JPH02201215A - Measuring apparatus for hole bend - Google Patents

Abstract

PURPOSE:To achieve a higher vibration resistance by a method wherein a rate gyroscope and an accelerometer are borne in a water pressure proof container in such a manner as to be rotatable about a center axis of a rotating shaft and the center of gravity thereof is shifted below the center axis of the rotating shaft to develop a pendulum motion. CONSTITUTION:A rate gyroscope such as a vibration gyroscope 25 is fixed on a gyroscope mounting base 23-2 within a water pressure proof container 21 with a direction of an input shaft thereof set to a (Y-Y') way (vertical way). An accelerometer 11 is fixed on an accelerometer mounting base 23-1 with a direction of an input shaft to a direction of a center axis (Z-Z') of a rotating shaft 26, the positions of the center of gravity of the vibration gyroscope 25, the gyroscope mounting base 23-2, the accelerometer 11 and the accelerometer mounting base 23-1 as a whole are shifted below the center axis (Z-Z') of the rotating shaft 26. Thus, the vibration gyroscope 25, the accelerometer 11 and the like compose a pendulum with the rotating shaft 26 as fulcrum.

Description

DETAILED DESCRIPTION OF THE INVENTION [Field of Industrial Application] The present invention relates to a hole bending measuring device for measuring the three-dimensional position of a small-diameter hole used in civil engineering work and the like.

[Conventional technology]

In various hole drilling works carried out in civil engineering works, etc.,
BACKGROUND OF THE INVENTION Large-scale construction works of various diameters are being constructed, from relatively small diameter holes used for water, electricity, gas, sewage, etc. to large diameter holes typified by subways, tunnels, etc. During these various hole drilling operations, due to obstacles, bedrock, etc.
There are many demands for holes with various curves in addition to straight holes in the horizontal plane, and three-dimensional understanding of the position of the drilled hole is an extremely important issue.

Conventionally, when drilling large-diameter holes, the method used was to measure the location by human surveying, adjust the direction and posture of the drilling machine, and proceed with drilling. Due to recent machine automation, the latest hole drilling machines are equipped with a gyro compass and inclinometer, and measure the azimuth angle, distance, roll angle, and pitch angle from the gyro compass, so that the hole drilling machine can be drilled from time to time. Know the location of excavation equipment,
It has a function to automatically correct deviations from the planned course.

However, automation of drilling machines for these holes is limited to large-diameter shield machines, and it is often impossible to even measure small-diameter holes with a diameter of 10C11 or less. For example, in the case of a straight hole, a sensor with multiple light emitting sources arranged linearly at equal intervals at the tip is inserted into the hole to be measured, and depending on how far the light emitting sources are visible from the hole entrance, There was a way to measure the bending angle. However, if the hole was significantly bent, the light source could not be seen using this method, making it impossible to measure.

Another method is a hole bending measuring device using a free gyro and an inclinometer as shown in FIGS. 3 and 4.

FIG. 3 shows an outline of this conventional hole bending measuring device. Third
In the figure, (1) is a sensor unit that measures the azimuth and inclination angle of the hole to be measured, and this is configured by housing various sensors such as a gyro accelerometer in a water pressure container.

Signals from various sensors built into this water pressure container are
The data is transferred to the display/operation unit (4) via the connector (2) and long distance cable (3) (for example, 500 m long), where the output value of each sensor is displayed. In FIG. 3, (SW) indicates an on/off switch of the device.

By the way, the sensor part (1) inside the water pressure container shown in Fig. 3
The internal structure is as shown in FIG. The input axis (Z-Z') direction of the sensor section (1) in FIG. 3 coincides with the (Z-Z') direction in FIG. 4.

In Fig. 4, (5) is a free gyro with two degrees of freedom fixed to a water pressure container, and its input axis is in the (z-z') direction and the (Y-Y') direction. (vertical direction)
is set, and the (Z-Z') axis and (Y
-Y') The turning angle in the axial direction is being measured.

In addition, (10) is a platform, and on this platform (lO), two accelerometers (11), (12)
However, the input axis of one (12) is (Y-Y') and (Z
-Z') in the (X-X') axis direction perpendicular to both wheels of the other (
The input shaft of 11) is installed in the (Z-Z') axis direction. This platform (10) is rotated in the (Z-Z') direction by two shafts (8) and (9) supported by two bearings (6) and (7) fixed to a water pressure vessel. It can be rotated around.

A signal from an accelerometer (12) that measures the inclination angle of the platform (10) in the (X-X') direction is supplied to a servo motor (14) via a servo amplifier (15) to drive it; rotating the shaft (9) via the gear train (13);
The platform (10) is in the (X-X') axis direction,
This is controlled so that the posture is always constant. Therefore,
The accelerometer (11) installed on the platform (10) with its (Z-Z') direction as the input axis measures the inclination angle from within the horizontal plane including the (Z-Z') axis direction of the platform (10). I will do it. The output signal of this accelerometer (11) is supplied to an A/D converter (17) via a slip ring (not shown) and a low-pass filter (16), thereby converting it into a digital signal. On the other hand, the azimuth signal around the (Y-Y') direction of the free gyro (5) is converted into a digital signal by the A/D converter (18). The output digital signals of both A/D converters (17) and (18) are converted into signals by the signal converter (19), and this is used as the output of the sensor unit (1) to display the display and operation unit shown in FIG. Transfer to (4).

When the sensor section (1) configured in this way is inserted into the hole to be measured and kept stationary, the sensor section (1) as shown in FIG.
) in a rectangular coordinate system in which the position of the hole to be measured before insertion is the origin 0 and the xoy plane is the horizontal plane, and if point P is the current position of the sensor part (1) in the hole to be measured, then the origin O
The angle Φ formed by the X-axis and the linear deviation ' connecting the projection point P' on the horizontal plane of point P and the angle θ formed by the deviation from the straight line 100' in the horizontal plane are the output signals of the free gyro (5). and will be measured as a tilt angle signal of the accelerometer (11). Therefore, the length of the straight line OP is longer than the length of the cable (3) from the display/operation section (4) to the sensor section (1)! When measuring, the position of point P (ΔX, Δy, Δ2) is Δx=l−cosθ・cosΦ (1) Δ
Y””l”cosθ・sinΦ・・−・（2
) Δz=f−sinθ (3). Therefore, the position of the hole to be measured can be measured by sequentially moving the sensor section (1) inside the hole to be measured and adding up each value obtained from equations (1) to (3). .

[Problem to be solved by the invention]

However, in conventional small-diameter hole surface measurement devices, an expensive free gyro with a complex structure and a short-life loaf bearing is used for azimuth measurement, so it is difficult to resist vibrations. In order to eliminate the measurement error of the accelerometer due to poor shock resistance and rotation of the sensor part in the direction of the hole, a signal from another accelerometer whose input shaft is orthogonal to the above accelerometer is used, and a servo motor is used to connect the platform. There are problems in that the internal structure of the senna part is complicated and expensive, such as the need to stabilize the senna.

Therefore, it is an object of the present invention to provide a hole bending measuring device that overcomes the above-mentioned conventional problems.

[Means to solve the problem]

The hole bending measuring device according to the present invention has a rate gyro and an accelerometer rotatably supported in a water pressure container so as to be rotatable around the (Z-Z') axis, and their center of gravity is centered around the (Z-Z') axis. Shift it further downward to create a pendulum motion. Furthermore, a damper is provided for this pendulum movement.

[Effect]

According to the present invention, the azimuth angle of the hole is measured by integrating the input angular velocity of the rate gyro, and the inclination angle of the hole to be measured is measured by the output of the accelerometer.

〔Example〕

An embodiment of the present invention will be described below with reference to FIGS. 1 and 2. FIG. 1 is a perspective view showing the inside of an example of the hole bending measuring device according to the present invention, with a part of the water pressure container of the sensor section (1) cut away and the damper section omitted, and a vibrating gyroscope and acceleration FIG. 3 is a diagram showing connections of outputs of the meter. still,
In FIG. 1, parts that are the same as those in FIG. 3 are given the same numbers, and detailed explanation thereof will be omitted.

In FIG. 1, (21) is a water pressure container consisting of a completely sealed cylindrical casing. A thick cylindrical bearing mounting base (22) is attached to the water pressure container (21) approximately in the center in the (Z-Z') direction inside the water pressure container (21) with a screw (not shown) or the like. ) is fixed inside.

In addition, the hollow part (22-1) in the center of the bearing mounting base (22)
Two bearings (244) and (24-2) are fitted apart from each other. These two bearings (24-1)
, (24-2) rotatably supported rotary shaft (
26), one end of which is the gyro mounting base (23-2)
, the other end is press-fitted into the accelerometer mounting base (23.1) or screwed (
(not shown) etc. On the above-mentioned gyro mount (23-2), a rate gyro, for example, a vibration gyro (25), has its input axis oriented in the (Y-Y') direction (
vertical direction). Further, an accelerometer (11) is fixed to the accelerometer mount (23-1) with its human power axis in the (2-Z') direction. In addition, a vibration gyro (25) and a gyro mounting base (23-
2) Accelerometer (11) and accelerometer mounting base (23-
1) The entire center of gravity position is the center axis (Z
-Z'), and the vibrating gyroscope (25), accelerometer (11), etc. constitute a pendulum with the rotating shaft (26) as the supporting axis.

In the above structure, the damping rate of the pendulum is determined by the bearing (
24-1), (24-2) and the air resistance of the pendulum, so it is extremely small. Therefore, in order to dampen the vibrations of the pendulum, a magnetic damper as described below is used.

FIG. 2 is an enlarged sectional view of the vicinity of the accelerometer mount (23-1) and bearing mount (22) in FIG. 1.

In Fig. 2, (32) is, for example, an annular permanent magnet,
It is inserted into an annular hole (22-2) provided in the bearing mounting base (22) and fixed with adhesive or the like. Above, permanent magnet (32
) is made up of a plurality of magnet pieces, for example, adjacent pieces along the circumference have different poles. Also,
(31) is an annular return path forming part made of magnetic material such as pure iron, and like the permanent magnet (32), it is inserted into the annular hole (22-2) of the bearing mounting base (22). It is fixed with adhesive etc. Note that a gap (G) is formed between the permanent magnet (32) and the return path forming section (31).

On the other hand, (30) is a cup-shaped damper made of conductive material such as copper or aluminum, and its closed end (30-1) is an accelerometer mounting base (
23-1) with a screw (33), and the cylindrical part (30-2) is connected to the annular hole (22-2) with a gap between the permanent magnet (32) and the return path forming part (31). It is inserted into the gap (G).

In the magnetic damper having the above configuration, the cup-shaped damper (3
0) rotates around the central axis (Z-Z'), the cylindrical part ( 30-2)
rotates, eddy currents are generated there, and the cylindrical part (30
-2) A reaction force proportional to the rotational speed of the cylindrical part (30
-2) attempts to block the rotational movement. Therefore, the movement of the damper (30) is attenuated. Therefore, even if the water pressure container (21) rotates around the (Z-Z') axis, the vibration gyro (
25) and the accelerometer (11) are always in a fixed direction (the input axis of the vibration gyro (25) is vertical (Y-Y'
) direction). Therefore, even if the water pressure container (21) of the sensor part (1) is inserted into the measurement hole while rotating around the (Z-Z') axis, the azimuth angle measurement will not be affected by this rotational movement. It can be done without.

On the other hand, as shown in Fig. 1, the output of the vibrating gyroscope (25) is supplied to an integrator (27), where the angular velocity is converted into an angle, and then digitized by an A/D converter (28). , is input to the calculation and communication section (29).

In addition, the output of the accelerometer (11) is filtered through a low-pass filter (
16) to the A/D converter (17), where it is digitized and then supplied to the calculation and communication section (29).

Consider a case where the sensor section (1) having the above configuration is inserted into a hole to be measured. At this time, if there is no guide part between the hole to be measured and the sensor part (1), the sensor part (1)
z') It may be inserted while rotating around the axis. However, because the directions of the input axes of the vibrating gyroscope (25) and the accelerometer (11) are fixed in the desired directions due to the pendulum action and the magnetic damper described above, the output of the vibrating gyroscope (25) is integrated. azimuth and accelerometer (
11) The inclination angle from
Output exact values.

Therefore, by calculating the above-mentioned equations (1) to (3), accurate measurement of the hole position is possible.

On the other hand, the output from the calculation and communication section (29) is the same as shown in FIG.
3), it is transferred to the display/operation unit (4), where the azimuth and inclination angle, which are the output values from the sensor unit (1), are displayed or output to a printer or the like.

In addition, by using the azimuth angle, the inclination angle, and the signal obtained by converting the length of the cable into, for example, the number of rotational pulses of a rotary encoder of a cable take-up reel, formula (1) is obtained.
It is also possible to display the hole position three-dimensionally using (3).

Note that the damper is not limited to the example shown in FIG.
30) is shaped like a flat plate and is fixed to the accelerometer mounting base (23-1), while the permanent magnet (32) is also shaped like a disk and is mounted on a bearing facing the disk-shaped damper (30). stand (22
), and the accelerometer mount (23-1) is made of a magnetic material to form a return path forming part, a similar damper can be constructed.

〔Effect of the invention〕

As described above, the hole bending measuring device according to the present invention supports the azimuth angle and inclination angle sensors using the pendulum structure and the magnetic damper, so it has a simple structure, is inexpensive, and has excellent vibration resistance. It has the following advantages.

[Brief explanation of the drawing]

FIG. 1 is a perspective view showing the main parts of the sensor section excluding the damper section of the present invention, FIG. 2 is an enlarged sectional view of the damper section of the present invention, FIG. 3 is a schematic diagram of a conventional system, and FIG. 4 5 is a perspective view showing the inside of a conventional sensor section, and FIG. 5 is a route diagram for explaining its operation. In the figure, (1) is the sensor section, (11) is the accelerometer, (
21) is a water-resistant container, (22) is a bearing mounting base, (23-1)
) is the accelerometer mount, (23-2) is the gyro mount,
(24-1). (24-2) is the bearing, (25) is the rate gyro, (2
6) is a rotating shaft, (30) is a damper, (31) is a return bus forming part, and (32) is a permanent magnet. Third

Claims (1)

[Claims] 1. A sensor unit that measures the azimuth and inclination angle, a long-distance cable that transmits the output signal of the sensor unit, and a display/operation unit that transmits, receives, controls, and displays the signal of the sensor unit. In a hole bending measuring device consisting of a cylindrical outer casing, a rate is mounted on a mounting base fixed to a rotating shaft in the direction of the central axis of the outer casing, which is rotatably supported by a bearing fixed inside a cylindrical outer casing. The sensor is configured by fixing a gyro and an accelerometer, and the center of gravity of the part fixed to the rotation axis is eccentric downward from the center of the rotation axis, and the input axis of the rate gyro is connected to the center of gravity and the center of the rotation axis. A hole curvature measuring device characterized in that the input axis of the accelerometer is parallel to a straight line connecting the two, and the input axis of the accelerometer is parallel to the central axis of the outer casing. 2. A hole bending measurement device consisting of a sensor section that measures the azimuth and inclination angle, a long distance cable that transmits the output signal of the sensor section, and a display/operation section that transmits, receives, controls, and displays the signal of the sensor. In this case, a rate gyro and an accelerometer are fixed to a mounting base fixed to a rotating shaft in the direction of the central axis of the outer casing, which is rotatably supported by a bearing fixed in a cylindrical outer casing. The center of gravity of the portion of the sensor unit fixed to the rotation shaft is eccentric downward from the center of the rotation shaft, and the input axis of the rate gyro is parallel to the straight line connecting the center of gravity and the center of the rotation shaft. In addition, the input shaft of the accelerometer is parallel to the central axis of the outer casing, and a damper is provided between the outer casing and the mounting base to damp rotation of a portion fixed to the rotating shaft. A hole bending measuring device.