JP2009270904A - Pipeline burying position measuring system and pipeline burying position measuring method - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a pipeline burying position measuring system and a pipeline burying position measuring method capable of measuring a pipeline burying position accurately in a short time. <P>SOLUTION: This pipeline burying position measuring system includes an angular velocity sensor, a transmitter, a traction device, a length measuring device, a search device, and an arithmetic unit. The traction device moves the angular velocity sensor and the transmitter together in the pipeline. The length measuring device determines a moving amount of the angular velocity sensor. The search device receives a radio wave from the transmitter, and searches for the position of the transmitter. The arithmetic unit determines the pipeline burying position from information on the angular velocity from the angular velocity sensor, information on the moving amount of the angular velocity sensor from the length measuring device, and position information of the transmitter from the search device. The search device also has a GPS survey part for measuring a world geodetic system coordinate, and may output the position information of the transmitter in terms of the world geodetic system coordinate. In this case, the arithmetic unit outputs the pipeline burying position in terms of the world geodetic system coordinate. <P>COPYRIGHT: (C)2010,JPO&INPIT

Description

  The present invention relates to a pipe burying position measuring system and a pipe burying position measuring method for accurately measuring a pipe burying position in a short time.

When performing road construction or construction work, it is necessary to know in advance the positions where power lines, communication lines, gas pipes, etc. are buried. In areas with heavy traffic, underground areas of other construction departments, pipes with deep burial positions, etc., the burial position cannot be directly determined by civil engineering surveys. For this reason, the measuring method using an angular velocity sensor, an azimuth meter, and an inclinometer is adopted.
FIG. 1 shows a conventional measurement system using an angular velocity sensor. The angular velocity sensor 1 can move in an underground pipe line (buried pipe) 9. A power supply / communication cable 4 for power supply and detection data transmission is connected to the angular velocity sensor 1. The measuring instrument 3 detects the sending amount of the power supply / communication cable 4 when the angular velocity sensor 1 moves. The computer 6 calculates data from the angular velocity sensor 1 and the measuring instrument 3. Further, the angular velocity sensor 1 is connected to a wire passed through the tube port on the opposite side of the conduit 9 and is pulled by the traction device 5. At this time, the sending amount of the power supply / communication cable 4 is measured by the measuring instrument 3, and the change in the traveling direction is detected as the change in the angular velocity by the angular velocity sensor 1. These data are taken into the computer 6, the travel distance is calculated from the sending amount, the travel direction is calculated from the detection data of the angular velocity sensor, the travel trajectory is calculated from the travel distance and the travel direction, and the pipe 9 The buried position is specified. An azimuth meter can be used instead of the angular velocity sensor 1.

An example in which a measurement error is reduced by combining an angular velocity sensor and an azimuth meter is disclosed in Patent Document 1.
JP-A-8-219781

  The conventional method using the angular velocity sensor calculates the pipeline route by obtaining the azimuth and inclination of the angular velocity sensor by integrating the measured angular velocity output. However, this method of adding the angular velocities has a disadvantage that the difference between the azimuth and inclination is increased as the measurement time becomes longer. In addition, when an angular velocity that exceeds the measurement range occurs during measurement, the azimuth and inclination after that become uncertain, and the pipe measurement error becomes significantly large. In addition, since the angular velocity sensor has an angular velocity measurement error, a static drift, etc., there is a disadvantage that an error in the central portion of the pipe becomes large.

In the method using an azimuth meter, the azimuth meter is susceptible to vibrations and shocks, so it is susceptible to vibrations, and the traction speed is reduced. Since azimuth measurement is performed, continuous position detection cannot be performed, and there is a drawback in that measurement time becomes long.
The method in which an azimuth meter or inclinometer is combined with an angular velocity sensor has the disadvantages that the entire sensor is large, and the applicable pipe diameter is restricted and the sensor is expensive. Further, even if the compass is combined, the azimuth can be corrected, but the position cannot be corrected, so that the position error remains.

Furthermore, recent road drawings, etc. have been digitized, and the location of each road facility is described in world geodetic system coordinates. When the buried position of a measured pipeline is described in the drawing, the buried position is again measured by surveying. There was an inconvenience that had to be measured.
An object of the present invention is to solve the above-described problems and to provide a pipe burying position measuring system and a pipe burying position measuring method for accurately measuring a pipe burying position in a short time.

  The conduit embedment position measuring system of the present invention includes an angular velocity sensor, a transmitter, a traction device, a measuring instrument, a search device, and an arithmetic device. The angular velocity sensor detects and outputs the angular velocity. The transmitter transmits a predetermined radio wave. The traction device moves the angular velocity sensor and the transmitter together in the pipeline. The measuring instrument determines the amount of movement of the angular velocity sensor. The search device receives radio waves from the transmitter and searches for the position of the transmitter. The arithmetic unit obtains the buried position of the pipeline from the information on the angular velocity from the angular velocity sensor, the information on the amount of movement of the angular velocity sensor from the measuring instrument, and the positional information on the transmitter from the search device. The search apparatus may also have a GPS (Global Positioning System) surveying unit that measures the world geodetic system coordinates, and may output the position information of the transmitter in the world geodetic system coordinates. In this case, the arithmetic unit outputs the embedment position of the pipeline in the world geodetic system coordinates.

  In the conduit burying position measuring method of the present invention, the angular velocity sensor and the transmitter are moved and stopped together by a traction device according to a predetermined condition. When the angular velocity sensor is moving, the angular velocity sensor measures the angular velocity, and the measuring instrument determines the movement amount of the angular velocity sensor. When the transmitter is stopped, the search device searches for the position of the transmitter. The arithmetic unit obtains the discrete position of the pipeline (position where the transmitter has stopped) from the position information of the transmitter from the search device, information on the angular velocity from the angular velocity sensor and the movement of the angular velocity sensor from the measuring instrument. From the quantity information, a trajectory between the discrete positions of the pipeline is obtained.

  According to the pipe burial position measurement system and the pipe burial position measurement method of the present invention, it is the transmitter that moves in the pipe together with the angular velocity sensor. Therefore, it can be much smaller than an azimuth meter. Further, since the position of the transmitter can be specified by the search device, the position error can be reduced to 0 each time the position is specified, and the maximum value of the error can be reduced. Furthermore, if a GPS surveying unit is provided, the buried position of the pipeline in the world geodetic coordinates can be measured.

  Specific examples are shown below. In addition, the same number is attached | subjected to the structure part which has the same function.

  FIG. 2 is a diagram showing a configuration example of a pipe burying position measuring system according to the present invention. The pipe burying position measuring system of the present invention includes an angular velocity sensor 1, a transmitter 2, a traction device 5, a measuring instrument 3, a search device 7, and a calculation device 10. The angular velocity sensor 1 detects and outputs an angular velocity. The transmitter 2 transmits a predetermined radio wave. The traction device 5 moves the angular velocity sensor 1 and the transmitter 2 together in the pipeline 9. FIG. 2 shows an example in which the traction device 5 is composed of a rope and a winch connected to the angular velocity sensor 1 and the transmitter 2. However, it is not necessary to limit to this method, for example, you may pull by the apparatus which self-propells the inside of the pipe line 9.

The measuring instrument 3 calculates the amount of movement of the angular velocity sensor 1. FIG. 2 shows an example in which a power supply / communication cable 4 for power supply to the angular velocity sensor 1 and detection data communication is used. In this case, the measuring instrument 3 is connected to the power supply / communication cable 4. The delivery amount is detected as the movement amount of the angular velocity sensor. However, the method is not limited to this method, and the angular velocity sensor 1 may have a battery and communicate angular velocity information and the like by radio waves. In such a case, a simple rope may be used instead of the power feeding / communication cable 4.
The search device 7 receives the radio wave from the transmitter 2 and searches for the position of the transmitter 2. And the position of the transmitter 2 is specified using the zero of the area. The calculation device 10 calculates the embedded position of the pipe 9 from the information on the angular velocity from the angular velocity sensor 1, the information on the amount of movement of the angular velocity sensor 1 from the measuring instrument 3, and the position information on the transmitter from the search device 7. Ask for.

  The pipe burying position measuring method of the present invention is a measuring method using the above-mentioned pipe burying position measuring system. The processing flow is shown in FIG. In the pipe embedment position measuring method of the present invention, first, the position information of the starting point is acquired by measurement using the search device 7 or from known information (position information such as a manhole) (S100). The angular velocity sensor 1 and the transmitter 2 are moved together by the traction device 5 to the next stop position according to a predetermined condition. During the movement, the angular velocity sensor 1 measures the angular velocity, and the measuring instrument 3 determines the movement amount of the angular velocity sensor 1 (S200). The predetermined stop position may be determined at one or more locations using the movement amount as a parameter. When the predetermined stop position is reached, the angular velocity sensor 1 and the transmitter 2 are stopped (S300). When the end point has not been reached (when S400 is No), the search device 7 searches for the transmitter 2 and specifies the position (S500). When the search ends, the process returns to step S200. When the end point has been reached (when S400 is Yes), the end point position information is acquired by measurement using the search device 7 or from known information (position information such as a manhole) (S600). The arithmetic unit 10 obtains a discrete position of the conduit 9 (a position where the transmitter has stopped) from the position information of the transmitter 2 from the search device 7. Then, from the information on the angular velocity from the angular velocity sensor 1 and the information on the amount of movement of the angular velocity sensor 1 from the measuring instrument 3, a trajectory between the discrete positions of the pipeline 9 is obtained (S700).

  FIG. 4 shows an image of the effect obtained by the present invention. FIG. 4A is a diagram showing an image of an error when measured by the method of FIG. FIG. 4B is a diagram showing an image of errors when measured by the method of the present invention. In FIG. 4, as a simple example, a case where a straight pipe line is measured will be described. Further, the position correction is performed at substantially the middle point in the longitudinal direction of the pipe. Since the straight line is measured, it is ideal that the measured movement trajectory is a straight line from the start point 21 to the end point 22. However, the output of the angular velocity sensor 1 includes angular velocity drift and angular velocity measurement error. It is superimposed. If this error is uniform, the movement path error 23 gradually increases as shown in FIG. Therefore, when the movement locus 24 is obtained, the start point 21 and the end point 22 are known, so that the error is finally half of δ1. On the other hand, when the position is measured at approximately the midpoint in the longitudinal direction of the pipe and corrected, the error 26 of the movement trajectory is returned to 0 at the midpoint 25 as shown in FIG. . Therefore, the accumulated maximum error δ2 can be about half of the maximum error δ1 when correction is not performed, and the movement locus 27 more accurate than the movement locus 24 is obtained. If the number of points to be corrected is increased, the accumulated error can be reduced. That is, if the absolute position is measured by stopping the pulling of the angular velocity sensor 1 at a time interval as short as possible, the error becomes small. The search device 7 can also correct the movement trajectory in the vertical plane.

Thus, according to the pipe burial position measurement system and the pipe burial position measurement method of the present invention, it is the transmitter that moves in the pipe along with the angular velocity sensor. Therefore, it can be much smaller than an azimuth meter. Further, since the position of the transmitter can be specified by the search device, the position error can be reduced to 0 each time the position is specified, and the maximum value of the error can be reduced.
[Modification]
In FIG. 5, the example of a structure of the modification of the pipe line embedded position measuring system of this invention is shown. In the modification, the search device 7 ′ also has a GPS (Global Positioning System) surveying unit 8 that measures the world geodetic system coordinates, and outputs the position information of the transmitter 2 in the world geodetic system coordinates. And the arithmetic unit 11 outputs the burying position of the pipe line 9 in the world geodetic system coordinate. Others are the same as those of the pipe burial position measurement system of the first embodiment.

  The pipe burying position measuring method of this modification is a measuring method using the pipe burying position measuring system of FIG. The processing flow is shown in FIG. In this pipe burial position measurement method, first, position information in the world geodetic system coordinates of the starting point is obtained by measurement of the search device 7 'using the GPS surveying unit 8, or from known information (position information such as manholes) Obtain (S110). Steps S200 to S400 are the same as those in the first embodiment. When the end point has not been reached (when S400 is No), the search device 7 ′ searches the transmitter 2 and acquires the position information in the world geodetic system coordinates obtained by the GPS surveying unit 8 (S510). . When the search ends, the process returns to step S200. When the end point has been reached (when S400 is Yes), the position information of the end point in the world geodetic system coordinates is obtained by measurement of the search device 7 'using the GPS surveying unit 8, or known information (manhole, etc. From the position information) (S610). The arithmetic unit 11 obtains the position of the conduit 9 in discrete world geodetic coordinates (position where the transmitter stopped) from the position information in the world geodetic coordinates of the transmitter 2 from the search device 7 '. Then, from the information on the angular velocity from the angular velocity sensor 1 and the information on the amount of movement of the angular velocity sensor 1 from the measuring instrument 3, a trajectory between the discrete positions of the pipeline 9 is obtained (S700).

  Also in the case of this modification, the same effect as Example 1 is acquired. Furthermore, it is possible to measure the burial position of the pipeline in world geodetic coordinates. Therefore, in order to deal with the digitization of road drawings and the like, there is no need to measure the buried position again by surveying.

The figure which shows the structure of the conventional measurement system using an angular velocity sensor. The figure which shows the structural example of the pipe-line embedment position measuring system of this invention. The figure which shows the processing flow of the pipe burial position measuring method of this invention. The figure which shows the image of the effect obtained by this invention. The figure which shows the structural example of the pipe burial position measuring system of the modification of this invention.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Angular velocity sensor 2 Transmitter 3 Measuring instrument 4 Power supply / communication cable 5 Traction device 7, 7 'Search device 8 GPS surveying part 9 Pipe line 10, 11 Arithmetic unit

Claims (4)

A pipe burial position measurement system for measuring the burial position of a pipe,
An angular velocity sensor that outputs angular velocity;
A transmitter that transmits predetermined radio waves;
A traction device for moving the angular velocity sensor and the transmitter in the pipeline;
A measuring instrument for determining the amount of movement of the angular velocity sensor;
A search device for receiving radio waves from the transmitter and searching for the position of the transmitter;
An arithmetic unit for obtaining the buried position of the pipeline from information on the angular velocity from the angular velocity sensor, information on the amount of movement of the angular velocity sensor from the measuring instrument, and position information on the transmitter from the search device And a pipe burial position measurement system. The pipe burial position measurement system according to claim 1,
The search device also has a GPS surveying unit that measures the world geodetic system coordinates, and outputs the position information of the transmitter in the world geodetic system coordinates,
The computing device outputs the buried position of the pipeline in the world geodetic coordinate system. A pipe burial position measurement method using the pipe burial position measurement system according to claim 1,
The angular velocity sensor and the transmitter, together with the traction device, move and stop according to predetermined conditions,
When the angular velocity sensor is moving, the angular velocity sensor measures the angular velocity, the measuring instrument determines the amount of movement of the angular velocity sensor,
When the transmitter is stopped, the search device searches for the position of the transmitter,
The arithmetic unit obtains a discrete position of the pipe line from position information of the transmitter from the search device, and information on angular velocity from the angular velocity sensor and a movement amount of the angular velocity sensor from the measuring instrument. From the above information, a trajectory between discrete positions of the pipe is obtained. A pipe burial position measuring method using the pipe burial position measuring system according to claim 2,
The angular velocity sensor and the transmitter, together with the traction device, move and stop according to predetermined conditions,
When the angular velocity sensor is moving, the measuring instrument determines the amount of movement of the angular velocity sensor,
When the transmitter is stopped, the search device searches for the position of the transmitter in world geodetic coordinates,
The calculation device obtains the position of the pipeline in discrete world geodetic coordinates from the position information of the transmitter from the search device, and information on angular velocity from the angular velocity sensor and the measuring instrument. A method for measuring a buried position of a pipe, wherein a trajectory between discrete positions of the pipe is obtained from information on the amount of movement of the angular velocity sensor.

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