JP5468315B2 - Drilling position measuring method and system - Google Patents

Description

  The present invention relates to a drilling position measurement method and system, and more particularly to a drilling position measurement method and system that can measure a drilling position with high accuracy by reducing measurement errors.

  In the case of ground improvement or the like, ground drilling work is performed to inject the ground improvement chemical. In drilling work, it is necessary to drill at the planned position, so it is important to accurately grasp the drilling position. Conventionally, a gyroscope has been used to grasp the drilling position and the shape (meandering and gradient) of the underground pipeline (for example, see Patent Document 1).

  In Patent Document 1, first, a measurement vehicle equipped with a gyroscope is moved from a first point to a second point in a pipeline, and the gradient and distance of the pipeline are continuously detected to determine the movement trajectory of the measurement vehicle. Ask. Next, a distance between at least two points between the first point and the second point and an inclination angle are measured on the ground by a surveying instrument, and the movement trajectory of the measurement vehicle obtained previously is corrected based on the measured data. I am doing so.

  However, when drilling the lower ground of the structure, it is difficult to perform surveying because the structure becomes an obstacle at the upper position (ground) where the hole is drilled, and the drilling position can be accurately measured. The problem that it is not possible arises. Further, although the movement trajectory can be grasped by using the gyroscope, the drilling position cannot be grasped accurately unless the direction of the movement trajectory is given accurately. Therefore, a measurement method that can accurately grasp the direction of the movement locus of the gyroscope with a small measurement error has been desired.

Japanese Patent Laid-Open No. 7-280567

  An object of the present invention is to provide a drilling position measuring method and system capable of measuring a drilling position with high accuracy by reducing a measurement error.

In order to achieve the above object, the drilling position measuring method of the present invention connects an extension pipe to the end of the drilling pipe that protrudes above the ground, and fixes the extension pipe to a holding stand installed on the ground, Based on the detection data of the gyroscope and the detection data of the moving length detecting means for detecting the moving length of the gyroscope by moving the gyroscope inside the hole tube and the extension tube, the drilling tube and the extension are controlled by the control device. The movement trajectory of the gyroscope in the tube is calculated, the three-dimensional coordinates of the gyroscope at two reference positions separated by 1 to 5 m in the extension pipe are detected by the reference position coordinate detection means, and the movement trajectory of the gyroscope is detected. And the control device calculates the drilling position on the basis of the three-dimensional coordinate data detected by the reference position coordinate detection means and the monitor. It is characterized in that display.

Further, the drilling position measurement system of the present invention includes an extension pipe connected to an end projecting to the ground of the drilling pipe, a holding base installed on the ground and fixing the extension pipe, a drilling pipe, A gyroscope that moves inside the extension tube, a movement length detection means that detects the movement length of the gyroscope, a reference position coordinate detection means that detects a three-dimensional coordinate of an arbitrary position, a gyroscope, and a movement length A control device to which detection data from the detection means and the reference position coordinate detection means are input; and a monitor connected to the control device; the control device cuts off the data based on the detection data from the gyroscope and the movement length detection means. hole pipe and calculates the movement trajectory of the gyroscope in the extension tube, to 1m~5m apart in the extension pipe according to data and the reference position coordinates detecting means of the movement trajectory One of the based on the detection data of the three-dimensional coordinates of the gyroscope at the reference position, is characterized in that displayed on the monitor to calculate the drilling position by the control device.

  According to the present invention, the movement of the gyroscope is based on the detection data of the drilling pipe and the extension pipe connected to the end of the drilling pipe protruding to the ground and the moving length detection means. The trajectory, that is, the drilled shape can be grasped. Further, by detecting the three-dimensional coordinates of the gyroscope at the two reference positions separated from each other by the reference position coordinate detecting means, the direction of the movement locus of the gyroscope can be grasped. Therefore, the drilling position can be accurately grasped based on the data of the movement trajectory of the gyroscope and the data of the two three-dimensional coordinates detected by the reference position coordinate detection means.

  If the length of the extension pipes at the two reference positions that are separated from each other in the tube axis direction is increased, the influence of the measurement error when detecting the three-dimensional coordinates at the two reference positions is reduced, and the cutting is performed with higher accuracy. The hole position can be grasped.

It is explanatory drawing which illustrates the whole outline | summary of the drilling position measuring system of this invention. It is explanatory drawing which illustrates the process of measuring the three-dimensional coordinate of the gyroscope in the 1st reference position of an extension pipe. It is explanatory drawing which illustrates the process of measuring the three-dimensional coordinate of the gyroscope in the 2nd reference position of an extension pipe. It is a side view which shows the modification of an extension pipe | tube. It is explanatory drawing which illustrates the measured drilling position data. It is explanatory drawing which illustrates the process of drilling a ground.

  Hereinafter, a drilling position measuring method and system according to the present invention will be described based on the embodiments shown in the drawings.

  When performing ground improvement or the like, as illustrated in FIG. 6, drilling is performed by sequentially pressing the drilling tube 9 into the ground using the drilling device 13. When drilling the lower ground of the structure 14, the drilling is performed diagonally or horizontally. The present invention is applied to measure the drilling position when performing such non-perpendicular drilling.

  As illustrated in FIG. 1, a drilling position measurement system 1 (hereinafter referred to as a measurement system 1) of the present invention includes an extension pipe 10, a gyroscope 3, an encoder 4, a reference position coordinate detection unit 11, and a control. It has a device 5 and a monitor 6. The extension pipe 10 is connected to an end portion of the drilling pipe 9 embedded in the ground and protruding above the ground by a connecting member 10a. In this embodiment, the extension tube 10 is fixed to the holding table 12.

  A gyroscope 3 for detecting an angular velocity in three axial directions is provided in a metal probe 2. Although not essential, the probe 2 is preferably provided with an accelerometer that detects acceleration in three axial directions. For example, when there is a step or the like on the drilled inner surface, the data detected by the gyroscope 3 can be corrected by the acceleration detected by the accelerometer.

  A cable 7 for transmitting detection data of the gyroscope 3 is connected to the probe 2. The cable 7 is wound up by a winder 8 installed on the ground. Therefore, by winding the cable 7, the gyroscope 3 moves in the tube axis direction inside the drilled tube 9 and the extension tube 10.

An encoder 4 that detects the winding length of the cable 7 is provided between the extension tube 10 and the winder 8. That is, the moving length of the gyroscope 3 is detected by the encoder 4. The moving length detecting means for detecting the moving length of the gyroscope 3 is not limited to the encoder 4 exemplified in this embodiment, and other means can be used.
As the reference position coordinate detection means 11, a device capable of detecting a three-dimensional coordinate at an arbitrary position such as transit or GPS is used as shown in the figure.

  A personal computer or the like is used as the control device 5. Detection data from the gyroscope 3, the encoder 4, and the reference position coordinate detection means 11 is input to the control device 5. The result of data processing by the control device 5 is displayed on a monitor 6 connected to the control device 5.

  In this measurement system 1, based on the detection data of the gyroscope 3 and the encoder 4, the control device 5 calculates the movement trajectory of the gyroscope 3 in the drilled tube 9 and the extension tube 10, that is, the drilled shape. . Then, based on the data of the movement trajectory and the detection data of the three-dimensional coordinates of the gyroscope 3 at two reference positions separated from each other in the extension pipe 10 acquired by the reference position coordinate detection means 11, the drilling position is determined. It is configured to calculate and display on the monitor 6.

The drilling position is measured, for example, according to the following procedure.
First, using a pusher, the probe 2 is pushed to the target position (the tip position in FIG. 1) of the drilling tube 9 as illustrated in FIG. After the probe 2 is installed at the target position, the length of the cable 7 is adjusted to eliminate slack.

  Next, the cable 7 is wound up by the winder 8 to move the probe 2 (gyroscope 3) in the tube axis direction of the drilled tube 9, and the gyroscope 3 sequentially detects the angular velocity in the triaxial direction. At this time, the encoder 4 detects the moving length of the probe 2 (gyroscope 3). These detection data are input to the control device 5, and the control device 5 performs calculations based on these detection data to calculate the movement trajectory of the gyroscope 3 in the drilling tube 9, that is, the drilled shape. .

  Subsequently, while the probe 2 (gyroscope 3) is moved in the direction of the tube axis of the extension tube 10, the gyroscope 3 sequentially detects the angular velocity in three axes, and the encoder 4 moves the probe 2 (gyroscope 3). Detects. Detection data of the gyroscope 3 and the encoder 4 in the extension pipe 10 is also input to the control device 5. Then, by calculating the control device 5 based on these detection data, the movement trajectory of the gyroscope 3 in the extension pipe 10, that is, the shape of the extension pipe 10 is calculated.

  Here, as illustrated in FIGS. 2 and 3, the three-dimensional coordinates of the gyroscope 3 at two reference positions (first reference position Pa and second reference position Pb) that are separated from each other in the tube axis direction in the extension pipe 10. Is detected by the reference position coordinate detection means 11. The three-dimensional coordinates of the gyroscope 3 according to the present invention are not limited to the three-dimensional coordinates of the gyroscope 3 itself at the two reference positions Pa and Pb, and the gyroscope near the gyroscope 3 is not limited. 3 includes the three-dimensional coordinates of the position where the position from 3 is known. For example, the front end position, rear end position, center of gravity position, etc. of the probe 2 may be set as the position of the gyroscope 3, and the three-dimensional coordinates of the set position may be detected.

  Although any position of the extension tube 10 can be set as two reference positions Pa and Pb, it is preferable to set two positions as far apart as possible, as will be described later. In this embodiment, two reference positions Pa and Pb are set in the linear portion of the extension tube 10, but one or both of the two reference positions Pa and Pb may be set in a bent portion of the extension tube 10. it can.

  The extension tube 10 can be made of various materials. In this embodiment, the extension tube 10 is made of a transparent and flexible material (soft resin or the like). Therefore, the position of the internal probe 2 (gyroscope 3) can be visually recognized from the outside of the extension tube 10. Therefore, the three-dimensional coordinates of the gyroscope 3 at the two reference positions Pa and Pb can be easily and accurately detected by the reference position coordinate detection means 11. When using GPS, the GPS antenna is arranged at two reference positions Pa and Pb to acquire position data.

  Only the portions corresponding to the two reference positions Pa and Pb of the extension pipe 10 can be made to have a specification having transparency that allows the inside of the pipe to be seen through from the outside of the pipe. Also according to this specification, the position of the internal probe 2 (gyroscope 3) can be visually recognized from the outside of the extension tube 10. That is, at least two reference positions Pa and Pb of the extension tube 10 may be formed of a transparent or semi-transparent material so that the inside of the tube can be seen through from the outside of the tube.

  As illustrated in FIG. 4, a notch portion 10 b penetrating the tube wall may be provided in a portion corresponding to at least two reference positions Pa and Pb of the extension tube 10. According to this specification, even if the extension tube 10 is made of a non-transparent material such as metal, the position of the probe 2 (gyroscope 3) inside can be visually recognized from the outside of the extension tube 10. Therefore, the three-dimensional coordinates of the gyroscope 3 at the two reference positions Pa and Pb can be easily and accurately detected by the reference position coordinate detection means 11.

  From the detection data by the gyroscope 3, as shown in FIG. 5A, it is possible to grasp the movement trajectory of the gyroscope 3 in the drilling tube 9 and the extension tube 10, that is, the drilled shape T. At the two reference positions Pa and Pb, for example, the three-dimensional coordinates of the gyroscope 3 are detected as Pa (Xa, Ya, Za) and Pb (Xb, Yb, Zb), respectively.

  In the extension pipe 10, data is detected by the gyroscope 3 at two reference positions Pa and Pb. Therefore, by giving the three-dimensional coordinates of the two reference positions Pa and Pb to the grasped movement locus data of the gyroscope 3, the movement locus (the drilled shape T) of the gyroscope 3 becomes an accurate orientation. . As described above, the movement locus data of the gyroscope 3 and the two three-dimensional coordinate data Pa (Xa, Ya, Za) and Pb (Xb, Yb, Zb) detected by the reference position coordinate detection means 11 and This makes it possible to accurately grasp the drilling position (the three-dimensional position of the drilling shape).

  According to the present invention, even when the lower ground of the structure 14 is drilled as shown in FIG. 6, the two reference positions Pa and Pb are not affected by the presence of the structure 14 on the ground. Since the three-dimensional coordinates of the gyroscope 3 can be detected, the drilling position can be measured with high accuracy.

  Incidentally, it is inevitable that a slight measurement error occurs when the reference position coordinate detection means 11 detects the three-dimensional coordinates of the two reference positions Pa and Pb. In FIG. 5A, the length L that is separated in the tube axis direction of the extension tube 10 at the two reference positions Pa and Pb is L1, but the shorter the length L, the more the measurement error is caused. The deviation from the true direction of the movement locus of the gyroscope 3 becomes large.

  Therefore, as illustrated in FIG. 5B, one reference position Pb is shifted to Pc, and a length L (L2) that is separated from the two reference positions Pa and Pc in the tube axis direction in the extension pipe 10 is set to L1. It is better to make it larger. Thereby, the influence of the measurement error at the time of detecting the three-dimensional coordinates at the two reference positions Pa and Pc by the reference position coordinate detecting means 11 is reduced, and the drilling position can be grasped with higher accuracy.

  As the length L of the extension pipe 10 which is separated from the two reference positions Pa and Pb in the pipe axis direction is increased, it becomes possible to grasp the drilling position with high accuracy. For example, from the viewpoint of restrictions, the length is set to about 2% to 20% of the length of the drilled tube 9, or about 1m to 5m.

  Even when the space on the ground is severely restricted, if the extension tube 10 having flexibility is used, the length L between the two reference positions Pa and Pb is secured to some extent by bending the extension tube 10. can do. For example, the probe 2 (gyroscope 3) is moved inside the flexible extension tube 10 that is arbitrarily bent, and the movement trajectory data of the gyroscope 3 and the three-dimensional coordinates of the two reference positions Pa and Pb. Is detected. This makes it possible to grasp the drilling position with high accuracy.

DESCRIPTION OF SYMBOLS 1 Measurement system 2 Probe 3 Gyroscope 4 Encoder (movement length detection means)
DESCRIPTION OF SYMBOLS 5 Control apparatus 6 Monitor 7 Cable 8 Winder 9 Drilling pipe 10 Extension pipe 10a Connecting member 10b Notch part 11 Reference position coordinate detection means 12 Holding stand 13 Drilling apparatus 14 Structure

Claims (8)

An extension pipe is connected to the end of the drilling pipe that protrudes above the ground, and this extension pipe is fixed to a holding base installed on the ground, and the gyroscope is moved inside the drilling pipe and the extension pipe. Based on the detection data of the gyroscope and the detection data of the moving length detecting means for detecting the moving length of the gyroscope, the control device calculates the movement trajectory of the gyroscope in the drilling pipe and the extension pipe, and the extension pipe The three-dimensional coordinates of the gyroscope at two reference positions separated from each other by 1 to 5 m are detected by the reference position coordinate detection means, and the two three-dimensional data detected by the movement locus data of the gyroscope and the reference position coordinate detection means A drilling position measuring method in which a drilling position is calculated by the control device based on coordinate data and displayed on a monitor. The extension tube is flexible, the gyroscope is moved inside an arbitrarily bent extension tube, and one or both of the two reference positions are set at a bent portion of the extension tube. The drilling position measuring method according to 1.   The portion corresponding to at least the two reference positions of the extension tube is made to have specifications that allow the inside of the tube to be transparent from the outside of the tube, and the two reference positions are detected from the outside of the extension tube by the reference position coordinate detection means. The drilling position measuring method according to claim 1, wherein the three-dimensional coordinates of the gyroscope are detected.   At least a portion corresponding to the two reference positions of the extension pipe is provided with a notch passing through the pipe wall, and the three-dimensional coordinates of the gyroscope at the two reference positions are detected from the outside of the extension pipe by the reference position coordinate detection means. The drilling position measuring method according to claim 1, wherein the drilling position is detected. An extension pipe connected to an end projecting to the ground of the drilling pipe, a holding base installed on the ground to fix the extension pipe, a gyroscope moving inside the drilling pipe and the extension pipe, and a gyro The detection data by the movement length detection means for detecting the movement length of the scope, the reference position coordinate detection means for detecting the three-dimensional coordinates of an arbitrary position, the gyroscope, the movement length detection means, and the reference position coordinate detection means An input control device and a monitor connected to the control device, and based on detection data of the gyroscope and movement length detection means, the control device moves the gyroscope trajectory in the drilling tube and extension tube calculates, 3 gyroscopes in 1M～5m 2 one reference position spaced in the extension pipe according to data and the reference position coordinates detecting means of the movement trajectory Based on the original coordinates of the detected data, drilling position measuring system to be displayed on the monitor to calculate the drilling position by the control device. The extension pipe has a shape that is bent not have a flexible, drilling position measuring system according to claim 5, one or both of the two reference positions, and set the bent portion of the extension tube.   The drilling hole position measuring system according to claim 5 or 6, wherein at least a portion corresponding to the two reference positions of the extension pipe is configured to have a specification that is transparent so that the inside of the pipe can be seen through from the outside of the pipe.   The drilling hole position measuring system according to claim 5 or 6, wherein a cutout portion penetrating the pipe wall is provided in a portion corresponding to at least the two reference positions of the extension pipe.

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