CN101245999A - Non-excavated underground pipe line attitude angle measuring sensing head - Google Patents
Non-excavated underground pipe line attitude angle measuring sensing head Download PDFInfo
- Publication number
- CN101245999A CN101245999A CNA2008100338648A CN200810033864A CN101245999A CN 101245999 A CN101245999 A CN 101245999A CN A2008100338648 A CNA2008100338648 A CN A2008100338648A CN 200810033864 A CN200810033864 A CN 200810033864A CN 101245999 A CN101245999 A CN 101245999A
- Authority
- CN
- China
- Prior art keywords
- psd
- pipe
- universal joint
- laser instrument
- laser
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Images
Landscapes
- Length Measuring Devices By Optical Means (AREA)
Abstract
The invention relates to an attitude angle measuring sensing head without excavating an underground pipeline, which comprises two centering mechanisms that are respectively fixed with two fixing ends; wherein, the two fixing ends are connected by a universal joint, one fixing end is fixed with a position sensing device PSD, thus forming a PSD fixing end, and the other fixing end is fixed with a laser device, thus forming a laser device fixing end, and laser beams emitted by the laser device fall on the position sensing device PSD. The PSD detects the positions of faculas and consequently computes the attitude angle of a pipeline. The attitude angle measuring sensing head without excavating an underground pipeline can be fit for different curved radiuses of the pipeline, and has simple operation, high measurement precision, convenient assembly and disassembly, and easy carrying.
Description
Technical field
The present invention relates to a kind of sensing head that is used for non-excavated underground pipe line attitude angle measuring, belong to the Mechatronic Engineering technical field.
Background technology
In the engineering survey, measurement of angle is very general, but spatial angle measuring is difficult to realize with angel measuring instrument under a lot of situation.Particularly the modern trenchless technology of pipeline obtains increasingly extensive application in China in recent years, in non-excavating construction, need the underground utilities position shape of laying be detected, to guarantee that the new pipeline of laying can not damage original pipeline, prevent that also the new pipeline of laying from not destroyed by the laying project in future.But at present both at home and abroad the underground utilities detection method that adopts exists such as bearing accuracy not highly, and detecting error significantly strengthens with the increase of excavating depth, investigation depth is not enough, to the problem of the intensive staggered regionally detecting difficulty of underground pipe network.
Summary of the invention
The objective of the invention is to problem, a kind of new non-excavated underground pipe line attitude angle measuring sensing head is provided, can be used to detect the pipeline attitude, the measuring accuracy height at the prior art existence.
In order to achieve the above object, design of the present invention is: non-excavated underground pipe line attitude angle measuring sensing head provided by the invention, when measuring, sensing head is put into pipe under test, if pipeline is crooked, to have certain angle between two centering machines, but the facula position that this angle laser instrument is beaten on PSD calculates.Pipeline is crooked more, and the angle between two centering machines is big more, and the hot spot of laser just departs from the central point of PSD more; When there was not bending in pipeline, two centering machines were on same straight line, and the hot spot of laser just in time drops on the central point of PSD.The measured value of PSD can reflect the degree of crook of pipeline.
This sensing head does not comprise the magnetic original paper, uses and not to be subjected to surrounding environment influence, can realize measurement to wide-angle or minute angle by the length of regulating universal pipe joint.When the bending radius of pipeline is very big, when promptly measuring minute angle, can adopt long universal pipe joint; When the bending radius of pipeline is less, when promptly measuring wide-angle, can adopt short universal pipe joint.During use, sensing head is being advanced in pipeline under the dragging of haulage gear, realizes the position angle between a plurality of measurement points in the continuous coverage pipeline.This measuring method is fit to the measurement under the various working, and it is not subjected to the influence of pipeline location and depth of burial, is not subjected to the influence of pipeline dense degree on every side, is not subjected to effect of electromagnetic radiation on every side, and can adapts to the variation of pipe bending size.Easy to use, the measuring accuracy height, equipment is light, and has the usability methods flexible characteristic.
According to above-mentioned inventive concept, the present invention adopts following technical proposals:
A kind of measurement sensing head of non-excavation underground pipeline attitude, comprise two centering machines, two centering machines are being fixed two stiff ends respectively, and two stiff ends couple together by universal joint, one of them stiff end is fixed a position sensitive detector PSD, constitutes the PSD stiff end; Another stiff end is fixed a laser instrument, constitutes the laser instrument stiff end.The laser beam that laser instrument penetrates drops on the position sensitive detector PSD, and the hot spot by detection laser drops on the position on the PSD sensing demifacet, calculates two angles between the centering machine axis, and this angle is an angle to be measured.
Fixedlying connected with the laser instrument stiff end respectively with the PSD stiff end in the two ends of two above-mentioned centering machines, adopts transition fit, and fix by holding screw; The other end of PSD stiff end and laser instrument stiff end is enclosed within respectively on two sections universal pipe joints of universal joint, adopts transition fit, and fixes by holding screw, keeps changeless distance between PSD stiff end and the laser instrument stiff end.
Above-mentioned PSD stiff end is made up of thin-wall bearing, bearing (ball) cover, PSD pillow block, PSD stationary shaft, weight, line collecting plate, position sensitive detector PSD and pipe end; Position sensitive detector PSD is welded on the line collecting plate, with screw line collecting plate is fixed on the PSD pillow block; Two thin-wall bearings of the outside suit of PSD pillow block adopt transition fit during assembling; Pipe end is enclosed within the outside of thin-wall bearing, realizes rotating relatively freely between pipe end and the PSD pillow block; Weight is screwed on the PSD pillow block by screw, makes the PSD pillow block keep free sagging.
Above-mentioned laser instrument stiff end is made up of thin-wall bearing, bearing (ball) cover, laser guide pipe, laser instrument end cap, weight and pipe end; The profile of laser instrument is cylindrical, is placed on the inside of laser guide pipe, fixes with the laser instrument end cap; Laser guide pipe outside is with two thin-wall bearings, adopts transition fit; Between two thin-wall bearings the collar is installed; Rotating relatively freely between pipe end and the laser guide pipe realized in the outside of two thin-wall bearings of pipe end suit; Weight is screwed in laser end by screw and covers, and makes laser instrument end cap, laser guide pipe and laser instrument keep free sagging.
Above-mentioned universal joint is made up of two universal joint pipe ends, two universal pipe joints, a universal joint heart, four universal joint axles, four little bearings and four universal joint bearing lids, and the universal joint heart is the annular solid of hollow, it is uniform four radial holes circumferentially, make laser beam to pass through; Radial hole with four universal joint axles insertion universal joint hearts adopts interference fit; Little bearing holder (housing, cover) adopts transition fit at the other end of universal joint axle; The outside of little bearing links to each other with universal pipe joint, is transition fit, and fixing by the universal joint bearing lid, realizes freely relatively rotating between two universal pipe joints simultaneously; Two universal pipe joints are enclosed within the outside of two universal joint pipe ends, and transition fit is fixed with holding screw again.
Above-mentioned centering machine is by tubular axis, edge cover, support claw, roller, stage clip, nothing oil lining) and support claw ear seat form.The material that does not have oily lining is enclosed within on the tubular axis for poly-tetrafluoro, is clearance fit, is free to slide on tubular axis; Support claw ear seat interference fit is enclosed within the outside of no oily lining; Each support claw ear seat is connected six support claws by six roots of sensation axle with snap ring, between support claw ear seat and the support claw; Between two support claw ear seats stage clip is installed; Edge cover transition fit is enclosed within the step place of tubular axis, fixes with holding screw.
The angle that becomes between the different position in pipeline, two centering machines is different, so that laser is beaten in the position of PSD sensing surface is also different.Hardware circuit is converted into digital signal with this simulating signal, passes to computing machine by serial ports.Computer software can be calculated angle value to be measured according to the distance between these data and two measurement points.
The present invention has following conspicuous outstanding substantive distinguishing features and remarkable advantage compared with prior art: the present invention can measure the angle of size arbitrarily by regulating the length of universal pipe joint.The sensing head mechanism that relates among the present invention detachably makes up, and the length of universal pipe joint can be selected according to angular range to be measured; Centering machine can adapt to the variation of pipe diameter, has increased practicality.The present invention can adapt to different pipe bending radiuses, and is simple to operate, the measuring accuracy height, and the dismounting reorganization is convenient, and is easy to carry about with one.
Description of drawings
Fig. 1 is the system block diagram that the present invention is applied to the measuring channel attitude.
Fig. 2 is the structural representation of one embodiment of the invention.
Fig. 3 is the PSD stiff end structural drawing among Fig. 2.
Fig. 4 is the laser instrument stiff end structural drawing among Fig. 2.
Fig. 5 is the centering machine structural drawing among Fig. 2.
Embodiment
Details are as follows in conjunction with the accompanying drawings for a preferred embodiment of the present invention:
Referring to Fig. 1, the measuring system when this non-excavated underground pipe line attitude angle measuring sensing head uses comprises sensing head, log arrangement, retractable cable mechanism, signals collecting control circuit, computing machine and display.Sensing head is being advanced in pipeline 1 under the dragging of take-up and pay-off device, and gait of march can be by the controller control of retractable cable mechanism, and travel distance can be measured by log arrangement.
Referring to Fig. 2, this non-excavated underground pipe line attitude angle measuring sensing head has two centering machines 2, universal joint 3, PSD stiff end 4, laser instrument stiff end 5.One end of two centering machines is fixedly PSD stiff end 4 and laser instrument stiff end 5 respectively, and PSD stiff end 4 is connected by universal joint 3 with laser instrument stiff end 5.
Referring to Fig. 3, the structure of PSD stiff end 4 is: position sensitive detector PSD 7 is welded on the line collecting plate 6, with screw line collecting plate 6 is fixed on the PSD pillow block 29; PSD pillow block 29 outsides are with two thin-wall bearings 9, adopt transition fit during assembling; Pipe end 13 is enclosed within the outside of thin-wall bearing 9, realizes rotating relatively freely between pipe end 13 and the PSD pillow block 29; Weight (12) is screwed on the PSD pillow block (29) by screw, makes PSD pillow block (29) keep free sagging.
Referring to Fig. 4, the structure of laser instrument stiff end 5 is: the profile of laser instrument 8 is cylindrical, can be placed on the inside of laser guide pipe 14, and is fixing with laser instrument end cap 15; Laser guide pipe 14 outsides are with two thin-wall bearings 9, adopt transition fit; Two 9 of thin-wall bearings can be installed the collar; Pipe end 13 is enclosed within the outside of two thin-wall bearings 9, realizes rotating relatively freely between pipe end 13 and the laser guide pipe 14; Weight 12 is screwed on the laser instrument end cap 15 by screw, makes laser instrument end cap 15, laser guide pipe 14 and laser instrument 8 keep free sagging.
Referring to Fig. 3 and Fig. 4, the structure of universal joint is: the universal joint heart 18 is the annular solid of hollow, and it is uniform four radial holes circumferentially, and the radial hole with four universal joint axles, the 19 insertion universal joint hearts 18 adopts interference fit; Little bearing 20 is enclosed within the other end of universal joint axle 19, adopts transition fit; The outside of little bearing 20 links to each other with universal pipe joint 17, is transition fit, and fixing by universal joint bearing lid 21, can realize freely relatively rotating between the two joint universal pipe joints 17 simultaneously; Universal pipe joint 17 is enclosed within the outside of universal joint pipe end 16, and transition fit is fixing referring to Fig. 3 and Fig. 4 with holding screw again, links to each other by screw between universal joint pipe end 16 and PSD pipe end 4 and the laser instrument pipe end 5, and locatees by a step.
Referring to Fig. 5, the structure of centering machine is: do not have oily lining 27, be enclosed within on the tubular axis 22, between be clearance fit, not having oily lining 27 can be free to slide on tubular axis 22; Support claw ear seat 28 is enclosed within the outside of no oily lining 27, interference fit, between do not have relative motion; On each support claw ear seat 28 six support claws 24 are housed, are connected with snap ring by an axle between support claw ear seat 28 and the support claw 24; Be a stage clip 26 between two support claw ear seats 28; Edge cover 23 is enclosed within the step place of tubular axis 22, and transition fit is fixed with holding screw.
Measuring system principle when present embodiment is applied to measure: drag sensing head and log arrangement advances in pipeline with retractable cable mechanism, whenever the step-length of advancing is paused once, read the position that this position PSD goes up laser facula, calculate inclination angle and the pivot angle of this position with respect to the deflection of previous measuring position.By that analogy, obtain the position of a plurality of measurement points in the pipeline, and then simulate the dimensional orientation curve of whole piece pipeline.This dimensional orientation angle measuring method is as follows:
1. the first end of sensing is linked to each other with retractable cable mechanism, the other end links to each other with log arrangement, and log arrangement links to each other with retractable cable mechanism again
2. sensing head and log arrangement are put into pipe under test
3. opening power
4. operating measurement software is set step-length
5. control retractable cable mechanism advances sensing head in pipeline, and stops some seconds after the step-length of whenever advancing, and finishes the measurement of a measuring position, moves on, and comes out up to the other end of sensing head from pipeline
6. finish measurement, the dimensional orientation curve intactly is presented on the display
7. powered-down.
Claims (6)
1. non-excavated underground pipe line attitude angle measuring sensing head, comprise two centering machines (2), it is characterized in that two centering machines (2) are fixing two stiff ends respectively, two stiff ends couple together by universal joint (3), one of them stiff end is fixed a position sensitive detector PSD, constitutes PSD stiff end (4); Another stiff end is fixed a laser instrument (8), constitutes the laser instrument stiff end.The laser beam (18) that laser instrument (8) penetrates drops on the position sensitive detector PSD (7).
2. non-excavated underground pipe line attitude angle measuring sensing head according to claim 1, fixedly connected with laser instrument stiff end (5) with PSD stiff end (4) respectively in the two ends that it is characterized in that two centering machines (2), adopt transition fit, and fix by holding screw; The other end of PSD stiff end (4) and laser instrument stiff end (5) is enclosed within respectively on two sections universal pipe joints (17) of universal joint (3), adopt transition fit, and fix by holding screw, keep changeless distance between PSD stiff end (4) and the laser instrument stiff end (5).
3. according to claim 1,2 described non-excavated underground pipe line attitude angle measuring sensing heads, it is characterized in that PSD stiff end (4) is made up of thin-wall bearing (9), bearing (ball) cover (10), PSD pillow block (29), PSD stationary shaft (11), weight (12), line collecting plate (6), position sensitive detector PSD (7) and pipe end (13); Position sensitive detector PSD (7) is welded on the line collecting plate (6), with screw line collecting plate (6) is fixed on the PSD pillow block (29); PSD pillow block (29) two thin-wall bearings of outside suit (9) adopt transition fit during assembling; Pipe end (13) is enclosed within the outside of thin-wall bearing (9), realizes rotating relatively freely between pipe end (13) and the PSD pillow block (29); Weight (12) is screwed on the PSD pillow block (29) by screw, makes PSD pillow block (29) keep free sagging.
4. according to claim 1,2 described non-excavated underground pipe line attitude angle measuring sensing heads, it is characterized in that laser instrument stiff end (5) is made up of thin-wall bearing (9), bearing (ball) cover (10), laser guide pipe (14), laser instrument end cap (15), weight (12) and pipe end (13); The profile of laser instrument (8) is cylindrical, is placed on the inside of laser guide pipe (14), and is fixing with laser instrument end cap (15); Laser guide pipe (14) outside is with two thin-wall bearings (9), adopts transition fit; Between two thin-wall bearings (9) collar is installed; Rotating relatively freely between pipe end (13) and the laser guide pipe (14) realized in the outside of pipe end (13) two thin-wall bearings of suit (9); Weight (12) is screwed on the laser instrument end cap (15) by screw, makes laser instrument end cap (15), laser guide pipe (14) and laser instrument (8) keep free sagging.
5. according to claim 1,2 described non-excavated underground pipe line attitude angle measuring sensing heads, it is characterized in that universal joint (3) covers (21) by two universal joint pipe ends (16), two universal pipe joints (17), a universal joint heart (18), four universal joint axles (19), four little bearings (20) and four universal joint bearings and forms, and the universal joint heart (18) is the annular solid of hollow, it is uniform four radial holes circumferentially, make laser beam to pass through; With the radial hole of four universal joint axles (19) insertion universal joint hearts (18), adopt interference fit; Little bearing (20) is enclosed within the other end of universal joint axle (19), adopts transition fit; The outside of little bearing (20) links to each other with universal pipe joint (17), is transition fit, and fixing by universal joint bearing lid (21), realizes freely relatively rotating between two universal pipe joints (17) simultaneously; Two universal pipe joints (17) are enclosed within the outside of two universal joint pipe ends (16), and transition fit is fixed with holding screw again.
6. according to claim 1,2 described non-excavated underground pipe line attitude angle measuring sensing heads, it is characterized in that centering machine (2) by tubular axis (22), edge cover (23), support claw (24), roller (25), stage clip (26), do not have oily lining (27) and support claw ear seat (28) is formed.The material that does not have oily lining (27) is enclosed within on the tubular axis (22) for poly-tetrafluoro, is clearance fit, is free to slide on tubular axis (22); Support claw ear seat (28) interference fit is enclosed within the outside of no oily lining (27); Each support claw ear seat (28) is connected six support claws (24) by six roots of sensation axle with snap ring, between support claw ear seat (28) and the support claw (24); Stage clip (26) is installed between two support claw ear seats (28); Edge cover (23) transition fit is enclosed within the step place of tubular axis (22), fixes with holding screw.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2008100338648A CN101245999B (en) | 2008-02-26 | 2008-02-26 | Non-excavated underground pipe line attitude angle measuring sensing head |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2008100338648A CN101245999B (en) | 2008-02-26 | 2008-02-26 | Non-excavated underground pipe line attitude angle measuring sensing head |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN101245999A true CN101245999A (en) | 2008-08-20 |
| CN101245999B CN101245999B (en) | 2011-02-02 |
Family
ID=39946584
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2008100338648A Expired - Fee Related CN101245999B (en) | 2008-02-26 | 2008-02-26 | Non-excavated underground pipe line attitude angle measuring sensing head |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN101245999B (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101881610A (en) * | 2010-06-24 | 2010-11-10 | 中国地质大学（武汉） | Pipeline aperture deformer for trenchless pipeline laying |
| CN102889065A (en) * | 2012-10-29 | 2013-01-23 | 中国海洋石油总公司 | Through diameter process of vertical pipe |
| CN107621230A (en) * | 2016-07-14 | 2018-01-23 | 波音公司 | System and method for internally checking tubulose composite part |
| CN108844463A (en) * | 2018-06-12 | 2018-11-20 | 南京理工大学 | Underground piping dimensional orientation measuring system and method based on laser spot position |
| CN109751958A (en) * | 2018-12-21 | 2019-05-14 | 江苏集萃智能制造技术研究所有限公司 | A kind of tube type bus trajectory measurement method |
| CN112782779A (en) * | 2021-02-04 | 2021-05-11 | 上海洋深市政工程有限公司 | Underground pipeline positioning device and method |
-
2008
- 2008-02-26 CN CN2008100338648A patent/CN101245999B/en not_active Expired - Fee Related
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101881610A (en) * | 2010-06-24 | 2010-11-10 | 中国地质大学（武汉） | Pipeline aperture deformer for trenchless pipeline laying |
| CN101881610B (en) * | 2010-06-24 | 2012-05-30 | 中国地质大学（武汉） | Pipeline aperture deformer for trenchless pipeline laying |
| CN102889065A (en) * | 2012-10-29 | 2013-01-23 | 中国海洋石油总公司 | Through diameter process of vertical pipe |
| CN107621230A (en) * | 2016-07-14 | 2018-01-23 | 波音公司 | System and method for internally checking tubulose composite part |
| CN108844463A (en) * | 2018-06-12 | 2018-11-20 | 南京理工大学 | Underground piping dimensional orientation measuring system and method based on laser spot position |
| CN109751958A (en) * | 2018-12-21 | 2019-05-14 | 江苏集萃智能制造技术研究所有限公司 | A kind of tube type bus trajectory measurement method |
| CN112782779A (en) * | 2021-02-04 | 2021-05-11 | 上海洋深市政工程有限公司 | Underground pipeline positioning device and method |
| CN112782779B (en) * | 2021-02-04 | 2022-08-23 | 上海洋深市政工程有限公司 | Underground pipeline positioning device and method |
Also Published As
| Publication number | Publication date |
|---|---|
| CN101245999B (en) | 2011-02-02 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN101245999B (en) | Non-excavated underground pipe line attitude angle measuring sensing head | |
| US7665223B2 (en) | Measuring device with extensible cord and method | |
| EP2795247B1 (en) | System and method for measuring pipe | |
| CA1235471A (en) | Method and means for determining the subsurface position of a blowing well with respect to a relief well | |
| CN203083579U (en) | High-precision three-dimensional trajectory detection system for trenchless pipeline | |
| CN106291743A (en) | A kind of detection device | |
| CN109163680A (en) | A kind of contactless Deep Hole Straightness Test Device and method | |
| US7841246B2 (en) | Cable length measuring device | |
| WO2006065923A2 (en) | Centralizer-based survey and navigation device and method | |
| CN207584272U (en) | A kind of pipeline inspecting robot | |
| CN102650516A (en) | On-line measuring method and device for outer diameter and ovality of large-diameter steel pipe end | |
| CN108180346A (en) | A kind of pipeline inspecting robot | |
| CN109000592A (en) | A kind of deep and long hole linearity testing apparatus and method | |
| CN105318890A (en) | Three-dimensional track detection system | |
| EP0657621B1 (en) | System for measuring three-dimensional displacement | |
| CN101936736A (en) | Small-caliber underground pipeline accurate measurer in communication industry | |
| CN201653347U (en) | Accurate measuring instrument for small-bore underground pipelines in communication industry | |
| CN110977926B (en) | Partial discharge positioning method, system and medium for cable tunnel inspection robot | |
| CN206420422U (en) | A kind of tubing depth measurement apparatus | |
| CN109357648B (en) | Array type displacement sensor and settlement measuring device | |
| KR101821652B1 (en) | The measurement system and method of underground conduit line | |
| CN107543543A (en) | A kind of pipeline positioning device | |
| CN2898766Y (en) | Inspector for fibre-optic and grating sensor of underground pipeline | |
| US3886665A (en) | Monitoring apparatus | |
| JP2007205956A (en) | Internal inspection device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20110202 Termination date: 20170226 |