JP6592696B2 - Pipe measuring device and pipe measuring method - Google Patents

Description

  The present invention relates to a pipe line measuring device and a pipe line measuring method.

A method for measuring the state of the laying pipe, that is, the shape has been devised.
For example, in Patent Document 1, using a measurement result by an inertial sensor that has an accelerometer and a gyroscope and travels in a pipeline, and a travel distance of the inertial sensor in the pipeline that is measured by a distance meter, An invention for measuring the amount of displacement of a pipeline is described. In Patent Document 1, a pipe constituted by at least one rigid pipe element whose bending state is known in advance and a pipe element connected to the at least one rigid pipe element is provided. Measurement target. In the measurement method using the inertia sensor and the distance meter as described above, an error due to the gyro drift occurs. Further, in a pipeline with a large bend, an error due to the bend, that is, an error due to a scale factor occurs. For this reason, by comparing the known bending angle of at least one rigid pipe element with the measurement result of the inertial sensor that measures and travels in the pipe, an error due to the gyro drift rate and the scale factor during the measured travel And corrections have been made.

Japanese Patent No. 3205101

  In the method of measuring the displacement amount of the pipeline described in Patent Document 1, it is necessary that the bending angle, that is, the inclination angle of at least one pipeline element in the pipeline is known. For this reason, it is necessary to carry out measurement using two different measurement methods, that is, measurement of the inclination angle of the at least one pipe element and measurement using an inertial sensor and a distance meter. It is also necessary to prepare. Therefore, there is a problem that labor, labor, and cost required for measurement are increased.

  The present invention has been made to solve such problems, and provides a pipe measuring device and a pipe measuring method capable of maintaining high measurement accuracy while simplifying the measurement of the pipe shape. The purpose is to do.

In order to solve the above-described problems, a pipe measuring device according to the present invention is a pipe measuring device that measures the shape of a pipe, and includes an acceleration sensor and a gyro sensor and is capable of traveling in the pipe. The position of the pipeline traveling body is determined from the road traveling body, the distance measuring unit that measures the traveling distance of the pipeline traveling body, the acceleration and angular velocity detected by the acceleration sensor and the gyro sensor, and the traveling distance measured by the distance measuring unit. A position detection unit that detects a pipe line that detects an error caused by the length of the pipeline traveling body between the locus of the pipeline traveling body to be detected and the shape of the pipeline. In the pipe measuring device that corrects the position of the traveling body, the length of the pipeline traveling body is a distance between the center of the front wheel and the center of the rear wheel of the pipeline traveling body.
Further, the position detection unit, in the correction of the error, the error distance between the trajectory due to the position of the pipeline traveling body caused by the change in the azimuth angle of the pipeline traveling body and the linear shape of the pipeline, and the pipeline The error distance between the trajectory due to the position of the pipeline traveling body and the linear shape of the pipeline caused by the change in the pitch angle of the traveling body, the length of the pipeline traveling body, the amount of change in the azimuth angle, and the pitch It may be calculated and used based on the amount of change in corners .

In addition, a pipe line measuring method according to the present invention is a pipe line measuring method for measuring the shape of a pipe line. The pipe line traveling body has an acceleration sensor and a gyro sensor, and can travel in the pipe line. A distance measuring unit that measures the traveling distance of the traveling body, a position detecting unit that detects the position of the pipeline traveling body from the acceleration and angular velocity detected by the acceleration sensor and the gyro sensor, and the traveling distance measured by the distance measuring unit. The position detection unit uses an error due to the length of the pipeline traveling body between the trajectory due to the position of the pipeline traveling body to be detected and the shape of the pipeline with respect to the position of the pipeline traveling body to be detected. in line measuring method of correcting the length of the conduit traveling body, Ru distance der between the center of the front and rear wheels of the center of the conduit running body.
Further, the position detection unit, in the correction of the error, the error distance between the trajectory due to the position of the pipeline traveling body caused by the change in the azimuth angle of the pipeline traveling body and the linear shape of the pipeline, and the pipeline The error distance between the trajectory due to the position of the pipeline traveling body and the linear shape of the pipeline caused by the change in the pitch angle of the traveling body, the length of the pipeline traveling body, the amount of change in the azimuth angle, and the pitch It may be calculated and used based on the amount of change in corners .

  According to the pipe line measuring device and the pipe line measuring method according to the present invention, it is possible to easily measure the shape of the pipe line and maintain high measurement accuracy.

It is a rough section side view of a pipe running object of a pipe line measuring device concerning an embodiment of the invention. It is a rough section side view showing the measurement situation of a pipe line using the pipe line measuring device concerning an embodiment of the invention. It is the schematic which shows the example of the method of the error correction | amendment of the position of a pipe running body.

Hereinafter, a pipe line measuring device 100 according to an embodiment of the present invention will be described with reference to the accompanying drawings.
First, the configuration of the pipe line measuring apparatus 100 will be described.
Referring to FIG. 2, a pipe measuring device 100 according to an embodiment of the present invention includes a pipe traveling body 101 that can travel in the pipe A and a distance meter 102 that measures a travel distance of the pipe traveling body 101. And. Here, the distance meter 102 constitutes a distance measuring unit and can include an encoder or the like.

Referring to FIG. 1, a pipeline traveling body 101 includes an elongated bottomed cylindrical casing 1 and wheels 2 and 3 that cause the casing 1 to travel. The wheel is constituted by a front wheel 2 and a rear wheel 3 that are arranged at intervals along a longitudinal direction that is also a traveling direction of the housing 1. The distance between the center of the front wheel 2 and the center of the rear wheel 3 is L.
Further, the housing 1 is configured such that a cable 11 is connected to the front end thereof. The pipeline traveling body 101 is configured to travel by being pushed or pulled through the cable 11.

The pipe traveling body 101 includes a three-axis linear acceleration sensor 5, a three-axis gyro sensor 6, and a calculation unit 7 such as a CPU inside the housing 1. Further, the pipeline traveling body 101 has an input / output terminal 8 provided at the front portion of the housing 1.
The three-axis linear acceleration sensor 5 includes a linear acceleration in the X-axis direction along the cylindrical central axis extending in the longitudinal direction of the cylindrical casing 1, and perpendicular to the X-axis and from the cylindrical central axis to the wheels 2 and 3. A linear acceleration in the Z-axis direction and a linear acceleration in the Y-axis direction perpendicular to the X-axis and the Z-axis are detected.
The triaxial gyro sensor 6 includes a roll angular velocity that is an angular velocity around the X axis, that is, the rolling direction of the housing 1, a pitch angular velocity that is an angular velocity around the Y axis, that is, the pitching direction of the housing 1, and a Z axis around the housing 1. An azimuth angular velocity that is an angular velocity in the yaw direction is detected.
The calculation unit 7 is configured to receive detection information from the three-axis linear acceleration sensor 5 and the three-axis gyro sensor 6.

  The calculation unit 7 is configured to move around the three axes of the housing 1 from the three-axis linear acceleration continuously received from the three-axis linear acceleration sensor 5 and the angular velocities around the three axes continuously received from the three-axis gyro sensor 6. Calculate the attitude angle. That is, the calculation unit 7 calculates the roll angle, pitch angle, and azimuth angle of the housing 1. For example, in the above calculation, when calculating the roll angle, pitch angle, and azimuth angle from the roll angular velocity, pitch angular velocity, and azimuth angular velocity, using the X-axis direction linear acceleration, the Y-axis direction linear acceleration, and the Z-axis direction linear acceleration, The error and the gyro drift that the linear acceleration in each of the three axial directions gives to the detected angular velocity of the three axial gyro sensor 6 are corrected.

The calculation unit 7 can output the roll angle, pitch angle, and azimuth angle of the casing 1 calculated as described above to an external device connected to the input / output terminal 8.
In addition, the calculation unit 7 can receive information from an external device with respect to an external device connected to the input / output terminal 8.

Referring to FIG. 2, the distance meter 102 has a pull-out amount or a pull-in amount of the cable 11 when the cable 11 is pulled out or taken up by the winder 103 in order to run the pipe traveling body 101, that is, the pipe line. The traveling distance of the traveling body 101 is measured by an encoder or the like that is mounted. The distance meter 102 is configured to send the measurement result to an arithmetic device 104 such as an external computer. Note that the winder 103 may be manually operated or electrically operated.
Furthermore, the arithmetic unit 104 is connected to the cable 11 via the wire extending inside or outside the cable 11 so that information can be transmitted and received to the input / output terminal 8 of the pipeline traveling body 101.
The computing device 104 calculates the pipeline traveling body from the roll angle, pitch angle, and azimuth angle of the housing 1 received from the computing unit 7 of the pipeline traveling body 101 and the travel distance of the pipeline traveling body 101 received from the distance meter 102. The position 101 and the travel locus are calculated. Here, the arithmetic unit 104 constitutes a position detection unit.

Next, a method for measuring the shape of the pipe using the pipe measuring device 100 will be described.
Referring to FIG. 2, the shape of the pipe A configured by connecting a plurality of pipes A 1, A 2, A 3,. measure.
Referring to FIGS. 1 and 2 together, the measurer inserts the pipeline traveling body 101 from the rear wheel 3 side of the housing 1 into the pipe A1.
The pipe traveling body 101 is caused to travel in the pipe A toward the pipe An when the measurer pushes in via the cable 11. When the casing 1 of the pipeline traveling body 101 contacts the stopper Ana at the end of the pipe An, the measurer stops the pipeline traveling body 101.

Next, the calculation device 104 activates the components such as the calculation unit 7 of the pipeline traveling body 101, the three-axis linear acceleration sensor 5, and the three-axis gyro sensor 6 to start measurement, and the distance meter 102 of the cable 11 It starts and starts measuring.
Thereafter, winding of the cable 11 is started by the winder 103.
When the cable 11 is wound up, the pipe traveling body 101 travels in the pipe A toward the pipe A1.

Based on the triaxial linear acceleration from the triaxial linear acceleration sensor 5 continuously detected in the traveling process and the angular acceleration around the three axes from the triaxial gyro sensor 6, the computing unit 7 The roll angle, pitch angle and azimuth angle are calculated. The calculation unit 7 sends the calculated posture angle including the roll angle, the pitch angle, and the azimuth to the calculation device 104.
The distance meter 102 detects the winding amount of the cable 11 by the winder 103 in operation, that is, the traveling distance of the pipe traveling body 101, and sends the detected distance to the computing device 104.

The computing device 104 calculates the speed of the pipeline traveling body 101 in the axial direction of the cable 11 from the travel distance information received from the distance meter 102, and further uses the attitude angle information received from the computing unit 7 of the pipeline traveling body 101. Thus, the speed of the pipeline traveling body 101 is decomposed into the X axis, the Y axis, and the Z axis.
Then, the arithmetic unit 104 integrates the X-axis component, the Y-axis component, and the Z-axis component of the velocity of the pipeline traveling body 101, which are continuously calculated, to integrate the X-axis component, Y An axial component and a Z-axis component are continuously calculated.

Further, the arithmetic unit 104 performs error calculation every time the X-axis component, the Y-axis component, and the Z-axis component of the position of the pipeline traveling body 101 are calculated. That is, the arithmetic unit 104 performs error calculation of the position of the pipeline traveling body 101 for substantially all the portions of the pipeline A on which the pipeline traveling body 101 travels.
Specifically, the arithmetic unit 104 calculates the X-axis component error X ′ and the Y-axis component error Y ′ from the calculated X-axis component, Y-axis component, and Z-axis component as follows. Then, an error calculation for subtracting the error Z ′ of the Z-axis component is performed, and X1 as the X-axis component at the corrected position, Y1 as the Y-axis component, and Z1 as the Z-axis component are calculated.

For example, the error distance generated by changing the azimuth angle is obtained as follows.
Referring to FIG. 3, in the joint portion J between the pipe Am and the pipe Am-1, the pipe traveling body 101 travels in the pipe A with respect to the axial direction of the pipe Am-1. It is inclined by an angle φ in the direction of the azimuth angle. Therefore, the linear line _{LL Am-1} of the linear line _{LL Am} and tube Am-1 of the tube Am, the shape shown by the solid line in FIG. 3.
On the other hand, when the pipeline traveling body 101 travels from the tube Am to the tube Am-1, the trajectory due to the position of the pipeline traveling body 101 when the calculation device 104 calculates without performing the above error calculation is: The linear line LL _Am and the linear line LL _Am-1 ′ indicated by a one-dot chain line are traced. Since the distance L between the front wheel 2 and the rear wheel 3 is present in the casing 1 of the pipeline traveling body 101, the traveling casing 1 accurately forms the shapes of the linear line LL _Am and the linear line LL _Am-1. Do not draw a trajectory. The movement of the casing 1 that draws such a trajectory affects the detection results of the triaxial linear acceleration sensor 5 and the triaxial gyro sensor 6, thereby having a curved portion and being translated from the linear line LL _Am−1 . A linear line LL _Am-1 ′ having a portion is calculated as a locus.

When the rear wheel 3 is positioned at the joint portion J after the front wheel 2 of the traveling pipe traveling body 101 passes through the joint portion J, the front wheel 2 is positioned at a point F1 on the linear line LL _Am-1. Become. However, when the position of the pipeline traveling body 101 is calculated without the above error calculation, the front wheel 2 is positioned at the point F2 on the linear line LL _Am-1 ′.
Therefore, a distance error corresponding to the distance a between the points F1 and F2 occurs.

Further, if the intersection point when the perpendicular line is dropped from the point F2 onto the linear line LL _Am-1 is a point F2 ′ and the distance between the point F2 and the point F2 ′ is a ′, it is regarded that a≈a ′. Can do.
Furthermore, regarding the distance L between the joint portion J and the point F1 and the distance L ′ between the joint portion J and the point F2 ′, it can be regarded that L≈L ′.
Then, the angle alpha which a line segment JF2 makes with the linear line _{LL Am-1,} with respect to an angle phi of linear line _{LL Am-1} 'with respect to the linear line _{LL Am-1,} considered as α = φ / 2 be able to.
It should be noted that the angle φ corresponds to the case 1 in the process in which the rear wheel 3 is positioned at the joint portion J after the front wheel 2 of the pipeline traveling body 101 traveling in the pipeline A passes through the joint portion J. This is the actual change angle of the azimuth. The angle φ is equal to the angle of inclination of the tube Am-1 in the axial direction with respect to the axial direction of the tube Am.
In the case of position detection without error calculation, the angle α is a case in the process in which the rear wheel 3 is positioned at the joint portion J after the front wheel 2 of the pipe traveling body 101 passes through the joint portion J. The change angle of the azimuth angle of 1 is subtracted from the angle φ.
Therefore, the error distance a = L × tan (φ / 2).

  The arithmetic unit 104 connects the points having the components X1, Y1, and Z1 calculated continuously as described above into a linear shape, and displays a two-dimensional or three-dimensional linear diagram on the display 105 connected to the arithmetic unit 104. Is displayed. The linear diagram reflects the postures, lengths, bends, and the like of the pipe A, that is, the pipes A1, A2, A3,..., An-1, An.

  By performing the correction calculation as described above, the distance L between the front wheel 2 and the rear wheel 3 of the casing 1 of the pipe traveling body 101, that is, the detection position of the casing 1 due to the length of the casing 1. The error between the trajectory and the bend shape of the pipe A can be corrected. For example, when there is a bend with a relatively large change in the joint portion between two pipes, the housing 1 passes through the joint portion and is detected so as to draw a bent shape that is looser than the bend of the joint portion. The locus of the position of the housing 1 is also affected by the shape. However, by performing the correction calculation as described above, the linearity of the pipe A calculated by the arithmetic unit 104 accurately reflects the shape of the bending of the joint portion.

  Moreover, in the pipe line measuring device 100 according to the embodiment, after the pipe traveling body 101 is inserted into the pipe A and travels to a predetermined position in the pipe A, the pipe traveling body 101 is connected to the pipe A. The shape of the pipe A can be measured simply by pulling out from the pipe. Furthermore, in the pipe line measuring device 100, the measurement accuracy of the shape of the pipe line A is high as described above. Therefore, the pipe line measuring device 100 makes it possible to maintain high measurement accuracy while simplifying the measurement of the shape of the pipe line A.

In the pipe line measuring apparatus 100 according to the embodiment, information is transmitted and received between the pipe line traveling body 101 and the arithmetic unit 104 via a wire extending along the cable 11, but the present invention is not limited to this. However, wireless communication may be used.
In the pipe line measuring apparatus 100 according to the embodiment, the travel distance of the pipe line traveling body 101 is measured from the winding amount of the cable 11, but is not limited to this, and can be detected using an encoder or the like. The travel distance of the pipeline traveling body 101 may be detected from the rotational speed of the front wheel 2 or the rear wheel 3.
In the pipe line measuring apparatus 100 according to the embodiment, the pipe running body 101 is configured to run by applying an external force. However, the pipe running body 101 is not limited to this. It may be configured to run.

  5 triaxial linear acceleration sensor, 6 triaxial gyro sensor, 100 pipeline measuring device, 101 pipeline traveling body, 102 rangefinder (distance measuring unit), 104 arithmetic unit (position detecting unit), A pipeline.

Claims (2)

In the pipe measuring device that measures the shape of the pipe,
A pipeline traveling body having an acceleration sensor and a gyro sensor, and capable of traveling in the pipeline;
A distance measuring unit for measuring a travel distance of the pipeline traveling body;
A position detection unit that detects the position of the pipeline traveling body from the acceleration and angular velocity detected by the acceleration sensor and the gyro sensor and the travel distance measured by the distance measurement unit;
The position detection unit detects a position of the pipeline traveling body that detects an error caused by the length of the pipeline traveling body between a trajectory due to the position of the pipeline traveling body to be detected and the shape of the pipeline. in line measuring apparatus for correcting contrast,
The length of the pipeline running body is a distance between the center of the front wheel and the center of the rear wheel of the pipeline running body,
The position detection unit, in the correction of the error, the error distance between the trajectory due to the position of the pipeline traveling body and the linear shape of the pipeline, which are generated by changing the azimuth angle of the pipeline traveling body, The error distance between the trajectory due to the position of the pipeline traveling body and the linear shape of the pipeline caused by the change in the pitch angle of the pipeline traveling body, the length of the pipeline traveling body, and the orientation A pipe measuring device having a configuration that is calculated and used based on a change amount of an angle and a change amount of the pitch angle. In a pipe measuring method for measuring the shape of a pipe,
A pipeline traveling body having an acceleration sensor and a gyro sensor, and capable of traveling in the pipeline;
A distance measuring unit for measuring a travel distance of the pipeline traveling body;
Using an acceleration and angular velocity the acceleration sensor and said gyro sensor detects, and the position detection portion to which the distance measuring unit detects the position of the conduit traveling body and a traveling distance to be measured,
The position detection unit detects a position of the pipeline traveling body that detects an error caused by the length of the pipeline traveling body between a trajectory due to the position of the pipeline traveling body to be detected and the shape of the pipeline. In the pipe line measuring method to correct for
The length of the pipeline running body is a distance between the center of the front wheel and the center of the rear wheel of the pipeline running body,
The position detection unit, in the correction of the error, the error distance between the trajectory due to the position of the pipeline traveling body and the linear shape of the pipeline, which are generated by changing the azimuth angle of the pipeline traveling body, The error distance between the trajectory due to the position of the pipeline traveling body and the linear shape of the pipeline caused by the change in the pitch angle of the pipeline traveling body, the length of the pipeline traveling body, and the orientation A pipe measuring method that is calculated and used based on a change amount of an angle and a change amount of the pitch angle.

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