JP2643517B2 - Measuring method of moving distance of traveling body in pipeline - Google Patents

Description

Description: TECHNICAL FIELD The present invention relates to a method for measuring a moving distance of a traveling body in a pipeline, and particularly detects a length of a pipeline such as a power cable pipeline, a gas pipe, and a water pipe. Therefore, the present invention relates to a method for measuring a moving distance of a traveling body moving in a pipeline.

[Prior Art] Generally, in order to detect the length of a relatively long non-conductive pipe such as a power cable pipe, a gas pipe, a water pipe, or the like, a traveling body is moved in the pipe and the moving distance is measured. The method has been adopted. For example, as shown in FIG. 3, there are known a method of measuring a delivery amount of a wire or the like connected to a traveling body, and a method of detecting a rotation speed of wheels of the traveling body as shown in FIG.

Specifically, FIG. 3 shows that a gas pipe or the like is buried in the ground to form a pipe 1, and a traveling body 2 in which a measuring instrument such as a gyroscope inserted from an inlet 1a is mounted.
Moves to the left A in the figure.

A delivery line 3 such as a communication or power supply lead wire is connected to the rear end of the traveling body 2, and the delivery line 3 is sent out from a drum 4 installed on the inlet 1 a side of the pipeline 1. I have. In addition, a measuring instrument 5 for detecting the sending amount of the sending line 3 is provided near the drum 4 or the pipe entrance 1a, and the measuring instrument 5 is constituted by a rotation amount detecting sensor such as a rotary encoder. ing. Therefore, the measuring instrument 5
The moving distance of the traveling body 2 is obtained from the amount of the transmission line 3 detected from the transmission line.

FIG. 4 shows an example in which a measuring instrument 12 is built in a self-propelled traveling body 11, which detects a rotation amount of wheels 13 of the traveling body 11,
The movement distance is obtained from the rotation amount. That is,
The amount of rotation of the wheel 13 is detected by a rotary encoder 14, the amount of rotation is converted into a moving distance by a calculator 15, and the moving distance is stored by a data memory device 16.

[Problems to be Solved by the Invention] By the way, the former has the following disadvantages for detecting the movement amount outside the pipeline 1.

(1) A slip occurs between the rotary encoder, which is a measuring instrument, and the output line 3, and a measured value shorter than the actual pipe length is stored due to the slip.

(2) A delivery facility such as a drum 4 is required at the entrance 1a of the pipeline 1, which complicates the measurement operation.

(3) If there are many bent portions (horizontal and height directions) in the pipe line 1, a twist is applied to the delivery line 3.

In the latter case, when the traveling body 11 measures the amount of movement, the above (2) and (3) can be solved, but slip between the wheels 13 and the pipeline wall is indispensable, and high accuracy is obtained. It is difficult. In particular, since dust, muddy water, and the like may be mixed in the pipeline 1, the tendency is likely to be promoted.

SUMMARY OF THE INVENTION An object of the present invention is to provide a method for measuring a moving distance of a traveling body in a pipeline, which can measure a traveling distance of the traveling body traveling in the pipeline with high accuracy.

Means for Solving the Problems According to the present invention, a closed pipeline is formed by closing both ends, and the pipeline is filled with a liquid and sealed therein, and the propulsion unit and the rotation rotated by the propulsion movement A traveling body having a body is propelled and moved, a rotation amount of the rotating body due to the propulsion movement is detected, and a moving distance is obtained from the rotation amount.

[Operation] In the present invention, the amount of movement is determined by the amount of rotation of the rotating body that rotates with the propulsion movement of the traveling body, so that there is no slip and measurement accuracy is improved.

Embodiment FIG. 1 shows an embodiment of the present invention.

As shown in the figure, a conduit 61 is formed in the ground for arranging a power supply cable, and a traveling body 62 is provided in the conduit 61.
Is inserted.

An entrance 61 is provided at both ends of the conduit 61 into which the traveling body 62 is inserted.
a, 61b are formed, and these entrances 61a, 61b communicate with standing holes 64a, 64b opened to the ground 63.
These communicating portions are closed by waterproof plugs 65a and 65b. Therefore, both ends are closed and the pipeline 61 is sealed.
Is formed.

The pipe 61 is filled with a liquid C such as water and sealed therein, and the traveling body 62 moves in the liquid C. The running body 62 has a cylindrical main body 71 as shown in FIG. Securely mounted. These wheels 72 are urged by a spring 73 so as to be movable in the radial direction of the main body 71.

In addition, the traveling body 62 is provided with a propulsion device 75 composed of a propeller 74 at the rear part in the moving direction and a measurement propeller 76 rotated by the propulsion movement at the front part in the moving direction in order to travel in the pipeline 61 by itself. A rotating body 77 is provided.

Specifically, a rechargeable drive motor 78 is provided at the rear of the main body 71.
The motor 78 is connected to a rotation shaft 81 of a propulsion unit 75 via a waterproof rotatable connector 79.
On the other hand, a rotary shaft 82 of a rotary body 77 is inserted through a waterproof rotatable connector 83 at the front of the main body 71 in the movement direction, and the rotary shaft 82 is provided with a rotary encoder 84 housed in the main body 71.
Are connected. Lead wire for rotary encoder 84
85, a memory device 86 is connected.
Is connected to a three-axis gyroscope 87 for detecting the direction of the traveling body 62 via a lead wire 85.

Therefore, in measuring the moving distance of the traveling body 62, the propulsion device 75 is driven, and when the traveling body 62 starts the propulsion movement, the rotating body 77 before and after the moving direction rotates. The rotation amount of the rotating body 77 is converted into a pulse signal by the rotary encoder 84 and output. By grasping the relationship between the pulse signal and the traveling distance of the traveling body 62 in advance, the actual moving distance of the traveling body 62 can be obtained from the rotation amount of the rotating body 77.

The traveling direction of the traveling body 62 is detected by a three-axis gyroscope 87 that detects displacement in three orthogonal directions, and the attitude measurement data and the traveling distance data are stored in a memory device 86. The data stored in the memory device 86 is later mapped by a personal computer.

As described above, since the moving distance is obtained from the rotation amount of the rotating body 77 that rotates with the propulsion movement of the traveling body 62, the measurement accuracy is improved without slipping, and the traveling body 62 travels by itself, so that no traction device is required. Therefore, compactness can be achieved.

Also, since the moving distance is stored in the memory device 86,
Wiring cables are not required, and there is no disconnection and the appearance is not impaired.

The amount of rotation can be adjusted by changing the propeller shape such as the torsion angle of the propeller 76 serving as the rotating body 77. Therefore, the measurement accuracy can be set arbitrarily.

[Effects of the Invention] In summary, according to the present invention, the moving distance is obtained from the rotation amount of the rotating body that rotates with the propulsion movement of the running body. It is possible to set any measurement accuracy.

[Brief description of the drawings]

FIG. 1 is a sectional view showing an embodiment of the present invention, and FIG.
FIGS. 3 and 4 are enlarged cross-sectional views showing main parts of the drawing, and are views showing a conventional example. In the figure, 61 is a pipeline, 62 is a traveling body, 75 is a propulsion device, 77 is a rotating body, and C is a liquid.

 ──────────────────────────────────────────────────続 き Continuing on the front page (72) Inventor Seiichi Yamashita 5-1-1 Hidaka-cho, Hitachi City, Ibaraki Prefecture Inside the Cable Research Laboratory, Hitachi, Ltd. (72) Inventor Moruhisa Fukushi 5 Hidaka-cho, Hitachi City, Ibaraki Prefecture No. 1-1, Hitachi Cable Company, Ltd. (56) References JP-A-61-167808 (JP, A) JP-A-58-106408 (JP, A) Jpn. ) Actually open sho 64-44404 (JP, U)

Claims (1)

(57) [Claims] When measuring the moving distance of a traveling body moving in a pipeline, both ends are closed to form a closed pipeline, and the pipeline is filled with liquid and sealed and propelled. And a traveling body having a rotating body rotated by a propulsion movement is propelled, a rotation amount of the rotation body caused by the propulsion movement is detected, and a moving distance is obtained from the rotation amount. A method for measuring the travel distance of an inner running object.