JP5097887B2 - Misalignment measuring method in pipe position measuring device - Google Patents

Description

  The present invention relates to a misalignment measuring method in a pipe position measuring device, and in particular, by changing the azimuth angle (ψ) of the casing by 180 ° at a position where the casing is inclined by a predetermined angle with respect to the horizontal, By calculating the average value of the pitch angles (θ) when the angles (ψ) are 180 ° different from each other, the horizontal error contained in the pitch angle (θ) is canceled, and the housing and sensor box The present invention relates to a novel improvement for obtaining the misalignment between the X-axes so that the misalignment measurement accuracy can be improved and the hole path measurement accuracy can be improved.

  As this kind of pipe position measuring device used in the past, since it was recently developed in-house and has not been published as a public gazette, no patent documents are disclosed, but it is configured as shown in FIGS. Yes. FIG. 6 is a block diagram showing a conventional pipe position measuring apparatus, and FIG. 7 is a block diagram showing a hole path measured by the pipe position measuring apparatus of FIG. In the figure, a probe 2 is movably inserted into the excavated hole 1, and the probe 2 includes a housing 20 such as a drill or a box having wheels, and the inside of the housing 20. And a sensor box 21 fixedly arranged on the surface. The sensor box 21 is connected to a cable 4 configured to be wound around the cable winder 3, and the cable 4 is configured to be movable via the cable relay 5 and the cable length measuring device 6. Has been. Although not shown, the sensor box 21 includes an angular velocity meter, an accelerometer, a temperature sensor, and the like, and includes angular velocity data 7a, acceleration data 7b, and a sensor temperature signal 7c via the cable 4. The digitized probe data 7 is output. The cable length measuring device 6 outputs a cable speed 8 that is a moving speed of the cable 4. The sensor box 21 and the cable length measuring device 6 are connected to a calculation unit 10 including, for example, a CPU, a RAM, and a ROM. The calculation unit 10 performs calculation processing of the probe data 7 and the cable speed 8. By performing, the path | route measurement of the said hole 1 is performed as shown in FIG. That is, the arithmetic unit 10 obtains the moving direction of the housing 20 by obtaining the pitch angle θ and the azimuth angle ψ of the housing 20 based on the probe data 7, and the moving direction and the housing 20 The path measurement of the hole 1 is performed based on the cable speed 8 corresponding to the moving speed of. In addition, although the example in which the arithmetic unit 10 is arranged outside the housing 20 has been shown, it may be arranged inside the housing 20. Moreover, although it demonstrated that the probe data 7 was output via the cable 4, when the calculating part 10 is arrange | positioned in the housing | casing 20, what is necessary is just to be able to detect the moving speed of the housing | casing 20 with the cable 4, The cable 4 may be connected to the housing 20.

Here, since the angles θ and ψ obtained based on the probe data 7 are precisely the angles θ and ψ of the sensor box 21, if the angles θ and ψ are used as they are, the housing 20 and the sensor box 21 are used. An error occurs in the path measurement due to misalignment ε between and. Therefore, it is necessary to measure the misalignment ε between the housing 20 and the sensor box 21 after fixing the sensor box 21 in the housing 20. Therefore, conventionally, after fixing the sensor box 21 in the housing 20, the housing 20 is placed on a horizontal base and the roll angle φ of the housing 20 is set to 0 °, and the pitch angle θ obtained at that time is used as the sensor. Misalignment ε _Y around the Y axis along the left-right direction of the box 21 is set. Further, the roll angle φ of the housing 20 is set to 90 °, and the pitch angle θ obtained at that time is set as misalignment ε _Z around the Z axis along the vertical direction of the sensor box 21.

  In the misalignment measuring method in the conventional pipe position measuring apparatus as described above, the case 20 is placed on a horizontal base and the misalignment ε is measured. However, it is possible to form a completely horizontal base. Since it is difficult, an error is included in the measured misalignment, and the hole path measurement accuracy is low.

  The present invention has been made to solve the above-described problems, and its purpose is to improve misalignment measurement accuracy, and to achieve misalignment measurement in a pipe position measurement device that can improve hole path measurement accuracy. Is to provide a method.

  A misalignment measuring method in a pipe position measuring apparatus according to the present invention includes a housing for a probe inserted into a hole, and a sensor that is fixedly disposed in the housing and outputs probe data including at least angular velocity data and acceleration data. A box, a cable winder that winds up a cable connected to the housing or the sensor box, a cable length measuring device that outputs the cable speed of the cable, and the inside and outside of the housing Connected to the sensor box and the cable length measuring device, the pitch angle and azimuth angle of the housing are obtained based on the probe data, and the path of the hole is measured based on the pitch angle and azimuth angle and the cable speed. And a first X axis along the front-rear direction of the casing and the center. A misalignment measuring method in a pipe position measuring apparatus for measuring misalignment with the second X axis along the front-rear direction of the box, wherein the housing is inclined at a first angle with respect to the horizontal, By setting the roll angle of the housing to 0 °, changing the azimuth angle, and inputting a command signal to the calculation unit, the first and second pitch angles in a state where the azimuth angles are different from each other by 180 ° are obtained. The step of storing in the calculation unit and inputting a command signal to the calculation unit causes the calculation unit to obtain an average value of the first and second pitch angles, and is included in the first and second pitch angles. Canceling the first angle, obtaining a misalignment around the Y axis along the horizontal direction of the case, and tilting the case relative to the horizontal by a second angle that is the same as or different from the first angle At the position of the housing By changing the azimuth angle to 90 °, changing the azimuth angle, and inputting a command signal to the calculation unit, the calculation unit can calculate the third and fourth pitch angles in a state where the azimuth angles are different from each other by 180 °. And an instruction signal is input to the calculation unit, thereby causing the calculation unit to obtain an average value of the third and fourth pitch angles, and included in the third and fourth pitch angles. Canceling the second angle and obtaining misalignment around the Z-axis along the vertical direction of the housing.

  According to the misalignment measuring method in the pipe position measuring apparatus of the present invention, the average value of the first and second pitch angles and the average value of the third and fourth pitch angles are obtained and included in each pitch angle. Since the horizontal error (first and second angles) is canceled, the misalignment measurement accuracy can be improved, and the hole path measurement accuracy can be improved.

The best mode for carrying out the present invention will be described below with reference to the drawings.
Embodiment The overall configuration of the pipe position measuring apparatus according to the embodiment of the present invention is the same as the conventional configuration (FIG. 6), and therefore, the same parts as the conventional example are not described and are different from the conventional example. Only the part will be described. In addition, the same code | symbol is demonstrated about the part which is the same as that of a conventional structure, or an equivalent. The operation mode of the calculation unit 10 (see FIG. 6) of this embodiment is the path measurement mode for measuring the path of the hole 1 and the first X axis along the front-rear direction of the housing 20 and the front-rear direction of the sensor box 21. Switching is possible in a misalignment measurement mode for obtaining misalignment ε between the second X axis. The misalignment ε between the first and second X axes is a misalignment ε _Y around the Y axis along the horizontal direction of the housing 20 and a misalignment ε _Z around the Z axis along the vertical direction of the housing 20. Can be considered separately. Thus, a misalignment measuring method in the pipe position measuring apparatus will be described. First, a measuring method of misalignment ε _Y around the Y axis will be described, and then a measuring method of misalignment ε _Z around the Z axis will be described. .

FIG. 1 is a side view showing a scene of a misalignment measuring method in a pipe position measuring apparatus according to an embodiment of the present invention, where the roll angle φ and the azimuth angle ψ of the housing 20 are 0 °. Is shown. FIG. 2 is a front view showing the block 30 of FIG. As shown in the figure, when measuring misalignment ε _Y around the Y axis, for example, a pair of blocks 30 are installed at a predetermined interval on the ground or the like. Next, the calculation unit 10 refers to the roll angle φ of the casing 20 obtained based on the probe data 7, and while adjusting the inclination of the casing 20 so that the roll angle φ is 0 °, The housing 20 is placed in a V-shaped groove 30 a provided in the block 30. Next, a command signal is input to the calculation unit 10, and the first pitch angle θ ₁ in this state is stored in the calculation unit 10. In order to simplify the explanation, the azimuth angle ψ at this time is assumed to be 0 °.

At this time, if the casing 20 is completely horizontal, the first pitch angle θ ₁ becomes misalignment ε _Y around the Y axis. However, it is difficult to make the housing 20 completely horizontal. For example, an error with respect to the horizontal (first angle α) due to a height error between the blocks 30 or an inclination of a place where the housing 20 is installed is the first pitch angle θ. ₁ included. That is, the first pitch angle θ ₁ is expressed as the following formula (1).
θ ₁ = ε _Y + α (1)

Next, FIG. 3 is a side view showing a state where the roll angle φ of the housing 20 of FIG. 1 is 0 ° and the azimuth angle ψ is 180 °. After the first pitch angle θ ₁ is stored in the calculation unit 10, the casing 20 is placed in the reverse direction while adjusting the inclination of the casing 20 so that the roll angle φ is 0 °. It is newly placed in the groove 30a. That is, the azimuth angle ψ is changed by 180 ° from the state in which the first pitch angle θ ₁ is obtained, and the command signal is input to the calculation unit 10 to calculate the second pitch angle θ ₂ in this state. Store in the unit 10.

Here, the second pitch angle θ ₂ still includes an error with respect to the horizontal (first angle α), but the azimuth angle ψ is changed by 180 °, so that the sign is inverted. ing. That is, the second pitch angle θ ₂ is expressed by the following formula (2).
θ ₂ = ε _Y −α (2)

Therefore, by inputting a command signal to the calculation unit 10 and causing the calculation unit 10 to obtain an average value of the first and second pitch angles θ ₁ and θ ₂ as shown in the following expression (3), The first angle α included in the first and second pitch angles θ ₁ and θ ₂ can be canceled, and misalignment ε _Y around the Y axis can be obtained.
(Θ ₁ + θ ₂ ) / 2 = {(ε _Y + α) + (ε _Y −α)} / 2 = ε _Y (3)

Next, a method for measuring misalignment ε _Z around the Z axis will be described. 4 is a side view showing a state in which the roll angle φ of the housing 20 of FIG. 3 is 90 ° and the azimuth angle ψ is 0 °, and FIG. 5 is a view of the roll angle φ of the housing 20 of FIG. It is a side view which shows the state made into 90 degrees and the azimuth angle psi being 180 degrees. When measuring misalignment ε _Y around the Y axis, the roll angle (φ) was set to 0 °. However, when measuring misalignment ε _Z around the Z axis, the roll angle (φ) was set to 90 °. . That is, the center axis of the azimuth angle (ψ) and the Z-axis are made to coincide with each other by turning the housing 20 sideways.

Next, as shown in FIGS. 4 and 5, a command signal is input to the arithmetic unit 10 in a state where the azimuth angles (ψ) are different from each other by 180 °, and a third state in which the azimuth angles (ψ) are different from each other by 180 °. And the fourth pitch angle (θ ₃ , θ ₄ ) is stored in the calculation unit 10. These third and fourth pitch angles (θ ₃ , θ ₄ ) include an error with respect to the horizontal (second angle β) in a state where the signs are different from each other, as shown in the following formulas (4) and (5). expressed.
θ ₃ = ε _Z + β (4)
θ ₄ = ε _Z −β (5)

Accordingly, a command signal is input to the calculation unit 10 and the calculation unit 10 is caused to obtain an average value of the third and fourth pitch angles (θ ₃ , θ ₄ ) as shown in the following equation (6). Thus, the second angle β included in the third and fourth pitch angles (θ ₃ , θ ₄ ) can be canceled, and a misalignment ε _Z around the Z axis can be obtained. If the block 30 has not been moved since the misalignment ε _Y around the Y axis was measured, the second angle β is the same as the first angle α.
(Θ ₃ + θ ₄ ) / 2 = {(ε _Z + β) + (ε _Z −β)} / 2 = ε _Z (6)

After calculating the misalignment ε _Y and ε _Z , the arithmetic unit 10 automatically calculates an angle correction value based on the misalignment ε _Y and ε _Z. Further, when the operation mode is the path measurement mode, the calculation unit 10 corrects the pitch angle θ and the azimuth angle ψ using the angle correction value, and the corrected pitch angle θ and azimuth angle. The path of the hole 1 is measured based on ψ.

It is a side view which shows one scene of the misalignment measuring method in the pipe line position measuring apparatus by embodiment of this invention. It is a front view which shows the block of FIG. FIG. 2 is a side view showing a state where the roll angle φ of the housing of FIG. 1 is 0 ° and the azimuth angle ψ is 180 °. FIG. 4 is a side view showing a state where the roll angle φ of the housing of FIG. 3 is 90 ° and the azimuth angle ψ is 0 °. FIG. 5 is a side view showing a state in which the roll angle φ of the housing of FIG. 4 is 90 ° and the azimuth angle ψ is 180 °. It is a block diagram which shows the conventional pipe line position measuring apparatus. It is a block diagram which shows the path | route of the hole measured by the pipe line position measuring apparatus of FIG.

Explanation of symbols

1 hole, 2 probe, 3 cable winder, 4 cable, 6 cable length measuring device, 7 probe data, 7a angular velocity data, 7b acceleration data, 8 cable velocity, 10 calculation unit, 20 housing, 21 sensor box, α , Β First and second angles, ε _Y Y-axis misalignment, ε _Z Z-axis misalignment, θ pitch angle, θ _{1 to} θ ₄ First to fourth pitch angles, φ Roll angle, ψ Azimuth.

Claims (1)

A housing (20) of the probe (2) inserted into the hole (1), and probe data (at least including angular velocity data (7a) and acceleration data (7b) while being fixedly disposed in the housing (20)). 7), a cable winder (3) for winding up the cable (4) connected to the housing (20) or the sensor box (21), and the cable (4). A cable length measuring device (6) for outputting the cable speed (8) of the cable, and being arranged inside or outside the housing (20) and connected to the sensor box (21) and the cable length measuring device (6). Based on the probe data (7), the pitch angle (θ) and azimuth angle (ψ) of the casing (20) are obtained, and the pitch angle (θ) and azimuth angle (ψ) and the cable speed (8) are obtained. And based on The first X axis along the front-rear direction of the casing (20) and the front and rear of the sensor box (21) using a pipe position measuring device including a calculation unit (10) that measures the path of the hole (1) A misalignment measuring method in a pipe position measuring device for measuring misalignment (ε) between the second X axis along a direction,
At a position where the casing (20) is inclined by a first angle (α) with respect to the horizontal, the roll angle (φ) of the casing (20) is set to 0 ° and the azimuth angle (ψ) is changed. By inputting a command signal to the arithmetic unit (10), the first and second pitch angles (θ ₁ , θ ₂ ) in a state where the azimuth angles (ψ) are different from each other by 180 ° are obtained as the arithmetic unit (10 ) Memorize the process,
By inputting a command signal to the calculation unit (10), the calculation unit (10) calculates an average value of the first and second pitch angles (θ ₁ , θ ₂ ), and the first and second Canceling out the first angle (α) included in the pitch angles (θ ₁ , θ ₂ ) and obtaining misalignment (ε _Y ) around the Y axis along the left-right direction of the housing (20); ,
The roll angle (φ) of the casing (20) is 90 ° at a position where the casing (20) is inclined with respect to the horizontal by a second angle (β) that is the same as or different from the first angle (α). At the same time, the azimuth angle (ψ) is changed, and a command signal is input to the calculation unit (10), so that the third and fourth pitch angles (θ ₃ , θ ₄ ) in the arithmetic unit (10);
By inputting a command signal to the calculation unit (10), the calculation unit (10) calculates the average value of the third and fourth pitch angles (θ ₃ , θ ₄ ), and the third and fourth Canceling out the second angle (β) included in the pitch angles (θ ₃ , θ ₄ ) and obtaining misalignment (ε _Z ) around the Z axis along the vertical direction of the housing (20); A misalignment measuring method in a pipeline position measuring apparatus, comprising:

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