly, to underground tunneling for burying a water pipe, a gas pipe or the like in the ground. The present invention relates to a horizontal displacement detection device for detecting horizontal displacement of an underground excavator in the ground so as to promote the excavator according to a construction plan line.

[Conventional technology]

The applicant of the present application can obtain accurate data in real time about the horizontal displacement mode from the construction planning line of the underground excavator in real time simply by laying a magnetic field generating cable on the ground surface in advance according to the construction planning line. A patent application has been filed for a horizontal displacement measuring device for an underground excavator (Japanese Patent Application No. 61-10700).

In the present invention, a magnetic field generation cable is laid on the ground surface so that the outward route and the return route are located at equal intervals from the construction planned line according to the construction planned line of the tunnel in which the underground excavator excavates. Then, an appropriate detection coil is provided on the side of the underground excavator so that the magnetic field generated by the cable can be detected.

That is, the magnetic fields generated on the outward route and the return route are symmetrical with respect to the vertical plane that passes through the construction planning line (center line between the reciprocating routes). Therefore, by discriminating the strength of the magnetic field based on the output of the above detection coil, whether the underground excavator is on the right side or the left side of the construction plan line, the horizontal displacement mode is identified and measured. ing.

[Problems to be Solved by the Invention]

According to the above-mentioned conventional technology, although the initial objective of being able to effectively measure the horizontal displacement from the construction line of the underground excavator and continuously measuring it in real time can be certainly achieved, the magnetic field generated by the magnetic field generation cable Changes in the horizontal direction and in the vertical direction (depth direction), the output of the above-mentioned detection coil and the vertical position with respect to the ground surface of the underground excavator are calculated in the process of calculating the horizontal displacement. That is, the depth of the underground excavator is also required as a measurement value.

The depth of the underground excavator is determined as follows using, for example, a well-known pressure settlement gauge.

The depth at the starting point of the underground excavator (specifically, the starting shaft) is obtained by a pressure squat gauge, and the obtained depth is input to the arithmetic unit in advance as data, and this depth data and the output of the detection coil are output. The horizontal displacement is calculated based on this, and the horizontal displacement is controlled so that it becomes zero, that is, the underground excavator is advanced along the construction plan line, and the underground excavator is at the same depth from the starting shaft to the reaching shaft. I am trying to proceed as it is.

However, the underground excavator moves in the ground with pitching (posture change in posture) and rolling (posture change in left and right). In reality, the ground surface along the construction planning line is not flat, and there is often a difference in height between the ground surface at the starting point and the ground surface where the underground excavator is currently located.

The above-mentioned conventional technique can accurately determine the horizontal displacement when such pitching is not involved. However, in reality, a depth shift or the like occurs due to the influence of the pitching, etc. The present inventors have revealed that the horizontal displacement cannot be accurately obtained.

Therefore, the applicant of the present application corrects the influences of pitching, rolling of the underground excavator, height difference with respect to the starting point along the construction planning line, and the like, the depth of the detection coil is Y, and the output voltage of the pair of detection coils ( When the induced electromotive force is V ₁ and V ₂ , the horizontal displacement x of the detection coil with respect to the planned construction line
To Applied for a horizontal displacement measuring device (Japanese Patent Application No. 1-
No. 65352).

However, the above formula (1), the distance between the construction planning line and a magnetic field generating cable is taken as l, Y ² »l ² and are those derived as to satisfy the relationship of Y ² »x ^2. Therefore, there is a problem that an error occurs when the underground excavator is at a shallow position, that is, when the distance between the magnetic field generating cable and the detection coil is short.

The present invention has been made in view of these circumstances, while removing the effect of pitching and the like of the underground moving body such as an underground excavator, even if the underground moving body is in a shallow position in the ground, An object of the present invention is to provide a horizontal displacement detection device for an underground moving body that can accurately determine the horizontal displacement of the underground moving body with respect to a reference line.

[Means and Actions for Solving the Problems]

In order to achieve the above object, the present invention, in the horizontal displacement detection device of the underground moving body for detecting the horizontal displacement with respect to the reference line of the underground moving body moving in the ground along the reference line of the ground surface, A magnetic field generating cable in which a forward route and a return route are arranged on both sides of the reference line with a predetermined distance therebetween, and a traveling direction of the underground moving body provided at a predetermined position of the underground moving body with respect to a vertical axis. First and second detection coils for detecting the magnetic field generated by the magnetic field generation cable, which are inclined to the left and right sides by a predetermined angle, and initial depth storage means for storing the depth at the starting point of the underground vehicle. Height storage means for storing a height difference with respect to the starting point at each position of the reference line, movement distance detection means for detecting a movement distance of the underground moving body, and pitching for detecting a pitching angle of the underground moving body. Corner detector And, based on the output of the moving distance detection means and the output of the pitching angle detection means, the starting angle associated with the pitching of the underground moving body, based on the output of the moving distance detecting means and the output of the pitching angle detecting means. Based on the depth deviation calculation means for calculating the depth deviation with respect to the point, the arrangement positions of the first and second detection coils, and the output of the rolling angle detection means, the first movement associated with the rolling of the underground moving body. A vertical position shift calculating means for calculating a position shift of the second detection coil in the vertical direction with respect to the underground moving body, and the height difference storing means corresponding to the moving distance detected by the moving distance detecting means. The height difference, the depth at the starting point stored in the initial depth storage means, and the calculated value obtained by the depth deviation calculation means and the vertical position deviation calculation means , A horizontal position shift calculation for calculating a horizontal position shift of the first and second detection coils with respect to the underground moving body due to the rolling of the underground moving body based on the output of the rolling angle detecting means. Means, the height difference stored in the height difference storage means corresponding to the movement distance detected by the movement distance detection means, the depth at the starting point stored in the initial depth storage means, and Based on the detection values of the first and second detection coils and the calculation values of the depth deviation calculation means, the vertical position deviation calculation means, and the horizontal position deviation calculation means, the horizontal movement of the underground moving body with respect to the reference line is performed. Horizontal displacement calculating means for calculating a displacement, wherein the horizontal displacement calculating means has a horizontal displacement x of the detection coil with respect to the reference line, a depth of the detection coil Y, and a magnetic field generation value. When the distance from the reference line between the outgoing route and the return route of the raw cable is l, It is characterized by calculating.

However, k = (V ₂ −V ₁ ) / (V ₁ + V ₂ ), V ₁ is an induced electromotive force generated in the first detection coil, and V ₂ is an induced electromotive force generated in the second detection coil. Electromotive force.

In the present invention configured as described above, even if pitching occurs in the underground moving body, the pitch deviation can be obtained by the pitching angle detection means with respect to the starting point of the underground moving body. Further, even if rolling occurs in the underground moving body, the vertical position shift and the horizontal position shift of the detection coil with respect to the underground moving body can be obtained by the vertical position shift calculating means and the horizontal position shift calculating means.

Further, the horizontal displacement calculating means is based on the calculation result of each of the above-mentioned arithmetic units, the depth at the starting point of the underground moving body (initial depth), and the height difference with respect to the starting point along the reference line. The horizontal displacement with respect to the reference line is calculated by correcting the effects of pitching, rolling, and so on. Since the calculation of the horizontal position deviation calculating means considers the distance between the reference line and the magnetic field generating cable and the relationship between the depth and the horizontal displacement, it is assumed that the underground moving body is located at a shallow position in the ground. Also, the horizontal displacement can be accurately obtained.

〔Example〕

A preferred embodiment of a horizontal displacement detecting device for an underground vehicle according to the present invention will be described in detail with reference to the accompanying drawings. In this embodiment, an underground excavator is assumed as the underground moving body, but the underground moving body is not limited to the underground excavating machine, and any tangible object that can move in the ground is arbitrarily used. Applicable.

FIG. 1 is an illustration of a position detecting device for an underground excavator according to the present invention.

In FIG. 1, the underground excavator 10 which is an underground moving body,
First and second detection coils S ₁ and S ₂ for detecting the magnetic field generated by the magnetic field generation cable 14 disposed on the ground surface 12 are provided. The detection coils S ₁ and S ₂ are arranged so as to intersect with each other, as will be described later in detail, and are attached to a predetermined position of the underground excavator 10 via a support device 16, so that the underground excavator 10 can be pitched (front and rear). The posture does not change even if a tilt (direction tilt) or rolling (right and left tilt) occurs.

Further, inside the underground excavator 10, a pitching inclinometer 18 as a pitching angle detecting means for detecting the pitching angle of the underground excavator 10 and a rolling angle detecting means for detecting the rolling angle of the underground excavator 10. Rolling angle inclinometer as
And 20 are arranged at appropriate positions. And the detection coil
S ₁ , S ₂ , pitching inclinometer 18 and rolling angle inclinometer
Reference numeral 20 is connected to a signal processing device 22, which will be described in detail later, installed in a starting shaft 23 which is a starting point of the underground excavator 10 so that each detection signal can be input to the signal processing device 22. In addition, the starting shaft 23 is provided with a propulsion range finder 24 and a display device 26.

The propulsion range finder 24 detects the moving distance R of the underground excavator 10 which is excavating from the starting shaft 23 toward the reaching shaft 28 and inputs it to the signal processing device 22. The display device 26 is a signal processing device.
The output signal of 22 is received, and the calculation result obtained by the signal processing device 22 is displayed.

As shown in FIG. 2, the magnetic field generation cable 14 is
14a and a return line 14b, each of which is laid on the ground surface 12 at a predetermined distance l on both sides of a construction planning line (reference line) 30 for excavating a tunnel determined by surveying or the like. The magnetic field generation cable 14 is connected to a current supply device 32 that supplies an appropriate alternating current, and a current flows as indicated by arrows A and B, for example, so that the round trip route 14
Generates concentric magnetic fields centered on a and 14b.

The first and second detection coils S ₁ and S ₂ for detecting the strength of the magnetic field generated by the magnetic field generation cable 14 are, as shown in FIG. 3, viewed from the axial direction of the underground excavator 10. On the vertical line 34
Is inclined at a predetermined angle ψ (for example, 45 degrees) on both sides of, and is supported by the support device 16 so that the posture of the underground excavator 10 does not change even when pitching or rolling. The detection coils S ₁ and S ₂ are provided with preamplifiers 36 and 38, which are provided as required as shown in FIG.
Are connected, and the detection signal is input to the signal processing device 22 via the preamplifiers 36 and 38.

The signal processing device 22 is provided with receiving amplifiers 40 and 42 that amplify the outputs of the preamplifiers 36 and 38. Also, the signal processing device
22 is the output of the receiving amplifier 40, 42 which is an analog signal,
Analog-to-digital converters (A / D converters) 44 and 46 that convert to digital signals, A / D that converts analog output signals of propulsion rangefinder 24, pitching inclinometer 18, and rolling angle inclinometer 20 to digital It has converters 48, 50, 52. Further, the signal processing device 22 includes a depth shift calculator 54 which is a depth shift calculator, a vertical position shift calculator 56 which is a vertical position shift calculator, a horizontal position shift calculator 58 which is a horizontal position shift calculator, and a horizontal position shift calculator 58. A horizontal displacement calculator 60 which is displacement calculating means, an initial depth storing means and a memory 62 as height difference storing means are provided. In the memory 62, the distance l from the construction planned line 30 of the magnetic field generation cable 14 and the underground excavator 10
Depth at the starting point (initial depth Y ₀ ), detection coil
The vertical mounting position d _{0 with} respect to the center of the underground excavator 10 of S ₁ and S _2, the height difference H with respect to the starting point along the construction planning line 30, and the like are stored.

The depth shift calculator 54 uses the output signal of the propulsion rangefinder 24 and the output signal of the pitching inclinometer 18 that are input via the A / D converters 48 and 50 to detect the detection coil S associated with the pitching of the underground excavator 10. The depth shifts of ₁ and S ₂ are calculated, and the calculation results are input to the horizontal position shift calculator 58 and the horizontal displacement calculator 60. In addition, the vertical position shift calculator 56 detects the output signal of the rolling angle inclinometer 20 input via the A / D converter 52 and the underground of the detection coils S ₁ and S ₂ stored in the memory 62. Excavator 10 mounting position
Based on d ₀ , the vertical displacement of the detection coils S ₁ , S ₂ with respect to the underground excavator 10 is calculated, and the horizontal displacement calculator is calculated.
58 and the horizontal displacement calculator 60.

The horizontal position shift calculator 58 calculates the calculation results of the depth shift calculator 54 and the vertical position shift calculator 56, the output signals of the propulsion range finder 24 and the rolling angle inclinometer 20, and the construction planning line stored in the memory 62. On the basis of the height difference H along 30 the horizontal displacement of the detection coils S ₁ , S ₂ with respect to the underground excavator 10 is calculated and sent to the horizontal displacement calculator 60.

The horizontal displacement calculator 60 detects the detection signals of the detection coils S ₁ and S ₂ input via the A / D converters 44 and 46, the output signal of the propulsion range finder 24, the depth deviation calculator 54 and the vertical position deviation. Based on the calculation results of the calculator 56 and the horizontal displacement calculator 58, and the initial depth Y ₀ and the height difference H stored in the memory 62, the horizontal displacement of the detection coils S ₁ and S ₂ with respect to the construction planning line 30. Is calculated and output to the display device 26 for display.

The operation of the embodiment configured as described above is as follows.

First, the construction planning line 30 of the detection coils S ₁ and S ₂ according to the present embodiment
The principle of detecting the horizontal displacement with respect to will be described with reference to FIG.

In FIG. 3, the detection coils S ₁ and S ₂ are coil center points C _c
Is on a vertical line 34 that passes through the center of the underground excavator 10 and is inclined by ψ to the left and right with respect to the vertical line 34. Further, in the detection coils S ₁ and S ₂ , the coil center point C _c is located at the depth Y,
Moreover, it is assumed that the construction plan line 30 is horizontally displaced by x to the right (forward direction) of the direction of movement of the underground excavator 10.
Then, the distance between the coil center point C _c and the outward route 14a is r ₁ , the angle formed by the line segment connecting the two and the vertical line is θ ₁ , and the coil center point is
Let r ₂ be the distance between C _c and the return route 14b, and θ ₂ be the angle between the line segment connecting them and the vertical line.

At this time, the induced electromotive forces V ₁ and V ₂ generated in the first and second detection coils S ₁ and S ₂ are expressed as follows.

However, this is a constant that is uniquely determined by K, the magnetic permeability of the earth, and the like.

When the above equations (2) and (3) are modified, V ₁ and V ₂ are expressed as the following equations (4) and (5).

On the other hand, as can be easily seen from FIG. Is obtained. Therefore, from equations (4) to (9), θ ₁ , θ
_{If 2} is deleted and ψ = 45 °, the detection coil
S _1, the induced electromotive force generated in the S ₂ V _1, V ₂ is Becomes However, here Is.

The above equations (10) and (11) are further transformed into the following equations (12) and (1
It can be transformed like 3).

Further, r ₁ and r ₂ are r ₁ ² = Y ² + (l−x) ² (14) r ₂ ² = Y ² + (l−x) ² as can be easily understood from FIG. Since it is expressed as (15), these equations (14) and (15) are transformed into equation (12),
Substituting into (13), V ₁ and V _{2 become} Becomes Therefore, when V ₁ −V ₂ and V ₁ + V ₂ are calculated from these equations and arranged, the following equations (18) and (19) are obtained.

Then, dividing each side of equation (18) by each side of equation (19), Is obtained. This formula is discontinuous at the point of x ² = l ² + Y ² , but can be solved in other ranges. If solving in the range of x ² ≦ l ² + Y ² , the horizontal displacement x of the detection coils S ₁ and S ₂ with respect to the construction planning line 30 is Can be asked as However, here k = (V ₂ −
V ₁ ) / (V ₁ + V ₂ ). In addition, the above equation (21) is Thus, the horizontal displacement x can be obtained with sufficient accuracy by expanding the series and obtaining the required order.

When Y ² >> l ² and Y ² >> x ² , the formula (21) becomes Then, the above-mentioned formula (1) is obtained. This formula (23)
Is also derived when (l ² / Y ² ) → 0 in equation (22) and the term k ² can be ignored (corresponding to Y ² >> x ² ).

Thus, if the depth Y of the detection coils S ₁ and S ₂ and the distance 1 from the construction planned line 30 of the magnetic field generation cable 14 are known, the induced electromotive force V ₁ generated in the pair of detection coils S ₁ and S ₂ , By detecting V ₂ , the horizontal displacement of the detection coils S ₁ and S ₂ with respect to the construction planning line 30, that is, the horizontal displacement of the underground excavator 10 with respect to the construction planning line 30 can be obtained.

However, when excavating in the ground, the underground excavator 10 advances while causing pitching and rolling. Further, the ground surface 12 along the construction planning line 30 is not flat but generally has undulations. Therefore, the depth Y of the detection coils S ₁ and S ₂ is
Since different from the initial depth Y ₀ at the start of excavation in the starting pit 23, than was the initial depth Y ₀ detection coil S _1, S ₂ of the depth Y can not obtain accurate horizontal displacement. Therefore, in order to accurately obtain the horizontal displacement of the underground moving body with respect to the construction planning line 30, it is necessary to correct the depth shift due to pitching or rolling. In the present embodiment, such a correction can be automatically performed by the signal processing device 22.

Hereinafter, the horizontal displacement detection method according to the embodiment will be specifically described.

Now, as shown in Fig. 5, the underground excavator 10 is at the starting point.
It is assumed that a point P has been reached from P ₀ along the route RT to P _P. Further, the detection coils S ₁ and S ₂ are on the vertical line 34 passing through the center C ₀ of the underground excavator 10 when the underground excavator 10 is not rolling, as shown in FIG. It is assumed that the underground excavator 10 is installed at a position distant from the center C ₀ by d ₀ .

In the memory 62 of the signal processing device 22, the distance 1 between the magnetic field generation cable 14 and the construction planning line 30, the depth (initial depth) Y ₀ at the starting point P ₀ of the underground excavator 10, the detection coils S ₁ , S ₂ Installation position d ₀ , along the planned construction line 30, predetermined sections R ₁ , R ₂ , R ₃ , ...
The height difference H and the like of the departure point P ₀ with respect to the ground surface 12 are stored for each.

Initial depth Y _0, the operator can be easily measured by a pressure subsidence meter or the like in the starting pit 23, also the height difference H are readily obtained by surveying, these measurements along with such mounting position d _0, It is stored in the memory 62 via a keyboard or the like. The height difference H is positive (+) when it increases vertically upward.

The propulsion range finder 24 detects the amount of excavation of the underground excavator 10, that is, the amount of movement of the underground excavator 10 and outputs it to the signal processing device 22. Further, the pitching inclinometer 18 detects each pitching θ _pt of the underground excavator 10, the rolling angle inclinometer 20 detects the rolling angle θ _re of the underground excavator 10, and a signal processing device for each detection signal. Send to 22.

The depth deviation calculator 50 of the signal processing device 22 reads the moving distance R of the underground excavator 10 output by the propulsion rangefinder 24 and the pitching angle θ _pt output by the pitching inclinometer 18 (step 100) and detects it. Depth shift Δy _pt due to pitching of coils S ₁ and S ₂ is calculated by the following equation (24), and horizontal position shift calculator 5
8 and the horizontal displacement calculator 60 (step 10 in FIG. 8).
2).

Here, the pitching angle θ _re is positive (+) for downward pitching with respect to the traveling direction of the underground excavator 10.

Therefore, when the underground excavator 10 is pitched, the coil center points of the detection coils S ₁ and S ₂ in the equation (21) are
The depth Y of C _c is Y = Y ₀ + Δy _pt (25)

On the other hand, the ground surface at the other point P has a height difference of H with respect to the ground surface at the starting point p ₀ , and the magnetic field generating cable 14 laid on the ground surface 12 is at the H level at the starting point P ₀ . It means that there is only a height difference. Therefore, the depth Y of the coil center point C _c in consideration of this height difference H is Y = Y ₀ + Δy _pt + H (26), and the detection coil S ₁ considering pitching and height difference,
The horizontal displacement x of the construction plan line 30 of S ₂ is Is expressed as However, A = Y ₀ + Δy _pt + H.

When the underground excavator 10 is rolling, the vertical position shift calculator 56 reads the mounting positions d ₀ of the detection coils S ₁ and S ₂ from the memory 62 and also outputs the rolling angle output from the rolling angle inclinometer 20. Read θ _re (step 104).
Then, the vertical position shift calculator 56 calculates the relative position shift Δy _re in the vertical direction of the coil center point C _C with respect to the center C ₀ of the underground excavator 10 based on the mounting position d ₀ and the rolling angle θ _er. The calculation is performed by the equation (28) (step 106), and the calculation result is input to the horizontal displacement calculator 58 and the horizontal displacement calculator 60.

Δy _re = d ₀ (1-cos θ _re ) (28) Therefore, when the underground excavator 10 is pitching and rolling, the depth Y of the detection coils S ₁ and S ₂ is Y = Y ₀ + Δy _pt + Δy _pt + H (29) In the example, θ _re is positive when the underground excavator 10 rotates clockwise in the traveling direction.

When the underground excavator 10 rolls, as shown in FIG. 6, the coil center point C _c becomes the center C _{0 of the} underground excavator 10.
Therefore, there is a horizontal shift of Δx '. This deviation amount Δx ′
As is clear from the figure, Δx ′ = d ₀ sin θ _re (30). However, in the horizontal direction, the detection coil S ₁ ,
It is necessary to consider the factor of the incident angle of the magnetic field detected by S ₂ . For this reason, the horizontal position shift calculator 58 for obtaining the horizontal relative position shift corresponding to the center C ₀ of the coil center point C _c
Receives the calculation results from the depth shift calculator 50 and the vertical position shift calculator 56, reads the moving distance R of the underground excavator 10 output from the propulsion rangefinder 24, and reads the point P corresponding to this moving distance R. The height difference H and the initial depth Y ₀ of the ground excavator 1 are read from the memory 62 (step 108), and the following equation is used.
The horizontal relative displacement Δx _re of the coil center point C _c with respect to the center C ₀ of 0 is calculated (step 110), and the horizontal displacement calculator
Send to 60.

Δx _re = (Y ₀ + Δy _pt + Δy _pt + H) × θ _re・ J …… (3
1) Here, J is a constant previously obtained by experiments or simulations.

By the way, the center C ₀ of the underground excavator 10 with respect to the construction planning line 30
The horizontal displacement x _R is, as shown in Fig. 7, the coil center point.
The horizontal displacement x with respect to construction planning line 30 of C _c, it can be calculated as a value obtained by subtracting the horizontal direction of the relative positional deviation [Delta] x _re with respect to the center C ₀ of the coil center point C _c. This operation is the eighth
As in steps 112 and 114 in the figure, the horizontal displacement calculator 60 performs this.

That is, the horizontal displacement calculator 60 reads the moving distance R of the underground excavator 10 output from the propulsion distance meter 24, and reads the height difference H and the initial depth Y ₀ corresponding to the moving distance R from the memory 62. The above equation (29) is calculated from Δy _pt output from the depth shift calculator 50 and Δy _re output from the vertical position shift calculator 56 to obtain the depth Y of the coil center point C _c .
Further, the waterside displacement calculator 60 takes in the detection signals of the detection coils S ₁ and S ₂ via the A / D converters 44 and 46, and obtains the Δx _re output from the horizontal position shift calculator 58 in advance. Depth Y
Based on and, the following equation (32) is calculated to obtain the horizontal displacement x _R of the center C ₀ of the underground excavator 10 with respect to the construction planning line 30.

However, B = Y ₀ + Δy _pt + Δy _re + H.

Then, the horizontal displacement calculator 60 outputs the obtained horizontal displacement x _R to the display device 26, and how much the underground excavator 10 is displaced with respect to the construction planning line 30 in either the left or right direction of the traveling direction. Is displayed. As a result, the operator can
It is possible to know in real time what horizontal displacement x _R the underground excavator 10 is moving through, and it is possible to perform appropriate operation and processing for the underground excavator 10.
In addition, the calculation result of the horizontal displacement calculator 60 is input to a control device (not shown) that controls the underground excavator 10, and
It is possible to control 10 so that the construction plan line 30 is not displaced.

As described above, according to the embodiment, the underground excavator 10
Even if there is a height difference on the ground surface 12 while excavating while pitching and rolling, the depth deviation due to pitching, the change in the height difference of the ground surface, and the underground excavator of the detection coils S ₁ and S ₂ Underground excavator with corrected relative displacement with respect to 10
It is possible to accurately obtain the horizontal displacement x _R with respect to the 10 construction planning lines 30. Moreover, since the distance of the magnetic field generation cable to the construction planning line 30 and the relationship between the horizontal displacement x _R and the depth Y are taken into consideration, even if the underground excavator 10 is located at a shallow position,
It is possible to accurately obtain the horizontal displacement x _R of the underground excavator 10,
The efficiency of digging work can be improved.

In addition, in the above embodiment, the horizontal displacement of the underground excavator 10
Although the case where x _R is obtained and the horizontal displacement x _R is controlled to be zero has been described, in step 102 of FIG. 8, the depth deviation Δy with respect to the initial depth Y ₀ accompanying pitching is increased.
_{Since pt} can be obtained, the underground excavator 10 is started at the starting point ₀ (starting shaft 2 so that this depth deviation Δy _pt becomes zero.
It is also possible to propel the same depth from 3) to the reaching shaft 28.

Further, in the above embodiment, the case where the construction planning line 30 is a straight line as shown in FIG. 2 has been described, but the construction planning line 30 may of course be a curve. Also in this case, as in the example, the horizontal displacement x _R from the construction planned line 30
It is needless to say that the (horizontal displacement) can be accurately obtained and the underground excavator 10 can be controlled so that the horizontal displacement x _R becomes zero.

Further, in the above-described embodiment, the horizontal displacement x _R is obtained in consideration of pitching, rolling, and height difference, but it is necessary to consider any one or two effects of pitching, rolling, and height difference. In the absence of the situation, the corresponding detection device and the corresponding arithmetic processing can be omitted as appropriate. For example, when the influence of the height difference can be ignored, the labor of storing the height difference H in the memory 62 in advance can be omitted. Also, for example, if the effect of rolling can be ignored, the rolling angle inclinometer
Installation can be omitted at 20, and steps 104 to 110 in FIG. 8 can be omitted. Further, in these cases, there is an advantage that the cost of the device can be significantly reduced.

Further, in the above embodiment, the case where the coil center points C _c of the detection coils S ₁ and S ₂ are arranged on the vertical line passing through the center C ₀ (rolling center) of the underground excavator 10 has been described. The positions of the detection coils S ₁ and S ₂ are not limited to this, and they may be arranged at positions where the coil center point C _c is displaced from the vertical line 34.

In the above embodiment, the case where the AC current is supplied to the magnetic field generation cable 14 has been described, but the DC current may be supplied. Further, the magnetic field generation cable 14 does not have to be a single wire, and may be a plurality of cables or a bundle of a plurality of cables, and may be a flat permanent magnet or a flat plate that generates a magnetic field equivalent to that of the magnetic field generation cable 14. You may use the coil etc. which were made into the core.

〔The invention's effect〕

As described above, according to the present invention, the horizontal displacement of the underground vehicle from the reference line is accurately corrected by correcting the effects of pitching, rolling of the underground vehicle, and the height difference of the ground surface. In addition to the above, it is possible to obtain even if the underground moving body is at a shallow position in the ground by considering the relationship between the distance between the reference line and the magnetic field generation cable and the depth and horizontal displacement. The horizontal displacement of the moving body with respect to the reference line can be accurately obtained, and the accuracy of tunnel excavation work can be significantly improved.

[Brief description of drawings]

FIG. 1 is an explanatory diagram of a position detecting device for an underground excavator according to an embodiment of the present invention, FIG. 2 is an explanatory diagram of a magnetic field generating cable, and FIG.
FIG. 4 is an explanatory diagram of the horizontal displacement detection principle according to the embodiment, FIG. 4 is a block diagram of a signal processing device according to the embodiment, and FIG. 5 is an influence of a depth deviation due to pitching of an underground excavator and a difference in height of the ground surface. Fig. 6 is a diagram for explaining the positional displacement of the detection coil due to rolling, Fig. 7 is a diagram for determining the horizontal displacement of the underground excavator with respect to the construction plan line, and Fig. 8 is a signal processing device. 3 is a flowchart illustrating the operation of the above. 10 …… Underground moving body (underground excavator), 14 …… Magnetic field generating cable, 18 …… Pitching angle detection means (pitching tilt type), 20 …… Rolling angle detection means (rolling angle inclinometer), 22… … Signal processing device, 24 …… Movement distance detection means (propulsion distance meter), 30 …… Reference line (construction planning line), 54 ……
Depth shift calculation means (depth shift calculation unit), 56 ... Vertical position shift calculation unit (vertical position shift calculation unit), 58 ... Horizontal position shift calculation unit (horizontal position shift calculation unit), 60 ... Horizontal displacement calculation unit (Horizontal displacement calculator).

Front page continuation (72) Inventor Tetsuya Shinbo 1200 Manda, Hiratsuka-shi, Kanagawa Komatsu Seisakusho Co., Ltd. Researcher Katsuji Ando

Claims (1)

[Claims] 1. A horizontal displacement detection device for an underground moving body, which detects a horizontal displacement of an underground moving body moving in the ground along a reference line on the surface of the earth, wherein the forward route and the return route are A magnetic field generating cable arranged at a predetermined distance on both sides of the reference line, and provided at a predetermined position of the underground moving body, and tilted at a predetermined angle to the left and right sides in the traveling direction of the underground moving body with respect to the vertical axis. Also, first and second detection coils for detecting the magnetic field generated by the magnetic field generation cable, initial depth storage means for storing the depth at the starting point of the underground moving body, and the above-mentioned at each position of the reference line. Height difference storing means for storing a height difference with respect to a starting point, moving distance detecting means for detecting a moving distance of the underground moving body, pitching angle detecting means for detecting a pitching angle of the underground moving body, and the ground Medium moving body A rolling angle detecting means for detecting a rolling angle, and an output of the moving distance detecting means and an output of the pitching angle detecting means to calculate a depth deviation with respect to the starting point due to the pitching of the underground vehicle. Based on the depth deviation calculation means, the arrangement positions of the first and second detection coils, and the output of the rolling angle detection means, the first and second detection coils associated with the rolling of the underground moving body are detected. A vertical position shift calculating means for calculating a vertical position shift with respect to the underground moving body, the height difference stored in the height storing means corresponding to the moving distance detected by the moving distance detecting means, and the initial value. The depth at the starting point stored in the depth storage means, the calculated value obtained by the depth shift calculating means and the vertical position shift calculating means, and the rolling angle A horizontal position shift calculating means for calculating a horizontal position shift of the first and second detection coils with respect to the underground moving body due to the rolling of the underground moving body based on the output of the output means; The height difference stored in the height difference storage means corresponding to the movement distance detected by the movement distance detection means, the depth at the starting point stored in the initial depth storage means, and the first and second The horizontal displacement of the underground moving body with respect to the reference line is calculated based on the detection value of the detection coil and the calculation values of the depth deviation calculating means, the vertical position deviation calculating means, and the horizontal position deviation calculating means. Horizontal displacement calculating means, wherein the horizontal displacement calculating means is such that the horizontal displacement of the detection coil with respect to the reference line is x, the depth of the detection coil is Y, and the forward path of the magnetic field generation cable. When the distance from the reference line between the A horizontal displacement detection device for an underground vehicle, which is characterized by calculating However, k = (V ₂ −V ₁ ) / (V ₁ + V ₂ ), V ₁ is an induced electromotive force generated in the first detection coil, and V ₂ is an induced electromotive force generated in the second detection coil. Electromotive force.