JPH0317511A - Measuring device for curving of hole - Google Patents

Abstract

PURPOSE:To make it possible to obtain an azimuth angle being free from a change with time and stable by providing a sensor fiber coil for detecting three axes, which is made up of X-axis, Y-axis and Z-axis sensor fiber coils, and an accelerometer corresponding thereto. CONSTITUTION:Inside a cylindrical casing 1, a sensor coil casing 30 being also cylindrical is provided, and an X-axis sensor fiber coil 31 which is wound round in the direction intersecting the axial line of the casing 30 perpendicularly and connects directly with the X-axis is provided on the circumferential surface of the casing 30. On the circumferential surface of the casing 30, besides, a Y-axis sensor fiber coil 32 connecting directly with the Y axis and a Z-axis sensor fiber coil 33 connecting directly wit the Z-axis are fitted in the directions intersecting each other perpendicularly, and a three-axes sensor fiber coil 34 is constituted of these coils 31, 32 and 33. The coils 31, 32 and 33 are connected to an optical element 41 through the intermediary of a phase modulator 40, and an accelerometer 6 is provided adjacently to the optical element 41. Based on an azimuth angle signal obtained from detection signals from the coils 31, 32 and 33 by computation and on a detection signal of the accelerometer 6, an absolute azimuth angle signal and an absolute tilt angle signal are computed.

Description

[Detailed Description of the Invention] a. INDUSTRIAL APPLICATION FIELD The present invention relates to a hole bending measuring device, and particularly to a novel improvement for obtaining an absolute azimuth angle and an absolute inclination angle using an optical fiber gyro without using a mechanical dynamic tuned gyro or the like.

b. 2. Description of the Related Art There are various hole bending measuring devices of this kind that have been used in the past, but the configuration shown in FIG. 3 and manufactured in-house by the present applicant can be disclosed.

That is, in FIG. 3, the casing designated by the reference numeral 1 is a cylindrical casing as a whole;
A roll gimbal 4 whose overall shape is approximately flat is provided in the inner pair of bearings 2 and 3 so as to be rotatable about the roll axis (^) via a pair of rotating shafts 4a and 4b. A motor shaft 5a of a motor 5 fixed within the gauging 1 is coupled to the rotating shaft 4b. An accelerometer 6, an axis gyro 7, and a level 8 are provided on the roll gimbal 4, and the output signal 8a of the level 8 is inputted to the servo amplifier 10 via an input means 9 consisting of a connection line, and the servo amplifier 10 receives the signal 8a from the level 8. A drive signal 10a from an amplifier 10 is applied to the motor 5.

The conventional hole bending measuring device is constructed as described above, and its operation will be explained below. When the above-mentioned hole bending measuring device 20 is inserted into a small diameter hole formed during civil engineering work, the inclination angle can be obtained by the accelerometer 6, the azimuth angle can be obtained by the uniaxial gyro 7, and the Himuro device detecting the roll angle by the output signal 8a from 8;
The horizontal position of the roll gimbal 4 is controlled by operating the motor 5 using the servo amplifier 10. C. Problems to be Solved by the Invention Since the conventional hole bending measuring device was configured as described above, it had the following nM.

In other words, since a mechanically configured gyro was used as a means of detecting the azimuth angle, there was a limit to how small the gyro could be, and in order to insert it into small diameter pipes such as water pipes and gas pipes, it was necessary to make it as small as possible. There has been a strong desire to reduce its diameter.

Furthermore, because the gyro structure is mechanical, it takes a lot of time and money to handle and maintain it, and it is extremely difficult to maintain sufficient characteristics in terms of reliability. The present invention has been made to solve the above-mentioned problems, and in particular, it is a method for measuring hole bending in which the absolute azimuth angle and absolute inclination angle are obtained using an optical fiber gyro without using a mechanical dynamic tuned gyro or the like. The purpose is to provide equipment.

d. Means for Solving the Problems A hole bending measuring device according to the present invention includes a three-axis detection sensor fiber coil provided in a longitudinal cylindrical casing and directly connected to an input shaft, and a three-axis detection sensor fiber coil formed in a tank. X-axis sensor fiber coil, Y
an axis sensor fiber coil, a Z-axis sensor fiber coil, a phase modulator connected to the three-axis detection sensor fiber coil, an optical part connected to the phase modulator and corresponding to the three axes, and provided in the casing. and controls the phase modulator based on a light amount signal obtained by detecting the modulated laser beam, and outputs a phase difference signal corresponding to the angular velocity of the input shaft.

e. Function The hole bending measuring device according to the present invention includes an X-axis sensor fiber coil, a Y-axis sensor fiber coil, and a Z-axis sensor fiber coil.
An azimuth signal can be obtained based on a phase difference signal from a detection signal obtained by a triaxial detection sensor fiber coil consisting of an axial sensor fiber coil, and further,
Since the tilt angle can be obtained from the detection signals obtained from the X-axis accelerometer, Y-axis accelerometer, and Z-axis accelerometer, it is possible to obtain a stable azimuth angle that does not change over time, unlike conventional IR mechanical gyros. Obtainable. In addition, since the triaxial detection sensor fiber coil can be made into a cylindrical shape and a small oval like the casing, the external shape of the device itself can be made extremely small, and it can be installed inside various small diameter pipes. It can be inserted extremely easily. f. Embodiments Hereinafter, preferred embodiments of the hole bending measuring device according to the present invention will be described in detail with reference to the drawings. Note that the same reference numerals are used to describe the same or equivalent parts as in the conventional example.

1 and 2 are for showing a hole bending measuring device according to the present invention. FIG. 1 is a schematic configuration diagram showing the overall configuration, and FIG. 2 is a block diagram showing a signal processing system.

In the figure, the reference numeral 1 indicates a casing having a cylindrical overall shape. A cylindrical sensor coil casing 30 is disposed inside the casing 1, and the sensor coil casing 30 has a circumferential surface. , is wound in a direction perpendicular to the axis of this sensor coil casing 30.
An X-axis sensor fiber coil 31 is provided which is directly connected to the axis. Further, a Y-axis sensor fiber coil 32 is wound around the circumferential surface of the sensor coil casing 30 and is wound in the same direction as the axis and directly connected to the Y-axis. 30 are disposed in a ring shape with ends 30a30b formed at both ends of the ring. Further, a Z-axis sensor fiber coil 33 is wound on the circumferential surface of the sensor coil casing 30 and is wound in the same direction as the axis and directly connected to the Z-axis.
The Y-axis sensor fiber coil 32 is disposed in a ring shape with end surfaces 30a and 30b formed at both ends.
It is provided in a direction perpendicular to the .

The X-axis sensor fiber coil 31, the Y-axis sensor fiber coil 32, and the Z-axis sensor fiber coil 3
3 constitutes a sensor fiber coil 34 for triaxial detection as an optical gyro. Each of the coils 31, 32 and 33 is connected to a phase modulator 40.
This phase modulator 40 is connected to an optical section 4l having a light source that emits laser light. At a position adjacent to the optical section 41, there is a triaxial X-axis accelerometer 6a. An accelerometer 6 consisting of a Y-axis accelerometer 6b and a Z-axis accelerometer 60 is disposed, and next to this accelerometer 6, there is a sensor that detects the modulated laser beam and detects a light intensity signal. controlling the phase modulator 40, and
An electronic circuit 42 is provided to output a phase difference signal corresponding to the angular velocity of the input axes including the X, Y, and Z axes.

A wire 43 is connected to the rear @ 1a of the casing 1 to allow the casing 1 to enter and exit the pipe to be measured (not shown).

Furthermore, in the block diagram shown in FIG. The azimuth signal 50a of the first computing unit 50 is calculated by the second computing unit 50.
It is input to the computing unit 51.

The X-axis accelerometer 6a. Detection signals A. from the Y-axis accelerometer 6b and the Z-axis accelerometer 60. , AV, and A2 are input to the second computing unit 51, and from this second computing unit 51, an absolute azimuth angle signal 51a and an absolute inclination angle signal 51b are inputted.
is obtained.

The hole bending measuring device according to the present invention is configured as described above, and its operation will be explained below.

First, when the casing 1 is inserted into a water pipe or a gas pipe (not shown) to be measured via the wire 43, each sensor fiber coil 31.3233 is supplied with laser light from both directions from both ends. A detection signal Ω8. which is an optical output phase difference signal generated by interference according to the angular velocity of the input shaft of the coil 31.3233. Ω9
．． Ω2 is taken into the first calculator 50, and the azimuth signal 50a calculated by the first calculator 50 is taken into the second calculator 51. In this second computing unit 51, at the same time, the X-axis accelerometer 6a,
A detection signal A. which is a tilt angle signal from the Y-axis accelerometer 6b and the Z-axis accelerometer 60 is detected. , AY, A2 are taken in and calculated, an absolute azimuth angle signal 51a and an absolute inclination angle signal 51b are output. , the same effect can be obtained not only by the winding arrangement shown in FIG. 1 but also by using other winding arrangements (not shown).

g. Effects of the Invention Since the hole bending measuring device according to the present invention is designed as described above, it is possible to obtain the following effects.

In other words, the azimuth angle signal can be obtained based on the detection signal phase difference signal obtained by the triaxial detection sensor fiber coil made of optical fiber, and the inclination angle can also be obtained from the detection signal obtained from the triaxial accelerometer. you can get
A stable azimuth that does not change over time can be obtained.

In addition, since the triaxial detection sensor fiber coil can be arranged in a cylindrical and small elliptical shape like the casing, the external shape of the device itself can be made extremely small, and it can be installed inside various small diameter pipes. It can be inserted extremely easily.

[Brief explanation of drawings]

Figures 1 and 2 are for showing a hole bending measuring device according to the present invention. Figure 2 is a schematic configuration diagram, Figure 2 is a block diagram, and Figure 3 is a conventional hole + Ih measuring device. FIG. l is a casing, 6 is an accelerometer, 30 is a sensor coil casing, 31 is an X-axis sensor fiber coil, 32 is a Y-axis sensor fiber coil, 33 is a Z-axis sensor fiber coil, 34 is a sensor fiber coil for triaxial detection, 40 is a phase modulator, 41 is an optical section, 42 is an electronic circuit,
51a is an absolute azimuth angle, and 51b is an absolute inclination angle.

Claims (2)

[Claims] (1) Three-axis detection sensor fiber coil (3
4) and the triaxial detection sensor fiber coil (34
) to configure the X-axis sensor fiber coil (31
), a Y-axis sensor fiber coil (32), a Z-axis sensor fiber coil (33), and a phase modulator (4) connected to the three-axis detection sensor fiber coil (34).
0), an optical section (41) connected to the phase modulator (40) and corresponding to three axes, and a light amount signal provided in the casing (1) and obtained by detecting the modulated laser light. An electronic circuit (42) that controls the phase modulator (40) based on the angular velocity of the input shaft and outputs a phase difference signal according to the angular velocity of the input shaft, and corresponds to the triaxial detection sensor fiber coil (34). The X-axis sensor fiber coil (31) is wound orthogonally to the axis of the casing (1), and the X-axis sensor fiber coil (31) is wound perpendicularly to the axis of the casing (1), and the By the detection signals (Ω_x to Ω_z, A_x to A_z) from (6),
A hole bending measuring device characterized by detecting an absolute azimuth (51a) and an absolute inclination angle (51b). (2) The X-axis sensor fiber coil (31) is wound around the circumferential surface of the sensor coil casing (30) orthogonally to the axis, and the Y-axis and Z-axis sensor fiber coils (32, 33) Sensor coil casing (30
2. The hole bending measuring device according to claim 1, wherein the hole bending measuring device is wound around the circumferential surface of the hole parallel to the axis.