JP2011080904A - Device and method of measuring position of piping opening - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a device and a method of measuring the position of a piping opening that can quickly measure the relative positional relation of facing piping ends, regardless of the working environment. <P>SOLUTION: The position measuring device 10 for piping opening grasps the relative positional relation of piping openings of facing pipings 12 and 14 includes at least three sets of a unit comprised a laser range finder 20, that is provided on the piping end face of the opening of one piping 12 and is fixed in a manner to emit a laser in the same direction as the center of an axis of one piping and a reflection target 40, that is provided on the piping end face of the opening of the other piping 14 and reflects the laser on its reflection face. The reflection target 40 has a vertical reflecting face that is parallel to the end face of the other piping wherein the laser vertically enters and an inclined reflection face wherein the laser enters at a certain angle. The position measuring device measures distances between the laser range finder 20 and the two vertical reflection and inclined reflection faces, respectively. <P>COPYRIGHT: (C)2011,JPO&INPIT

Description

  The present invention relates to a position measuring device and a position measuring method for a pipe opening, and more particularly to a position measuring apparatus and a position measuring method for a pipe opening for grasping the relative positional relationship between the pipe openings of opposing pipes.

  In pipe laying work in the construction of power generation equipment or other plant equipment, the position of the opposing pipe opening is set to connect equipment (such as expansion joints) or pipes between pipes routed from different directions. It is necessary to adjust the position with a jack device or the like so that the positional deviation and the distance between the surfaces are within the allowable installation error range.

  As a conventional method for measuring the relative displacement amount and the surface inclination of the opposed pipe openings, there is a method using an existing three-dimensional measuring device such as a total station combining a light wave distance meter and a two-axis pan head. .

  Moreover, although it is measurement of the deflection amount of a bridge, there exists patent document 1 as a measurement technique using the method reflected on the surface inclined with respect to the laser emission direction of a laser distance meter and a distance meter.

WO06 / 011386

  By the way, when grasping the relative positional relationship between the pipe openings of the opposing pipes and performing the alignment, it is necessary to grasp the relative positional relationship of the openings in order to adjust the position by a jack device or the like. .

  If the total station is used to measure three or more locations per one end face, the pipe end face can be expressed as a circle in a three-dimensional space, so that the axial misalignment of the facing opening can be evaluated. However, since the total station needs to collimate the reflective target installed at the measurement point, it generally takes time (for example, about 1 minute per point) although it depends on the skill of the measurer. was there. Therefore, confirmation of the positional relationship after the jack operation and evaluation of the next moving direction and moving amount become the rate-determining factors of the work time. In addition, since the total station must be installed at a place where all the measurement points can be seen, it is often difficult to apply the pipe alignment work in a narrow space.

  The present invention has been made in view of such circumstances, and a position measuring device and a position of a pipe opening capable of quickly measuring the relative positional relationship between opposing pipe ends regardless of the work environment. An object is to provide a measurement method.

  In order to achieve the above object, the present invention is a pipe opening position measuring device for grasping a relative positional relationship between pipe openings of opposing pipes, and is provided on a pipe end face of one pipe opening. A laser distance meter fixed to emit a laser in the same direction as the axis of the one pipe, a reflection target provided on the pipe end face of the other pipe opening, and reflecting the laser on a reflection surface; At least three sets of units are provided, and the reflection target is parallel to the other pipe end surface and the laser beam is vertically incident thereon, and the laser beam is incident at a certain angle. , And measuring the distance between the laser distance meter and the two reflecting surfaces of the vertical reflecting surface and the inclined reflecting surface.

  In order to evaluate the positional deviation of the pipe opening, it is necessary to grasp the difference in level between the pipes facing each other in addition to simple distance measurement. Therefore, two reflecting surfaces, a vertical reflecting surface and an inclined reflecting surface, for measuring the distance between the laser distance meter according to the present invention and the reflecting target at two points are required. By providing at least three sets of the laser distance meter and the reflection target, it is possible to obtain information on the distance between the faces of the opposing pipes and the deviation of the axis.

  According to the present invention, the skill of measuring device operation, which is a problem in duct end face shape measurement by a three-dimensional measuring device such as a total station, is unnecessary, and the inter-surface distance and axial center necessary for duct position correction work by jack-up are eliminated. You can get information about deviations in near real time. In addition, since the measuring device is directly attached to the duct opening, there is no problem with interference caused by an obstacle that may cause a problem in measurement from a remote position by a total station or the like.

  Therefore, it is possible to provide a pipe opening position measuring device capable of quickly measuring the relative positional relationship between the opposing pipe ends regardless of the work environment.

  In the present invention, the laser distance meter has an expansion / contraction mechanism capable of expanding and contracting a certain distance in the radial direction of the one pipe, and the vertical reflection surface and the inclined reflection surface are included in the other reflection target. It is preferable to have a structure arranged in series in the radial direction of the pipe. In this case, in the at least three sets of units, by tilting with the tilting mechanism of the reflection target, a distance difference to the reflection surface before and after tilting is obtained, and the opposite is obtained from the distance difference. Detect the amount and direction of the pipe opening difference.

  Alternatively, it is preferable that the reflection target includes an inclination mechanism that has the vertical reflection surface and the inclined reflection surface by inclining one reflection surface. In this case, in the at least three sets of units, the difference in distance to the two reflecting surfaces is obtained by expanding and contracting the extension / contraction mechanism in the radial direction of the laser rangefinder, and the difference in level and the Detect direction.

  As described above, by obtaining the distances to the two reflecting surfaces, the distance between the opposing pipes, the difference in level, and the misalignment of the axial center can be suitably measured.

  In the present invention, each of the laser distance meters is installed at substantially equal intervals along the circumference of the one pipe, and each of the reflection targets is the other pipe at a position where the laser strikes. It is preferable to be provided.

  As described above, the laser distance meters and the reflection targets of at least three sets of units are installed at substantially equal intervals, so that the distance between the opposing pipes, the difference in level, and the misalignment of the shaft center are more preferably measured. be able to.

  According to the position measuring device and the position measuring method for the pipe opening of the present invention, the relative positional relationship between the pipe ends facing each other can be quickly measured regardless of the work environment.

The figure which shows the position measuring apparatus of the piping opening part which concerns on this invention The figure which shows an example of the reflective target of the position measuring apparatus of the piping opening part which concerns on this invention The figure which shows an example of the laser distance meter and reflection target of the position measuring apparatus of the piping opening part which concerns on this invention The figure which shows the structure of the position measuring apparatus of the piping opening part which concerns on this invention The figure which shows operation | movement of the position measuring apparatus of the piping opening part which concerns on this invention.

  Hereinafter, a preferred embodiment of a pipe opening position measuring device according to the present embodiment will be described in detail with reference to the accompanying drawings.

  FIG. 1 is a diagram showing an example of a pipe opening position measuring apparatus according to the present embodiment.

  In the present embodiment, at least three laser rangefinders 20 are attached to one end face of the opening of the opposite pipe 12 and the reflection target 40 is provided on the end face of the opposite pipe 14. In FIG. 1, one laser distance meter is shown, but the same applies to other laser distance meters. Here, the measurement time of the laser distance meter is generally a few seconds, and the problem of the measurement time and the installation location of the measurement device that caused problems in measurement by the total station by directly attaching the laser distance meter 20 and the reflection target 40 to the pipe. Is solved.

  As shown in FIG. 1, a laser distance meter 20 fixed so as to emit a laser in the same direction as the axis of the pipe 12, and a reflection target 40 that reflects the laser provided in the pipe 14 on a reflection surface. Perform position measurement. The laser distance meter 20 and the reflection target 40 are fixed to the pipes 12 and 14 by fixing jigs 22 and 42, respectively.

  In order to evaluate the positional deviation of the pipe opening, first, as shown in FIG. 1A, the laser is reflected by the reflection surface 41 of the reflection target 40, and the distance L from the laser distance meter 20 to the reflection surface 41 is reflected. Measure. Next, it is necessary to grasp the difference a between the pipe 12 and the pipe 14. Therefore, as shown in FIG. 1B, the reflection surface 41 of the reflection target 40 is inclined at a predetermined angle θ, the laser is reflected by the inclined reflection surface 41, and the distance from the laser rangefinder 20 to the reflection surface 41. L 'is measured. Note that the angle θ for inclining the reflecting surface 41 is preferably 30 °, for example. As a result, the step difference a is obtained by (L−L ′) / tan θ.

  In the case of the present embodiment, when there is no difference between the pipe 12 and the pipe 14, as shown in FIG. 1 (c), the distance measurement value using the reflecting surface 41 is before and after the inclination. Keep them equal. As a result, the amount and direction of the step difference can be obtained by a trigonometric function from the distance difference (L−L ′) and the inclination angle θ of the reflecting surface.

  By providing at least three sets of the laser distance meter 20 and the reflection target 40 as described above, the distance between the pipe 12 and the pipe 14 facing each other, the difference in level, and the misalignment of the shaft center are suitably measured. be able to.

  Here, in order to incline the reflection surface 41 of the reflection target 40, the reflection target has an inclination mechanism for inclining the reflection surface. FIG. 2 shows an example of the structure of the reflective target. In the present embodiment, the fixing jig 42 is used to fix the bolt hole in the flange 14 ′ of the pipe 14. The reflection target 40 includes a tilt mechanism 44 that can tilt the reflection surface 41 automatically or manually.

  FIG. 3 shows another embodiment. 3A shows the laser distance meter 20, and FIG. 3B shows the reflection target 40, with a side view on the left and a front view on the right.

  The laser distance meter 20 includes a linear actuator 24 for positioning a distance meter, a magnet 26 for mounting on a pipe, and a frame 28 for fixing them. The magnet may be any permanent magnet that can turn on / off the magnetic force with a lever 27 attached to the front surface, or an electromagnet, as long as it has an attractive force that supports its own weight. However, it is desirable that the lower surface of the magnet 26 has a valley shape so that the laser of the laser distance meter 20 can be accurately emitted in the axial direction of the pipe 12 and is in contact with the pipe 12 at the edge portions at both ends.

  The laser distance meter 20 is fixed to a moving table 25 of the linear actuator 24, and the moving table 25 can be precisely moved in the vertical direction by a ball screw or the like (not shown) using a motor as a driving force.

  Further, the movement range of the laser rangefinder 20 by the linear actuator 24 is such that when the following reflection target 40 and the laser rangefinder 20 are installed on the same plane, the (vertical) reflection surface 41a parallel to the pipe end face, and the pipe end face Must be adjusted accurately so that the laser strikes the central portion of each of the reflecting surfaces 41b that make an angle with respect to (tilt).

  The reflection target 40 includes a reflection surface 41a parallel to the end face of the pipe 14, a reflection face 41b that forms an angle with respect to the end face of the pipe 14, a magnet 46 for mounting to the pipe 14, and a frame 48 that fixes them. The magnet is the same as that of the measuring device. The reflection target 40 has a reflection surface 41a whose upper half is flat with respect to the laser, and a lower surface whose reflection surface 41b is inclined with respect to the laser, and it is necessary to use a material with good laser reflection. A reflective sheet may be attached to the surface of the reflective surface.

  The inclination angle of the reflecting surface 41b is 30 ° in FIG. 3, but may be more or less as long as the laser reflection is good. The center line of the reflective surface 41b needs to be accurately processed so as to be in the same plane as the reflective surface 41a.

  FIG. 4 shows an example of the overall system configuration of the position measuring apparatus according to the present embodiment. In FIG. 4, the laser distance meter 20 and the reflection target 40 shown in FIG. 3 are shown, but this is not restrictive.

  The laser rangefinder 20 shown in FIG. 3 is attached at equal intervals or a known interval on one circumference of the opening of the opposing pipe 12. The reflection target 40 is attached on the circumference of the opening of the other pipe 14. The laser distance meter 20 is connected to an arithmetic device 62 via an I / F (interface) 60, and transmits / receives a laser distance meter control (measurement command and measurement result fetching) and an operation command signal of the linear actuator 24. . The arithmetic device 62 performs arithmetic processing based on the measurement result of the laser distance meter 20 and displays the result.

FIG. 5 shows an example of the operation flow of the system of the position measuring apparatus according to the present embodiment. The operation flow will be specifically described.
(1) Measurement on the reflecting surface 41a (step 102)
The arithmetic device 62 is operated, the linear actuator 24 of the laser distance meter 20 is driven, and the laser distance meter 20 is moved to the measurement position of the reflecting surface 41a. After the movement of the laser distance meter 20 is completed, distance measurement is performed and the result is taken into the arithmetic unit 62.
(2) Measurement on the reflection surface 41b (step 104)
The arithmetic device 62 is operated, the linear actuator 24 of the laser distance meter 20 is driven, and the laser distance meter 20 is moved to the measurement position of the reflecting surface 41b. After the movement of the laser distance meter 20 is completed, distance measurement is performed and the result is taken into the arithmetic unit 62.
(3) Arithmetic processing (step 106)
Using the distance measurement values of the reflection surface 41a and the reflection surface 41b, the difference a of the pipe end surface at each measurement point is calculated.

a (i) = {L (i) −L ′ (i)} / tan θ = ΔL (i) / tan θ
(If there are 3 units of laser distance meter and reflective target, i = 1,2,3)
However, a (i): Difference in level, L (i): Distance value of planar target, L ′ (i): Distance value of inclined target, ΔL (i): Distance difference between planar target and inclined target, θ: The tilt angle of the tilt target.

  The relative positional relationship of the reflection target side pipe end face with respect to the distance meter installation side pipe end face is three-dimensionally expressed using the measurement result.

  First, a coordinate system is set with the center of the end face of the pipe 12 provided with the laser distance meter 20 as the origin, the end face as the xy plane, and the origin as a vector perpendicular to the xy plane as the z axis.

  When the height from the center of the pipe 12 to the distance measuring unit of the laser rangefinder 20 is r, and one unit with the laser rangefinder (denoted as rangefinder 1) is used as a reference, another laser rangefinder (distance meter 2, If the attachment angles of the distance meter 3 are θ1 and θ2, the installation position coordinates K1, K2, and K3 of the distance meters 1 to 3 are expressed by the following equations, for example.

Installation position coordinates K1 of the distance meter 1 = (x1, y1, 0) = (0, r, 0)
Installation position coordinates K2 of the distance meter 2 = (x2, y2, 0) = − r × (cos θ1, sin θ1, 0)
Installation position coordinates K3 of the distance meter 3 = (x2, y2, 0) = − r × (cos θ2, sin θ2, 0)
However, θ1 <θ2.

  When the distance measurement result L (i) on the reflection surface 41a is used, the installation surface coordinates of the reflection surface 41a are expressed by the following equations. The reflecting surface 41 a facing the distance meter 1 is referred to as a target 1, the reflecting surface 41 a facing the distance meter 2 is referred to as a target 2, and the reflecting surface 41 a facing the distance meter 3 is referred to as a target 3.

Installation position coordinates T1 of the target 1 = (x1, y1, L (1))
Installation position coordinates T2 of the target 2 = (x2, y2, L (2))
Target position coordinates T3 = (x3, y3, L (3))
Therefore, the normal vector V of the plane including the end face of the target side pipe is as follows.

V = (Vx, Vy, Vz)
= (T3-T1) × (T2-T1) / | (T3-T1) × (T2-T1) |
The center coordinate values (x0, y0, z0) of the target side pipe end surface are on a plane including T1, T2, T3, and the distances from T1, T2, T3 are r + a (1), r + a (2 ), R + a (3). Therefore, the center coordinate values (x0, y0, z0) satisfy the following formula.

(x1-x0) ² + (y1-y0) ² + (z1-z0) ² = (r + a (1)) ²
(x2-x0) ² + (y2-y0) ² + (z2-z0) ² = (r + a (2)) ²
(x3-x0) ² + (y3-y0) ² + (z3-z0) ² = (r + a (3)) ²
Furthermore, the following plane equation is also satisfied.

Vx × x0 + Vy × y0 + Vz × z0 + D = 0
However, D is a constant of a plane equation.

When a unique solution that satisfies all of the above equations cannot be obtained due to a measurement error of a distance meter, an optimal approximate solution of center coordinates is obtained by using a least square method.
(4) Result display (step 108)
The calculation processing result (step 106) is displayed on the calculation device 62 as a result of the calculation processing (distance between surfaces, amount of steps, deviation of axial center position).

  As described above, the shift amount of the axial center between the pipe 12 and the pipe 14 can be grasped.

  According to the present invention, the skill of measuring device operation, which is a problem in duct end face shape measurement by a three-dimensional measuring device such as a total station, is unnecessary, and the inter-surface distance and axial center necessary for duct position correction work by jack-up are eliminated. You can get information about deviations in near real time. In addition, since the measuring device is directly attached to the duct opening, there is no problem with interference caused by an obstacle that may cause a problem in measurement from a remote position by a total station or the like.

  DESCRIPTION OF SYMBOLS 10 ... Position measuring device of piping opening part, 12 ... Pipe (laser distance meter side), 14 ... Pipe (reflection target side), 20 ... Laser distance meter, 22 ... Fixed jig, 24 ... Linear actuator, 25 ... Moving table, 26: Magnet, 28: Frame portion, 40: Reflection target, 41 ... Reflection surface, 41a ... Reflection surface (vertical reflection surface), 41b ... Reflection surface (inclined reflection surface), 42 ... Fixed jig, 44 ... Inclination mechanism, 46 ... Magnet, 48 ... Frame, 60 ... I / F, 62 ... Calculation device

Claims (6)

A pipe opening position measuring device that grasps the relative positional relationship between the pipe openings of opposing pipes,
A laser distance meter provided on the pipe end face of one pipe opening, fixed to emit laser in the same direction as the axis of the one pipe, and provided on the pipe end face of the other pipe opening; At least three sets of units each including a reflection target that reflects a laser on a reflection surface are provided,
The reflection target includes a vertical reflection surface that is parallel to the other pipe end surface and on which the laser is vertically incident, and an inclined reflection surface on which the laser is incident at an angle,
A pipe opening position measuring device that measures a distance between the laser distance meter and the two reflecting surfaces of the vertical reflecting surface and the inclined reflecting surface. The laser distance meter has an expansion / contraction mechanism that can expand and contract a certain distance in the radial direction of the one pipe,
2. The pipe opening portion according to claim 1, wherein the reflection target has a structure in which the vertical reflection surface and the inclined reflection surface are arranged in series in a radial direction of the other pipe. Position measuring device.   2. The pipe opening position measuring device according to claim 1, wherein the reflection target is provided with an inclination mechanism in which one reflection surface is inclined to form the vertical reflection surface and the inclined reflection surface.   The laser distance meters are respectively installed at substantially equal intervals along the circumference of the one pipe, and the reflection targets are each provided on the other pipe and provided at a position where the laser strikes. The position measuring device for a pipe opening according to any one of claims 1 to 3. A position measurement method using the pipe opening position measurement device according to claim 2,
In the at least three sets of units, a distance difference between the two reflecting surfaces is obtained by extending / contracting a radial extension / contraction mechanism of the laser rangefinder,
A method for measuring the position of a pipe opening, comprising detecting the amount of difference in the pipe opening and the direction of the pipe opening from the distance difference. A position measurement method using the position measurement device for a pipe opening according to claim 3,
In the at least three sets of units, by tilting with the tilting mechanism of the reflective target, the difference in distance to the reflecting surface before tilting and after tilting is obtained,
A method for measuring the position of a pipe opening, comprising detecting the amount of difference in the pipe opening and the direction of the pipe opening from the distance difference.

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