JPH0415509A - Automatic measuring instrument for duct line position - Google Patents

Abstract

PURPOSE:To calculate the position and the route of a duct line with high accuracy by constituting the instrument so that an inner cylinder loaded with a sensor group is controlled so as to always maintain a horizontal state every by a rotational motion of an outer cylinder. CONSTITUTION:When a probe 1 is inserted into a duct line, drawn at a constant speed and advanced, a rolling motion is generated in an outer cylinder 2 and it extends over an inner cylinder 3, as well. In such a case, a roll angle measuring inclination meter 9 detects a variation of a roll angle and outputs a rolling signal, and outputs a signal for rotating a motor 5 in the direction for returning a rolling angle to '0'. When the motor 5 rotates, the inner cylinder 3 cases a turning motion against the outer cylinder 2, and soon reaches a state that the roll angle of the inner cylinder 3 becomes '0', and the rotation of the motor 5 stops. On the other hand, a pitch angle measuring inclination angle meter 11 measures a pitch angle in the traveling direction of a probe 1, and an azimuth measuring gyro 12 detects a variation of an azimuth of the probe 1 which is traveling in the duct line. By sampling signals from these sensor groups in a prescribed period, and receiving information of a data accumulator by a coordinate calculator, three-dimensional coordinates of a position and a route of the duct line are calculated.

Description

[Detailed Description of the Invention] (Industrial Application Field) The present invention relates to a device for automatically measuring the position of a pipeline buried underground, and particularly relates to a device for automatically measuring the position of a pipeline buried underground. This relates to an automatic pipe position measuring device that is inserted into the pipe and is moved through the pipe by itself or by external force, and calculates the coordinates of the pipe in three-dimensional space from changes in acceleration detected by a group of built-in sensors. .

[Prior art and its problems]

Conventionally, conduits for laying cables buried underground have been laid by excavating the ground, making it possible to survey the cables before burying them. However, the trenchless method not only obstructs traffic, but also takes a long time and requires a large area. It is expected that the number of surveying methods will increase, and in such cases, there is a problem that conventional surveying techniques cannot be applied.

Therefore, a measuring device has been devised that can also be used in a trenchless method. This measurement device is an application of the intelligent navigation device used in aircraft, and is equipped with a gyro inside a cylindrical container called a probe.It measures the changes in acceleration moment by moment while moving through the pipe. However, due to the structure of the road, pipes are not necessarily buried straight and horizontally, and may be buried in the depth direction. Because of the differences in level, one gyro was insufficient, and no matter how many measured values were calculated, the accuracy in calculating the final route of the pipeline was not accurate.

On the other hand, it is possible to install three gyros to detect rotation in each of the three orthogonal axes, but the accuracy of the gyros used for industrial purposes is somewhat insufficient, and three systems are used. No matter how many inadequate measurements we calculate,
The accuracy in calculating the final pipeline route is insufficient.

[Purpose of the invention]

The present invention solves these problems by using a highly accurate tilt angle needle based on the direction of gravity to measure the roll angle and pitch angle, and by using a gyro to measure the azimuth angle. , the inner cylinder equipped with these sensor groups is controlled to always maintain a horizontal state even by the rotational movement of the outer cylinder, eliminating extra correction calculations for pitch angle and azimuth measurement data, and improving the position and accuracy of the pipeline. The present invention provides an automatic pipe position measuring device that can calculate routes with high precision.

[Means for Solving the Problems] In order to achieve the above object, the automatic pipe position measuring device of the present invention is provided in claim (1). An inner cylinder that rotates freely with respect to the outer cylinder with the direction as the rotation axis, an electric mechanism that rotates the inner cylinder with respect to the outer cylinder, an inclinometer for measuring the roll angle mounted on the inner cylinder, and a pitch angle A measurement inclination angle meter,
It consists of a gyro for measuring the azimuth angle, a slip ring for outputting the signals from these sensor groups to the outer cylinder, and a coordinate calculator that calculates the position of the pipe by receiving the signals from the sensor group. be.

Claim (2) also provides: an inner cylinder that is located inside the cylindrical outer cylinder and that rotates freely relative to the outer cylinder with the longitudinal direction of the outer cylinder as a rotation axis; An electric mechanism for rotating, an inclinometer for measuring roll angle, an inclinometer for measuring pitch angle, and a gyro for measuring azimuth angle mounted on the inner cylinder, and signals from these sensor groups are output to the outer cylinder. a data accumulator installed inside the outer cylinder that samples signals from the sensor group at regular intervals and stores them in memory; and a battery that supplies power to the sensor group, data accumulator, and electric mechanism. , and a coordinate calculator that receives information from the data storage device and calculates the position of the conduit from the received data.

Furthermore, claim (3) provides: an inner cylinder that is located inside the cylindrical first outer cylinder and can freely rotate relative to the outer cylinder with the longitudinal direction of the outer cylinder as a rotation axis; An electric mechanism that rotates the cylinder, an inclinometer for measuring the roll angle, an inclinometer for measuring the pitch angle, and a gyro for measuring the azimuth angle mounted on the inner cylinder, and signals from these sensor groups are sent to the outer cylinder. A slip ring for output and data installed inside a second outer cylinder that is bendably connected to the first outer cylinder by a connecting body, samples signals from a group of sensors at a constant cycle, and stores the data in a memory. It consists of an accumulator, a sensor group, a data accumulator, a battery that supplies power to the electric mechanism, and a coordinate calculator that receives information from the data accumulator and calculates the pipe position from the received data. It is.

[For production]

When the probe is inserted into the pipe and moved forward, the outer cylinder makes a turning movement in the direction of the roll angle, and this rolling movement also spreads to the inner cylinder, but at this time, the roll angle detection mounted on the inner cylinder The tilt angle needle outputs a signal indicating the occurrence of rolling, and the attitude control circuit takes this rolling signal as input and outputs a signal to rotate the electric motor in the direction to return the rolling angle to O. When the electric motor rotates, the inner cylinder causes a turning movement with respect to the outer cylinder, and the roll angle of the inner cylinder becomes O.

Since the attitude control circuit outputs a signal to rotate the electric motor in proportion to the roll angle, when the roll angle is 0, the rotation of the electric motor stops. Even when the outer cylinder rotates at the roll angle, the built-in inner cylinder always maintains the roll angle at O, and accurately changes the pitch angle and azimuth acceleration. Can be measured.

〔Example〕

Hereinafter, drawings showing embodiments of the present invention will be described.

Fig. 1.2 shows an embodiment according to the invention of claim 1, in which (1) is a cylindrical probe made of metal;
It is formed from a double structure of an outer cylinder (2) and an inner bay (3), and the inner cylinder (3) is housed inside the outer cylinder (2).

The inner cylinder (3) has bearings (4) at the front and rear ends.
) (41 (received by 41 and rotatable with respect to the outer cylinder (2) with the longitudinal direction of the outer cylinder (2) as the rotation axis. (5) is mounted on the inner cylinder (3) With an electric motor,
The rotary drive gear (7) directly connected to the electric motor shaft (6) and the ring-shaped gear (8) provided on the front wall plate (2a) connected to the outer cylinder (2) mesh with each other so that the inner cylinder ( 3) can rotate relative to the outer cylinder (2). (
9) is an inclinometer for measuring roll angle for attitude control mounted on the inner cylinder (3), which detects changes in the roll angle (inclination with respect to the direction of gravity) of the inner cylinder (3). 00) is an attitude control circuit as shown in FIG. 7, and a rolling signal is input to an operational amplifier IC. This operational amplifier IC receives an input signal at high impedance and generates a signal identical to this signal in the circuit. The circuit section consisting of another operational amplifier IC2 and two transistors 08.0□ is a circuit for power amplifying the input signal, and the signal level conversion for the input signal is performed using two resistors R.
1 and R2, and the output of this circuit is directly connected to an electric motor (5) for attitude control. al
l is an inclinometer for pitch angle measurement mounted on the inner cylinder (3), which measures the angle of inclination with respect to the direction of movement of probe +11;
That is, the pitch angle (direction of gravitational force) is measured. The signal output from this pinch angle inclination angle meter is used to calculate the variation in the depth direction of the pipeline when calculating the route of the pipeline, and also to correct the azimuth signal detected by the azimuth measurement gyroscope described later. It is also used for purposes. 0 Inner cylinder (3)
This is a gyro for measuring azimuth, which is one of the mechanical type (spinning type), laser type, optical fiber type, etc. installed in The axis of rotation is within the plane of the probe and perpendicular to the longitudinal direction of the probe, and the angle (azimuth) around this axis is measured moment by moment. The signal output from the gyro θ2) is used to calculate the position of the pipe in the plan view when calculating the route of the pipe.

Here, if the azimuth changes while the probe (1) remains horizontal, the output signal of the gyro ■ can correctly output the change in the azimuth, but if the probe (1) is tilted with respect to the direction of travel. In other words, when the azimuth changes with a pinch angle applied, the output signal of the gyro 02) outputs a signal that is slightly different from the true azimuth change. Therefore, the azimuth signal from the gyro 02) must not be used as is for calculation, but must first be corrected using the measured value of the pitch angle.

The method of correcting this will be explained with reference to FIG. 8, which shows the relationship between the azimuth angle θ' detected by the gyro θ2), the true azimuth angle θ, and the pitch angle φ.

In fan-shaped OAB, L=R・θ・・・・・・・・・・・・・・・・・・
・・・・・・・・・(1) In fan-shaped OCD, L=R' ・θ゛・・・・・・・・・・・・・・・・・・
・・・・・・(2) From equations (1) and (2), θ'−R/R' ・θ・・・・・・・・・・・・
...(31Also, in triangle AOC, R=R'cos φ・・・・・・・・・・・・・・・・・・
・・・・・・(4) Therefore, from equations (3) and (4), θゝ−θcos φ・・・・・・・・・・・・・・・・・・
(5) That is, the method of correcting the true azimuth angle θ from the azimuth angle θ′ detected by the gyro using the pitch angle φ is as shown in equation (5).

03) is a slin ring, which is equipped with a gyro A2) for measuring azimuth and an inclinometer O for measuring pinch angles mounted on the inner cylinder (3).
D. Output signals from the sensor group of the roll angle measuring inclinometer (9) to the outside of the probe via the outer cylinder (2), or supply power from the outside of the probe to the sensor group of the inner cylinder (3). It is for. θ4) is a connector for connecting the cable to the probe (1), 05) is a coordinate calculator placed on the ground, and has an internal accumulator that receives each data of the sensor group. This calculates the three-dimensional coordinates of the pipeline route.

A method of calculating the height position of the pipeline from the inclination angle data of the coordinate calculator 05) will be described.

*How to set the coordinate system Figure 9 shows how to set the coordinate system. y in the horizontal plane
Take the axis, y-axis, and take the z-axis vertically upward. In addition, the λ axis is taken in the length direction of the pipe in a figure in which the pipe is projected onto a plane.

*Derivation of pipe shape in 2-λ coordinates Figure 10 shows the measurement points Pi, Pi→1, Pi+2 and the measured inclination angle values φi, φi+1, φi+2 at each point.
The situation is shown below.

First, when the coordinates of point Pi are fixed, point Pi11
The method for deriving the coordinates of is described below.

Let the coordinates of point Pi be (zi, zi). Point Pi, point P
The relationship between the position of i+1 and the position of the center of curvature radius O4 between Pi and Pi+1 is shown in FIG.

Let Qi be the intersection of two straight lines that pass through points Pi and Pi+1 and are tangent to a circle whose radius is the radius of curvature. Let the intersection of the straight line PiQi and the horizontal line (parallel to the Z axis) passing through the point Pi+1 be an opening j". Also, let the intersection of the straight line QiPi+1 and the horizontal line passing through the point Pi be Ol". Since the angle between the straight line PiQi'' and the straight line P1+10i is φi+1, the angle Pi+IQiQi' is (φi+1−φi).

Also, since jQiPi Pi+1=ZQiPi+I Pi, /Pfl PiQi= (φ1+1−
φi)/2.

Therefore, l P i + I P i old”−φi+(
φi + 1 - φi) / 2 - (φi + φi + 1) / 2 ・
...(1) Next, the angle p made by the arc PiPj+1
Find i10i0iPi.

l P i + I Q i Q i + 2
z P i→I Q101 -π Also, triangle 0iQ
2.4Pi+I Q104 at i Pi+1
From +ZPi+1 oitlli-π/2 or more, lpi÷1 0iPi =2/Pi+1 0iQi-
π-21P i + 1 old O1 = zpi+t QiQi -φi+1-φi (21) Next, find the relationship between the lengths of the arc PiPi+1 and the string piP++1.

If the radius of curvature is R, arc PiPi+1 = R・(φj→1−φ1)PiPi
+1 =2Rsin ((φi+1−φi)/2)
From '2, PiPi+1 1 arc PiPi+1 ・sin ((φi+t-φi)/
21/((φi+1−φi)/2)・・・・・・・・・
・・・・・・・・・・・・・・・(3)(1)2～(3
), the coordinates (zi+1, λi+1) of point Pi+1 are calculated as follows.

z i+1 =2+ +Δ1. −5in((φi+1−φi)/2)/((φi
i+1−φi)/2) ・sin ((φi+1+
φi)/2) λi+1 engineering λi +Δ1, ・5in((φi+1−φi)/
2) / ((φi+1-φi)/2) ・c
os((φi+1+φi)/2)...Old...
- Old... (4) Here, ΔL is the distance along the pipe between measurement points, that is, the arc PiPi+1.

Next, a method for calculating the pipeline trajectory from the azimuth measurement data will be described.

FIG. 12 shows how to obtain coordinates. Take the y-axis and the y-axis on the horizontal plane. Let θi and θ+1 be measurement points Pi and Pi+1 and the azimuth angle measurement values at each point.

A method for deriving the coordinates of point Pi+1 when point Pi is fixed.

The following equation is obtained in the same manner as in the case of tilt angle data processing.

(Left below)) yi+1 yi +ΔLxy -5in ((θi+1-θi)
/ 2 ) / ((θi+1-θj)/2) ・5
in ((θi+1+θi)/2)xi+1 = i 1 ΔLxy −5in ((θi+1−θi)/2
)/((θi+1−θi)/2) ・cos((θ
i+1+θi)/2) Here, ΔLxy indicates the length of the distance ΔL along the pipe between measurement points projected onto the xy plane, and is given by the following equation.

ΔLxy −ΔL −sing(φi+1−φi)/2)/(φ
i+1-φi)/2)・C05((φi+1+φi)
/2) ・・・・・・・・・・・・・・・・・・・・・
(6) Here, φi indicates the inclination angle at the measurement point Pi.

What is shown in FIG. 3 shows an embodiment of the invention according to claim (2), in which the probe (21) is a cylindrical elongated probe consisting of a front part (21a) and a rear part (21b). The front half (21a) is composed of an outer cylinder (22) and an inner cylinder (23), and the inner cylinder (23) is housed within the outer cylinder (22), but the rear half (21b) is composed of an outer cylinder (22) and an inner cylinder (23). 22) only. The inner cylinder (23) has an inner cylinder (23) similar to the invention of claim 1.
) rotatable electric motor (5), an inclination angle meter (9) for measuring a roll angle for attitude control, an attitude control circuit 00, an inclinometer (Ill) for measuring a pitch angle, and a gyro for measuring an azimuth angle (
2) is equipped with the sensor group, and the outer cylinder (22) in the rear half
It contains a data accumulator (24) that samples signals from a group of sensors at regular intervals and stores them in memory, and a battery (25) that supplies power to the sensor group, data accumulator, and electric mechanism. be. And after the measurement is completed,
A transmission cable (26) is connected to the outer cylinder (22) extracted outside the pipe, and coordinates are used to receive information from the data storage device (24) and calculate the position of the pipe from these received data. It consists of one calculator α.

What is shown in Fig. 5.6 shows an embodiment of the invention of claim (3), in which a cylindrical probe (31) has a first probe (31a) and a second probe (31b). It is formed from a divided body, and both are connected by a flexible connecting body (31c). First probe (31a)
The outer cylinder (32) is similar to the inventions of claims (1) and (2).
An electric motor (5) that allows the inner cylinder (33) to rotate freely, an inclinometer (9) for measuring roll angle for attitude control, an attitude control circuit aω, an inclinometer aυ for measuring pitch angle, and an inclinometer for measuring azimuth angle. A sensor group for gyro striking is mounted, and on the other hand, power is supplied to the inner cylinder (33) of the first probe (31a) inside the outer cylinder (32) of the second probe (31b), and the first A connector (33) that connects a cable for receiving signals from a group of sensors built into the outer cylinder (32), and a signal that instructs the data accumulator (24) to start transmitting from the coordinate calculator O5+. and conversely the data accumulator (24
) for transmitting the data to the coordinate calculator 05), the data is stored in the memory by sampling the signals from the sensor group built in the first outer cylinder (32) at regular time intervals. Accumulator (24), data accumulator (2
4) and a battery (25) that supplies power to the first outer cylinder (32), a power switch (35), and a data accumulator (24) that samples signals from the sensor group at regular time intervals and stores them in memory. A measurement start switch (36) for starting the operation of the data storage device (24) and a measurement end switch (37) for terminating the operation of the data storage device (24) are provided respectively. The second probe (31b) is removed from the conduit (41), and the transmission cable (26) is connected to the second probe (31b), which has a built-in data storage device (24), to transmit information from the data storage device (24). It is composed of a coordinate calculator that receives the received data and calculates the position of the conduit from the received data.

To explain how the present invention configured as described above is used, as shown in FIGS.
0) A winch (42) installed on the ground by inserting the probe (1) from one opening into the pipe (41) buried between
When the pipeline (41) is towed at a constant speed by a vehicle such as the road, a rolling motion occurs in the outer cylinder (2) and the inner cylinder (
3) will also be affected. At this time, the inclinometer (9) for measuring the roll angle mounted on the inner cylinder (3) detects the change in the roll angle and outputs a rolling signal, and the attitude control circuit 00) is activated to adjust the rolling angle to O. A signal is output to rotate the electric motor (5) in the returning direction. When the electric motor (5) rotates, the inner cylinder (3) causes a rotational movement relative to the outer cylinder (2), and eventually reaches a state where the roll angle of the inner cylinder (3) becomes zero. Since the attitude control circuit (10) outputs a signal to rotate the electric motor (5) in proportion to the roll angle, the rotation of the electric motor (5) stops when the roll angle is O. In this way, the outer cylinder (
Even if the roller 2) is rotating at the roll angle, the built-in inner cylinder (3) is maintained so that the roll angle is always 0.

On the other hand, the inclination angle meter 00 for measuring the binge angle, which is mounted on the inner cylinder (2) whose attitude is controlled, measures the pinch angle, which is the angle of the slope in the direction of movement of the probe (1), and also uses the gyro for measuring the azimuth angle. It is also used to correct the azimuth signal detected by 02). Also, gyro θ for azimuth measurement
The system detects momentary changes in the azimuth of the probe (1) while it is moving through the pipeline, but when the azimuth changes with a pinch angle applied to the probe (1), the gyro (1)
Since the output signal of 2) outputs a signal that is slightly different from the actual change in azimuth angle, it can be corrected using the measured value of the pitch angle. Then, the coordinate calculator (15) receives the information from the data storage device (24) which samples the signals from these sensor groups at regular intervals and stores it in the memory, and calculates the position of the pipe and the three-dimensional route. Coordinates can be calculated.

〔Effect of the invention〕

Since the present invention is configured as described above, it produces the effects described below.

Two highly accurate tilt angle hands based on the direction of gravity are used to measure the roll angle and pitch angle, and a gyro is used to measure the azimuth angle. Since it is mounted in an inner cylinder whose attitude is controlled inside the probe so that the angle of , the location and route of conduits can be calculated with high accuracy. In addition, by installing a data storage device inside the probe and sampling the signals from the sensor group at regular intervals and storing them in memory, the probe inside the pipe and the main body of the device outside the pipe can be connected during pipe measurement work. This eliminates the need for signal transmission and power supply cables, and eliminates unnecessary work such as cable routing associated with measurement work.

[BRIEF DESCRIPTION OF THE DRAWINGS] The drawings show an embodiment of the present invention; FIG. 1 is a side view of the probe, FIG. 2 is a simplified sectional view thereof, and FIG. 3 is a simplified sectional view showing another embodiment. , FIG. 4 is a simplified side view showing the state of use, FIG. 5 is another simplified sectional view, FIG. 6 is a simplified side view showing an example of its use, FIG. 7 is a posture control circuit diagram, and FIG.
The figure shows the relationship between the azimuth angle and the pitch angle, numbers 9 to 11.
The figure is an explanatory diagram when calculating the depth position of a conduit from inclination angle data, and FIG. 12 is an explanatory diagram when calculating the trajectory of a conduit from azimuth angle data. (4) (21) (31)...probe, (21(
22) (32)... Outer cylinder, (3) (23) (33
)...Inner cylinder, (5)...Electric motor, (9)...Inclinometer for measuring roll angle, 0υ...Inclinometer for measuring pitch angle, 02)...For measuring azimuth angle Gyro, θ3)...
Slip ring, 05) Coordinate calculator, (24)
...Data accumulator, (25)...No information. V) q〇 〇 り

Claims (3)

[Claims] (1) An inner cylinder that is located inside the cylindrical outer cylinder and rotates freely relative to the outer cylinder with the longitudinal direction of the outer cylinder as the rotation axis, and an electric mechanism that rotates the inner cylinder relative to the outer cylinder. , an inclinometer for measuring roll angles, an inclinometer for measuring pitch angles, a gyro for measuring azimuth angles, and a slip ring for outputting signals from these sensor groups to the outer cylinder. and a coordinate calculator that calculates the position of the pipe in response to signals from a group of sensors. (2) an inner cylinder that is located inside the cylindrical outer cylinder and rotates freely with respect to the outer cylinder with the longitudinal direction of the outer cylinder as a rotation axis; and an electric mechanism that rotates the inner cylinder with respect to the outer cylinder; An inclinometer for measuring roll angles, an inclinometer for measuring pitch angles, a gyro for measuring azimuth angles, and a slip ring for outputting signals from these sensor groups to the outer cylinder, which are mounted on the inner cylinder. A data accumulator installed inside the outer cylinder that samples signals from the sensor group at regular intervals and stores them in memory; a battery that supplies power to the sensor group, data accumulator, and electric mechanism; and information on the data accumulator. What is claimed is: 1. An automatic pipe position measuring device comprising: a coordinate calculator that receives the received data and calculates the position of the pipe from the received data. (3) An inner cylinder that is located inside the cylindrical first outer cylinder and can freely rotate relative to the outer cylinder with the longitudinal direction of the outer cylinder as the rotation axis, and an electric mechanism that rotates the cylinder relative to the outer cylinder. , an inclinometer for measuring the roll angle, an inclinometer for measuring the pitch angle, a gyro for measuring the azimuth angle mounted on the inner cylinder, and a slip ring for outputting signals from these sensor groups to the outer cylinder. a data accumulator that is installed inside a second outer cylinder that is bendably connected to the first outer cylinder by a connecting body, and that samples signals from the sensor group at a constant cycle and stores it in a memory; and a sensor group. , a data accumulator, a battery that supplies power to the electric mechanism, and a coordinate calculator that receives information from the data accumulator and calculates the position of the conduit from the received data. Road automatic measuring device.