JPH0474651B2 - - Google Patents

Description

Detailed Description of the Invention <Industrial Application Field> The present invention provides an angle detection method and device for detecting an angle with respect to a reference line of a rotating member provided in a body that is angularly displaced with respect to a reference line, and the detection device. The present invention relates to a working device using a.

<Prior Art> A well-known technique is to detect the displacement angle of a member that is angularly displaced with respect to a reference line using, for example, a rotary encoder or a potentiometer. The technique drives a rotary encoder or potentiometer at the same angular velocity as the displacement member, integrates the pulses generated at this time, and
Alternatively, the angle is detected by measuring voltage.

In addition, working equipment for inspecting the inside of gas pipes, water supply pipes, sewage pipes, etc., and for performing internal repairs is equipped with a television camera and various other equipment mounted on a trolley that can move longitudinally within the pipe. It is equipped with detection means such as sensors, repair tools for repairing the inside of the pipeline, etc. In particular, the exploration means, repair tools, etc. are generally configured to be rotatable in the circumferential direction of the pipe.

When working inside a pipeline using the working device configured as described above, when the exploration means or repair tool is rotated in the circumferential direction of the pipe, the position of the center of gravity of the working device changes, causing the cart to move inside the pipe. The machine moved along the wall, causing the work equipment to tilt, causing problems in the execution of the work.

In order to prevent the occurrence of the above problems,
- As shown in Publication No. 158590, a swingable main body is provided on a traveling base, the center of gravity of this main body is shifted from the tube axis, and a working device is attached to the main body. As shown in Figure 2, a technique has been proposed in which the center of gravity of the truck is set lower than the tube axis and a ball caster is used on the ground contact part to maintain the truck in a horizontal state.

<Problems to be Solved by the Invention> However, even in the case of the main body or truck in the above technology, there is poor reliability in ensuring that the main body or truck is completely horizontal.

The above technology repairs a pipe with a plastic pipe by lining it with plastic, and when detecting the position of the pipe in the pipe and drilling holes, a cart equipped with a television camera, etc. is moved in the longitudinal direction of the pipe. In this method, the location of the drill tube is discovered using a monitor television, and then a drilling head or the like is placed opposite the location to perform the drilling operation. However, in the above technique, the position of the operator is detected through a monitor television, and a supervisor is always required.

In addition, in order to automate the work of detecting the pipe position, for example, a proximity switch is used, and when the pipe position is detected, the position is determined in the distance from the end of the pipe and in the circumferential direction with respect to the trolley. If an attempt was made to indicate the angle, it could not be said that the trolley was maintaining a completely horizontal state, and the obtained angle data was therefore unreliable.

An object of the present invention is to provide an angle detection method and a detection device that are capable of detecting the angle of a rotating member provided on an aircraft body from a reference line regardless of the tilt angle of the aircraft body, and to provide an angle detection method and a detection device that can detect the angle of a rotating member provided on an aircraft body from a reference line regardless of the tilt angle of the aircraft body. The purpose is to provide working equipment.

<Means for Solving the Problems> In order to solve the above problems and achieve the purpose of the present invention, a method for detecting an angle with respect to the reference line of a rotating member provided on a body capable of angular displacement with respect to the reference line is provided. The angle detection method includes converting the angular displacement of the aircraft body with respect to the reference line into a voltage corresponding to the displacement angle, converting the angular displacement of the rotating member with respect to the aircraft body into a voltage corresponding to the displacement angle, and converting the two voltages. The combined voltage is used to detect the angle of the rotating member with respect to the reference line.

An angle detection device for detecting an angle with respect to the reference line of a rotating member provided on the body that can be angularly displaced with respect to the reference line includes a plurality of voltage conversion means provided on the body and connected in series; a reference line detection means connected to one of the voltage conversion means;
It is constituted by one of the voltage converting means and a rotating member connected to the voltage converting means.

Further, in the angle detection device, the voltage converting means includes a circular resistor having a constant resistance value per unit length and a rotatable resistor in contact with the circular resistor. It is preferable that it is constructed by a slider and a power source for applying a constant current to the circular resistor.

Furthermore, in the angle detection device, the reference line is a vertical line, and the reference line detection means is constituted by a freely rotatable rotating shaft provided on the aircraft body and a weight fixed to the rotating shaft. It is preferable that the

The working device includes a machine body configured to be movable in the longitudinal direction of the pipe within the pipe, a working means provided on the machine body and rotatable in the circumferential direction of the pipe, and a machine body configured to move within the pipe in the circumferential direction of the pipe. a driving means for driving in the circumferential direction; a first voltage converting means that is driven as the working means moves in the circumferential direction; The axis and
The second voltage converting means is driven by the shaft and connected in series with the first voltage converting means.

Further, the working device is characterized in that the working means is an exploration means for exploring the inside of the pipe or a processing means for processing the pipe.

<Operation> According to the above means, it is possible to easily determine the displacement angle with respect to the reference line of the rotating member provided on the body capable of angular displacement with respect to the reference line. That is, the angular displacement of the aircraft body relative to the reference line is converted into a voltage corresponding to the displacement angle, the angular displacement of the rotating member relative to the aircraft body is converted to a voltage corresponding to the displacement angle, and both voltages are combined. Therefore, it is possible to detect the angle of the rotating member with respect to the reference line.

Further, a plurality of voltage conversion means provided on the aircraft body are connected in series, one of the voltage conversion means is connected to the reference line detection means, and another one of the voltage conversion means is connected to the rotating member. By the way,
It is possible to synthesize the voltage according to the displacement angle of the body with respect to the reference line and the voltage according to the displacement angle of the rotating member with respect to the body.

Further, the voltage converting means is formed as a circular resistor having a constant resistance value per unit length, and the slider in contact with the circular resistor is connected to the reference line detecting means. Alternatively, by driving the slider with a rotating member and applying a constant current to the circular resistor, the amount of rotation, that is, the displacement angle of the slider can be converted into a voltage.

In addition, if the reference line is a vertical line, the reference line detection means fixes a weight to a rotary shaft rotatably provided on the aircraft body, and since the weight is always on the vertical line, the reference line detection means It can be configured as a line detection means.

Furthermore, a working means driven in the circumferential direction of the pipe by a driving means and a shaft rotatably provided and having a weight fixed thereto are provided on a body capable of moving in the longitudinal direction of the pipe within the pipe. a first voltage converting means that is provided and driven as the working means moves in the circumferential direction; and a second voltage that is driven by the shaft and connected in series with the first voltage converting means. By providing the converting means, the angle of the working means with respect to the reference line can be detected no matter how tilted the machine body is in the pipe.

Further, by using the working means as an exploration means for exploring the inside of a pipe or a processing means for processing a pipe, exploration or processing can be performed using a vertical line as a reference line.

<Example> An example of an angle detection device to which the above-mentioned means is applied and a working device using the angle detection device will be described below with reference to the drawings.

Figures 1 and 2 are explanatory diagrams showing the principle of angle detection, Figure 3 is a wiring diagram of the angle detection device, Figure 4A,
B is an explanatory diagram of the working device.

First, the working equipment will be explained with reference to FIG. 4. As shown in the figure, the machine body 1 is installed inside a pipe B, such as a gas pipe, water supply pipe, or sewer pipe, which has a technical pipe A and is repaired with a plastic pipe C. It is located in The body 1 placed in the conduit is configured to be movable in the direction of arrow D by driving wheels 3 by a travel motor 2. This aircraft 1
When moving in the pipe, the pipe tilts at an arbitrary angle with respect to the vertical direction, as shown in Figure B, due to a change in the center of gravity due to the rotation of the rotating member, which will be described later, or due to an obstacle in the pipe. Sometimes.

The body 1 is provided with a motor 5 serving as a driving means for rotating a working tool 4 serving as a rotating member in the circumferential direction of the pipe C. As the motor 5, a drive source such as an electric motor, an air motor, or a hydraulic motor can be selectively used as appropriate.

The working tool 4 may be, for example, a detection sensor for detecting the position of the tube A, a cutter for punching a hole in the plastic tube C, or the like, depending on the purpose of the work. In particular, when detecting the sealing material 16 for closing the pipe opening of the technical pipe A using a detection sensor as the working tool 4, move the body 1 into the pipe and move the detection sensor in the circumferential direction of the pipe. The center of gravity of the aircraft 1 constantly changes as it rotates to perform detection work, and this change in the center of gravity causes the aircraft 1 to move circumferentially along the inner wall of the tube, causing a tilt. It is something.

Further, a potentiometer 6 serving as a first voltage conversion means is fixed to the machine body 1, and is either directly connected to the rotating shaft 7 of the working tool 4, or the rotation of the rotating shaft 7 is controlled via a transmission mechanism such as a gear train or a toothed belt (not shown). By being driven at the same angular velocity as the working tool 4, a voltage corresponding to the displacement angle of the working tool 4 with respect to the machine body 1 is generated.

Further, a potentiometer 8 serving as a second voltage converting means is fixed to the body 1 and connected in series with the potentiometer 6. The weight 9 is fixed to a shaft 11 rotatably supported by a bearing 10 provided on the body 1, so that the weight 9 can always point in the vertical direction. By connecting the shaft 11 and the potentiometer 8 directly or via a gear train or a toothed belt (not shown), the potentiometer 8 can be connected in the direction pointed by the weight 9 of the body 1, that is, in the vertical direction. It generates a voltage according to the displacement angle.

In addition, 12 is a control panel for accommodating a power source 13, a bias power source 14, etc. for applying a constant current to the potentiometers 6 and 8.

Next, a method and apparatus for detecting the angle of the working means 4 with respect to the reference line will be explained in detail with reference to FIGS. 1 to 3.

First, the potentiometers 6 and 8 include circular resistors 6a and 8a, each having a constant resistance value per unit length, and sliders in contact with the circular resistors 6a and 8a. 6b and 8b.
Therefore, the resistance value r per unit angle of the circular resistors 6a and 8a is constant.

Further, the sliders 6b, 8b are the circular resistors 6a,
When rotating while contacting the circular resistors 6a, 8a, it is preferable to configure the circular resistors 6a, 8a so that discontinuities do not occur at the end surface joints 6f, 8f. In this embodiment, the circular resistors 6a, 8
The total resistance value R of each a is set as 2 kΩ.

Further, the terminal 6d of the potentiometer 6 and the terminal 8c of the potentiometer 8 are electrically connected, and the terminal 6c
A constant current i is applied by the power supply 13 to the terminal 8d and the terminal 8d. A bias voltage of -1/2Ri is applied to the terminal 6e of the slider 6b of the potentiometer 6 and the terminal 8e of the slider 8b of the potentiometer 8 by the bias power supply 14.

Then, measure the voltage between the terminals 6e and 8e with a voltmeter.
5, the sliders 6b, 8
The voltage between the slider 6b and the slider 8b is measured, and the angle between the slider 6b and the slider 8b, that is, the angle between the power tool 4 and the vertical line is detected based on the measured voltage.

The potentiometers 6 and 8 are 180 degrees out of phase with each other, and are arranged so that they are parallel to the rotating surface of the working tool 4 and the terminals 6c and 6d of the circular resistor 6a are located below with respect to the vertical direction of the machine body 1. is fixed to fuselage 1. Therefore, terminals 8c, 8d of potentiometer 8
is fixed to the fuselage 1 so as to be located above the fuselage 1 in the vertical direction. As mentioned above, this is due to the end surface joints 6f, 8 of the circular resistors 6a, 8a.
It is preferable to configure the structure so that no discontinuous point occurs in f, but this is relatively difficult. It is configured as follows.

Further, as described above, the slider 6b is connected to the rotating shaft 7 of the power tool 4, and the slider 8b is connected to the shaft 1.
1 and are respectively driven, the slider 6b can maintain a state parallel to the working tool 4 and be driven at the same angular velocity, and the slider 8b has no weight. The work is done so that it can match the direction pointed by the weight 9.

Next, FIGS. 2A, B, and C are explanatory diagrams of the principle of angle detection by the angle detection device configured as described above. Figure A shows the case where the aircraft 1 is tilted by an angle β to the left in the figure compared to the horizontal state, Figure B shows the case where the aircraft 1 is in the horizontal state, and Figure C shows the case where the aircraft 1 is tilted to the left in the figure.
The figure shows a case where the plane is tilted by an angle β from the horizontal state to the right in the figure.

In the figure, θ is a code indicating the angle of the working tool 4 with respect to the vertical line, α is a code indicating the rotation angle of the working tool 4 with respect to the machine body 1, and β is a code indicating the inclination angle of the machine body 1 with respect to the horizontal line. , and this β is an angle equal to the angle between the vertical line of the aircraft body 1 and the vertical line. Therefore, the angle θ of the power tool 4 with respect to the vertical line is θ=α+β.

The circular resistors 6a and 8a of the potentiometers 6 and 8 have a constant resistance value r per unit angle, as described above. Therefore, the voltage corresponding to the angle α
V ₁ becomes V ₁ =αri.

Further, the bias voltage e=-1/2Ri is applied between the terminals 6e and 8e of the potentiometers 6 and 8, as described above. By applying the bias voltage, when the body 1 is in a horizontal state and the potentiometer 8 shows a voltage of 1/2 Ri, this voltage is canceled out and a zero voltage is generated.

Therefore, if the fuselage 1 has an inclination of angle β,
The voltage generated between the terminal 8c of the potentiometer 8 and the contact point 8g between the slider 8b and the circular resistor 8a is
V ₂ =1/2Ri+βri−1/2Ri, and β has a negative value in the case shown in FIG. 4A, and a positive value in the case shown in FIG. 4C.

The composite voltage V of the voltages V ₁ and V ₂ obtained by the potentiometers 6 and 8 in this way is V = V ₁ + V ₂ = αri + 1/2Ri + βri - 1/2Ri = (α + β) ri = θri. Voltmeter 1 configured as shown in Figure 3
If the voltage V between the terminals 6e and 8e is measured using 5, the voltage V will be a value proportional to the angle θ from the above equation, and therefore the voltage V will be a value that is proportional to the angle θ between the vertical line and the machine body 1. It shows the angle with the vertical line.

In the above-mentioned embodiment, the machine body 1 was configured to drive the wheels 3 by the traveling motor 2 so as to be able to travel inside the pipeline. It is also possible to move the inside of the pipe in the direction of arrow D by hoisting it up using a winch or the like provided outside the pipe.

In the above embodiment, the reference line was a vertical line, but if a reference line is provided in advance on the outside of the aircraft 1, for example on the inner wall of the pipe, and the reference line is detected by a non-contact sensor, the aircraft 1 tilts. If the sensor is rotated so that the sensor always detects the reference line, and the slider 8b of the potentiometer 8 can be rotated, a reference line other than the vertical line can be used to detect the reference line. It is possible to detect the angle between the work tool 4 and the work tool 4. Further, even if a rail is laid in the pipe and the rail is clamped by a clamp mechanism, this rail can be used as a reference line.

In the above-mentioned embodiment, the phases of the potentiometers 6 and 8 were shifted by 180 degrees and were provided on the fuselage 1, but this is not limited to the above angle, and it is possible to provide them at other angles. Furthermore, it is also possible to provide them in the same phase. Naturally, in this case, it is necessary to set the bias voltage according to the shifted phase amount.

<Effects of the Invention> As explained in detail above, angle detection in the present invention converts the angular displacement between the reference line and the aircraft body into a voltage corresponding to the displacement angle, and also converts the angular displacement between the reference line and the aircraft body into a voltage corresponding to the displacement angle. The displacement is converted into a voltage corresponding to the displacement angle, and the angle between the reference line and the rotating member is detected using a composite voltage that combines both converted voltages, so the displacement angle of the rotating member with respect to the reference line is detected. can be detected quickly and accurately regardless of the amount of displacement angle of the aircraft body with respect to the reference line.

Further, a plurality of voltage conversion means provided on the aircraft body are connected in series, one of the voltage conversion means is connected to the reference line detection means, and another one of the voltage conversion means is connected to the rotating member. Therefore, the voltage corresponding to the displacement angle of the aircraft body with respect to the reference line and the voltage corresponding to the displacement angle of the rotating member with respect to the aircraft body can be quickly and accurately synthesized.

In addition, since the voltage conversion means is formed as a circular resistor having a constant resistance value per unit length, the resistance value per unit angle can be made constant. Since the slider in contact with the circular resistor is driven by the reference line detection means or the rotating member and a constant current is applied to the circular resistor, the rotation of the slider is The amount of movement, that is, the angle of displacement, can be converted into voltage.

In addition, when the reference line is a vertical line, the reference line detection means is constructed by fixing a weight to a rotary shaft rotatably provided on the aircraft body, so that the weight is always on the vertical line, which makes it possible to A weight can be used as a reference line detection means.

Furthermore, the working device is rotatably provided with a working means that is driven in the circumferential direction of the pipe by a driving means on a body that is movable in the longitudinal direction of the pipe within the pipe, and a weight is fixed to the body. a first shaft, which is driven as the working means moves in the circumferential direction;
and a second voltage converting means that is driven by the shaft and connected in series with the first voltage converting means, it is possible to determine how the aircraft is tilted in the conduit. However, the angle of the working means with respect to the reference line can be detected.

Further, by using the working means as an exploration means for exploring the inside of a pipe or a processing means for processing a pipe, exploration or processing can be performed using a vertical line as a reference line.

[Brief explanation of the drawing]

Figures 1 and 2 A, B, and C are explanatory diagrams of the angle detection principle, Figure 3 is the wiring diagram of the voltmeter, and Figure 4 A, B.
is an explanatory diagram of a working device. A is a technical pipe, B is a pipe, C is a plastic pipe, 1 is a fuselage, 2 is a traveling motor, 3 is a wheel, 4 is a working tool, 5 is a driving means, 6 and 8 are potentiometers, 6a, 8
a is a circular resistor, 6b and 8b are sliders, 6c to 6
e, 8c to 8e are terminals, 7 is a shaft, 9 is a weight, 11
13 is a power supply, 14 is a bias power supply, and 15 is a voltmeter.

Claims (1)

[Scope of Claims] 1. An angle detection method for detecting an angle with respect to the reference line of a rotating member provided on a body capable of angular displacement with respect to the reference line, which method detects an angle with respect to the reference line. converting into a voltage according to the displacement angle, converting the angular displacement of the rotating member with respect to the aircraft body into a voltage corresponding to the displacement angle, and synthesizing the converted voltages, and using the combined voltage, converting the rotating member with respect to the reference line An angle detection method characterized by detecting the angle of. 2 An angle detection device for detecting an angle with respect to the reference line of a rotating member provided on a body capable of angular displacement with respect to a reference line, the device comprising a plurality of voltage conversion means provided on the body and connected in series. An angle detecting device comprising: a reference line detecting means connected to one of the voltage converting means; and a rotating member connected to one of the voltage converting means. 3. A circular resistor in which the voltage conversion means has a constant resistance value per unit length and is formed into a circular shape;
3. The angle detection device according to claim 2, comprising: a rotatable slider that contacts the circular resistor; and a power source for applying a constant current to the circular resistor. 4. Claim 2, wherein the reference line is a vertical line, and the reference line detection means is constituted by a freely rotatable rotating shaft provided on the aircraft body and a weight fixed to the rotating shaft. Or the angle detection device according to 3. 5 A machine body configured to be movable in the longitudinal direction of the pipe within the pipe, a working means provided on the machine body and rotatable in the circumferential direction of the pipe, and a working means configured to move the working means in the circumferential direction of the pipe. a first drive means for driving, and a first drive means driven as the working means moves in the circumferential direction;
a voltage conversion means, a shaft rotatably provided on the body and having a weight fixed thereto, and a second voltage conversion means driven by the shaft and connected in series with the first voltage conversion means. A working device characterized by comprising: 6. The working device according to claim 5, wherein the working means is an exploration means for exploring the inside of the pipe. 7. The working device according to claim 5, wherein the working means is a processing means for processing a pipe.