JPH1183995A - Obstacle detector and detecting method in underground propelling work - Google Patents

Abstract

PROBLEM TO BE SOLVED: To enhance the workability of propelling work by an arrangement wherein a transmitting/receiving antenna for detecting an obstacle in the soil is incorporated in the forward end part of a propelling body. SOLUTION: A communication transmitting means 181 for transmitting a frequency modulated carrier from a transmitting/receiving antenna is built in the forward end part 66 of a propelling body 64. An electromagnetic wave propagating through the soil from the communication transmitting means 181 is received by a communication receiving means 182 on the ground thus detecting obstacles existing in the vicinity of the forward end part 66 of the propelling body 64. Consequently, the propelling body 64 is advanced straight or curved in the soil thus avoiding collision against an obstacle.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION The present invention relates to a method of laying various pipelines underground using a so-called underground propulsion method.
An obstacle detection device in an underground propulsion method for detecting an obstacle to prevent damage to an existing underground structure or the like, and an underground using the detection device Regarding the propulsion method.

[0002]

2. Description of the Related Art In a proposed underground propulsion method, an antenna is built in a tip of a propulsion body formed by adding a plurality of propulsion pipes for propelling in soil in an axial direction, and a radio wave from the antenna is provided. Radiates electromagnetic waves into the soil to detect obstacles. When this obstacle is detected, the propelling body is inserted into the soil, avoiding the obstacle, in order to prevent the propelling body from hitting or contacting the obstacle.

In this proposed technique, an antenna is built in at the tip of the propulsion body as described above, and an electric circuit for amplifying and processing the signal of the antenna is built in. A signal from the electric circuit is taken out from the base end of the propulsion body via a cable, which is a connected conducting wire, and the presence or absence of an obstacle is displayed as an image.

In this proposed technique, a cable is arranged inside a propulsion body. Therefore, in order to be able to propel the propulsion body with angular displacement about its axis,
A complicated structure such as a slip ring is required. In addition, in the process of propelling the propulsion body, the propulsion pipes are sequentially inserted at the base end side in order to push the propulsion body into the soil while adding multiple propulsion pipes, and to pull out the propulsion body from the soil after completion of propulsion. Must be removed. In order to perform the work of adding and removing the propulsion pipe, the connection / disconnection of the cable provided inside the propulsion body must be repeated, resulting in poor workability.

[0005]

SUMMARY OF THE INVENTION It is an object of the present invention to provide a work area capable of performing a propulsion operation while detecting whether there is an obstacle in front of the propulsion body and in the vicinity thereof with good workability. An object of the present invention is to provide an apparatus and a method for detecting an obstacle in the middle propulsion method.

[0006]

SUMMARY OF THE INVENTION The present invention provides a transmitting and receiving antenna which is provided at the tip of a propulsion body for propelling in soil, generates electromagnetic waves in soil, and receives reflected waves reflected by obstacles. And a tip-side electric circuit that is provided in the propulsion body, and that gives a transmission signal to the transmission and reception antennas, drives the reception signal, and arithmetically processes the reception signal of the reflected wave; and an electromagnetic wave modulated by the output of the tip-side electric circuit. Transmitting means for transmitting a signal, a receiving means for receiving and demodulating an electromagnetic wave from the transmitting means for communication, and an exploration for outputting a signal indicating presence or absence of an obstacle in response to an output of the receiving means for communication. An obstacle detection device in the underground propulsion method, comprising: an output unit.

According to the present invention, a transmitting and receiving antenna is provided at the tip of the propulsion body. The transmitting and receiving antennas may be configured such that the transmitting antenna and the receiving antenna are individually configured, or a single antenna may be switched and connected by switching means for transmitting and receiving. In this specification,
"Transmit and receive antennas" or "transmit and receive antennas" refer not only to configurations in which two separate antennas are used, but also to transmit and receive such a single antenna by switching means. Must be interpreted as a concept including a configuration that achieves each of the functions described above.

[0008] An electromagnetic wave is generated from the transmitting antenna in the ground. By receiving a reflected wave from an obstacle in the soil at the receiving antenna, an obstacle existing near the tip of the propulsion body can be detected.

The obstacle is a conduit for transporting gas and water buried underground, or another underground structure.

According to the present invention, even when the propulsion body approaches the vicinity of an obstacle, the presence of the obstacle can be easily detected even if the depth from the ground surface is large.
In addition, the position of an obstacle such as an underground structure can be known. Therefore, the propulsion body can be propelled underground by avoiding the obstacle, thereby preventing the propulsion body from colliding with or contacting the underground structure, which is an obstacle, thereby damaging the obstacle. .

According to the present invention, as will be described in connection with the embodiments shown in FIGS. 1 to 6 and FIGS. A unit side electric circuit is built in, and an electromagnetic wave modulated by the output is transmitted into the soil or into the propulsion body by the communication transmitting means. For example, on the ground or at the base end of the propulsion body, an electromagnetic wave from the communication transmitting means is received and demodulated, and a signal indicating the presence or absence of an obstacle is output by the search output means, for example, visually displayed. In this way, the tip side electric circuit and the exploration output means are coupled by transmitting and receiving signals by electromagnetic waves via the communication transmitting / receiving means. Is easy and, as in the proposed technique described above,
There is no need to attach and detach cables, and workability is good.

Further, the present invention provides a transmitting antenna provided at the tip of a propelling body for propelling in soil and generating an electromagnetic wave in soil, and a transmitting antenna provided in the propelling body for supplying a transmitting signal to the transmitting antenna for driving. A tip-side electric circuit for deriving a signal related to the transmission signal, a receiving antenna movable on the ground along the tip of the propulsion body and receiving an electromagnetic wave, and a tip-end side provided in the propulsion body. A communication transmitting means for transmitting an electromagnetic wave modulated by an output from the electric circuit; a communication receiving means for receiving and demodulating the electromagnetic wave from the communication transmitting means; and a response to the output of the receiving antenna and the communication receiving means. And an exploration output means for outputting a signal indicating the presence or absence of an obstacle.

According to the present invention, FIG. 7 and FIG.
As described in relation to the embodiment, a transmitting antenna is provided at the tip of a propulsion body underground, and an electromagnetic wave is generated from the transmitting antenna. On the ground, the receiving antenna receives electromagnetic waves from the transmitting antenna via the soil. If an obstacle exists in the middle of the path of the electromagnetic wave from the transmitting antenna to the receiving antenna, the intensity of the electromagnetic wave received by the receiving antenna changes, whereby the obstacle can be easily detected. Since the intensity of the electromagnetic wave reaching the ground may be low, there is no possibility that a problem such as radio interference will occur. On the other hand, the transmitting antenna radiates electromagnetic waves toward the soil from the ground, and the electromagnetic waves radiated from the transmitting antenna are reflected by the soil and the underground buried object, and received by the receiving antenna provided on the ground. In the configuration for exploring a buried object on the ground, in order to detect an obstacle at a large depth, a high-power electromagnetic wave must be generated from the transmitting antenna 5 on the ground, which may cause radio interference on the ground. There is. The present invention solves this problem.

According to the present invention, the distal end side electric circuit is housed in the distal end portion of the propulsion body, and the transmitting antenna and the electric circuit are connected to each other.
It is driven by a battery provided in the propulsion body. With this configuration, it is not necessary to house the power supply and data communication cables in a long propulsion body. In the structure where at least the tip of the propulsion body rotates, a complicated structure such as a slip ring is required,
According to the present invention, such a complicated structure as a slip ring is eliminated. Furthermore, in the process of propelling the propulsion body into the ground, there is a work of adding a propulsion pipe that will be a new propulsion body main body at the base end of the propulsion body main body in the soil, and even in such work, cable There is no need to remove the work, and the workability is good.

In the propulsion body, for example, in the tip of the propulsion body,
A communication transmitting means for transmitting an electromagnetic wave is built in, and the electromagnetic wave from the communication transmitting means is received by the communication receiving means on the ground or at the base end of the propulsion body. Thus, the presence or absence of an obstacle near the tip of the propulsion body can be output, for example, by displaying it.

Further, the present invention is characterized in that the communication transmitting means transmits an electromagnetic wave into the soil, and the communication receiving means is provided on the ground.

According to the present invention, the electromagnetic wave from the communication transmitting means is transmitted in the soil and received by the communication receiving means provided on the ground. An obstacle detecting device in the underground propulsion method using soil as a transmission medium for electromagnetic waves has not existed conventionally, and in the present invention, the workability is improved as described above by such a configuration. That is, as a radar transmission and reception system having an antenna for exploration signal transmission, frequency modulation is performed on the exploration data, for example, electromagnetic waves are transmitted through the soil from the data transmission antenna to the data reception antenna using an electromagnetic induction method, and the exploration signal is transmitted. An apparatus for detecting an obstacle in the underground propulsion method for transmission can be realized. As an antenna for transmitting and receiving data, it is desirable to use, for example, a coil antenna.

Further, according to the present invention, the propulsion body has a hollow space extending in the axial direction thereof, at least an inner surface forming the space is made of metal, and the communication transmitting means transmits electromagnetic waves to the space. The communication receiving means is provided near the base end of the propulsion body.

According to the present invention, as a data transmission / reception system having an antenna for transmitting an exploration signal, a metal propulsion body is used as a waveguide electrically connected from a distal end to a proximal end, and electromagnetic wave transmission in the waveguide is performed. By using the method, an electromagnetic wave can be transmitted through a propulsion pipe constituting a propulsion body to transmit a search signal. Such a configuration of claim 4 is described in FIG.
5 corresponds to the embodiment of FIG.

In the present invention, the propulsion body is made of metal,
The communication transmitting means transmits electromagnetic waves to the propulsion body, and the communication reception means is provided near the base end of the propulsion body.

According to the present invention, an electromagnetic wave can be transmitted to a metal propulsion body as shown in FIG. That is, as a data transmission / reception system having an antenna for transmitting a search signal, a search signal is transmitted along the inner surface of a propulsion pipe constituting a propulsion body. The propulsion body is made of metal and can therefore serve as a medium for data transmission. The propulsion body is a conductor that is electrically connected from its distal end to its proximal end, and thus can be used as a wired transmission medium.

Further, according to the present invention, the distal end of the propulsion body has a flat surface inclined with respect to the axis of the propulsion body, and the propulsion body is pushed in the axial direction upstream of the distal end in the propulsion direction. In addition, a propulsion drive unit that is angularly displaced about the axis is provided.

According to the present invention, the propulsion body has, for example, flexibility, and at least the front end portion of the propulsion body, for example, only the front end portion, is driven to rotate around the axis of the front end portion, or the front end portion and the propulsion body are driven. The whole of the propulsion body following the tip is driven to rotate around its axis, and the tip has an inclined surface inclined with respect to the axis of the tip. In this manner, the tip of the propelling body can be driven in the soil linearly along the axis thereof by rotating at least the tip.

Further, by pushing and driving the propulsion body in the axial direction without rotating at least the distal end portion about the axis, the axis of the propulsion body is formed in an imaginary plane including the axis of the propulsion body so that the inclined surface has an arcuate shape. The trajectory is curved so as to face outward in the radial direction of the trajectory, and the propulsion body advances and propells. Thus, the locus of the propulsion body can be curved by the reaction force of the soil acting on the inclined surface.

In this way, by combining at least the rotational drive and the push-in drive of the tip, the tip can be propelled while avoiding obstacles existing in the ground.

Further, according to the present invention, the propulsion body includes the tip portion,
And a propulsion body including a plurality of propulsion tubes detachably connected to the distal end.

According to the present invention, the propulsion body includes a tip portion and a propulsion body main body, and the propulsion body main body is formed by adding a plurality of propulsion pipes as the propulsion is performed. To remove the propulsion body from the soil, a plurality of propulsion tubes are sequentially removed from the base end.

Further, according to the present invention, the tip side electric circuit transmits a transmission signal having a promised waveform from a transmission antenna, a reception signal including the promised waveform from the reception antenna is used as a correlated signal, and a period at which the reception signal is obtained is obtained. A correlation type detection circuit which multiplies a promised waveform shifted sequentially by a small amount of time as a correlation signal each time and integrates the multiplied value.

According to the present invention, in the correlation detection circuit of FIGS. 2 and 7, the received signal including the promised waveform is used as the correlated signal, and the received signal is sequentially shifted by a small amount of time at each time of the obtained signal. By multiplying the promised waveform as a correlation signal and integrating the multiplied value, correlation detection processing and pulse compression processing are performed to obtain a target detection signal or correlation detection signal. An improved detection signal or correlation detection signal with high accuracy can be obtained. In addition, since such a configuration is realized by a simple configuration, it can be easily incorporated in the distal end portion of the propulsion body, and even if the distal end portion has a small diameter, the present correlation type detection circuit can be incorporated. It is possible. Accordingly, the diameter of the propulsion body can be reduced, and the load for driving the propulsion body can be reduced.

Further, according to the present invention, the electric circuit on the front end side includes a transmission signal generating circuit for generating and providing a transmission signal to the transmission antenna, and a response to the reception signal from the reception antenna. Means for calculating and calculating a time difference ΔT1 until time.

According to the present invention, as shown in FIG. 8 to FIG.
Time difference Δ until receiving signal is received by receiving antenna
The presence or absence of an obstacle can be detected depending on T1.

The present invention also provides a propulsion body for propelling in the soil, the propulsion body comprising a propulsion body including the tip portion and a plurality of propulsion tubes detachably connected to the tip portion. The tip of the propulsion body has a flat surface that is inclined with respect to the axis of the propulsion body. Prepare a propulsion drive means that angularly displaces, generates electromagnetic waves in the soil by transmitting and receiving antennas provided at the tip, receives reflected waves reflected by obstacles,
The electromagnetic wave modulated by processing the received signal of the reflected wave is
The electromagnetic wave from the communication transmitting means is transmitted by the communication transmitting means, and the electromagnetic wave from the communication transmitting means is received and demodulated by the communication receiving means, and the presence / absence of an obstacle is output by a signal obtained by the demodulation. The underground propulsion method is characterized in that the propulsion unit is angularly displaced and pushed in by a propulsion drive means so as to avoid and propell.

The present invention also provides a propulsion body for propelling in the soil, the propulsion body comprising a propulsion body including the tip portion and a plurality of propulsion tubes detachably connected to the tip portion. The tip of the propulsion body has a flat surface that is inclined with respect to the axis of the propulsion body. Prepare a propulsion drive means that is angularly displaced, and generate electromagnetic waves in the soil by the transmission antenna provided at the tip, and remove the soil from the transmission antenna by the reception antenna that can move along the tip of the propulsion body on the ground. In the propulsion unit, the transmission antenna supplies a transmission signal to the transmission antenna, drives the transmission antenna, derives a signal related to the transmission signal, and modulates the electromagnetic wave modulated by the signal related to the transmission signal for communication. The electromagnetic wave from the transmitting means for communication is received and demodulated by the receiving means for communication, and the output between the receiving antenna and the signal obtained by the demodulation is used to transmit the electromagnetic wave between the transmitting antenna and the receiving antenna in the soil. The underground propulsion method is characterized in that the presence or absence of an obstacle existing in the vehicle is output, and the propulsion body is angularly displaced and pushed by the propulsion driving means so that the tip propells while avoiding the obstacle.

According to the present invention, the propulsion can be performed in the soil while the propulsion body does not come into contact with or collide with the obstacle while being propelled while adding the propulsion pipe into the soil. . For example, in order to be able to propel while avoiding obstacles, the inclined surface of the tip of the propulsion body is made to face the obstacle side. , The tip of the propulsion body follows a locus curved in a direction away from the obstacle. In order to move the tip of the propelling body straight, the propelling body may be pushed into the soil while rotating about the axis.

According to the present invention, by using the transmitting means for communication and the receiving means for communication, it is not necessary to perform the work such as disconnection and reconnection of the cable described in the above-mentioned proposed technique, and the workability is improved. Be improved.

[0036]

FIG. 1 is a sectional view showing an underground propulsion method according to an embodiment of the present invention. In the soil 62, a flexible pipe made of a synthetic resin such as a polyethylene pipe is buried without digging for laying a conduit for transporting gas and the like. A propelling body 64 is propelled from the starting shaft 63 into the soil 62. The propulsion body 64 includes a distal end 66 connected to the propulsion body main body 65. The tip 66 can be driven to rotate about the axis of the tip 66 as indicated by the arrow 57. The driving means 68 drives the tip end portion 66 to rotate about its axis as described above and pushes the propulsion body 64 into the soil 62 in the starting shaft 63.

The tip 66 penetrates into the soil 62 from the shaft 63, and is press-fitted while adding a propulsion pipe 67 constituting a part of the propulsion body 64, and excavation proceeds. From the tip 66,
For example, muddy water is injected to facilitate excavation and stabilize the hole wall of the formed excavation hole. Since an inclined surface is formed on the distal end portion 66 of the propulsion body 64 as described later, at least the distal end portion 66 of the propulsion body 64 is pushed in while being rotationally driven to move straight, and at least the distal end portion 66 is rotationally driven. By pushing in without pushing, the flexible propulsion body main body 65 bends, and thus the propulsion body 64 avoids obstacles 69 such as pipes,
The soil 62 can be dug.

In this way, the propelling body 64 digs into the soil 62, and the propelling body 64 is removed at the reaching shaft formed on the soil 62 or on the ground surface 70, and a hole corresponding to the diameter of the gas conduit to be laid is formed. Attach the reamer, then connect the polyethylene pipe to be laid, expand the required diameter while re-injecting the Bennite mud from the expanded reamer, pull back the propulsion body 64, and pull the polyethylene pipe to the starting shaft 63 or the ground. Finish the work.

In the distal end portion 66 of the propulsion body 64, the obstacle 6
In order to detect 9, a transmitting antenna 33 a for generating an electromagnetic wave as a radio wave is provided, and a receiving antenna 33 b for receiving the electromagnetic wave is provided. In the following description, reference numeral 33
a, 33b are generally indicated only by the numeral 33, and the suffixes a,
b may be omitted, and the same applies to other reference numerals. In FIG. 1, the range in which the obstacle 69 can be detected is indicated by reference numeral 199. In the search data obtained by the antenna, electromagnetic waves, which are radio waves, are radiated into the soil 62 by the communication transmitting unit 181 and received by the communication receiving unit 182 on the ground. Thus, it is possible to know whether or not the obstacle 69 exists near the tip 66 on the ground. Therefore, at the time of propulsion, a plurality of propulsion tubes 67 constituting the propulsion body main body 65 are provided at the distal end portion 66.
Propelling body 6
Since the cable is not provided in the entire length of the propulsion pipe 67, the cable is disconnected /
There is no need to reconnect, and workability is improved. This is the same when the propelling body 64 is extracted from the soil 62. According to the present invention, workability is improved. For example, the transmission antenna 186 for communication and the transmission antenna 33a may be shared.

FIG. 2 is a block diagram of a correlation type detection circuit 55 constituting an obstacle detection device in the underground propulsion method according to one embodiment of the present invention. When the transmission signal from the correlation detection circuit 55 is given to the transmission antenna 33a, an electromagnetic wave is generated, whereby a reception signal is obtained from the reception antenna 33b. This correlation type detection circuit 5
The battery 56 for supplying electric power is housed in the distal end portion 66 of the communication transmission means 181 and the communication transmission means 181. The transmitting antenna 33a and the receiving antenna 33b are collectively denoted by reference numeral 3.
3 may be indicated.

Referring to FIG. 3, the configuration and operation of the correlation detection circuit 55 will be described. The variable period circuit 31 includes a voltage-controlled oscillation circuit (abbreviated VCO), and is based on a pulse signal having a variable period TE that is sequentially extended by a small amount of time Δt each time in the initial period, that is, the initial period T, as shown in FIG. The indicated variable period signal 31XA is applied to a fixed delay circuit 42 and a correlation signal generator 43.

The variable period circuit 31 is, for example, a pulse generation circuit in which a clock circuit having a period Δt, which is a small amount of time, and a counting circuit for counting the clock are combined. T =
When set to Δt × n, n is a fixed amount and n + 1,
n + 2, n + 3,..., n + r, n (r + 1), n + (r
+2), ..., n + (n-2), n + (n-1), n + n
T− (T +
A pulse signal 31XA having a variable period is generated which sequentially extends by a small amount of time Δt within a period of Δt × n). Δt is a promised waveform generated in the transmission circuit 32, that is, the transmission signal 32
It is selected to be 1 / m, for example, 1/10 of the time length TPX between XA and the correlation signal 43XA.

The correlation signal circuit 43 includes a variable period signal 31X.
A circuit for generating a signal of a promised waveform by a monocycle waveform having a time length TPX for each A as a correlation signal 43XA,
The generated correlation signal 43XA is applied to one multiplication input of the multiplication circuit 41.

The fixed delay circuit 42 has a variable period signal 31X.
A is a circuit for delaying A by a predetermined fixed delay amount FD,
For example, it is a monostable multivibrator, and applies a delayed fixed delay signal 42XA to the transmission circuit 32.

In the case of the embodiment shown in FIG.
The fixed delay amount of 2 is set to a fixed delay amount FD corresponding to one period of the initial period T. Therefore, the transmission circuit 32
The fixed delay signal 42XA given to each variable period TE
Each time, from the time point of the variable period signal 31XA, it always appears as a promised waveform delayed by the same fixed delay amount FD as the initial period T, that is, a monocycle signal.

The correlation signal 43XA applied to one input of the multiplication circuit 41 has a promised waveform every variable period TE,
That is, it appears as a monocycle signal. The transmission signal 32XA provides the transmission antenna 33a with a signal of a promised waveform delayed by the same fixed delay amount FD as the initial period T while sequentially extending the detection period by Δt at each time, so that the reception obtained by the reception signal 39XA Similarly, the signal 40XA (the noise signal is omitted) appears as a signal that is delayed by Δt each time, but the signal 40XA is always delayed by the initial period T with respect to the correlation signal 43XA. .

Therefore, as seen from the promised waveform signal applied to one input side of the multiplication circuit 41, that is, the received signal 40XA applied as the correlated signal to the other multiplication input when viewed from the correlation signal 43XA, The signal is delayed by a time corresponding to the initial period T, so that the variable period TE
, The correlation signal 43XA after the second time is delayed first, and the received signal 40XA is ΔΔ every time of the variable period TE.
That is, it is received at the time sequentially advanced by t. Therefore, with respect to the promised waveform of the correlation signal 43XA, the signals 40a, 40b, and 40c due to the presence of, for example, three obstacles 69 buried in the ground in the depth direction appear at times sequentially raised by Δt. become.

Therefore, the multiplication signal 41XA is
The correlation signal 43XA is obtained as a signal of an amplitude value obtained by multiplying the amplitude value of each signal by shifting the correlation signal 43XA to the variable period TE, that is, to the rear at every detection period by Δt with respect to 0XA.
As a result, a detection signal that has been subjected to correlation detection processing and pulse compression processing can be obtained from the multiplication signal 41XA, the integration signal 44XA, and the detection signal 45XA.

When the variable period TE becomes twice as long as the first fixed period T, the correlation detection processing and the pulse compression processing for the detection distance range corresponding to the first fixed period T are completed.

In the embodiment of FIG. 2, the fixed delay circuit 42
Is provided between the variable period circuit 31X and the transmission circuit 32 to provide a fixed delay. However, in another embodiment, (1) the fixed delay circuit 42 is removed, and the fixed delay circuit 42 is By providing between the receiving antenna 33b and the amplifying circuit 40 or (2) between the amplifying circuit 40 and the multiplying circuit 41, the receiving signal 39XA or the receiving signal 40XA may be configured to be fixedly delayed. . Also in this configuration, the time relationship between the correlated signal, that is, the reception signal 40XA and the correlation signal 43XA given to the multiplication circuit 41 is the same as that of the embodiment of FIG. 1, and the same correlation detection processing and pulse compression processing are performed. Will be obtained.

The detection signal 45XA from the amplifier 45
Is supplied to a modulation circuit 183 provided in the communication transmitting means 181 for data communication. The modulation circuit 183 is provided with a carrier 184 having a predetermined constant frequency. The modulation circuit 183 converts the carrier 184 into the detection signal 45.
The frequency is modulated by XA, and the modulated signal is supplied to the transmission circuit 185. The transmission circuit 185 includes the modulation circuit 18
3 is power-amplified and provided to a transmission antenna 186 for data communication. Electromagnetic waves, which are radio waves from the transmitting antenna 186, are radiated from the propulsion body 64 to the soil 62 as indicated by reference numeral 187a.

On the ground, receiving means 1 for data communication
82 are provided. The receiving means 182 is adapted to receive the electromagnetic wave 18
Antenna 187 for data communication receiving 7a
Is provided. The data signal received by receiving antenna 187 is amplified by receiving circuit 188 and demodulated by
, And a signal representing the presence or absence of the obstacle 69 is derived, and given to the display means 46. Thus, the display means 46 visually displays a signal indicating the presence or absence of the obstacle 69. The operator looks at the output of the display means 46 and angularly displaces the propelling body 64 about its axis or pushes the propelling body 64 into the soil 62 without angular displacement.
6 can be propelled while avoiding the obstacle 69.

The transmitting antenna 186 and the receiving antenna 187 for exploration data communication shown in FIG. 2 may be, for example, coiled antennas or antennas having other configurations.

The correlation detection circuit 55 constitutes a tip side electric circuit. The display means 46 constitutes a search output means. The tip side electric circuit is powered by the battery 56 (the wiring is not shown).

FIG. 4 is a sectional view for explaining an underground propulsion method according to another embodiment of the present invention. This embodiment is similar to the above-described embodiment, and corresponding portions are denoted by the same reference numerals. In the propulsion pipe 67 of the propulsion body 64, a communication transmission unit 191 is incorporated. Near the driving means 68 provided at the base end of the propulsion body 64, the communication receiving means 19 is provided.
2 are provided. The propulsion body 64 is substantially entirely made of metal such as stainless steel, has a hollow space extending in the axial direction, and at least the inner surface forming this space is made of metal. When the propulsion body 64 is made of a material such as an electrically insulating ceramic, a metal layer is formed on the inner surface of the propulsion body 64. Thus, a waveguide is formed along the axial direction of the propulsion body 64.

FIG. 5 is a sectional view simply showing a part of the propulsion pipe 64. The electromagnetic wave from the communication transmitting means 191 can transmit the exploration data while passing through the propulsion pipe 67 by using the electromagnetic wave transmission method in a waveguide, and the electromagnetic wave is received by the communication receiving means 192. Other configurations are the same as those of the above-described embodiment shown in FIGS.

FIG. 6 is a sectional view showing an underground propulsion method according to still another embodiment of the present invention. A communication transmitting means 193 is built in the propulsion body 64, and a communication receiving means 194 is provided in the driving means 68 near the base end of the propulsion body 64. The propulsion body 64 is substantially entirely made of metal such as stainless steel, or has at least a part of a conductor electrically connected in the axial direction. For example, a metal layer is formed on the inner peripheral surface. The carrier wave modulated by the search data is transmitted from the communication transmitting means 193 on the surface of the propulsion pipe 67, transmitted, and received by the communication receiving means 194. Other configurations are the same as those of the embodiment described with reference to FIGS.

FIG. 7 is a block diagram showing the overall configuration of a correlation detection circuit 55a according to another embodiment of the present invention. This embodiment is similar to the correlation type detection circuit 55 shown in FIG. 2 described above, and corresponding portions are denoted by the same reference numerals. It should be noted that in this embodiment, the output signal 31XA of the variable period circuit 31 causes the carrier oscillation circuit 1
The carrier wave from 84 is modulated by the modulation circuit 183, power-amplified by the transmission circuit 185, and transmitted by the transmission antenna 18 for communication.
6 is radiated as an electromagnetic wave. The electromagnetic wave from the communication transmitting antenna 186 is received by the receiving antenna 187 in the communication receiving means 182a, amplified by the receiving circuit 188, and demodulated by the demodulation circuit 189. The output signal 31XA thus obtained is provided to the correlation signal generator 43. Other configurations are the same as those of the above-described embodiment.

FIG. 8 is a block diagram showing an electric circuit 175 of a sampler type underground radar which can be used in place of the above-mentioned correlation type detection circuit 55 in another embodiment of the present invention. In order to detect the buried object 69 shown in FIG. 1 described above, a sectional image in the soil 62 can be formed and displayed on the visual display means 3 such as a cathode ray tube or a liquid crystal. The pulse generation circuit 4 includes a transmitting antenna 33
FIG. 9A shows a pulse-like transmission signal shown in FIG. As a result, the transmission antenna 33a radiates electromagnetic waves, which are radio waves, toward the soil 62 as shown in FIG. 9 (2). The electromagnetic wave radiated from the transmitting antenna 33a is
The reflected wave is reflected by the obstacle 69, and the reflected wave is received by the receiving antenna 33b.
Is supplied to a high-frequency amplifier circuit 8 via a line 7 and amplified. The output of the receiving antenna 33b is line 7
Is derived from After the transmission signal shown in FIG. 9A is given to the transmission antenna 33a, the reception antenna 33b
9 (3) corresponds to a distance between the antenna 33 and the obstacle 69. Transmission antenna 33a and reception antenna 33b
Are integrally fixed, and the tip 66 moves in the soil 62, so that the obstacle 69 in the soil 62 can be detected. The signal obtained by changing the degree of amplification in the amplifier circuit 8 is sampled by the sampler 10, digitized, and provided to the processing circuit 11 realized by a microcomputer or the like. An image of the obstacle 69 in 62 is obtained. In this image, an image corresponding to the obstacle 69 is displayed. This image signal is stored in the memory 14.

An obstacle 69 buried in the ground is detected by using the electric circuit 175 of such a sampler type underground exploration radar, and the propelling body 64 is placed in the soil 62 while avoiding the obstacle 69. Insert and propel in the soil.

The signal indicating the presence or absence of the obstacle 69 from the processing circuit 11 is transmitted to the modulation circuit 1 in the communication transmitting means 181b.
83, thereby modulating the frequency of the carrier supplied from the carrier oscillation circuit 184. This modulation circuit 1
83 is amplified by a transmission circuit 185, and transmitted from a transmission antenna 186 for communication.
And emitted as shown in FIG. Communication receiving means 18
In 2b, the electromagnetic wave from the communication transmission antenna 186 is received by the reception antenna 187, amplified by the reception circuit 188, and demodulated by frequency discrimination by the demodulation circuit 189. The image of the obstacle 69 thus obtained is visually output on the display unit 3.

FIG. 10 is a block diagram showing an electric circuit 175 of a sampler type underground radar according to another embodiment of the present invention. This embodiment is similar to the embodiment of FIGS. 8 and 9 described above, and corresponding parts are denoted by the same reference numerals. It should be noted that in this embodiment, the output of the control circuit 19 is provided to the modulation circuit 183 of the communication transmitting means 181c, and frequency-modulates the carrier from the carrier oscillation circuit 184. Other configurations are the same as those of the above-described embodiment. In the communication receiving means 182c, the output of the control circuit 19 is obtained from the demodulation circuit 189 and is provided to the sampler 10.

FIG. 11 is a cross-sectional view of the vicinity of the distal end portion 66 of the propulsion body 64, and FIG. 12 is a cross-sectional view in which the configuration of the propulsion body 64 is simplified. The plurality of propulsion tubes 67 are individually
a and 67b. The propulsion pipes 67 are detachably connected to each other at both ends in the axial direction, can be added one by one when propelled into the soil, and can be detached one by one when taken out from the soil. be able to. The most downstream side of the propulsion pipe 67 in the propulsion direction 98 (FIG. 1)
A distal end 66 is attached to the propulsion pipe 67a (left of FIG. 2). An electric circuit 99 is accommodated in the propulsion pipe 67 at the most downstream side in the propulsion direction 98. One end 58a of the cable 58 is detachably connected to the transmitting antenna 33a by the connector 37. One end 59a of the cable 59
Is connected to the receiving antenna 33 by another connector 38.
b is detachably connected to b. These cables 58,
The other end portions 58b, 59b of 59 are connected to an electric circuit 99. The other end portions 58b, 59b of the cables 58, 59
Is detachably connected to the electric circuit 99 by connectors 147 and 148. The electric circuit 99 has the propulsion direction 9
8 is stored in the propulsion pipe 67a on the most downstream side so as to be able to be taken out upstream (to the right in FIG. 12) in the propulsion direction 98.

The distal end portion 66 is made of stainless steel and has a straight cylindrical portion 100 and an inclined plate 101. The inclined plate 101 is moved from its upstream end in the propulsion direction 98 to its axis 73.
With respect to the axis 73 as it goes downstream in the propulsion direction 98. That is, the outer surface of the inclined plate 101 is flat and inclined with respect to the axis 73.

[0065]

According to the first aspect of the present invention, an electromagnetic wave is generated from an underground transmitting antenna, and a reflected wave from an obstacle in the soil is received. Since an obstacle can be detected, the underground propulsion method can be performed while preventing damage to the obstacle such as an underground object.

According to the present invention, since the electromagnetic wave is generated from the tip of the propulsion body, an obstacle near the tip in the soil where the electromagnetic wave is easily attenuated requires a large transmission power. , And can be easily and reliably detected.

Further, according to the present invention, the tip side electric circuit is built in the propulsion body, and the electromagnetic wave modulated by the output is transmitted into the soil or into the propulsion body by the communication transmitting means. For example, on the ground or at the base end of the propulsion body, receives and demodulates electromagnetic waves from the communication transmitting means, and outputs a signal indicating the presence or absence of an obstacle by the search output means,
For example, it is visually displayed. In this way, the tip side electric circuit and the exploration output means are coupled by transmitting and receiving signals by electromagnetic waves via the communication transmitting / receiving means. It is easy to work, there is no need to attach and detach the cable, and the workability is good.

According to the second aspect of the present invention, a transmitting antenna is provided at the tip of the propulsion body underground, and the transmitting antenna generates an electromagnetic wave. On the ground, the receiving antenna receives electromagnetic waves from the transmitting antenna via the soil. If an obstacle exists in the middle of the path of the electromagnetic wave from the transmitting antenna to the receiving antenna, the intensity of the electromagnetic wave received by the receiving antenna changes, whereby the obstacle can be easily detected. In addition, since the intensity of the electromagnetic wave reaching the ground may be low, problems such as radio interference can be prevented.

According to the present invention, the distal end side electric circuit is housed in the distal end portion of the propulsion body, and the transmitting antenna and the electric circuit are arranged
It is driven by a battery provided in the propulsion body. With this configuration, it is not necessary to house the power supply and data communication cables in a long propulsion body. In addition, there is no need for a complicated structure such as a slip ring, and it is necessary to remove cables, etc., when adding a propulsion pipe that is a new propulsion body to the base end of the propulsion body in the soil There is no workability.

According to the present invention, a communication transmitting means for transmitting an electromagnetic wave is built in the propulsion body, for example, in the distal end portion of the propulsion body, and the communication transmitting means is provided on the ground or at the base end of the propulsion body. Is received by the communication receiving means. Thus, the presence or absence of an obstacle near the tip of the propulsion body can be output, for example, by displaying it.

According to the third aspect of the present invention, the electromagnetic wave from the communication transmitting means is transmitted in the soil and received by the communication receiving means provided on the ground. With such a configuration, the workability is improved as described above. In other words, as a radar transmission / reception system having an antenna for transmission of a search signal, frequency modulation is performed on the search data, and electromagnetic waves are transmitted through the soil from the data transmission antenna to the data reception antenna using the electromagnetic induction method to transmit the search signal. It is possible to realize an obstacle detection device in the underground propulsion method.

According to the fourth aspect of the present invention, the metal propulsion body is used as a waveguide electrically connected from the distal end to the base end, and the propulsion body is formed by using the electromagnetic wave transmission method in the waveguide. Electromagnetic waves can be transmitted through the propulsion pipe to be configured, and a search signal can be transmitted.

According to the fifth aspect of the present invention, since the propulsion body is made of metal and is thus a conductor electrically connected from its distal end to its proximal end, it can be used as a wired transmission medium. .

According to the sixth aspect of the present invention, the propulsion body has, for example, flexibility, and at least the front end portion, for example, only the front end portion of the propulsion body is driven to rotate about the axis of the front end portion, or The entire tip and the propulsion body following the tip are driven to rotate about their axes, and the tip has an inclined surface inclined with respect to the axis of the tip. In this manner, the tip of the propelling body can be driven in the soil linearly along the axis thereof by rotating at least the tip.

Further, by pushing and driving the propulsion body in the axial direction thereof without rotating at least the distal end portion around its axis, a virtual plane including the axis of the propulsion body and perpendicular to the inclined surface of the distal end portion is obtained. The axis is curved such that the inclined surface faces outward in the radial direction of the arc-shaped trajectory, and the propulsion body advances and propells. Thus, the locus of the propulsion body can be curved by the reaction force of the soil acting on the inclined surface.

In this way, by combining at least the rotational drive and the push-in drive of the tip, the tip can be propelled while avoiding obstacles existing in the ground.

According to the seventh aspect of the present invention, the propulsion body includes the distal end portion and the propulsion body, and the propulsion body is formed by adding a plurality of propulsion pipes as the propulsion is performed. Therefore, by sequentially removing the plurality of propulsion tubes from the base end, the propulsion body can be taken out of the soil.

According to the eighth aspect of the present invention, in the correlation type detection circuit, the received signal including the promised waveform is used as a correlated signal, and the promised waveform is shifted by a small amount of time sequentially at each time of the cycle in which the received signal is obtained. Is multiplied as a correlation signal, and by integrating the multiplied value, a correlation detection process and a pulse compression process are performed to obtain a target detection signal or a correlation detection signal. Therefore, the SN ratio is improved. Thus, a highly accurate detection signal or correlation detection signal can be obtained. In addition, since such a configuration is realized by a simple configuration, it can be easily incorporated in the distal end portion of the propulsion body, and even if the distal end portion has a small diameter, the present correlation type detection circuit can be incorporated. It is possible. Accordingly, the diameter of the propulsion body can be reduced, and the load for driving the propulsion body can be reduced.

According to the ninth aspect of the present invention, the presence or absence of an obstacle is detected depending on the time difference ΔT1 from the time when a transmission signal is generated at a transmission antenna to the time when a reception signal is received at a reception antenna. Can be.

According to the tenth aspect of the present invention, in the soil,
The propulsion can be propelled into the soil while the propulsion body does not come into contact with or collide with an obstacle while propelling while adding a propulsion pipe. For example, in order to be able to propell while avoiding obstacles, the state where the inclined surface of the tip of the propulsion body faces the obstacle side, and in this state, the propulsion body is pushed into the soil. The tip of the propulsion body follows a curved path in a direction away from the obstacle. In addition, by pushing the propulsion body into the soil while rotating about the axis, the tip of the propulsion body can be made to go straight.

According to the present invention, by using the communication transmitting means and the communication receiving means, it is not necessary to perform the work such as disconnection and reconnection of the cable as described in the above-mentioned proposed technique, and the workability is improved. Be improved.

According to the eleventh aspect of the present invention, the electromagnetic wave is received by the ground receiving antenna as described above.
Workability is further improved.

[Brief description of the drawings]

FIG. 1 is a sectional view showing an underground propulsion method according to an embodiment of the present invention.

FIG. 2 is a block diagram of a correlation detection circuit 55 that constitutes an obstacle detection device in the underground propulsion method according to one embodiment of the present invention.

FIG. 3 illustrates a configuration of a correlation type detection circuit 55 and an operation thereof.

FIG. 4 is a cross-sectional view for explaining an underground propulsion method according to another embodiment of the present invention.

FIG. 5 is a sectional view schematically showing a part of the propulsion pipe 64.

FIG. 6 is a sectional view showing an underground propulsion method according to still another embodiment of the present invention.

FIG. 7 is a block diagram showing an overall configuration of a correlation detection circuit 55a according to another embodiment of the present invention.

FIG. 8 is a block diagram showing an electric circuit 175 of a sampler type underground radar which can be used in place of the correlation type detection circuit 55 in another embodiment of the present invention.

FIG. 9 is a waveform diagram for explaining the operation of the sampler type underground search radar shown in FIG. 18;

FIG. 10 is a block diagram showing an electric circuit 175 of a sampler type underground survey radar according to another embodiment of the present invention.

FIG. 11 is a sectional view of the vicinity of a distal end portion 66 of the propulsion body 64.

FIG. 12 is a simplified cross-sectional view of a configuration of a propulsion body 64.

[Explanation of symbols]

 Reference Signs List 29 shield case 31 variable modulation circuit 32 transmission circuit 33a transmission antenna 33b reception antenna 62 soil 63 starting pit 64 propulsion body 65 propulsion pipe main body 66 tip 67, 67a, 67b propulsion pipe 68 driving means 69 obstacle 70 ground surface 82 electrical insulation Flexible board 98 Propulsion direction 99 Electric circuit 101 Inclined plate 107 Mounting seat 108 Shield case body 110 Flange 111 Storage space 181, 192, 191 Communication transmitting means 182, 194 Communication receiving means 183 Modulation circuit 184 Carrier oscillation circuit 185 Transmission circuit 186 Transmission antenna 187a Electromagnetic wave 188 Receiving circuit 189 Demodulation circuit

──────────────────────────────────────────────────の Continued on the front page (51) Int.Cl. ⁶ Identification symbol FI H01Q 1/04 H01Q 1/04 1/22 1/22 Z (72) Inventor Hideki Hayakawa 4-chome Hiranocho, Chuo-ku, Osaka-shi, Osaka No. 1-2 in Osaka Gas Co., Ltd.

Claims (11)

[Claims] A transmitting and receiving antenna provided at a tip of a propulsion body for propelling in the soil, generating an electromagnetic wave in the soil, and receiving a reflected wave reflected by an obstacle; A tip-side electric circuit for driving a transmission and reception antenna by providing a transmission signal and arithmetically processing a reception signal of a reflected wave; and a communication transmitting means for transmitting an electromagnetic wave modulated by an output of the tip-side electric circuit. A communication receiving means for receiving and demodulating an electromagnetic wave from the communication transmitting means, and a search output means for outputting a signal indicating presence or absence of an obstacle in response to an output of the communication receiving means. Obstacle detection device in the underground propulsion method. 2. A transmitting antenna provided at the tip of a propelling body for propelling in soil and generating an electromagnetic wave in the soil; and a transmitting antenna provided in the propelling body for supplying a transmitting signal to the transmitting antenna and driving the transmitting antenna. A tip-side electric circuit that derives a signal related to the signal; a receiving antenna that is movable along the tip of the propulsion body on the ground and receives electromagnetic waves; and A communication transmitting means for transmitting an electromagnetic wave modulated by an output of the communication receiving means, a communication receiving means for receiving and demodulating the electromagnetic wave from the communication transmitting means, and a response to the output of the receiving antenna and the communication receiving means. And an exploration output means for outputting a signal representing the presence or absence of an obstacle. 3. The underground propulsion method according to claim 1, wherein the communication transmitting means transmits an electromagnetic wave into the soil, and the communication receiving means is provided on the ground. apparatus. 4. The propulsion body has a hollow space extending in the axial direction, at least an inner surface forming the space is made of metal, and the communication transmitting means transmits an electromagnetic wave to the space, and The obstacle detecting device according to claim 1 or 2, wherein the receiving means is provided near a base end of the propulsion body. 5. The propulsion unit is made of metal, the communication transmitting unit transmits electromagnetic waves to the propulsion unit, and the communication reception unit is provided near a base end of the propulsion unit. Item 3. An obstacle detection device in the underground propulsion method according to item 1 or 2. 6. The propulsion body has a front end portion having a flat surface inclined with respect to the axis of the propulsion body. The propulsion body is pushed in the axial direction on the upstream side in the propulsion direction from the front end portion, and is pushed around the axis. 6. A propulsion drive means which is angularly displaced is provided on the vehicle.
An obstacle detection device in the underground propulsion method according to (1). 7. A propulsion body including the tip portion and a propulsion body body including a plurality of propulsion tubes connected detachably to the tip portion. An obstacle detecting device in the underground propulsion method according to one of the above. 8. A tip-side electric circuit transmits a transmission signal having a promised waveform from a transmission antenna, a reception signal including the promised waveform from the reception antenna is used as a correlated signal, and each time a period in which the reception signal is obtained is obtained. 8. A subsurface detection circuit according to claim 1, wherein the correlation detection circuit is configured to multiply a promised waveform sequentially shifted by a small amount of time as a correlation signal and integrate the multiplied value. Obstacle detection device in the propulsion method. 9. A front-end-side electric circuit, comprising: a transmission signal generation circuit for generating and providing a transmission signal to a transmission antenna; The apparatus for detecting an obstacle in the underground propulsion method according to any one of claims 1 to 7, further comprising means for calculating and calculating the time difference ΔT1. 10. A propulsion body for propelling in soil is provided, the propulsion body having the tip portion and a propulsion body body including a plurality of propulsion tubes detachably connected to the tip portion. The tip of the propulsion body has a flat surface inclined with respect to the axis of the propulsion body, and the propulsion body is pushed in the axial direction upstream of the tip in the propulsion direction and angularly displaced around the axis. Propulsion driving means was prepared, electromagnetic waves were generated in the soil by the transmitting and receiving antennas provided at the tip, the reflected waves reflected by obstacles were received, and the reflected wave received signal was processed and modulated. Electromagnetic waves,
The electromagnetic wave from the communication transmitting means is transmitted by the communication transmitting means, the electromagnetic wave from the communication transmitting means is received and demodulated by the communication receiving means, and the presence / absence of an obstacle is output by a signal obtained by the demodulation. An underground propulsion method characterized in that a propulsion unit is angularly displaced and pushed by a propulsion driving means so as to avoid and propell. 11. A propulsion body for propelling in soil is provided, the propulsion body having the tip portion and a propulsion body body including a plurality of propulsion tubes detachably connected to the tip portion. The tip of the propulsion body has a flat surface inclined with respect to the axis of the propulsion body, and the propulsion body is pushed in the axial direction upstream of the tip in the propulsion direction and angularly displaced around the axis. Prepare the propulsion drive means, generate electromagnetic waves in the soil with the transmitting antenna provided at the tip, and receive electromagnetic waves from the transmitting antenna via the soil with the receiving antenna that can move along the tip of the propulsion body on the ground In the propulsion unit, a transmission signal is applied to the transmission antenna to drive the transmission antenna, a signal related to the transmission signal is derived, and an electromagnetic wave modulated by the signal related to the transmission signal is transmitted to the communication transmission means. Send me, an electromagnetic wave from the communication transmission means, by a signal received by demodulating, obtained by the demodulation and the receiving antenna output by the communication receiving means,
It outputs the presence or absence of obstacles between the transmitting antenna and the receiving antenna in the soil, and pushes the propulsion body by angular displacement by the propulsion driving means so that the tip propulses avoiding the obstacle. Underground propulsion method characterized.