JPH0513563B2 - - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION (Field of Industrial Application) The present invention relates to a pipe profile measuring device for measuring the three-dimensional profile of a pipeline, for example.

(Prior art) Generally, as a measuring pig for measuring the sinking shape of a pipeline, two rollers with a precision rotary distance meter are attached to the outside of a cylindrical pig body. The travel distance of the two rollers that rotate while contacting vertically opposing inner surfaces of the roller is measured.

However, if the measuring pig itself rolls within the tube or if there are irregularities on the inner surface of the tube, the measurement result will be that the tube has a curved shape, making it impossible to accurately measure the sinking shape of the pipeline.

Therefore, conventionally, in addition to the rotary distance meter installed on the two rollers to measure the traveling distance of the measuring pig, an inclinometer was installed to measure the inclination angle of the tube in a vertical plane including the axis of the tube. A device has been developed that stores the outputs of these rotary distance meters and inclinometers to determine the sinking shape of the tube body (Japanese Patent Application Laid-open No. 107112/1983).

(Problems to be Solved by the Invention) However, when the pipe body changes in a complicated manner, this measuring pig has difficulty in tracking the changes and measuring the profile with high precision. There is a problem in that only a typical profile can be measured.

The present invention has been made in view of the above-mentioned circumstances, and an object of the present invention is to provide a tube profile measuring device that can measure the three-dimensional profile of a tube with high accuracy even if the tube has a complicated shape change. shall be.

(Means for Solving the Problems) A tube profile measuring device according to the present invention includes:
a cylindrical pig body, at least four distance meters arranged at approximately equal intervals on the outer circumference of the cylindrical pig body and measuring rotational distance while contacting the inner surface of the tube to be measured; and a built-in body of the cylindrical pig body. A measuring pig equipped with a pendulum-type angle meter, an inclinometer, etc., and the above-mentioned 4
means for obtaining an azimuth angle including the distance of the pig body using the output data of the two rangefinders; rangefinder position acquisition means for obtaining the relative position of the rangefinder from the output data of the pendulum-type angle meter; and the inclinometer. and an inclination angle obtaining means for obtaining the inclination angle of the pig body in the tube axis direction from the output data.

(Function) Therefore, the present application uses the above-described means to obtain the traveling azimuth angle of the pig body including the distance from the output data of, for example, four distance meters arranged at equal intervals around the outer circumference of the pig body. In addition, it is possible to determine the positional deviation of the distance meter due to rotation of the pig body in the circumferential direction of the tube from the output data of the angle meter, and also to determine the position of the tube to be measured from the output data of the inclinometer. The profile of the direction of subsidence can be obtained.

(Example) Hereinafter, a configuration as an example of the present invention will be described with reference to FIGS. 1 to 3. FIG. 1 is a diagram showing a measuring pig transfer system, FIG. 2 is an internal configuration diagram of the measuring pig, and FIG. 3 is an electrical hardware configuration diagram of the profile measuring device.

First, as shown in FIG.
A launcher 13 having an inner diameter larger than the tube body 11 is connected via a flange 14 to facilitate insertion of the tube body 11. The launcher 13 has a lid 15 that can be opened and closed on its inlet side, and has a flange 14 and an air supply pipe 18 for applying basic pressure having air-operated valves 16 and 17 in close proximity to the launcher inlet side, respectively. Pig transfer air supply pipe 19
is connected.

Next, as shown in FIG. 2, the measurement pig 12 is provided with seal cups 32 and 33 on the front and rear outer peripheries of a cylindrical pig body 31, respectively, for contacting the inner surface of the tube and maintaining airtightness. Further, four roller contact type distance meters 34 (34A to 34D) are mounted at approximately equal intervals on the outer periphery of the body of the pig 31, located between the seal cups 32, 33. This distance meter 34 includes an arm 3 rotatably supported on a shaft.
A rotating roller 34b made of metal or resin provided at the tip of the arm 4a, an encoder 34c that outputs a pulse proportional to the number of rotations of the rotating roller 34b, and a rotating roller 34b at the tip of the arm 34a are kept in constant contact with the inner surface of the tube body. It is composed of a tensioning spring 34d and the like.

The interior of the pig body 31 is roughly divided into two chambers 35 and 36. For example, the front side chamber 35 houses a battery power source 37 that supplies a predetermined voltage to necessary components, as well as a CPU, A/D converter, A data processing system board 38 incorporating circuits, memory, etc. is attached.

On the other hand, an inclinometer 39 and a pendulum-type angle meter 40 are installed in the rear side chamber 36 inside the pig body 31. That is, the balance weight 4 is mounted on a swinging body 41 that is swingably movable in the circumferential direction within the pig body 31.
2 and an inclinometer 39 are mounted, and the inclinometer 39 measures the inclination angle of the rocking body 41 which tilts under the force of gravity in a downward vertical direction including the tube axis of the balance weight 42. Incidentally, the inclinometer 39 is desirably one that is not easily affected by acceleration, and for example, a capacitance type or an optical fiber gyroscope is used. In addition, the pendulum type angle meter 40 has a disk 43 attached to one end of a rocking body 41 that swings using the gravity of a balance weight 42 as a pendulum.
The photoelectric converter 44 captures the light passing through a specific hole among the plurality of holes formed in the peripheral edge of the disk 43, and measures the angle. In the figure, 45 is a rotary connector that supplies a predetermined voltage from the battery power source 37 to the inclinometer 39, angle meter 40, etc., and the four distance meters 34, etc.
It has a function of guiding the output signal to the data processing system board 38.

The data processing system includes a CPU 51 that collects and stores data based on a program and executes desired data processing as necessary, as shown in FIG.
A bus 52 for address and data, and a control line 53 are led out from this CPU 51. These buses 52 and control lines 53
The I/O port 54 has a data latch function.
is connected. As mentioned above, 34A to 34D correspond to the distance meter 34, and among them, the output side of the distance meter 34A in particular is introduced to the I/O port 54 via the preset counter 55, and the output side of the distance meter 34A is inputted to the I/O port 54, and the other three distance meters 34B to 34D are connected to the distance meter 34A. The output side of each counter 5
It is introduced into the I/O port 54 via ports 6B to 56D. The reason why the preset counter 55 is provided is to simultaneously capture various data at each predetermined reference distance using one of the four distance meters as a reference. 57 is a low pass filter, 58 is A/D
converter, 59 is an absolute encoder,
60 is a timer for obtaining data such as the running start time and running end time of the measurement pig 12, and 61 stores programs, fixed data, etc.
A ROM 62 is a RAM for storing data collected by the CPU 51, 63 is a data transmission unit, and 64 is a host computer, which reads out the data stored in the RAM 62 after collecting the measurement pig 12 and creates a profile of the tube 11 to be measured. It has the function to ask for.

Next, the operation of the apparatus configured as above will be explained. After opening the lid 15 of the launcher 13 and inserting the measuring pig 12 into the launcher 13, opening the air-operated valve 16 and applying base pressure to the pipe body 11 to be measured from the compressor through the air supply pipe 18,
When the air-operated valve 16 is closed and the other air-operated valve 17 is opened to supply gas at a pressure sufficiently higher than the base pressure, a pressure difference is created across the seal cup 32. The measuring pig 12 travels using the differential pressure. When the measuring pig 12 has completely entered the measuring tube 11 through this traveling, when a pressure difference is applied to both ends of the measuring tube 11, either the seal cup 32 or 33 closes the measuring tube. A pressure difference is generated by sealing with the body 11, and the measuring pig 12 continues to travel in the same manner.

When the measurement pig 12 starts running, the CPU 51 takes in the running start time data from the timer 60 through the I/O port 54 and stores it in the RAM.
62. Further, when the measuring pig 12 runs, the roller contact type distance meters 34A to 34D output pulses proportional to the number of rotations, and these pulses are counted by the subsequent counters 55, 56B to 56D. At this time, when the output pulse of the distance meter 34A reaches the preset value of the preset counter 55, a data output command is issued from the counter 55, and the count values of the counters 56B to 56D, that is, the distance data are transferred to the I/O port. 54 latch circuits, etc. In addition, the inclination angle data of the vertical fluctuation of the tube body 11 with respect to the tube axis direction is outputted through the inclinometer 39, the low-pass filter 57, and the A/D converter 58, and is similarly outputted to the measuring pig 12 through the angle meter 40 and the absolute encoder 59. The rotation angle data in the direction of the inner circumference of the pipe is output, and the I/O
It is stored in the latch circuit of port 54. In this way, various data are collected using the preset counter 55.
This is done each time the preset value is reached. In addition,
Since the distance data from the distance meter 34A allows the CPU 51 to know the number of times the preset value is reached, the distance can be determined from the number of times. In addition, when determining the tilt angle, the CPU 51 compares the current tilt angle and the previous tilt angle each time the preset value is reached, and if the tilt angle difference is 5 degrees or more, it is determined that there is a sudden angle change, and the I/O port 54, the cut-off frequency of the low-pass filter 57 is set to 0.4 Hz, and if the angle is less than 5 degrees, it is determined that the angle is changing slowly, and the cut-off frequency of the low-pass filter 57 is similarly set to 0.1 Hz.
The reason for this is that if the cutoff frequency of the filter 57 is low, it will not be able to follow sudden changes in angle and errors will occur in the collected data. Note that the angle and cutoff frequency shown here are just examples, and the optimum values are selected according to various conditions.

Various data latched in the I/O port 54 are sequentially read by the CPU 51 at predetermined timing and stored in the RAM 62. Then, after traveling through the pipe body 1 to be measured of a predetermined length and stopping,
The CPU 51 acquires travel end time data from the timer 60 and stores it in the RMA 62. After collecting the measurement pig 12 from the pipe body 11 to be measured,
It is connected to the host computer 64, reads the data stored in the RAM 62, performs data processing as described below, and obtains a three-dimensional profile of the tube 11 to be measured.

Now, when the pipe body 11 to be measured is _a bend part as shown in _{FIG .}
It becomes a circle with a medium curvature R. In the figure, θ ₂ is the bending center azimuth angle.

Therefore, an example of determining the azimuth angle θ ₂ from the four distance data L ₁ to _{L 4} based on the above-mentioned preconditions will be described with reference to FIG. 5. First, it is assumed that the tube body 11 to be measured is bent in the direction of the smallest distance data, for example _L1 , among the distance data measured by each of the distance meters 34A to 36D, and
It is assumed that the relationship L ₁ <L ₂ <L ₃ <L ₄ holds. The radii from the loci of these distance data L ₁ , L ₂ , L ₃ , and L ₄ to the center of the curve are defined as r ₁ , r ₂ , r ₃ , and r ₄ .
Here, if the inclination of the measuring pig 12 seen from the center of the bend is θ ₁ , then r ₃ − r ₂ = D・sin θ ₁ ...(1) r ₄ − _{r 1} = D・cos θ ₁ ...(2) A relationship is established. Therefore, this equation (1) and (2)
From the equation, the following can be obtained: θ ₁ = tan ⁴ (D·sin θ ₁ /D·cos θ ₁ ) = tan ⁴ (r ₃ −r ₂ /r ₄ −r ₁ ) (3). Here, if the traveling azimuth angle of the measurement pig 12 is θ ₂ and the arc length with respect to the radius ri is Li, then the relationship ri=Li/θ ₂ ...(4) holds, so the bend angle θ ₁ becomes θ ₁ =tan ⁴ (L ₃ −L ₂ /L ₄ −L ₁ )……(5).

Further, the measurement pig 12 may be rotating in the circumferential direction within the tube body 11 while traveling within the tube body.
For this reason, _each distance meter 36A~
It is not possible to determine the position of the tube body of 36D.

Therefore, a correction process is performed based on the angle data of the pendulum type angle meter 40 at each timing when the preset value of the preset counter 55 is reached.
The relative positions of 6A to 36D in contact with the tubular body 11 are determined.

Next, the traveling azimuth angle θ ₂ of the measuring pig 12 and the radius R from the tube body 11 to the bending center are L ₁ = {R-(D/2)・cos θ ₁ }・θ ₂ L ₂ = {R- From the relationship (D/2)・sinθ ₁ }・θ ₂ L ₃ = {R+(D/2)・sinθ ₁ }・θ ₂ L ₄ = {R+(D/2)・cosθ ₁ }・θ ₂ , θ ₂ ′=(L ₄ −L ₁ )/(D・cosθ ₁ )……(6) θ ₂ ″=(L ₃ −L ₂ )/(D・sinθ ₁ )……(7) can be obtained. , from these equations, the measurement pig 12
The traveling azimuth angle θ ₂ can be determined by the following formula: θ ₂ = (θ ₂ ′+θ ₂ ″)/2 (8) The bending radius R of the tube 11 to be measured is R= (L ₁ +L ₂ +L ₃ +L ₄ )/4θ ₂ ...(9) If the necessary data is obtained in this way, the three-dimensional flow field of the tube to be measured 11 can be obtained, And the following point (x, y,
z) can be easily determined. Also,
From the output of the inclinometer 39, the sinking state of the tube 11 to be measured can be determined.

Therefore, according to the embodiment described above, four rotary distance meters 34 are provided on the outer circumference of the body of the measuring pig 12.
... are arranged and the distance data is obtained from the distance meters 34...., so that even if the pipe body 11 to be measured has a complicated bending state, its profile can be accurately grasped, and the measurement The traveling azimuth angle of the pig 12 can be easily determined. Also,
Since the angle meter 40 is mounted on the measurement pig 12 to obtain the rotation angle in the circumferential direction of the tube body 11 of the measurement pig 12, the rotation distance of the measurement pig 12 can be known, and thereby each distance meter It is possible to obtain accurate contact positions of the tube body 11 of 34.... In addition, by installing the inclinometer 39 on the measuring pig 12,
Similar to the conventional method, the change in the vertical direction with respect to the tube axis direction, that is, the subsidence profile of the tube body 11 can be determined. In addition, one preset counter 55 is provided for each of the four distance meters 34, and the count value of each distance meter is collected at the timing when the preset value is reached. Therefore, multiple pieces of data required at the same timing for each reference distance can be collected. can be collected simultaneously, which contributes to high accuracy when measuring profiles. Further, the reference distance can be obtained with one less latch means than the number of counters.

In addition, in the above embodiment, the measuring pig 12 is moved using the differential pressure, but the measuring pig 12
It may also be configured to have a built-in drive motor and run in a self-propelled manner. Further, although the number of distance meters is four, it may be four or more. In addition, the measurement pig 12
Since it has a CPU 51, if a data processing program is created in advance, real-time data processing can be performed based on the program. In addition, the present invention can be implemented with various modifications without departing from the gist thereof.

(Effects of the Invention) As detailed above, according to the present invention, the three-dimensional profile of a tube can be measured with high precision even when the tube has complex shape changes. equipment can be provided.

[Brief explanation of the drawing]

Figures 1 to 5 are shown to explain an embodiment of the tube profile measuring device according to the present invention. Figure 1 is a configuration diagram of a measuring pig transfer system, and Figure 2 is Internal configuration diagram of the measurement pig,
Figure 3 is an electrical hardware configuration diagram of the tube profile measuring device, and Figures 4 and 5 are explanatory diagrams for determining the traveling azimuth angle of the measuring pig and the bending radius of the tube to be measured. be. 11... Pipe body to be measured, 12... Measurement pig,
31...Pig body, 32, 33...Cup seal, 34 (34A to 34D)...Distance meter, 37...
...battery power supply, 39...inclinometer, 40...angle meter,
41... Rocking body, 42... Balance weight, 5
1...CPU, 55...Preset counter, 5
6B to 56D...Counter, 57...Low pass filter, 61...ROM, 62...RAM, 63
...Data transmission unit, 64...Host computer.

Claims (1)

[Scope of Claims] 1. A tubular body profile measuring device that runs a measurement pig inside the tubular body to obtain tubular profile data, and obtains the tubular profile based on this data, comprising: a cylindrical pig body; , at least four distance meters arranged at approximately equal intervals on the outer circumference of the cylindrical pig body and measuring the rotational distance while making contact with the inner surface of the tube to be measured; and a pendulum-type angle meter built into the cylindrical pig body. and a measuring pig equipped with an inclinometer or the like, means for determining the azimuth angle including the distance of the cylindrical pig body using the output data of the four distance meters, and the distance from the output data of the pendulum type angle meter. A rangefinder position acquisition means for determining the relative position of the meter, and an inclination angle acquisition means for determining the inclination angle of the pig body in the tube axis direction from the output data of the inclinometer. A pipe body profile measuring device characterized by obtaining a profile.