JP2017056778A - In-borehole inspection device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an in-borehole inspection device comprising a self-travel device which can stably travel in a hole of a borehole.SOLUTION: An in-borehole inspection device comprises: a self-travel device 100 which travels in a hole of a borehole; and a control device 200 which controls travel of the self-travel device 100. The self-travel device 100 comprises: inspection devices (camera part 2, transmission device 70a, reception device 70b) for inspecting inside of a hole; a travel vehicle 1; arms (first arm 6a, second arm 6b) whose one end sides are connected to the travel vehicle 1 (chassis 1b) through a hinge part; upper hole wall drive wheels (first upper hole wall drive wheel 3, second upper hole wall drive wheel 4) disposed on the other end sides of the arms and contact the upper hole wall; and moment application means for applying a moment in a direction where the travel vehicle 1 and the upper hole wall drive wheels are separated, to the arms.SELECTED DRAWING: Figure 1

Description

  The present invention relates to an in-hole inspection device for inspecting the inside of a borehole.

  An in-pipe working device that self-propells and investigates the inside of a hole has been proposed (for example, see Patent Document 1). The in-pipe working device of Patent Document 1 transmits a signal wave from a transmitting device provided at a front portion of a traveling carriage toward a subject surface, and receives a signal wave transmitted by a receiving device provided at a rear portion of the traveling carriage. Then, the soundness of the concrete pipe or the like is inspected based on the waveform of the received signal.

JP 2005-280371 A

  However, in-hole investigations of boreholes are generally performed during excavation or immediately after excavation, and there are many cases where a hole wall in the hole is rough and a water flow is generated. Therefore, the inside of the borehole becomes a severe rough road for the traveling cart, and it is difficult to stably travel the traveling cart. In particular, when the boring hole is long, there is a high possibility that the traveling carriage gets stuck in the hole and cannot be recovered.

  The present invention has been made in view of such a situation, and provides an in-hole investigation device provided with a self-propelled device that can solve the above-described problems and can stably travel in the bore of the boring hole. There is to do.

The in-hole investigation device of the present invention is an in-hole investigation device having a self-propelled device that travels in the bore of the boring hole, and a control device that controls the travel of the self-propelled device. Investigation device for investigating the inside of a hole, traveling vehicle, an arm having one end connected to the traveling vehicle via a hinge portion, and an upper hole wall drive that is provided on the other end of the arm and contacts the upper hole wall And a moment applying means for applying a moment in a direction in which the traveling vehicle and the upper hole wall driving wheel are separated from each other.
Further, in the in-hole investigation device of the present invention, the moment applying means is a moment applying motor that functions as the hinge portion, and the control device includes a torque control unit that controls the torque of the moment applying motor. Also good.
Furthermore, in the in-hole investigation device according to the present invention, as the arm provided with the upper hole wall driving wheel, a first arm provided with a first upper hole wall driving wheel contacting the upper hole wall on the other end side; The second upper hole wall driving wheel that contacts the upper hole wall is provided with a second arm provided on the other end side, and is provided on the other end side of the first arm as the investigation device. A transmission device that intermittently contacts the upper hole wall with the rotation of the upper hole wall driving wheel and transmits an elastic wave; and provided on the other end side of the second arm, A receiving device that intermittently contacts the upper hole wall with rotation to receive elastic waves, and the self-propelled device detects a rotation angle position of the first upper hole wall driving wheel. Means, and second rotation detection means for detecting a rotation angle position of the second upper hole wall drive wheel,
The control device includes first angle detection means for detecting an angle of the first arm and second angle detection means for detecting an angle of the second arm, and the control device includes the first rotation detection means and the first rotation detection means. Based on the rotation angle positions of the first upper hole wall driving wheel and the second upper hole wall driving wheel detected by the two rotation detecting means, the rotation of the first upper hole wall driving wheel and the second upper hole wall A driving control unit that synchronizes the rotation of the drive wheel and causes the transmitting device and the receiving device to contact the upper hole wall at the same timing, and until an elastic wave transmitted from the transmitting device is received by the receiving device Measurement that calculates a distance between the transmitting device and the receiving device as a measuring distance based on a receiving unit that measures an elastic wave measuring time and an angle detected by the first angle detecting unit and the second angle detecting unit With the distance calculator It may be e.
Further, in the in-hole investigation device of the present invention, the investigation device may be a hardness measurement device that intermittently measures the uniaxial compressive strength of the upper hole wall as the upper hole wall driving wheel rotates.
Furthermore, in the in-hole investigation device according to the present invention, the investigation device is a camera unit that photographs the inside of the hole, and one end side is connected to the traveling vehicle via a hinge portion, and the other end side is connected to the camera unit. You may provide the camera support arm and the attitude | position control means which changes the angle with respect to the said traveling vehicle of the said camera support arm, and controls the attitude | position of the said camera part.
Furthermore, in the in-hole investigation device according to the present invention, the investigation device is a flaw generating device for scratching the lower hole wall, and the flaw generating device may be configured to be detachable from the lower hole wall. good.
Further, in the in-hole investigation device according to the present invention, the flaw generating device includes a plurality of cutting edges to which abutting members that abut against the lower hole wall to be flawed are respectively attached. In-hole investigation device.

  According to the present invention, since the reaction force acts on the traveling vehicle from the lower hole wall and the upper hole wall drive wheel from the upper hole wall, the self-propelled device travels stably in the borehole hole. There is an effect that can be.

It is a side view which shows the structure of 1st Embodiment of the in-hole investigation apparatus which concerns on this invention. It is a top view which shows the structure of the self-propelled apparatus shown in FIG. It is a side view which shows the structure of the self-propelled apparatus shown in FIG. It is a top view which shows the structure of each hinge part shown in FIG. It is a figure which shows the structure of the transmission device and receiving device which are shown in FIG. It is a block diagram which shows the structure of 1st Embodiment of the in-hole investigation apparatus which concerns on this invention. It is a figure which shows the example which runs the self-propelled apparatus shown in FIG. 1 on a boring rod. It is a side view which shows the structure of 2nd Embodiment of the in-hole investigation apparatus which concerns on this invention. It is a block diagram which shows the structure of 2nd Embodiment of the in-hole investigation apparatus which concerns on this invention. It is a side view which shows the structure of 3rd Embodiment of the in-hole investigation apparatus which concerns on this invention. It is a figure which shows the structure of the damage | wound production | generation apparatus shown in FIG. It is a block diagram which shows the structure of 3rd Embodiment of the in-hole investigation apparatus which concerns on this invention.

  Next, modes for carrying out the present invention (hereinafter, simply referred to as “embodiments”) will be specifically described with reference to the drawings.

(First embodiment)
As shown in FIG. 1, the in-hole investigation device according to the first embodiment includes a self-propelled device 100 and a control device 200 that controls the self-propelled device 100, and includes a borehole 300 such as a drilled horizontal hole. The self-propelled device 100 is self-propelled in the hole and investigates the inside of the borehole 300 (photographing and elastic wave measurement). In the first embodiment, the self-propelled device 100 and the control device 200 are configured to be connected by the cable 400. However, the self-propelled device 100 and the control device 200 may be connected wirelessly. Alternatively, the self-propelled device 100 may be configured by incorporating the control device 200.

  1 and 2, the self-propelled device 100 includes a traveling vehicle 1 having a pair of left and right endless tracks (caterpillar) 1a, a camera unit 2 that captures an image of the borehole 300, and an upper portion of the borehole. A first upper hole wall drive wheel 3 that contacts the hole wall and a second upper hole wall drive wheel 4 that contacts the upper hole wall in the hole behind the first upper hole wall drive wheel 3 are provided. The traveling vehicle 1 includes a pair of left and right chassis 1b to which a pair of left and right endless tracks (caterpillars) 1a are respectively attached. The camera unit 2 is connected to the chassis 1 b of the traveling vehicle 1 by a camera support arm 5. The first upper hole wall drive wheel 3 is connected to the chassis 1b of the traveling vehicle 1 by the first arm 6a, and the second upper hole wall drive wheel 4 is connected to the chassis of the traveling vehicle 1 by the second arm 6b. 1b. The traveling vehicle 1 may include drive wheels instead of the endless track 1a.

  2 and 3, one end side of the camera support arm 5 is rotatably connected to the chassis 1 b of the traveling vehicle 1 by the first hinge portion 10, and the other end side (release end side) of the camera support arm 5. ) Is attached with the camera unit 2. One end side of the first arm 6a is pivotally connected to the chassis 1b of the traveling vehicle 1 by the second hinge portion 20, and the first upper hole wall is connected to the other end side (release end side) of the first arm 6a. The drive wheel 3 is rotatably attached. Furthermore, one end side of the second arm 6b is rotatably connected to the chassis 1b of the traveling vehicle 1 by the third hinge portion 40, and the second upper hole wall is connected to the other end side (release end side) of the second arm 6b. A drive wheel 4 is rotatably attached. 2 and 3 show a state where one endless track (caterpillar) 1a is removed.

  Referring to FIG. 4A, the first hinge unit 10 is composed of a posture control motor 7 having a main body (housing) fixed to the camera support arm 5 and projecting motor shafts serving as rotating shafts 11 on both the left and right sides. Has been. The motor shaft (rotating shaft 11) of the attitude control motor 7 is fixed to a pair of left and right chassis 1 b of the traveling vehicle 1. As the attitude control motor 7, a servo motor capable of controlling the rotation angle is used. The rotation angle θa (see FIG. 1) between the chassis 1b and the first arm 6a of the traveling vehicle 1 is changed by the rotation of the attitude control motor 7.

  Referring to FIG. 4 (a), a pair of left and right chassis 1b of the traveling vehicle 1 are fixed with drive motors 8a that drive the starting wheels of the endless track 1a. The motor shaft of the drive motor 8a becomes the first drive shaft 12 that drives the starting wheel of the endless track 1a. As the drive motor 8a, for example, a thin brushless DC motor having a flat rotor can be used. In the first embodiment, the rotation shaft 11 and the first drive shaft 12 are arranged coaxially. However, the rotation shaft 11 and the first drive shaft 12 may be arranged so as to be shifted.

  Referring to FIG. 4B, the second hinge portion 20 is composed of a moment applying motor 9a having a main body (housing) fixed to the first arm 6a and projecting a motor shaft serving as a rotating shaft 21 on both the left and right sides. Has been. The motor shaft (rotating shaft 21) of the moment applying motor 9a is fixed to a pair of left and right chassis 1b of the traveling vehicle 1, respectively. As the moment application motor 9a, a servo motor capable of controlling torque is used. The moment imparting motor 9a has a moment in a direction away from the chassis 1b (direction of arrow A shown in FIG. 1) with respect to the first arm 6a, that is, the traveling vehicle 1 (chassis 1b) and the first upper hole wall driving wheel 3 A moment in the direction of separating vertically is applied. Due to this moment, a reaction force from the hole wall on the lower surface side acts on the endless track 1a, and a reaction force from the upper hole wall acts on the first upper hole wall drive wheel 3, respectively.

  Referring to FIG. 4C, a drive motor 8b for driving the first upper hole wall drive wheel 3 is fixed to the other end side (release end side) of the first arm 6a. The motor shaft of the drive motor 8 b becomes the second drive shaft 31 that drives the first upper hole wall drive wheel 3. As the drive motor 8b, for example, a thin brushless DC motor having a flat rotor can be used.

  Referring to FIG. 4D, the third hinge portion 40 is composed of a moment applying motor 9b having a main body (housing) fixed to the second arm 6b and projecting a motor shaft serving as a rotating shaft 41 on both the left and right sides. Has been. The motor shaft (rotating shaft 41) of the moment applying motor 9b is fixed to a pair of left and right chassis 1b of the traveling vehicle 1, respectively. As the moment application motor 9b, a servo motor capable of controlling torque is used. The moment applying motor 9b has a moment in a direction away from the chassis 1b (direction of arrow B shown in FIG. 1) with respect to the second arm 6b, that is, the traveling vehicle 1 (chassis 1b) and the second upper hole wall driving wheel 4 A moment in the direction of separating vertically is applied. Due to this moment, a reaction force from the hole wall on the lower surface side acts on the endless track 1a, and a reaction force from the upper hole wall acts on the second upper hole wall drive wheel 4.

  Referring to FIG. 4E, a drive motor 8c for driving the second upper hole wall drive wheel 4 is fixed to the other end side (release end side) of the second arm 6b. The motor shaft of the drive motor 8 c becomes the third drive shaft 51 that drives the second upper hole wall drive wheel 4. As the drive motor 8c, for example, a thin brushless DC motor having a flat rotor can be used.

  On the other end side (release end side) of the first arm 6a, a transmitting device 70a is provided. The transmitting device 70 a is fixed to the side surface of the second drive shaft 31 or the first upper hole wall drive wheel 3, and the upper hole of the boring hole 300 is intermittently generated as the first upper hole wall drive wheel 3 rotates. Touch the wall. That is, the transmitting device 70 a has a contact portion that contacts the upper hole wall of the boring hole 300, and the contact portion is provided at one place on the outer periphery of the first upper hole wall drive wheel 3. Therefore, when the first upper hole wall driving wheel 3 makes one rotation, the contact portion of the transmitting device 70a contacts the upper hole wall of the boring hole 300, which is the subject, once.

  A receiving device 70b is provided on the other end side (release end side) of the second arm 6b. The receiving device 70 b is fixed to the side surface of the third drive shaft 51 or the second upper hole wall drive wheel 4, and intermittently receives the upper hole of the borehole 300 as the second upper hole wall drive wheel 4 rotates. Touch the wall. That is, the receiving device 70b has a contact portion that comes into contact with the upper hole wall of the boring hole 300, similarly to the transmitting device 70a, and the contact portion is provided at one place on the outer periphery of the second upper hole wall driving wheel 4. ing. Therefore, when the second upper hole wall drive wheel 4 makes one rotation, the contact portion of the receiving device 70b comes into contact with the upper hole wall of the boring hole 300 that is the subject once.

  The transmitting device 70a and the receiving device 70b have the same configuration. Referring to FIG. 5, the piezoelectric element 71 and the contact that is provided in contact with the piezoelectric element 71 and contacts the upper hole wall of the boring hole 300. And a protective member 72 functioning as a part. Hereinafter, a detailed configuration will be described based on the transmission device 70a. The piezoelectric element 71 and the protection member 72 are provided so as to be movable in the normal direction of the rotation shaft 22 and are urged in a direction away from the rotation shaft 22 by a spring 73 which is an urging means. As shown in FIG. 5A, when the transmitting device 70a is not in contact with the upper hole wall of the boring hole 300, the upper hole wall and the contact surface of the boring hole 300 of the protection member 72 are the first upper hole wall. It protrudes from the outer peripheral surface of the drive wheel 3. As a result, as shown in FIG. 5B, in the state where the transmitting device 70 a is in contact with the upper hole wall of the boring hole 300, the contact surface of the protection member 72 is urged by the spring 73 and the boring hole 300. In contact with the upper hole wall. If a rubber tire is employed as the first upper hole wall drive wheel 3, elastic deformation of the rubber tire can be taken into account, and when the transmitting device 70a is not in contact with the upper hole wall of the boring hole 300, the contact surface of the protection member 72 is It suffices if it is located in the vicinity of the peripheral surface of the first upper hole wall drive wheel 3. Moreover, the upper hole wall and contact surface of the boring hole 300 of the protection member 72 are formed in a curved surface. Thereby, the contact surface of the protection member 72 contacts the upper hole wall of the boring hole 300 for a predetermined time while changing the contact position with the rotation of the first upper hole wall drive wheel 3. Furthermore, the spring 73 also functions as a damper that absorbs an impact when the protective member 72 comes into contact with the subject surface as the first upper hole wall drive wheel 3 rotates.

FIG. 6 is a block diagram showing a schematic configuration of the in-hole investigation device according to the first embodiment.
Referring to FIG. 6, in the self-propelled device 100, the drive motor 8 a that drives the starting wheel of the endless track 1 a is provided with an encoder 13 that detects a rotational angle position of the drive motor 8 a and a transmitting device 70 a. In the drive motor 8b that drives the first upper hole wall drive wheel 3, the encoder 32 that detects the rotational angle position of the drive motor 8b drives the second upper hole wall drive wheel 4 provided with the receiving device 70b. The motor 8c is provided with an encoder 52 that detects the rotational angle position of the drive motor 8c. The moment applying motor 9a functioning as the second hinge portion 20 has an encoder 22 for detecting the rotational angle position of the moment applying motor 9a, and the moment applying motor 9b functioning as the third hinge portion 40 has a moment applying motor. Encoders 42 for detecting the rotational angle position 9b are provided. Furthermore, the camera unit 2 detects a posture of the irradiation unit 2a that emits light from a battery (not shown) as a power source and irradiates the inside of the hole, a camera 2b that photographs the inside of the hole, and outputs a posture signal. And a gyro sensor 2c. As the camera 2b, a forward-viewing color camera for photographing the front, a borehole camera for photographing the hole wall, an infrared camera for photographing the temperature of the hole wall as an image, and the like can be used. These cameras can be appropriately selected according to the purpose of the investigation. A plurality of cameras may be mounted on the camera unit 2.

  The control device 200 is an information processing device such as a personal computer, and includes a display unit 210 such as a liquid crystal display, an input unit 220 such as a keyboard, and a storage unit 230 that is a storage unit such as a semiconductor memory or an HDD (Hard Disk Drive). And a control unit 240. The control unit 240 is an information processing unit such as a microcomputer including a ROM (Read Only Memory), a RAM (Random Access Memory), and the like. The ROM stores a control program for performing operation control of the control device 200. The control unit 240 reads out a control program stored in the ROM and develops the control program in the RAM, thereby controlling the entire apparatus according to predetermined instruction information input from the input unit 220. The control unit 240 also functions as a travel control unit 241, an attitude control unit 242, a torque control unit 243, a travel distance calculation unit 244, a video processing unit 245, a transmission unit 246, a reception unit 247, and a measurement distance calculation unit 248.

  The travel control unit 241 drives the drive motors 8 a, 8 b, 8 c based on the travel instruction (travel speed, travel direction, etc.) received from the input unit 220 to move the self-propelled device 100 forward or backward. Further, the traveling control unit 241 is provided on the side where the transmission device 70a is provided based on the rotational angle position of the drive motor 8b input from the encoder 32 and the rotational angle position of the drive motor 8c input from the encoder 52. The rotation angle of the first upper hole wall driving wheel 3 and the rotation angle of the second upper hole wall driving wheel 4 on the side where the receiving device 70b is provided are synchronized, and the protective member 72 of the transmitting device 70a is used as the boring hole. The protection member 72 of the receiving device 70b is brought into contact with the upper hole wall of the boring hole 300 at the timing of contact with the upper hole wall of the 300. Furthermore, the traveling control unit 241 notifies the transmission unit 246 and the measurement distance calculation unit 248 of the timing when the protection member 72 of the transmission device 70a and the protection member 72 of the reception device 70b contact the upper hole wall of the boring hole 300. .

  The attitude control unit 242 controls the camera control arm 7 so that the attitude of the camera unit 2 becomes constant by controlling the attitude control motor 7 of the first hinge unit 10 based on the attitude signal input from the gyro sensor 2c. 5 and the rotation angle θa (see FIG. 1) between the chassis 1b of the traveling vehicle 1 are changed.

  The torque control unit 243 controls the current applied to the moment application motor 9a of the second hinge unit 20 and the moment application motor 9b of the third hinge unit 30 based on the torque instruction received from the input unit 220. Moment in the direction away from the chassis 1b (direction of arrow A shown in FIG. 1) with respect to the first arm 6a and moment in the direction away from the chassis 1b (direction of arrow B shown in FIG. 1) relative to the second arm 6b. And respectively. Thereby, the endless track 1a can obtain the reaction force from the lower hole wall, and the first upper hole wall driving wheel 3 and the second upper hole wall driving wheel 4 can obtain the reaction force from the upper hole wall, respectively. It can run even if there is a water flow in the hole 300 or the hole wall of the bore hole 300 is rough. The reaction force from the hole wall is determined by the moment applied to each arm by the moment applying motors 9a and 9b (the torque of the moment applying motors 9 and 9b). Therefore, the magnitude of the moment can be set by a torque instruction input from the input unit 220 according to the amount of water flow or the state of the hole wall, and the reaction force from the hole wall can be set to an appropriate value. When there is no need to change the moment applied to each arm, biasing means such as a spring is provided in place of the moment applying motors 9a and 9b, and the moment is applied to each arm by the biasing means. May be.

  The travel distance calculation unit 244 calculates the travel distance of the self-propelled device 100 in real time based on the rotational angle position of the drive motor 8 a input from the encoder 13 and outputs the calculated travel distance to the video processing unit 245. In the first embodiment, the travel distance is calculated based on the rotational angle position of the drive motor 8a that drives the starter wheel of the endless track 1a. The travel distance may be calculated based on the rotational angle position of the drive motor 8b for driving the hole wall drive wheel 3 and the drive motor 8c for driving the second upper hole wall drive wheel 4 provided with the receiving device 70b. good.

  The image processing unit 245 superimposes the travel distance calculated by the travel distance calculation unit 244 on the in-hole image captured by the camera 2b of the camera unit 2, and displays the in-hole image hole image in which the travel distance is superimposed. The image is displayed on 210 and recorded in the storage unit 230. Since the posture of the camera unit 2 is controlled to be constant by the posture control unit 242 in the in-hole image displayed on the display unit 210, there is little blurring and the state of the boring hole 300 can be grasped reliably. In addition, since the travel distance of the self-propelled device 100 can also be confirmed, it is possible to easily identify the distance between the points of interest (such as rocky change points) grasped by visual observation.

  The transmitting unit 246 supplies a predetermined voltage signal to the piezoelectric element 71 of the transmitting device 70a at a timing when the protective member 72 of the transmitting device 70a and the protective member 72 of the receiving device 70b contact the upper hole wall of the boring hole 300. The piezoelectric element 71 is vibrated. The vibration of the piezoelectric element 71 is transmitted as an elastic wave to the hole wall of the boring hole 300 through the protective member 72. The elastic wave transmitted from the transmitting device 70a to the hole wall of the boring hole 300 is propagated as a surface acoustic wave. This surface acoustic wave is transmitted to the piezoelectric element 71 of the receiving device 70b via the protective member 72 and converted into a voltage signal.

The measurement distance calculation unit 248 rotates the rotation angle of the moment application motor 9a input from the encoder 22 at the timing when the protection member 72 of the transmission device 70a and the protection member 72 of the reception device 70b contact the upper hole wall of the boring hole 300. position, based on the rotational angle position of the moment applied motor 9b inputted from the encoder 42, and calculates the distance between the protective member 72 of the transmitter 70a and the protective member 72 of the receiver 70b as a measured distance L _m. Measured distance _{L m,} as shown in FIG. 5 (b), the distance L ₁ between the pivot shaft 21 and pivot shaft 41, the length of the first arm 6a _{L 2,} the length of the second arm 6b When the length is L ₃ , the angle formed by the first arm 6a and the chassis 1b is θ ₁ , and the angle formed by the second arm 6b and the chassis 1b is θ ₂ , the following expression is obtained.

The distance L ₁ between the pivot shaft 21 and pivot shaft 41, the length _{L 2} of the first arm 6a, and the length _{L 3} of the second arm 6b is known. Therefore, the measurement distance calculation unit 248 determines whether the first arm 6a and the chassis are based on the rotation angle position of the moment application motor 9a input from the encoder 22 and the rotation angle position of the moment application motor 9b input from the encoder 42. 1b and the angle and theta ₁ formed by the angle between the second arm 6b and the chassis 1b is calculated theta ₂ and respectively, and calculates the measurement distance L _m.

The receiving unit 247 transmits the time from when the voltage signal is transmitted from the transmitting unit 246 until the voltage signal converted by the piezoelectric element 71 of the receiving device 70b is received from the transmitting device 70a to the hole wall of the boring hole 300. originating elastic wave measurement as an elastic wave measurement time T _m of a until received by the receiving device 70b. The reception unit 247 stores the measured elastic wave measurement time T _m in the storage unit 230 together with the measurement distance L _m calculated by the measurement distance calculation unit 248 and the travel distance calculated by the travel distance calculation unit 244. The elastic wave measurement time T _m and the measurement distance L _m are measurement results of the elastic wave velocity, and the compressive strength of the natural ground can be estimated from the elastic wave velocity.

  When drilling using the large-diameter tip bit 500, as shown in FIG. 7, a gap is formed between the boring rod 600 and the upper hole wall, and this gap may be used as a travel path of the self-propelled device 100. . In this case, the endless track 1 a obtains a reaction force from the upper surface of the boring rod 600. Then, since the pair of endless tracks 1a arranged on the left and right sides are in contact with the upper surface of the boring rod 600, the self-propelled device 100 stably stabilizes the upper surface of the boring rod 600 without sliding off the boring rod 600. It is possible to run.

(Second Embodiment)
With reference to FIGS. 8 and 9, the in-hole investigation device of the second embodiment controls the self-propelled device 100a including the hardness measuring device 80 that measures the uniaxial compressive strength of the hole wall, and the self-propelled device 100a. And a control device 200a. The self-propelled device 100a removes the transmitting device 70a, the receiving device 70b, and the second arm 6b from the self-propelled device 100 of the first embodiment, and the hardness measuring device 80 is replaced with the first arm 6a instead of the transmitting device 70a. Is provided on the other end side (open end side). The hardness measuring device 80 is fixed to the side surface of the second drive shaft 31 or the first upper hole wall drive wheel 3, and intermittently moves above the bore hole 300 as the first upper hole wall drive wheel 3 rotates. Touch the hole wall. In addition, you may add the hardness measuring apparatus 80 to the structure of the self-propelled apparatus 100 of 1st Embodiment. For example, the hardness measuring device 80 can be provided on the other end side (open end side) of the first arm 6a together with the transmitting device 70a. In the present embodiment, the same components as those in the first embodiment are denoted by the same reference numerals, and description thereof will be omitted as appropriate.

  The hardness measuring device 80 includes a hardness meter 81 configured by an echo chip or a penetrometer that measures uniaxial compressive strength, and an actuator 82 that moves the hardness meter 81 in the direction of the hole wall. The control unit 240a of the control device 200a functions as the timing control unit 249. The timing control unit 249 drives the actuator 82 at a timing when the hardness meter 81 faces the upper hole wall of the boring hole 300 based on the rotational angle position of the drive motor 8 b input from the encoder 32, and causes the hardness meter 81 to move. The upper hole wall is pressed, and the uniaxial compressive strength of the upper hole wall is measured by the hardness meter 81.

  The receiving unit 247a receives the uniaxial compression strength measured by the hardness meter 81, and stores the received uniaxial compression strength in the storage unit 230 together with the travel distance calculated by the travel distance calculation unit 244.

(Third embodiment)
Referring to FIG. 10, the in-hole investigation device according to the third embodiment includes a self-propelled device 100b including a flaw generating device 90 that scratches the lower hole wall, and a control device 200b that controls the self-propelled device 100b. It consists of Self-propelled device 100b is provided with flaw generating device 90 in addition to composition of self-propelled device 100a of a 2nd embodiment. When the self-propelled device 100b moves forward, the flaw generating device 90 scratches the lower hole wall, and when the self-propelled device 100b moves backward, the camera unit 2 photographs the flaw and investigates the hole wall according to the degree of the flaw. To do. In the present embodiment, the same components as those in the first embodiment are denoted by the same reference numerals, and description thereof will be omitted as appropriate.

  Referring to FIG. 11A, one end side of the third arm 6c is pivotally connected to the chassis 1b of the traveling vehicle 1 by the fourth hinge part 60, and the other end side (release end side) of the third arm 6c. ) Is provided with a scratch generator 90. In addition, in FIG. 11, (a) is a top view, (b) is a side view, (c) is the figure seen from the back side. The fourth hinge portion 60 is configured by a moment applying motor 9c having a main body (housing) fixed to the third arm 6c and projecting a motor shaft serving as a rotation shaft 61 on both the left and right sides. The motor shaft (rotating shaft 61) of the moment applying motor 9c is fixed to a pair of left and right chassis 1b of the traveling vehicle 1, respectively. As the moment application motor 9c, a servo motor capable of controlling torque is used.

  11 (b) and 11 (c), the wound generator 90 includes a comb blade member 91 having five blades, and contact members 92 a to 92 e attached to each of the blade edges of the comb blade member 91. Consists of. The abutting members 92a to 92e are materials for abutting and scratching the lower hole wall, and the abutting members 92a to 92e are materials having different hardnesses (for example, quartz, feldspar, apatite, calcite, Gypsum) is used. By configuring the abutting members 92a to 92e with different hardnesses, the degree of scratching differs for each abutting member 92a to 92e, and by observing the scratches, it is possible to estimate the materials constituting the prepared hole wall. . For example, when the material constituting the prepared hole wall has a hardness equivalent to apatite, it can be scratched with quartz or feldspar, but cannot be scratched with calcite or gypsum. Therefore, by observing the degree of scratching, it is possible to grasp the hardness of the materials that make up the lower hole wall, and when used with images, it is possible to estimate the materials that make up the lower hole wall with a high probability. become.

  Referring to FIG. 12, the control unit 240 b of the control device 200 b functions as a pressing control unit 250. When a pressing instruction is input from the input unit 220, the pressing control unit 250 controls the moment applying motor 9 c of the fourth hinge unit 60 to move toward the lower hole wall with respect to the third arm 6 c (FIG. 10). A moment in the direction of arrow C shown in FIG. Thereby, the contact members 92a to 92e of the scratch generating device 90 are pressed against the prepared hole wall. The pressing force of the contact members 92a to 92e on the lower hole wall is determined by the moment (torque of the moment applying motor 9c) applied to the third arm 6c by the moment applying motor 9c. Therefore, the pressing force of the contact members 92a to 92e can be set to an appropriate value by changing the torque instruction input from the input unit 220. In addition, when a retract instruction is input from the input unit 220, the pressing control unit 250 controls the moment applying motor 9c of the fourth hinge unit 60 to move away from the lower hole wall with respect to the third arm 6c ( A moment in the direction of arrow D shown in FIG. 10 is applied, and the contact members 92a to 92e of the scratch generating device 90 are separated from the prepared hole wall.

As described above, according to the present embodiment, the in-hole investigation device includes the self-propelled device 100 that travels in the borehole and the control device 200 that controls the travel of the self-propelled device 100. The self-propelled device 100 includes an investigation device for investigating the inside of the hole (camera unit 2, transmission device 70a, reception device 70b, hardness measurement device 80, scratch generation device 90), traveling vehicle 1, and one hinge side (first part). Arms (first arm 6a, second arm 6b) connected to the traveling vehicle 1 (chassis 1b) via the two hinge portions 20 and the third hinge portion 40), and provided on the other end side of the arms, Moment in a direction in which the traveling vehicle 1 and the upper hole wall driving wheel are separated from the arm and the upper hole wall driving wheel (first upper hole wall driving wheel 3 and second upper hole wall driving wheel 4) contacting the wall. Moment applying means (moment applying motor 9a 9b) and a.
With this configuration, a reaction force acts on the traveling vehicle 1 from the lower hole wall, and on the upper hole wall drive wheels (the first upper hole wall drive wheel 3 and the second upper hole wall drive wheel 4) from the upper hole wall. Therefore, the self-propelled device 100 can stably travel in the borehole 300 and can quickly and surely investigate the inside of the hole by the mounted investigation device.

Further, in the present embodiment, the moment applying means is the moment applying motors 9a and 9b that function as the hinge portions (the second hinge portion 20 and the third hinge portion 40), and the control device 100 determines the torque of the moment applying motor. A torque control unit 243 for controlling 9a and 9b is provided.
With this configuration, the magnitude of the moment can be set from the input unit 220 according to the amount of water flow and the state of the hole wall, and the reaction force from the hole wall can be set to an appropriate value.

Further, in the present embodiment, the self-propelled device 100 includes a first arm 6a provided with the first upper hole wall driving wheel 3 that contacts the upper hole wall on the other end side, and a second arm that contacts the upper hole wall. The upper hole wall driving wheel 4 is provided on the other end side of the second arm 6b provided on the other end side, and the upper hole wall driving wheel 4 is intermittently provided as the first upper hole wall driving wheel 3 rotates. A transmitter 70a that transmits elastic waves in contact with the wall, and provided on the other end of the second arm 6b, intermittently contacts the upper hole wall as the second upper hole wall drive wheel 4 rotates. A receiving device 70b that receives an elastic wave, a first rotation detecting means (encoder 32) that detects a rotation angle position of the first upper hole wall driving wheel 3, and a rotation angle position of the second upper hole wall driving wheel 4 are detected. Second rotation detecting means (encoder 52) for performing, and first angle detecting means (encoder 22) for detecting the angle of the first arm 6a; And a second angle detection means (encoder 42) for detecting the angle of the second arm 6b, and the control device 200 detects the first upper hole wall drive wheel 3 detected by the first rotation detection means and the second rotation detection means. Based on the rotation angle position of the second upper hole wall driving wheel 4, the rotation of the first upper hole wall driving wheel 3 and the rotation of the second upper hole wall driving wheel 4 are synchronized, and the transmitting device 70a and the receiving device 70b are synchronized. A travel controller 241 that contacts the upper hole wall at the same timing, a receiver 247 that measures an elastic wave measurement time T _m until the elastic wave transmitted from the transmitter 70a is received by the receiver 70b, based on the angle detected by the first angle detecting means and the second angle detecting means, and a measured distance calculating unit 248 for calculating the distance between the transmitter 70a and the receiver 70b as a measured distance L _m.
With this configuration, it is possible to measure the elastic wave measurement time T _m and the measurement distance L _m as the physical constant of the natural mountain while running the self-propelled device 100. The elastic wave measurement time T _m and the measurement distance L _m are measurement results of the elastic wave velocity, and the compressive strength of the natural ground can be estimated from the elastic wave velocity.

Further, in the present embodiment, the investigation device intermittently uniaxially compresses the upper hole wall with the rotation of the upper hole wall driving wheel (the first upper hole wall driving wheel 3 and the second upper hole wall driving wheel 4). This is a hardness measuring device 80 for measuring strength.
With this configuration, the uniaxial compressive strength can be measured as a physical constant of the natural ground while running the self-propelled device 100a.

Further, in the present embodiment, the investigation device is the camera unit 2 that photographs the inside of the hole,
A camera support arm 5 having one end connected to the traveling vehicle 1 (chassis 1b) via the first hinge portion 10 and the other end connected to the camera portion 2, and the traveling vehicle 1 (chassis 1b) of the camera support arm 5 Attitude control means (attitude control motor 7) for controlling the attitude of the camera unit 2 by changing the angle is provided.
With this configuration, the inside of the hole can be photographed in a stable posture from the traveling self-propelled device, and the inside of the hole can be observed in detail based on the photographed image.

Further, in the present embodiment, the investigation device is a flaw generating device 90 that scratches the prepared hole wall, and the flaw generating device 90 is configured to be able to be separated from and attached to the prepared hole wall. Further, the scratch generating device 90 includes a plurality of cutting edges to which contact members 92a to 92a to contact and damage the prepared hole wall are attached.
With this configuration, the hardness of the material constituting the lower hole wall can be grasped by observing the flaws made by the flaw generating device 90, and when used together with the image, the probability of estimating the material constituting the lower hole wall is high. It becomes possible to do in.

  The present invention has been described based on the embodiments. This embodiment is an exemplification, and it will be understood by those skilled in the art that various modifications can be made to combinations of these components, and that such modifications are within the scope of the present invention.

DESCRIPTION OF SYMBOLS 1 Traveling vehicle 1a Endless track 1b Chassis 2 Camera part 2a Irradiation part 2b Camera 2c Gyro sensor 3 1st upper hole wall drive wheel 4 2nd upper hole wall drive wheel 5 Camera support arm 6a 1st arm 6b 2nd arm 6c 3rd Arm 7 Attitude control motors 8a, 8b, 8c Drive motors 9a, 9b, 9c Moment applying motor 10 First hinge portion 11 Rotating shaft 12 First driving shaft 13 Encoder 20 Second hinge portion 21 Rotating shaft 22 Encoder 31 Second Drive shaft 32 Encoder 40 Third hinge portion 41 Rotating shaft 42 Encoder 51 Third drive shaft 52 Encoder 60 Fourth hinge portion 61 Rotating shaft 70a Transmitting device 70b Receiving device 71 Piezoelectric element 72 Protective member 73 Spring 80 Hardness measuring device 81 Hardness meter 82 Actuator 90 Scratch generator 91 Comb blade member 92a-e Contact member 100, 100 a, 100b Self-propelled device 200, 200a, 200b Control device 210 Display unit 220 Input unit 230 Storage unit 240, 240a, 240b Control unit 241 Travel control unit 242 Attitude control unit 243 Torque control unit 244 Travel distance calculation unit 245 Video processing unit 246 Transmitter 247, 247a Receiver 248 Measurement distance calculator 249 Timing controller 250 Press controller 300 Boring hole 400 Cable 500 Tip bit 600 Boring rod

Claims (7)

An in-hole investigation device having a self-propelled device that travels in a borehole and a control device that controls the travel of the self-propelled device,
The self-propelled device is
An investigation device for examining the inside of the hole;
A traveling vehicle,
An arm having one end connected to the traveling vehicle via a hinge portion;
An upper hole wall drive wheel provided on the other end side of the arm and in contact with the upper hole wall;
An in-hole investigation device comprising: a moment application unit that applies a moment in a direction in which the traveling vehicle and the upper hole wall drive wheel are separated from the arm. The moment applying means is a moment applying motor that functions as the hinge portion,
The in-hole investigation device according to claim 1, wherein the control device includes a torque control unit that controls a torque of the moment applying motor. As the arm provided with the upper hole wall driving wheel, a first arm provided with a first upper hole wall driving wheel contacting the upper hole wall on the other end side and a second upper hole contacting the upper hole wall A wall drive wheel with a second arm provided on the other end side,
As the investigation device, a transmitting device that is provided on the other end side of the first arm and intermittently contacts the upper hole wall as the first upper hole wall driving wheel rotates and transmits an elastic wave; A receiving device that is provided on the other end of the second arm and receives elastic waves by intermittently contacting the upper hole wall as the second upper hole wall driving wheel rotates,
The self-propelled device is
First rotation detecting means for detecting a rotation angle position of the first upper hole wall driving wheel;
Second rotation detection means for detecting a rotation angle position of the second upper hole wall drive wheel;
First angle detecting means for detecting an angle of the first arm;
A second angle detecting means for detecting the angle of the second arm;
The controller is
Based on the rotation angle positions of the first upper hole wall driving wheel and the second upper hole wall driving wheel detected by the first rotation detecting means and the second rotation detecting means, the first upper hole wall driving wheel. A rotation control unit that synchronizes the rotation of the second upper hole wall drive wheel with the rotation of the second upper hole wall driving wheel and causes the transmitter and the receiver to contact the upper hole wall at the same timing;
A receiver for measuring an elastic wave measurement time until an elastic wave transmitted from the transmitter is received by the receiver;
A measuring distance calculating unit that calculates a distance between the transmitting device and the receiving device as a measuring distance based on an angle detected by the first angle detecting unit and the second angle detecting unit; The in-hole investigation device according to claim 1 or 2.   The said investigation apparatus is a hardness measuring apparatus which measures the uniaxial compressive strength of an upper hole wall intermittently with rotation of the said upper hole wall drive wheel, The characterized by the above-mentioned. In-hole investigation device. The investigation device is a camera unit that photographs the inside of the hole,
A camera support arm having one end connected to the traveling vehicle via a hinge portion and the other end connected to the camera portion;
The in-hole inspection device according to any one of claims 1 to 4, further comprising attitude control means for controlling an attitude of the camera unit by changing an angle of the camera support arm with respect to the traveling vehicle. The investigation device is a wound generating device that scratches the prepared hole wall,
The in-hole investigation device according to claim 5, wherein the flaw generating device is configured to be detachable from the lower hole wall.   The in-hole investigation device according to claim 6, wherein the flaw generating device includes a plurality of cutting edges to which abutting members that abut against the lower hole wall to be flawed are attached.

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