JPH04121616A - Bent hole measuring device - Google Patents

Abstract

PURPOSE:To make highly precise measurement possible by connecting a sensor part incorporating an angular velocity sensor and an inclinometer to a carry-in cable with the use of a universal joint and preventing the restraint of the sensor part by the twist and the like of a cable, in a bent hole measuring device used in civil engineering work and the like. CONSTITUTION:A bent hole measuring device consists of a sensor part 6 sealed in a capsule 7, a connector 9, a universal joint 11, a cable 12 and the like. The sleeve of the universal joint 11 is rotatably fitted in a screw plug 48 to prevent the come-off by the fixation of a retaining ring 60. In addition, the screw plug 52 is screwed to the sleeve 50 and a flexible tube 10 is tightened and fixed with the use of the screw plug 52 in a condition to fit the edge thereof in a cylindrical member 54 making an outside provided inside in the form of a bag. Further the screw plug 48 is tightened to fix with a screw hole of a boss 40. Accordingly the restraint of the sensor part by the twist and the like of the cable is prevented.

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 1" diameter hole used in civil engineering work, construction work, etc.

[Conventional technology] When excavating relatively small-diameter holes for burying electrical piping, water and sewage pipes, gas pipes, etc. for laying communication cables and electric wires, it is necessary to consider the presence of bedrock, soil conditions, and obstructions. Due to the existence of holes, etc., it is necessary to drill holes with various bends in addition to straight holes, and in order to carry out construction according to the plan, it is necessary to adjust the position of the bends and straight parts of the hole. Accurately understanding this is an important issue.

In subway construction, tunnel construction, etc., the boreholes are large in diameter, so it is necessary to carry surveying equipment into the borehole and conduct measurements directly by humans, or by installing automatic surveying equipment on a shield machine. However, when measuring small-diameter holes such as those mentioned above, it is technically difficult because it is not possible to enter the hole and take measurements.

Therefore, the inventors of the present application have developed a hole bending measuring device to solve such problems. When this measuring device uses a vibrating gyroscope as an angular velocity sensor and an accelerometer as an inclinometer, for example, as shown in FIG. It is connected to the tip of a cable 2 for carrying in a cable containing a relatively flexible transmission line, which has bending rigidity against the biasing force applied to it, and has a small diameter with the sensor section 1 at the beginning. The azimuth angle is measured by the vibration gyroscope, which is an angle sensor, and the accelerometer, which is an inclinometer, each time the sensor unit 1 is moved to an appropriate position within the hole 3 to be measured. By measuring the angle of inclination, the three-dimensional position of the entire hole 3 to be measured is measured. The output signals of the vibrating gyroscope and accelerometer in the sensor section 1 are transmitted to the old theater device main body 5 outside the hole via the transmission line 4 wired along the cable 2, and are built into the measuring device main body 5. using a computer, CRT display, X-Y plotter, etc.
The a1 measurement results are analyzed and displayed.

[Problems to be Solved by the Invention] In this conventional hole bending measuring device, the sensor part has bending rigidity against the urging force in the longitudinal direction and is made of a relatively flexible transmission line. When the cable is connected to a carry-in cable and inserted into a hole to be measured, the cable is twisted according to the shape of the hole to be measured, and this torsional force restricts the posture of the sensor section, so that the sensor section can be inserted into the hole to be measured. There was a problem in that the sensor part rotated or tilted in the circumferential direction, making it impossible to achieve accurate H1 measurement using the vibrating gyro and accelerometer inside the sensor part.

The present invention has been made in view of such conventional problems, and an object of the present invention is to provide a hole curvature measuring device that can perform measurements with higher precision.

[Means for Solving the Problems] In order to achieve such an object, the present invention connects a sensor section with a built-in angular velocity sensor and an inclinometer to the tip of a carrying cable, and connects the sensor section with the sensor section at the beginning. By inserting the sensor from the entrance of a small-diameter hole toward the deep part, and measuring the azimuth angle obtained by dividing the output of the angular velocity sensor into a line and the inclination angle using the inclinometer, each time the sensor unit is moved to an appropriate position within the hole. The target is a hole bending measurement device that measures the three-dimensional position of the entire hole, and the sensor part and the cable for delivery are connected using a universal joint.

[Operation 1] According to the hole bending measuring device 2 of the present invention having such a structure, the universal joint makes the movement of the cable for carrying in and the sensor section independent in the circumferential direction, so twisting of the cable etc. Do not restrict the sensor part.

As a result, the sensor section moves while remaining parallel to the side surface of the hole to be measured, making it possible to improve measurement accuracy. Furthermore, even if the cable is twisted when inserting the sensor section into the entrance of the hole to be measured, the sensor section can be easily inserted into the hole to be measured, and operability can be improved.

[Example] An embodiment of the present invention will be described below with reference to the drawings.

First, the external structure will be explained based on FIG.

In FIG. 1, 6 is a sensor section, and the outer wall of the sensor section 6 is composed of a completely sealed cylindrical capsule 7.
A seismic isolation part 8 made of rubber or the like is attached to the leading end of the capsule 7, and the length from the end of the cubself to the tip of the seismic isolation part 8 is approximately 90 cm, and the diameter of the capsule 7 is approximately 7 cm.
．． It is designed to be 2 centimeters long and weigh approximately 14 kilograms in total.

A water pressure resistant connector 9 is provided at the terminal end of the capsule 7, and a flexible tube 10 having flexibility is connected to the water pressure resistant connector 9.

Furthermore, the terminal end of the flexible tube 10 is connected via a universal joint 11 to the distal end portion of a carry-in cable 12. The cable 12 is made of a wire material that has bending rigidity against an urging force in the longitudinal direction and is relatively flexible.

FIG. 2 is an explanatory diagram showing a portion of the universal joint 11 in FIG. 1.

In FIG. 2, first, the cable 12 is fixed by screwing the tightening gland 44 into the screw hole 42 of the boss 40, and the cable 12 is tightened by inserting a gasket 46 and a washer 46 in between.

As shown in FIG. 3, the universal joint 11 has a sleeve 50 rotatably fitted into the threaded plug 48 from the left side, and is prevented from being removed by fitting a stopper 60. Further, a screw plug 52 is screwed onto the left side of the sleeve 50, and the flexible tube 11 is tightened and fixed by the screw plug 52 with the tip thereof fitted into a cylindrical member 54 provided inside and having a bag-like outside. Further, the right screw plug 48 is tightened and fixed in a screw hole 56 of the boss 40 shown in FIG.

Therefore, the sleeve 50 of the flexible tubes 10 and 1 can freely rotate relative to the screw plug 48 on the cable 12 side.

Next, the internal structure of the capsule 7 will be explained with reference to FIG.

In FIG. 4, reference numeral 13 denotes a water pressure container (shown with a partial cutout for convenience of explanation) consisting of a completely sealed cylindrical case, and the inside of the water pressure container 13 is ,
A thick cylindrical bearing mounting base 14 is integrally fixed along the direction of the virtual center line zz' with screws (not shown) or the like.

Two bearings 16 are installed in the hollow part 15 at the center of the bearing mounting base 14.
．． 17 are fitted apart from each other, and a rotating shaft 18 is rotatably supported by these bearings 16 and 17, and one end of the rotating shaft 18 is connected to a gyro mount 19 and the other end is connected to an accelerometer mount 20. It is fixed by press-fitting or screwing.

A vibrating gyro 21 is mounted on the gyro mounting base 19 in a direction perpendicular to the virtual center line zz' (virtual line Y-Y in the figure).
The accelerometer 22 is fixed to the accelerometer mount 20 with the direction of the virtual center line zz' as the direction of the input axis.

Furthermore, by shifting the overall center of gravity of the gyro mount 19, the vibrating gyro 21, the accelerometer 22, and the accelerometer mount 20 downward from the virtual center line zz' of the rotating shaft 18, the vibrating gyro 21 and the acceleration A total of 22 etc. constitute a pendulum with the rotating shaft 18 as a supporting axis.

Incidentally, since the friction of the bearings 16 and 17 and the air resistance of the pendulum are set to be extremely small, the damping rate of the mechanical vibration of the pendulum structure itself is small, but the vibration of the pendulum structure is suppressed by the magnetic damper shown in FIG. It is designed to attenuate the

That is, in FIG. 5, an annular permanent magnet 24 is fixed in an annular hole 23 provided in the bearing mounting base 14, and the permanent magnets 24 have, for example, adjacent ones along the circumference having different polarities. It is made up of multiple magnetic pieces with a

In addition, a return path forming part 2 made of a magnetic material such as pure iron
5 is inserted and fixed in the annular hole 23 of the bearing mounting base 14 in the same way as the permanent magnet 24, and a gap G is provided between the permanent magnet 24 and the return path forming part 25.

A cup-shaped damper 26 made of a conductor such as copper or aluminum is placed between the accelerometer mount 20 and the gap G, and the closed end 27 of the damper 26 is fixed to the accelerometer mount 20 with screws 28. At the same time, the cylindrical portion 29 on the opening side is inserted into the gap G.

In the magnetic damper having such a structure, when the cup-shaped damper 26 rotates around the virtual central axis zz', the cylindrical shape of the damper 26 is An overcurrent is generated in the portion 29, and a reaction force is generated that attempts to prevent the rotational movement of the cylindrical portion 29. Therefore, the motion of the damper 26 is attenuated.

Therefore, even if the water pressure vessel 13 rotates around the imaginary center line ZZ°, due to the pendulum action and the action of the magnetic damper, the vibrating gyroscope 21 always has its input axis aligned with the imaginary line Y-Y.
'' direction, acceleration old 22, the input axis is the virtual center line z-z'
It will be facing the direction of.

Further, a processing circuit for processing the output signals of the vibrating gyroscope 21 and the accelerometer 22 is built in the water pressure container 13.

That is, the processing circuit includes an integrator 29 that integrates an output signal related to angular velocity output from the vibrating gyroscope 21 and converts it into an azimuth signal, and an A/D converter 30 that converts the azimuth signal into digital data. , a low-pass filter 31 that removes high frequency components of the tilt angle signal output from the accelerometer 22, and an A/D converter 32 that converts the output signal of the low-pass filter 31 into digital data.
It includes an arithmetic and communication circuit 33 that receives digital data output from A/D converters 30 and 32, respectively.

Then, the vibration gyro 21 and the accelerometer 22 are placed on the virtual line Z-
Z', Y-Y', X-X' 1. : In a mating sac cell manner, the water pressure vessel 13 is accommodated and secured within the turnip self. Further, a transmission line is connected to the output terminal of the calculation and communication circuit 33, and the digital data is transmitted to the measuring instrument body connected to the end of the transmission line via the calculation and communication circuit 33 and the transmission line. It has become.

Next, a measurement method using a measuring device having such a configuration will be explained.

In the same way as shown in FIG. 7, first, the sensor section 6 is pushed in from the entrance of the hole to be measured toward the deep part.

However, the sensor section 6 is inserted with the side portion on the Y° side facing down and in contact with the hole to be measured. That is, the sensor section 6 is inserted so as to be horizontal to the wall surface of the hole to be measured (in the direction x-x' orthogonal to the Y-Y' direction in FIG. 2).

Also, during this pushing, force is applied to the carry-in cable 12 from the longitudinal direction, but since the cable 12 has the rigidity to resist this force, the sensor section 6 is inserted along the hole to be measured.
can be inserted deep into the body. Further, since the cable 12 has some flexibility, it is inserted while being bent according to the bend of the hole.

Then, insert the sensor unit 6 to an appropriate point such as the deepest recirculation part of the hole to be measured, set this point as the measurement starting point P(l), and calculate the three-dimensional position of the point P based on the orthogonal coordinate system (Xo
, Yo, Zo).

Next, by pulling out the cable 12 by a predetermined length from the hole to be measured, the sensor section 6 is also moved to the point P at the same time. The azimuth angle φ and the inclination angle θ of the first point P1 are measured by the vibrating gyroscope 21 and the accelerometer 22, and the first point P1 is moved along the hole to be measured by a distance from Three-dimensional interior position 11 (XI, Y
I, Zl) are calculated by the computer in the main body of the 81 measuring device.

That is, the three-dimensional position (X+, Y+, Z+) is the measurement starting point P. three-dimensional position (xo, yo.

20), the azimuth angle φ7, the inclination angle θ, and the distance are used as parameters to calculate the trigonometric function.

Next, by pulling out the cable 12 by a predetermined length again from the hole, the sensor unit 6 is simultaneously moved along the hole by a distance from the point P, and the azimuth angle φ of the second point P2 is
2 and the inclination angle θ2 are measured by the vibrating gyroscope 21 and the accelerometer 22, and the three-dimensional position (X2.Y2+22) of the second point P2 is calculated by the computer in the main body of the measuring device according to the following equation (2).

Subsequent operations are performed in the same manner, and each time the cable 12 is pulled out by a predetermined length L, the azimuth and inclination angle at each point are measured, the three-dimensional position of each point is calculated, and the sensor unit Repeat until No. 6 reaches the entrance of the hole to be measured.

In addition, when such arithmetic processing is expressed in a general formula, it becomes the following formula (3), and each measurement point P. -The three-dimensional position of Po can be known.

Furthermore, in this embodiment, by calculating the following equation (4), the entrance portion Po of the hole is located at the reference position (0,0
, 0) so that the shape of the entire hole to be measured can be easily seen.

Then, by displaying the result obtained by the above formula (4) on a CRT display, an Display.

When performing such measurement operations, conventionally, the posture of the sensor section is restrained by the torsional force of the cable, which causes the sensor section to rotate or tilt in the circumferential direction within the hole to be measured.
There was a problem in which accurate measurement could not be achieved using the vibration gyroscope and accelerometer in the sensor section, but in this embodiment, the movement of the cable and the sensor section in the circumferential direction is made independent by a universal joint. By moving the sensor part while keeping it parallel to the side surface of the hole to be measured, without restraining the sensor part due to twisting of the cable, etc.
Measurement accuracy improves.

[Effects of the Invention] As explained above, according to the present invention, the universal joint makes the movement of the carrying cable and the sensor section independent in the circumferential direction. Not restricted.

Therefore, the sensor section moves while remaining parallel to the side surface of the hole to be measured, and it is possible to improve measurement accuracy. Further, when inserting the sensor section into the entrance of the hole to be measured, even if the cable is twisted, the sensor section can be easily inserted into the hole to be measured, and operability can be improved.

[Brief explanation of the drawing]

Fig. 1 is a plan view showing the external structure of an embodiment of the present invention; Fig. 2 is an explanatory diagram showing the universal joint part extracted from Fig. 1; Fig. 3 is an explanation of the universal joint in Fig. 2. Figure; 4th
The figure is a perspective view showing the internal structure of the sensor section; Figure 5 is a vertical cross-sectional view showing an enlarged part of Figure 4; Figure 6 is an explanatory diagram showing an example of displaying measurement results; Figure 7 is a conventional FIG. 2 is an explanatory diagram showing a measuring method. Explanation of symbols; 6: Sensor section 7: Capsule 8: Vibration isolation section 9: Water pressure connector 10: Flexible tube 11: Universal joint 12: Carrying cable

Claims (1)

[Claims] (1) Connect the sensor section with a built-in angular velocity sensor and inclinometer to the tip of the carry-in cable, insert it from the entrance of a small diameter hole toward the deep part with the sensor section at the beginning, and insert it into the hole as appropriate. In a hole bending measuring device that measures the three-dimensional position of the entire hole by measuring the azimuth angle obtained by integrating the output of the angular velocity sensor and the inclination angle of the inclinometer each time the sensor section is moved to a position, the sensor A hole bending measuring device characterized by connecting the section and the carrying cable with a universal joint.