JP2008122271A - Clinometer and measurement method using it - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a clinometer with an extremely small diameter (for example, 25 mm or smaller), and a method of measuring the displacement of a drilled hole from a drilling scheduled line using the clinometer. <P>SOLUTION: This clinometer comprises a displacement device 1 displacing in response to tilting, a visual observation device 2 for visually recognizing the displacement device 1, a lighting device 3 for performing irradiation so that the displacement device 1 can be visually recognized by the visual observation device 2, and a casing 5. The casing 5 is constituted in a substantially cylindrical shape, and stores the displacement device 1, visual observation device 2, and lighting device 3 inside. The displacement device 1 comprises a polyhedron 11, and an annular member 12 rotatably supporting the polyhedron 11. <P>COPYRIGHT: (C)2008,JPO&INPIT

Description

  The present invention measures the bending of a boring hole (for example, a vertical boring hole), that is, how much the drilled boring hole is displaced (inclined) with respect to the planned drilling line. The present invention relates to a method and an apparatus for checking the above.

  When drilling a boring hole or a water flow hole for monitoring, it is generally performed to measure a displacement (degree of bending or inclination) with respect to a planned drilling line with an inclinometer.

  In recent years, for example, in the ground improvement method, soil purification method, etc., when drilling various boreholes and monitoring holes, the diameter of the drilling hole is often small, for example, the diameter of the inclinometer is required to be 25 mm or less. There is a case.

  However, with existing inclinometers, it is impossible to reduce the diameter to 25 mm or less.

As another conventional technique, there has been proposed a system that easily and highly accurately measures the excavation tip position in a vertical hole using a magnetic marker (see Patent Document 1).
However, such a system is not premised on use in a very small diameter drilling hole, and therefore, it is impossible to keep the diameter of the measuring instrument below 30 mm.
JP 2005-283419 A

  The present invention has been proposed in view of the above-described problems of the prior art, and an inclinometer having an extremely small diameter (for example, a diameter of 25 mm or less) and a drilling hole for a planned drilling line using the inclinometer. The purpose is to provide a method for measuring the displacement of a hole.

  The inclinometer (100) of the present invention includes a displacement device (for example, the first gyro 1) that displaces in accordance with an inclination (pitching angle, rolling angle, yawing angle), and visual observation for visually recognizing the displacement device (1). A device (for example, a CCD camera 2, an endoscope), an illumination device (for example, an LED lamp 3) that irradiates the displacement device (1) so that the displacement device (1) can be visually recognized by the visual device (2), and a housing A body (5), the casing (5) is configured in a substantially cylindrical shape, and a displacement device (1), a visual device (2), and a lighting device (3) are housed therein, and the displacement The device (1) has a polyhedron (11) and an annular member (12) that rotatably supports the polyhedron (11), and the lower region of the polyhedron (11) has a large mass, and the annular member (12) is supported rotatably on the inner wall surface of the housing (5). It is characterized in (Claim 1).

  In this invention, the area | region between the said visual observation apparatus (2) and the said displacement apparatus (1) in a housing | casing (5) is comprised so that bending is possible, and a displacement apparatus (from the area | region comprised so that bending is possible) ( On the 1) side, it is preferable that a means (for example, a scale S) that can visually recognize a bent angle (for example, a yawing angle) is configured (Claim 2).

  Alternatively, in the present invention, a control device (for example, a computer 50) is provided, and the control device (50) is inclined with a storage device (51) for storing an image of the displacement device (1) visually recognized by the visual device (2). A comparison device (52) that compares the images of the displacement device (1) before and after (for example, a yawing angle) is generated, a tilt calculation device that determines a tilt (yaw angle) from the comparison result of the comparison device (52), and (53 ) Is preferable (claim 3).

  In carrying out the present invention, the casing (5) preferably has a diameter of 25 mm or less.

The inclinometer (100) of the present invention includes a torsional displacement device (1B) for measuring the torsion of the casing (5), and the torsional displacement device (1B) includes a proximity sensor (60) and a magnet (70). (Claim 4: FIGS. 13 to 15).
Here, it is preferable that the proximity sensor (60) is provided in the housing (5), and a plurality of magnets (70) are arranged on the inner wall surface of the rod (20) at a predetermined depth. ) Is built in the borehole (H) where the inclination is to be measured and the housing (5) is inserted (FIGS. 13 and 14).
Alternatively, the magnet (70) is preferably provided in the housing (5), and a plurality of proximity sensors (60) are preferably arranged at predetermined depths on the inner wall surface of the rod (20) (FIG. 15).

  Further, it is preferable that a torsional displacement device for measuring the torsion of the housing (5) is provided, and the torsional displacement device is constituted by a second gyro (80).

In the measuring method of the present invention using the inclinometer described above (the inclinometer of claim 1), the step (S1) of installing the rod (20) in the boring hole for measuring the inclination, and the displacement means (for example, the first) The gyro 1), visual means (for example, CCD camera 2, endoscope), and housing (probe 5) in which illumination means (for example, LED lamp 3) are housed is inserted into the rod (20) (S3). ), A torsion amount measuring step (S5, S6) for measuring the torsion amount of the housing (5) at every predetermined measurement position while lowering the housing (probe 5), and every predetermined timing (sampling time) The illuminating means (for example, the LED lamp 3) is irradiated with the displacing means (for example, the first gyro 1), the observing means (for example, the CCD camera 2) visually recognizes the displacing means (1), and the displacing means (1). Of the rod (20) from the indication of A step of determining a pitching angle, a rolling angle, and a yawing angle (S15), and a displacement amount obtained based on the determined inclination (a pitching angle, a rolling angle, a yawing angle) and a twist amount measuring step (S5, S6) And a calibration step (S19) for calibrating according to the amount of twist measured in (6).
Here, the torsion amount measurement step (S5, S6) and the “step of determining inclination (pitching angle, rolling angle, yawing angle) (S15)” may be executed at the same position or different positions. It may be executed with.

  According to the inclinometer (100: Claim 1) of the present invention having the above-described configuration, the illumination device (for example, the LED lamp 3) irradiates the displacement device (for example, the first gyro 1), and the visual device (for example, the first device). , CCD camera 2, endoscope), the display of the displacement device (1) is visually confirmed, and the tilt of the boring hole (H) or the rod (20) is determined from the display of the visually recognized displacement device (1), so-called “pitching angle”. "And" rolling angle "can be determined.

  In this invention, the area | region between the said visual observation apparatus (2) and the said displacement apparatus (1) in a housing | casing (5) is comprised so that bending is possible, and the angle | corner bent in this area comprised so that bending is possible If a means (for example, a scale S or the like) in which (for example, the yawing angle) can be visually recognized is configured (Claim 2), the so-called "yawing angle" is obtained by means (for example, the scale S or the like) in which the bent angle can be visually confirmed. Can be determined.

  Alternatively, in the present invention, a control device (for example, a computer 50) is provided, and the control device (50) is inclined with a storage device (51) for storing an image of the displacement device (1) visually recognized by the visual device (2). The comparison device (52) that compares the images of the displacement device (1) before and after the occurrence of the (yaw angle) and the inclination calculation device (53) that determines the inclination (for example, the yawing angle) from the comparison result of the comparison device (52). (Claim 3), the yawing angle is obtained from the video data of the displacement device (1) stored in the storage device (51) by the comparison device (52) and the tilt calculation device (55). I can do it.

  Thus, according to the present invention, the inclination of the boring hole (H) or the rod (20), so-called “pitching angle”, “rolling angle”, and “yaw angle” can be determined. It is possible to determine the displacement amount of the boring hole (H) or the rod (20) by summing the displacement amount for each timing (sampling time).

  According to the present invention, the displacement device (1), the visual device (2), and the lighting device (3) are housed in the housing (housing 5) and can be configured in a cylindrical shape with a small diameter. Therefore, according to the present invention, an inclinometer having a small diameter is provided.

When the casing (the casing of the probe 5) itself rotates or rotates when the tilting device (100) of the present invention is lowered, the tilt of the boring hole (H) or the rod (20) is accurately obtained. I can't.
On the other hand, according to the present invention, if a torsional displacement device (60, 70) for measuring the torsion of the housing (5) is provided (Claim 3), it is measured by the torsional displacement device (60, 70). Since the inclination of the rod (20) can be calibrated by the amount of twist of the casing (5), the accuracy of the inclination of the boring hole (H) or the rod (20) obtained by the present invention is further improved.

Embodiments of the present invention will be described below with reference to the accompanying drawings.
In FIG. 1, the ground G has an extremely small bore hole (for example, a monitoring water hole) H. In order to measure the bend or inclination of the boring hole H, an inclinometer, indicated as a whole by 100, is inserted into the boring hole H.

The measurement accuracy of the tilt measurement according to the illustrated embodiment is, for example, about 1/100.
The inclinometer 100 includes a first gyro 1, a CCD camera 2, and an LED lamp 3.

The first gyro 1 is displaced corresponding to the pitching angle and the rolling angle. Therefore, as will be described later, the pitching angle and the rolling angle can be measured by measuring the displacement.
As will be described later, the yawing angle can be measured from the number of scale lines observed in the imaging range β and the camera image of the first gyro 1 in the visual recognition limit region in the imaging range.

The CCD camera is a visual device for visualizing the displacement of the first gyro 1. As will be described later, an endoscope can be used instead of the CCD camera.
The LED lamp 3 is configured to irradiate the first gyro 1 so that the first gyro 1 as a displacement device can be visually recognized. In the illustrated embodiment, the LED lamp 3 is disposed on the side of the lower end of the CCD camera 2. This is to prevent the LED lamp 3 from obstructing the field of view of the CCD camera 2 when the first gyro 1 is visually recognized by the CCD camera 2.
Here, the illumination is not limited to the LED lamp 3. For example, when a light-emitting displacement meter using a fluorescent paint or the like is employed, there is no need to provide illumination like the LED lamp 3.

  The inclinometer 100 includes a housing (probe housing) 5 and a camera cable 4. Here, the camera cable 4 connects the CCD camera 2 and the camera controller 15, and transmits the result of visual recognition by the CCD camera 2 to the camera controller 15. At the same time, power is supplied to the CCD camera 2 from a power source for driving the camera (not shown).

The casing (probe casing) 5 is formed in a substantially cylindrical shape, and the first gyro 1, the CCD camera 2, and the LED lamp 3 are accommodated therein.
Note that the term “probe” is a term that comprehensively represents a device that includes a displacement meter, a CCD camera, and LED illumination and that is covered by the housing 5.

  Here, when an endoscope is used as the viewing device, an optical fiber is used for the transmission line. This is to transmit an endoscope image, that is, optical data to the ground side.

  As shown in FIG. 1, the inclinometer 100 includes a depth detector 7, a camera controller 15, an illumination LED power supply 16, and a computer 50 as control means on the ground side.

  The computer 50 includes a storage device 51, a comparison device 52, and a tilt calculation device 53. The storage device 51 is configured to store an image of the first gyro 1 visually recognized by the CCD camera 2. The comparison device 52 is configured to compare the image of the first gyro 1 before the occurrence of tilt (for example, the rolling angle) and the image of the gyro 1 after the occurrence of the tilt (for example, the rolling angle). ing. The inclination calculation device 53 determines the inclination (for example, the rolling angle) from the comparison result in the comparison device 52 (the comparison result between the image of the gyro 1 before the inclination and the image of the gyro 1 after the inclination occurs). It is configured.

The computer 50 is connected to the camera controller 15 via the cable 30.
The camera controller 15 performs conditions setting during operation of the CCD camera, primary processing of image information captured by the CCD camera, and relaying when the primary processed image information is transmitted to the computer 50.

The LED power source 16 is connected to the LED lamp 3 via the LED power cable 6.
The camera cable 4 is covered with a cable cover 4C from the housing 5 to a predetermined position on the ground.
Similarly, the LED power cable 6 is covered with a cable cover 6C from the housing 5 to a predetermined position on the ground.

FIG. 1 shows a state in which a boring rod (rod) 20 is already built in a boring hole H drilled in the ground G by a known means.
In order to insert the housing 5 into the rod 20, a housing insertion device 9 installed on the ground side is used.
The housing insertion device 9 is provided with a depth detector 7 and a brake 8 for adjusting the descending speed of the housing 5.

The depth detector 7 is configured to detect the depth of the housing 5 based on the amount of extension of the cable cover 4C.
In the illustrated embodiment (FIG. 1), the depth detection device 7 has a contact wheel 71, and the contact wheel 71 is in contact with the camera cable 4 covered with the cable cover 4C by a predetermined pressing force. The contact wheel 71 can be rotated by a driving device (not shown), so that the camera cable 4 can be actively extended to the ground side.

When the housing 5 is lowered into the rod 20, the depth contact wheel 71 rotates according to the amount of the drop, and information about the rotation amount of the depth contact wheel 71 is transmitted to the computer 50 via the cable 40.
Then, the computer 50 calculates the amount of descent of the housing 5, that is, the depth of the housing 5 from the rotation amount of the depth contact wheel 71.

The brake 8 is provided for lowering the housing 5 while braking.
Here, the housing 5 can be lowered by its own weight. However, when the housing 5 is freely dropped, the housing 5 collides with the bottom of the boring hole H, and the housing 5 or the equipment in the housing 5 is damaged. There is a fear of it. In order to avoid such a risk of breakage, the casing 5 is lowered while braking with the brake 8, thereby preventing the casing 5 and / or the built-in equipment from being damaged.

FIG. 2 shows the housing 5 in detail.
The casing 5 may be lowered into muddy water, and the first gyro 1, CCD camera 2, and LED lamp 3 that are displacement meters built in the casing 5 are all precision devices, and some May constitute optical equipment. For this reason, the housing 5 needs to have pressure resistance and impact resistance against water pressure.
As a material for the housing 5, a metal having good pressure resistance and impact resistance can be selected.

Moreover, in order to lower the housing 5 to a region having a high water pressure (deep region: region having a large depth), a specific weight of a certain level or more is required.
That is, the housing 5 is required to have a function as a weight, that is, a function of reliably descending the muddy water by gravity, and is preferably made of metal also in that sense.

Note that the material of the housing 5 is not limited to metal, and even if the thickness dimension is small, any material having a certain strength or more can be selected as the material of the housing 5.
However, if the thickness dimension for obtaining the required strength and specific weight is increased, the diameter dimension of the probe is increased, so care must be taken in selecting the material of the housing 5.

When ground water accumulates in the rod 20, the housing 5 needs to be water resistant.
Although not clearly shown, in order to prevent intrusion of groundwater into the housing 5, the inside of the housing 5 is filled with a high-pressure (3 kgf / cm ² to 5 kgf / cm ² ) inert gas.

  Although not shown, a centering mechanism for the rod 20 can be attached to the housing 5 in order to prevent the housing 5 from colliding with the inner wall surface of the rod 20. As the centering mechanism, a conventionally known mechanism can be applied as it is.

In the illustrated embodiment, the tip 5a of the housing 5 is pointed. This is because the housing 5 settles without resistance even when the rod 20 is filled with water, particularly muddy water. Although not shown, the tip of the housing 5 may be formed in a hemispherical shape.
However, the tip of the housing 5 may be partially flat as long as it can settle quickly in the muddy water.

FIG. 3 shows an enlarged XX cross section including the center point of the first gyro 1 in FIG.
In FIG. 3, the first gyro 1 is constituted by a polyhedron 11, an annular frame 12, and a part of the housing 5. The polyhedron 11 incorporates a weight (not shown in FIGS. 2 and 3) in the lower part of FIG. In FIG. 4 and subsequent figures, when describing the movement of the first gyro, the position of the weight is specified by the triangular mark Pb.

The annular frame 12 is arranged so as to surround the polyhedron 11. The polyhedron 11 is rotatably supported on the annular frame 12 by the first rotating shaft 13. The center of the annular frame 12 (equal to the center of the polyhedron) is disposed on the central axis of the housing 5. The annular frame 12 is rotatably supported by a part of the housing 5 by the second rotating shaft 14.
The 1st rotating shaft 13 and the 2nd rotating shaft 14 are arrange | positioned so that it may orthogonally cross.

Next, with reference to FIGS. 4-11, the aspect of the measurement in embodiment shown in figure is demonstrated. 4 to 11, the polyhedron 11 is expressed as a sphere for the sake of simplicity of illustration.
FIG. 4 schematically shows an aspect in which the inclination of the vertical hole (boring hole) is measured downward.
In FIG. 4, the triangular mark Pb indicates the position of the weight (bottom part of the polyhedron 11) built in the lower part of the polyhedron 11. A circle Pt indicates the top of the polyhedron 11. A straight line Lv connecting the triangle mark Pb and the circle mark Pt is a vertical line passing through the center point of the first gyro 1.
In FIG. 4, symbol Lc is an extension line of the central axis of the CCD camera 2, and this extension line Lc passes through the center point Jc of the first gyro 1.

(4-1) of FIG. 4 shows a state in which the housing 5 tilted three-dimensionally is viewed in the horizontal direction.
(4-2) in FIG. 4 shows a camera image of the first gyro 1 when the top Pt side of the first gyro 1 is viewed from the CCD camera 2 side in a schematic front view.
(4-3) in FIG. 4 shows a camera image when the first gyroscope 1 is viewed in the direction of arrow A in (4-1) of FIG.
(4-4) in FIG. 4 shows a camera image when the center point Jc of the first gyro 1 in FIG. 4 (4-1) is viewed from a direction perpendicular to the paper surface of FIG. .

In FIG. 4, the symbol θp represents the pitching angle, and the symbol θr represents the rolling angle.
In the camera image (4-2) of the first gyro 1, the top portion Pt of the first gyro 1 is dimensioned from the extension line Lc of the central axis of the CCD camera 2, that is, the gyro center Jc, to the left in FIG. FIG. 4 shows a state in which it is biased (displaced) by δp and is offset (displaced) by a dimension δr upward in FIG. 4 by rolling.
The image (4-2) photographed by the CCD camera 2 is transmitted to the control unit 50 via the camera cable 4, the camera control 15, and the cable 30 as described above.

FIG. 5 schematically shows a measurement mode when the inclination of the vertical hole (boring hole) is measured upward.
The reference numerals in FIG. 5 are the same as the reference numerals in FIG.

(5-1) of FIG. 5 shows a state in which the housing 5 tilted three-dimensionally is viewed in the horizontal direction.
(5-2) in FIG. 5 shows a camera image of the first gyro 1 in a state where the bottom Pb side of the first gyro 1 is viewed from the CCD camera 2 side in a schematic front view.
(5-3) in FIG. 5 shows a camera image when the first gyroscope 1 is viewed in the direction of the arrow A in (5-1) in FIG.
(5-4) in FIG. 5 shows a camera image when the center point Jc of the first gyro 1 in FIG. 5 (5-1) is viewed from a direction perpendicular to the paper surface of FIG. .

  In FIG. 5, the camera image (5-2) of the first gyro 1 shows that the bottom Pb of the first gyro 1 is pitched from the extension line Lc of the central axis of the CCD camera, that is, the gyro center Jc. FIG. 4 shows a state in which the direction is offset (displaced) by a dimension δp and is offset (displaced) by a dimension δr upward in FIG. 4 by rolling.

6-8 has shown typically the aspect which measures the inclination of a horizontal hole.
6-8, the marker M for exclusive use at the time of a horizontal hole measurement is affixed on the cyclic | annular frame 12 in the 1st gyro 1. The position where the marker M is affixed is on the first rotating shaft 13 facing the CCD camera 2 side.

FIG. 6 shows a state in which a boring hole (not shown) is horizontal, and therefore the housing 5 is also horizontal.
In the CCD camera image (6-2), the apex Pt of the polyhedron 11 is a vertically upward position, and the marker M is the center position of the front of the camera screen (6-2).
Here, in the state of FIG. 6, neither pitching nor rolling occurs.

FIG. 7 shows a measurement mode when the boring hole of the horizontal hole is inclined downward in the vertical direction at the front end side of the housing 5. In the aspect of FIG. 7, the casing 5 has a pitching angle θp.
In the CCD camera image indicated by (7-2) in FIG. 7, the central portion of the frame 12 or the marker M is offset by a distance δp downward from the central axis Lc of the CCD camera due to the pitching angle θp. (Displaced) position. By determining this distance δp, the pitching angle θp can be calculated.

FIG. 8 shows a state in which rolling has occurred in the housing 5. In FIG. 8, the symbol “VL” indicates a virtual line orthogonal to the tubular frame 12.
As shown by (8-1) in FIG. 8, when rolling occurs in the housing 5, the virtual line VL orthogonal to the annular frame 12 is a straight line connecting the head portion Pt and the bottom portion Pb of the polyhedron 11. With respect to Lv, it is biased (displaced) in the circumferential direction (counterclockwise in FIG. 8 (8-1)) by the rolling (roll) angle θr.
In the state of (8-1), on the camera screen (8-2), the CCD camera 2 and the annular frame 12 are fixed in the rolling direction of the housing 5, so the frame 12 is shown in (8) of FIG. The horizontal state is maintained in -1), and the virtual line VL is maintained in the vertical state. The straight line Lv connecting the head portion Pt and the bottom portion Pb of the polyhedron 11 appears to be offset (displaced) by the rolling angle θr in the clockwise direction with respect to the virtual line VL orthogonal to the frame body 12.

In FIG. 8, in order to obtain the rolling angle θr, it is necessary that the top part Pt and the bottom part Pb of the polyhedron 11 are reflected on the CCD camera. As shown in FIG. 9, when the annular frame 12 is arranged so as to be perpendicular to the front of the CCD camera 2, the top part Pt and the bottom part Pb of the polyhedron 11 are hidden behind the annular frame 12. This is inconvenient because it is not reflected on the CCD camera.
If the annular frame 12 is arranged vertically, it should be arranged as shown in FIG.

FIG. 11 shows an aspect in which the yaw of the horizontal hole is measured.
(11-1) in FIG. 11 shows a state in which the horizontal hole H and the housing 5 are viewed from above when yawing (yaw angle θy) is generated. At this time, the horizontal hole H and the housing 5 extend in the horizontal direction, and yawing occurs in the counterclockwise direction in (11-1) of FIG.
(11-2) of FIG. 11 shows a state in which the horizontal hole and the housing 5 are viewed from the horizontal direction (either up or down in (11-1) of FIG. 11) in the state of (11-1). Has been. (11-3) in FIG. 11 shows CCD camera images in the states (11-1) and (11-2).

  In the illustrated embodiment, the first gyro 1 in the housing 5 is used to detect that yawing has occurred when the horizontal hole H turns around to the left or right side in the horizontal direction (yawing has occurred). An expansion joint 55 for partially bending the housing 5 is provided in a region between the CCD camera 2 and the tip of the CCD camera 2.

The expansion joint 55 is an elastic body (for example, rubber) annular body having an outer diameter substantially equal to the outer diameter of the housing 5. The cross section of the expansion joint 55 in the axial direction is a stepped annular body having a step portion 55a. The step portion 55a is configured such that the inner peripheral side is reduced in width at both end portions in the axial direction.
The connection end of the housing 5 is formed to have a stepped portion 5b. And the step part 5b of the housing | casing 5 and the step part 55a of the expansion-contraction joint 55 have a complementary shape, and are comprised so that engagement is possible. An engagement portion between the stepped portion 5b of the housing 5 and the stepped portion 55a of the expansion joint 55 is fixed by, for example, a plurality of screws (not shown).

In order to make the yawing visible, an annular scale S is formed in an area near the first gyro 1 on the inner peripheral surface of the housing 5 and on the CCD camera 2 side from the second rotation shaft 14. Is provided.
The scale S is provided over a predetermined length along the inner peripheral surface of the housing 5. On the scale S, a plurality of (N) lines s1 to sN are engraved at equal intervals (see FIG. 12). Here, the plurality (N) of lines s1 to sN are preferably color-coded by different colors. This is because it is easier to see how much the housing 5 is yawing by color-coding.

  Here, the imaging range β of the CCD camera is constant. If the boring hole H to be measured is a straight line, the scale S is reflected in the imaging range β as shown in FIG. 12, and all the lines on the camera screen are reflected on the camera screen β. It is comprised so that s1-sN may be reflected as a concentric circle. The illustration of the camera screen in which all the lines s1 to sN are reflected as concentric circles is omitted.

  On the other hand, as shown in FIG. 11, when the housing 5 yaws (the yawing angle is θy), some of the lines s1 to sN of the scale S are out of the imaging range β. That is, when the housing 5 is yawed, some of the lines s1 to sN of the scale S deviate from the visibility limit region Q of the camera image (11-2), and the region E of the camera image (11-3). As shown, it will not be visible.

The yawing angle θy can be obtained by observing how far a visible line exists in the lines S1 to sN of the scale S in the region E and calculating the observation result.
Alternatively, the control unit 50 can be visually recognized in the area of the scale S outside the visual limit Q or in the area E of the camera image (11-3) by overlapping the visual images (camera images) before and after yawing. It is possible to accurately calculate the range of the scale S that is not present. From this calculation result, the yawing angle θy can be obtained accurately and easily.

As is clear from the camera image (11-3), the vertical line Lv of the first gyro 1 or the entire first gyro 1 is offset from the center line Lg of the camera image (11-3) (FIG. 11 (11-3) biased to the left).
By overlapping the visually recognized images (camera images) before and after yawing, how much the vertical line Lv of the first gyro 1 or the entire first gyro 1 is relative to the center line Lg of the camera image (11-3). It is possible to calculate whether the deviation has occurred. Even using this calculation result, the yawing angle θy can be obtained accurately and easily.
In the control unit 50, from the relationship between the feed amount of the housing 5 (the distance traveled by the housing 5) and the yawing angle θy, the radius of curvature due to yawing of the horizontal hole H to be measured can also be accurately obtained.

In FIG. 1 again, when the entire housing 5 is rotated or rotated by the twist of the cable cover 4C and the CCD camera 2 and the first gyro 1 are also rotated or rotated, the image of the first gyro 1 is displayed. Even if the inclination of the rod 20 or the boring hole H is calculated from the above, it differs from the actual inclination (displacement).
Therefore, in order to obtain the actual inclination (displacement) in the rod 20 or the boring hole H, it is necessary to calibrate the twist of the camera cable 4 and the rotation or rotation of the entire housing 5.

  In order to perform such calibration, in the illustrated embodiment, for example, monitoring is performed at predetermined depths, and the tilt or bending of the borehole H or the rod 20 calculated from the image of the first gyro 1 is an allowable value between the predetermined depths. If it increases rapidly as described above, it is determined that an abnormality such as twisting of the camera cable 4 or rotation or rotation of the entire housing 5 has occurred. The flow of measurement control of the entire displacement will be described later with reference to the flowchart of FIG.

In the illustrated embodiment, it is possible to detect an abnormality in which the entire housing 5 is rotated or rotated due to the twist of the camera cable 4 or the like. Such an embodiment is shown in FIGS.
13 and 14, the torsional measuring device 1 </ b> B is configured by a proximity sensor 60 provided on the housing 5 side and a large number of magnets 70 provided on the inner wall surface of the rod 20.
The magnet 70 is set at a predetermined position in the circumferential direction of the inner wall surface of the rod 20 at every predetermined depth.

The proximity sensor 60 provided on the housing 5 side is configured to detect a distance from the magnet 70 provided on the inner wall surface of the rod 20 for each predetermined depth.
The magnet 70 is set at a fixed position in the circumferential direction of the inner wall surface of the rod 20. Therefore, the relative position of the magnet 70 and the proximity sensor 60 changes corresponding to the rotation of the entire housing 5 and the like.

In an initial state in which no twist is generated, for example, the proximity sensor 60 provided on the housing 5 side and the magnet 70 provided on the inner peripheral surface of the rod 20 are positioned on the same line extending in the radial direction through the center of the housing 5. is doing. In this case, the relative distance between the proximity sensor 60 and the magnet 70 is as indicated by the symbol “L1” (see FIG. 14).
When the torsion θ is generated as shown in FIG. 14 due to the rotation of the entire housing 5, the relative distance between the proximity sensor 60 and the magnet 70 increases to the distance indicated by the symbol “L2”.

Since the relative distance between the proximity sensor 60 and the magnet 70 is obtained from the reception result of the proximity sensor 60, the twist amount θ can be obtained from the relative distance, and the rotation amount of the entire housing 5 can be obtained.
Thereby, the rotation or rotation of the entire housing 5 can be monitored.

The magnets 70 are provided at a predetermined pitch in the longitudinal direction of the rod 20. Then, by calculating the twist amount θ in each of the magnets 70 in the above-described manner and integrating the calculated twist amount θ in the housing 5, the total twist amount, that is, the rotation or rotation of the entire housing 5 can be obtained. .
At the same time, if the calculated twist amount θ increases beyond the allowable range at a predetermined pitch of the magnet 70, it is determined that an abnormality has occurred.

  In FIG. 13 and FIG. 14, a plurality of magnets 70 are provided on the inner wall surface of the rod 20 and the proximity sensor 60 is provided on the housing side. However, as shown in FIG. A plurality of proximity sensors 60 may be provided on the 20 inner wall surface at every predetermined depth.

If configured as shown in FIGS. 13 to 15, the rotation amount or the rotation amount of the entire housing 5 can be obtained.
Then, the direction in which the center of the gyro is deviated from the image of the first gyro 1 and the inclination of the boring hole H or the rod 20 is calculated, and the rotation amount or the rotation amount of the entire housing 5 is used for calibration. Thus, the difference between the calculation result and the actual inclination can be reduced to such an extent that it can be ignored.
With such a configuration, it is not necessary to separately provide a second gyro as described later.

In the illustrated embodiment, as shown in FIG. 16, a second gyro 80 may be provided in the housing (search unit) 5.
With such a configuration, the direction can be checked by the second gyroscope 80, and errors caused by the twisting of the camera cable 4 and the rotation or rotation of the entire housing 5 can be calibrated.

  Although not shown, when the second gyro 80 is outside the housing 5, the camera, the cable 4 and the cable cover 4C are selected to have torsional rigidity. The amount of twist in the cable 4 and the cable cover 4C between the second gyro 80 and the housing 5 is reduced to facilitate calibration of the orientation indicated by the second gyro 80 and the orientation indicated by the first gyro 1. It is to make it.

Alternatively, although not shown in the figure, the cable cover 4C can be marked with a constant circumferential position, that is, a mark indicating the direction.
With such a configuration, the marking is checked on the ground and the degree of deviation of the marking is measured to detect the twist of the camera cable 4 and perform necessary calibration.

  A method for measuring the amount of twist of the camera cable 4 using the twist measurement device 1B described above with reference to FIGS. 1, 13, and 14 will be described based on the flowchart of FIG.

  First, the rod 20 is built in the boring hole H (step S1), and if the rod building is completed (YES in step S2), the process proceeds to step S3.

In step S <b> 3, the housing (probe) 5 is lowered into the rod 20 while operating the brake 8.
The housing (probe) 5 is lowered until it reaches a predetermined measurement position (step S4).
Here, the “measurement position” in step S4 means the measurement position or depth at which the step of measuring the torsion amount is to be executed. That is, the predetermined depth described with reference to FIGS. 13 and 14 corresponds to the interval (pitch) at which the plurality of magnets 70 (or the proximity sensor 60) are installed.

If the casing 5 has reached a predetermined measurement position (YES in step S4), a detection signal from the proximity sensor 60 is detected (step S5), and a predetermined amount for measuring the amount of torsion based on the detection signal. The amount of twist between the measurement positions (the amount of rotation of the entire housing 5 at a predetermined depth) is calculated (step S6).
That is, when the first “predetermined measurement position” is reached after the housing (probe) 5 is lowered, the twist amount up to that point is calculated.

  Thereafter, the torsion amount between the “predetermined measurement position” reached from the immediately preceding “predetermined measurement position”, that is, the plurality of magnets 70 (or proximity sensors 60) described with reference to FIGS. The amount of twist in the interval (pitch) to be calculated is calculated.

The computer 50 determines whether or not the calculated twist amount (twist amount between measurement positions) is equal to or less than a threshold value (step S7). If it is below the threshold (step S7 is YES), the process proceeds to step S8.
If the calculated twist amount exceeds the threshold value (NO in step S7), that is, if the twist amount suddenly increases between the measurement positions, it is determined that some abnormality has occurred (step S11), and the housing The (probe) 5 is pulled up (step S12), and the tilt measuring operation of the rod 20 or the boring hole H is completed.

  In step S8, the “amount of twist between measurement positions” obtained in step S6 (the amount of twist in the interval at which the plurality of magnets 70 or proximity sensors 60 described in FIG. 13 and FIG. 4 are installed) is summed, and the total sum is obtained. The amount of twist.

  Next, in step S9, the amount of twist (total) obtained in step S8 is transmitted to a calibration means (not shown) of the control unit 50.

Next, it is determined whether or not the housing 5 has reached the target depth, that is, the deepest part of the rod 20 (step S10).
If not, step S4 and the subsequent steps are repeated (a loop in which step S10 is NO).
If the housing (probe) 5 has reached the deepest part of the rod 20 (YES in step S10), the housing 5 is pulled up (step S12), and the twist amount measurement work of the housing (probe) 5 is completed.

Next, the rod 20 (or the boring hole H) using the inclinometer 100 described above with reference to FIGS. 1 to 14 and using the twist amount of the housing 5 obtained by the measurement operation of FIG. The measurement of the displacement with respect to the planned excavation line (vertical line during vertical hole excavation) will be described based on the flowchart of FIG.
The control in FIG. 17 and the control in FIG. 18 are always processed in parallel. And step S1-step S3 of FIG. 17 and step S1-step S3 of FIG. 18 are common.

  First, the rod 20 is built in the boring hole H (step S1), and if the rod building is completed (YES in step S2), the process proceeds to step S3.

In step S <b> 3, the housing (probe) 5 is lowered into the rod 20 while operating the brake 8.
In step S14, the process waits until the sampling time is reached (step S14 is a NO loop). When the sampling time is reached (YES in step S14), measurement of the pitching angle, rolling angle, and yawing angle is started (step S14). S15).
Here, the housing (probe) 5 descends in the rod 20 at a constant speed. If the descent continues for a predetermined time (sampling time), the casing (probe) 5 has dropped by a distance of a predetermined pitch. In this sense, the term “sampling time” is used in the same meaning as the distance between “measurement positions” described in FIG.
It is possible to make the position where the housing (probe) 5 arrives and the measurement position of the flowchart of FIG. 17 the same by lowering by the sampling time.

In step S16, a displacement amount δ (pitching angle, rolling angle, yawing angle) between sampling times is calculated.
The measurement and calculation of the pitching angle, the rolling angle, and the yawing angle are as described with reference to FIGS.

  In step S17, it is determined whether or not the displacement amount δ between sampling times is equal to or less than a threshold value. If it is below the threshold value (YES in step S17), the process proceeds to step S18. If the threshold value is exceeded (NO in step S17), it is determined that an abnormal situation has occurred (step S23), the housing (probe) 5 is pulled up (step S24), and the control ends.

In step S18, the displacement amount for each sampling time is added up. In the next step S19, the displacement amount is calibrated using the twist amount of the housing 5 described in the flowchart of FIG. Then, an accurate displacement amount is determined (step S20).
For example, the accurate displacement amount is displayed on the monitor of the control unit 50 (step S21), and the process proceeds to step S22.

In step S <b> 22, the control unit 50 determines whether or not the housing (probe) 5 has reached the final target depth, that is, the deepest part of the rod 20. If the housing 5 has not reached the deepest part of the rod 20 (NO in step S22), steps S3 and after are repeated.
If the target depth has been reached (step S22 is YES), the housing (probe) 5 is pulled up (step S24) and the measurement operation is terminated.

  According to the inclinometer 100 of the present embodiment configured as described above, the first gyroscope 1 is irradiated by the LED lamp 3, the display of the first gyroscope is visually recognized by the CCD camera 2, and the first From the display of 1 gyro, the content of this display can be analyzed by the control unit 50, and the inclination (pitching angle, rolling angle) of the boring hole H or the rod 20 can be determined clearly.

  By observing the scale S provided near the CCD camera 2 of the first gyro 1, or from the image captured by the CCD camera 2, the scale (s1 to s1) of the non-viewing area (outside the viewing limit area Q in FIG. 11). By analyzing the area including sN) by the controller 50, the yawing angle can be accurately determined.

The computer 50 also has a storage device 51 for storing the image of the first gyro 1 visually recognized by the CCD camera 2 and the image of the first gyro 1 before and after the tilt (yaw angle, rolling angle, yawing angle) occurs. Are compared with each other, and a tilt calculation device 53 that determines the tilt from the comparison result of the comparison device 52. Therefore, from the video data of the first gyro 1 stored in the storage device 51, the comparison device The inclination can be obtained by 52 and the inclination arithmetic unit 55.
Then, the total displacement amount of the boring hole H or the rod 20 can be determined by summing the displacement amounts for each timing (sampling time) for determining the inclination.

  According to the displacement meter 100 of the present embodiment, the first gyro 1, the CCD camera 2, and the LED lamp 3 are housed in a housing (probe housing) 5 and are configured in a cylindrical shape with a small diameter. Therefore, it is possible to provide an inclinometer with a small diameter.

  Further, according to the displacement meter 100 of the present embodiment, since the torsional displacement device 1B for measuring the torsion of the housing 5 is provided, the rod 20 is determined by the amount of twisting of the housing 5 measured by the torsional displacement device 1B. Can be calibrated. Therefore, the accuracy of the inclination of the boring hole H or the rod 20 obtained by the present embodiment is further improved.

  It should be noted that the illustrated embodiment is merely an example, and does not limit the technical scope of the present invention.

The block diagram which shows the whole structure of embodiment of this invention. The fragmentary sectional view which showed the housing | casing of embodiment in detail. FIG. 3 is a cross-sectional view taken along the line XX in FIG. 2. The figure explaining the case where a vertical hole is measured downward. The figure explaining the case where a vertical hole is measured upward. The figure which shows the state by which the displacement has not arisen at the time of a horizontal hole measurement. The figure which shows the state which pitching has arisen at the time of a horizontal hole measurement. The figure which shows the state which the rolling has arisen at the time of a horizontal hole measurement. The figure which shows the state which cannot be measured. The figure which shows the state which can be measured. The figure which shows the state in which yawing has generate | occur | produced at the time of a horizontal hole measurement. The figure which shows the state in which yawing has not generate | occur | produced at the time of a horizontal hole measurement. The schematic diagram explaining the twist amount detection mechanism of embodiment. FIG. 14 is a sectional view taken along the line XX in FIG. 13. The cross-sectional view which shows the modification of a twist amount detection mechanism. The fragmentary sectional view of another Example of the twist amount detection mechanism. The flowchart explaining detection of the amount of twist. The flowchart explaining displacement amount measurement.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 ... Displacement device / 1st gyro 2 ... Visual observation device / CCD camera 3 ... Illumination device / LED lamp 4 ... Camera cable 5 ... Housing / probe 6 ... Illumination power supply Cable / LED power cable 7 ... Depth detection device 8 ... Brake 9 ... Insertion device 15 ... Camera controller 16 ... Illumination power supply 20 ... Boring rod 50 ... Computer 55 ..Expandable joint H ... Boring hole M ... Marker S ... Scale

Claims (6)

  A displacement device that displaces in accordance with the inclination; a visual device that visually recognizes the displacement device; an illumination device that irradiates the displacement device so that the displacement device can be visually recognized by the visual device; and a housing. Is configured in a generally cylindrical shape, and a displacement device, a visual device, and an illumination device are housed therein, and the displacement device includes a polyhedron and an annular member that rotatably supports the polyhedron, An inclinometer characterized in that a lower region of the polyhedron is heavy and the annular member is rotatably supported on the inner wall surface of the casing.   A region between the visual device and the displacement device in the housing is configured to be foldable, and means for visually confirming the bent angle is configured on the displacement device side of the foldable region. The inclinometer according to claim 1.   The control device includes a storage device that stores an image of the displacement device visually recognized by the visual device, a comparison device that compares the image of the displacement device before and after the occurrence of the inclination, and an inclination based on a comparison result of the comparison device. An inclinometer according to claim 1, further comprising a tilt calculation device for determining   The inclinometer according to any one of claims 1 to 3, wherein the inclinometer includes a torsional displacement device that measures torsion of the housing, and the torsional displacement device includes a proximity sensor and a magnet.   The inclinometer according to any one of claims 1 to 3, further comprising a torsional displacement device that measures torsion of the housing, wherein the torsional displacement device is constituted by a gyro.   The measuring method using the inclinometer according to claim 1 includes a step of installing a rod in a boring hole whose inclination is to be measured, and a step of inserting a housing in which the displacement means, the visual means, and the illumination means are housed in the rod. And a twist amount measuring step of measuring the amount of twist of the housing at every predetermined measurement position while lowering the housing, irradiating the displacement means with the illumination means at every predetermined timing, and using the visual means to A step of visually recognizing and determining the inclination of the rod from the display of the displacement means, and a calibration step of calibrating the amount of displacement obtained based on the determined inclination by the amount of twist measured in the amount of twist measurement step. Measuring method characterized by

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