JPH07234124A - Method and apparatus for measuring conduit shape - Google Patents

Abstract

PURPOSE:To provide a method and an apparatus for measuring an accurate conduit shape without necessity of installing a sensor, etc., on the ground with out influence of a circumferential magnetic element. CONSTITUTION:A conduit shape measuring train D in which a plurality of measuring unit vehicles alpha1-alpha4 for placing laser light oscillators 7a-7e having photoreceivers 6a-6e and fluctuation and turning control means 11a-11e to be controlled by detection signals of the photoreceivers 6a-6e are coupled is traveled through a conduit, relatively varying fluctuating and turning angles DELTA1-DELTA5 of the means 11a-11e of the oscillators 7a-7e and developing distances L1-L3 between central vehicles between the vehicles alpha1-alpha4 are detected, and a bent state, etc., of a conduit beta is sensed.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a method for measuring a bent shape of a conduit used for burying a telephone cable or the like with high accuracy and an apparatus directly used for implementing the method.

[0002]

2. Description of the Related Art In laying pipes used for burying telephone cables and the like, a so-called non-excavation method is generally used in which horizontal holes are dug horizontally from vertical shafts provided at both ends of the burial position. The position of the buried pipeline must be accurately measured and placed to prevent the pipeline from being damaged by other works.

Conventionally, a measuring method using a magnetic field as shown in FIG. 6 has been used to measure the position of a pipe line buried by a non-open cutting method. In the figure, A is a vertical hole, B is a horizontal hole for laying a pipeline, and G is a horizontal hole.
Is a ground surface, 1 is a drilling machine, 1a is a drill at the tip of the drilling machine, 2 is a magnetic field generator mounted near the drill 1a, 3
Is a magnetic field sensor that moves on the ground.

In the conventional pipe line position measuring method shown in FIG. 6, a magnetic field generator 2 is attached near the tip of a drill 1a of a horizontal hole B, which is drilled by a drilling machine 1 provided in a vertical hole A, and the ground surface G is used during drilling. The operator moves the magnetic field sensor 3 and sequentially records the position immediately below the position where the magnetic field is strongest as the head position of the lateral hole B, and measures the bending of the conduit and the like.

[0005]

However, the conventional measuring method using a magnetic field has the following problems. That is, first, if there is a magnetic material such as a steel pipe, a steel tower, or a line in the nearby ground or on the surface G, the magnetic field generated by the magnetic field generator 2 is distorted, and an error occurs in the magnetic field sensor 3 on the surface G. Is. And in rivers,
In a place where workers cannot enter the surface G, the magnetic field sensor 3
It is a problem that measurement by is impossible.

The important problems of the present invention will be listed below. A first object of the present invention is to provide a pipe line shape measuring method and a measuring device for solving the drawbacks of the conventional measuring method using a magnetic field. A second object of the present invention is to provide a pipe line shape measuring method and a measuring device which are highly accurate and are not adversely affected by surrounding magnetic substances.
A third object of the present invention is to provide a pipeline shape measuring method and a measuring apparatus which do not require the installation of a sensor on the ground.

A fourth object of the present invention is to provide a pipe shape measuring method and a measuring device which enable remote measurement and measurement on the ground. A fifth object of the present invention is to provide a pipe line shape measuring method and a measuring device by measurement using light. A sixth object of the present invention is to provide a pipe shape measuring method and a measuring device for running a pipe shape measuring train in which a plurality of measuring machine cars are connected so as to be able to open and close the inter-vehicle distance. A seventh object of the present invention is to provide a pipe line shape measuring method and a measuring device in which each measuring machine adopts a self-propelled type driven by a motor or a separate type driven by a rope pulling drive.

An eighth object of the present invention is not to provide a pipe line shape measuring device in which each measuring machine is equipped with a light receiving means and a laser light oscillating means for swinging and swinging while following the trailing or tailing and irradiating the laser light. It is what A ninth object of the present invention is to
A pipe shape measuring train in which two or more measuring machines are connected to each other with at least one pair of photoreceivers and laser oscillators that oscillate and swing to follow and illuminate them It is intended to provide a pipe shape measuring device to be run inside.

A tenth object of the present invention is, as means for positioning the laser beam at the center of the photodetector, the outputs of two photodiodes arranged on one half of the photodetection surface of the photodetector. An object of the present invention is to provide a pipe shape measuring device that applies a signal proportional to the difference to the swinging and swinging control means of the laser oscillator.

The eleventh problem of the present invention is that when the sum of the outputs of the two photodiodes incorporated in the light receiver changes,
An object of the present invention is to provide a light receiving device with a pipe shape measuring device for stopping the traveling of a signal truck. Other problems of the present invention are
It will be apparent from the description and drawings, and particularly from the claims.

[0011]

The above-mentioned problems can be solved by adopting the novel characteristic construction method and construction means listed below the present invention. That is, the first feature of the method of the present invention, in measuring the bending state and the like of the pipeline such as the underground buried pipe, a pipeline shape measuring train consisting of a plurality of measuring machine cars is run in the pipeline, Each measuring machine always follows the light-receiving / detecting surface center on the adjacent measuring machine cars. Is a method for measuring the shape of a pipeline by detecting and calculating and the bending state of the pipeline.

A second feature of the method of the present invention is a method for measuring the shape of a pipe, wherein the traveling according to the first feature of the method of the present invention is a self-propelled type or a separately propelled type.

A third feature of the method of the present invention is a pipe shape measuring method in which the self-propelled type in the second feature of the method of the present invention is a motor drive and the free-running type is a traction drive.

A fourth feature of the method of the present invention is a method for measuring the shape of a pipe, wherein the light emission in the first, second or third feature of the method of the present invention is laser light emission.

A fifth feature of the method of the present invention is that the light receiving / detecting surface in the first, second, third or fourth feature of the method of the present invention can independently detect light by one half surface with the center as a boundary. This is a method for measuring the shape of a pipe.

A sixth characteristic of the method of the present invention is that the light receiving detection surface in the first, second, third, fourth or fifth characteristic of the method of the present invention is caused by a change in the balance of the amount of light received on both half surfaces. This is a method for measuring the shape of a conduit for detecting the center deviation of light emission.

The seventh feature of the method of the present invention is that the light receiving / detecting surface in the first, second, third, fourth, fifth or sixth feature of the method of the present invention corresponds to the amount of received light. This is a pipe line shape measuring method in which an output signal from one half surface is subtracted, and a follow-up swing turning angle is feedback-controlled so that light emission can be always emitted to the center in proportion to the difference signal.

The eighth feature of the method of the present invention is that the light receiving detection surface in the first, second, third, fourth, fifth, sixth or seventh feature of the method of the present invention is dependent on the amount of light received. Further, by adding the output signals from the respective one half surfaces, and when the sum signal does not reach the preset reference signal level, the pipeline shape measuring method of stopping the traveling of the measuring machine vehicle related to the light receiving detection surface Is.

The first feature of the device of the present invention is that the carts having wheels, the travel control means for driving and controlling the carts, the laser beam receiving means provided on each of the carts, and the photoreceiver output. The laser light oscillating means provided on the adjacent trolley and equipped with the swinging and swinging control means for controlling the laser light to be constantly irradiated to the center of the light receiver by the signal to output the angle signal, and measuring the inter-vehicle distance to measure the distance. And a means for measuring and outputting a signal, and a pipeline shape measuring train in which a plurality of measuring machine vehicles are connected, and the position of each of the plurality of measuring machine vehicles is determined by the angle signal and the distance signal output from the plurality of measuring machine vehicles. It is a pipe line shape measuring device comprising a calculation means for calculating.

A second feature of the device of the present invention is that the distance signal measuring and outputting means in the first feature of the device of the present invention is:
A pipe line shape measuring device which is an encoder for detecting rotation of a reel mounted on a trolley for guiding a connecting wire, or an encoder for detecting rotation of wheels mounted on the trolley.

A third feature of the device of the present invention is that the traveling control means in the first or second feature of the device of the present invention is a motor coupled to an axle of a wheel or a group of towed ropes connected to each carriage. Is a pipe line shape measuring device.

The fourth feature of the device of the present invention is that the light receiving means and the swing and turn control means in the first, second or third feature of the device of the present invention constitute a servo mechanism for measuring the shape of a pipe line. It is a device.

A fifth feature of the device of the present invention is that the light receiving means, the laser light oscillating means, the swing and turn control means and the computing means in the first, second, third or fourth feature of the present invention device are:
It is a pipe line shape measuring device including a light receiver, a laser oscillator, a piezo actuator, and an arithmetic circuit.

The sixth feature of the device of the present invention is that the photodetector according to the fifth feature of the device of the present invention is a pipe line in which photodiodes are arranged on both sides sandwiching the laser light irradiation center point. It is a shape measuring device.

A seventh feature of the device of the present invention is that the photodetector according to the fifth or sixth feature of the device of the present invention subtracts the output signals from the two photodiodes and outputs the subtracted signal to the swing and turn control means. It is a pipe line shape measuring device comprising a subtractor for

An eighth feature of the device of the present invention is that the photodetector according to the fifth, sixth or seventh feature of the device of the present invention adds the output signals from the two photodiodes to the traveling control means. It is a pipeline shape measuring device provided with an adder which outputs.

A ninth feature of the device of the present invention is that the light receiver and the laser oscillator in the fifth, sixth, seventh or eighth feature of the device of the present invention are arranged in diagonal positions on the carriage. It is a pipe shape measuring device.

[0028]

In the present invention, the novel method and means as described above are taken and the measurement is carried out by using the laser light such as light emission. There is no error caused by the body. Further, since the pipe shape is obtained by measuring the inter-vehicle distance and the angle of the laser light in the pipe, the measurement can be performed only in the pipe, and it is not necessary to place a sensor or the like on the ground as in the conventional case.

Specifically, in the pipeline, a pipeline shape measuring train in which several measuring machines each having a laser oscillator and a light receiver mounted on a truck are connected so that the inter-vehicle distance can be freely changed, and the laser light always adjoins the front and rear. The angle of the laser oscillator is swung so that it hits the center of the light receiving / detecting surface of the opposite light receiver on the measuring machine vehicle, and each measuring vehicle position is calculated from the angle and the travel distance. High accuracy due to direct measurement with laser light.

[0030]

【Example】

(Example of Device) An example of the device of the present invention will be described with reference to the drawings. Figure 1
2 is a plan view of the inside of the pipeline showing the entire system configuration of the pipeline shape measuring device of this device example in the pipeline and the state of the pipeline shape measuring train used for this device example, and FIG. Is a plan view showing a typical configuration of FIG. 3, FIG. 3 is a conceptual diagram showing the internal structure of a photodetector of this device example, and FIG.
(B) is a front view.

In the figure, C is the pipe shape measuring device of this example,
D is a line shape measuring train, α and α1 to α4 are measuring machine cars,
β is a pipeline, γ is a CP installed on the ground on the entrance side of the pipeline β
An arithmetic circuit as a preferred example of arithmetic means including U etc., 4 is a dolly,
Reference numeral 5 is a wheel, 5a is an axle, 6 and 6a to 6e are light receivers which are preferable examples of light receiving means including various photoelectric converters, and 7 and 7a.
Reference numerals 7 to 7e are laser oscillators, which are preferable examples of light source means including various directional light sources, and 8a to 8c are reels, which are preferable examples of rotary squeezing and operating means including drums, pulleys, and the like.

Reference numerals 9a to 9c are connection wires which are suitable examples of connection means including ropes, tethers and the like which are drawn out from the reels 8a to 8c, and 10a to 10c are measuring machine α2 respectively.
Motors 11 and 11a to 11 which are preferable examples of the traveling control means which are directly connected to the axle 5a which drives the wheels 5 of α4 to control traveling.
Reference numeral 1e denotes a piezo actuator which is a preferable example of a swing and swing control means including a reversible stepping motor which swings and swings the laser oscillator 7 and 7a to 7e around a swing shaft 12.
Reference numerals 13 'and 13 "denote left and right photodiodes, which are preferable examples of photoelectric conversion elements including photocells and phototransistors.
Reference numeral 14 is an adder, 15 is a subtractor, 16 is a laser light irradiation center point, 17 is a light receiving detection surface, and 17a and 17b are left and right half surfaces.

As shown in FIG. 1, the pipe shape measuring apparatus C of the present apparatus example includes a plurality of measuring machines α1 to α4 and a group of signals output from encoders to be described later on the plurality of measuring machines α1 to α4. It is composed of a calculation circuit γ for calculating.

In the situation shown in FIG. 1, a pipeline shape measuring train D in which measuring machines α1 to α4 are connected in the pipeline β is running. Wheels 5 and a motor 1 are mounted on the carriage 4 of the measuring machine vehicles α2 to α4.
It is equipped with 0a to 10c so that it can move by itself in the pipeline β.

The measuring wires α1 to α4 adjacent to each other are connected by connecting wires 9a to 9c, and the lengths of the connecting wires 9a to 9c derived from the reels 8a to 8c, that is, the inter-vehicle distance between the measuring wires α1 to α4 is It can be measured by an encoder (not shown) built in the reels 8a to 8c.

The measuring machine α1 is equipped with a light receiver 6a and a laser oscillator 7a facing the measuring machine α2.
The measurement vehicle α2 includes a light receiver 6b and a laser oscillator 7b facing the measurement vehicle α1 and facing the laser oscillator 7a and the light receiver 6a, respectively, and a light receiver 6c and a laser oscillator 7c facing the measurement vehicle α3. It is installed.

The measuring machine α3 is equipped with a light receiver 6d and a laser oscillator 7d facing the measuring machine α2 and facing the laser oscillator 7c and the light receiver 6c, respectively, and a laser oscillator 7e facing the measuring machine α4. Has been done. To the measuring machine α4, face the measuring machine α3 and laser oscillator 7e.
A light receiver 6e opposite to is mounted.

FIG. 2 is a diagram showing an example of the structure of the measuring machine α in the pipe shape measuring apparatus C of this apparatus example. The laser oscillator 7 is fixed to the swing shaft 12, and the swing shaft 12 swings. The corner is designed to be measured by the built-in encoder 12a.

The forward and backward laser oscillators 7 are
Each piezo actuator 11 can freely set the swinging turning angle. The reel 8 in FIG.
a-8c, connecting wires 9a-9c and motors 10a-1
Although 0c is omitted in FIG. 2, it goes without saying that it is mounted at an appropriate position. However, a motor is not mounted on the measurement vehicle α1 of the rearmost vehicle.

Optical receivers 6 and 6a for measuring machines α, α1 to α4
1 to 6e and the laser oscillators 7 and 7a to 7e facing each other are arbitrarily mounted as shown in FIG. In particular, if the configuration is such that they are arranged diagonally as shown in FIG. 2, the basic structure of all measuring machine vehicles α can be made the same, and mass productivity is improved.

As shown in FIG. 3, the light receivers 6 and 6a to 6e are composed of two photodiodes 13 'and 13 "and an adder 1.
4 and the subtractor 15 are preferable. Left and right half surfaces 17 with the laser light irradiation center point 16 of the light receiving and detecting surface 17 as a boundary
The outputs of the two photodiodes 13 'and 13 ", which are arranged in a and 17b and are capable of independent light reception detection, are input to an adder 14 and a subtractor 15, respectively, and a sum signal S1 and a difference signal S2 are output.

The difference signal S2 from the subtractor 15 of the photodetectors 6 and 6a to 6e is supplied to the piezo actuator 1 of the corresponding laser oscillator 7 and 7a to 7e via the signal lines 18a to 18e.
1, 11a to 11e, the servo mechanism is configured to follow and swing the beams of the laser beams 19a to 19e in the direction of the left and right photodiodes 13 ', 13 "on the side where the output is always small.

The specifications of the present apparatus example represent such a concrete embodiment, and the operation thereof will be described below. Since the outputs of the photodiodes 13 ', 13 "are proportional to the intensity of the laser light 19a to 19e to be applied, that is, the amount of received light, the laser light 19a to 1e of the laser oscillators 7, 7a to 7e.
When the beam 9e deviates from the intermediate irradiation center point 16 of the two photodiodes 13 'and 13 ", the side of the two photodiodes 13' and 13" having a small irradiation / reception amount, that is, the irradiation center point 16 is proportional to the output difference. The laser beams 19a to 19a by the piezo actuators 11 and 11a to 11e in the direction.
The beam of e moves following.

As a result, the laser beams 19a to 19e produced by the laser oscillators 7 and 7a to 7e are constantly emitted to the irradiation center point 16 of the photodiodes 13 'and 13 ". 7e follows and swings.

The sum signal S1 from the adder 14 of the light receivers 6 and 6a to 6e is connected to the motors 10a to 10c of the measuring machines α2 to α4 belonging to and adjacent to the signal lines 20a to 20c.
0e. Each of the motors 10a to 10c is arranged to stop when the sum signal S1 from the light receivers 6, 6a to 6e falls below a set value level.

The swinging angles of the laser oscillators 7, 7a to 7e by the piezo actuators 11 and 11a to 11e, and the inter-vehicle distances between the measuring machines α, α1 to α4 detected by the encoders built in the reels 8a to 8c. The extended distance is
It is input to the arithmetic circuit γ placed on the inlet side of the pipeline β, and the positions of the respective measuring machines α, α1 to α4 are calculated.

(Example of Method) An example of this method applied to this example of the apparatus will be described with reference to FIGS. 1 and 4 to 5. Figure 4
5 (a), (b), (c), and (d) are plan views schematically showing the transition process of the temporal positional relationship state of each measuring machine of the pipeline shape measuring train running in the pipeline in this method example, and FIG. FIG. 4 is an explanatory diagram showing the measurement principle of this method example for convenience.

First, as shown in FIG. 4 (a), in the initial state of departure of the pipeline shape measuring train D, each measuring machine α1
~ Α4 are densely lined up at the entrance of the pipeline β. next,
As shown in FIG. 4B, the trolley 4 of the measuring machine vehicles α2 to α4
The motors 10a to 10c attached to are activated to move the pipeline shape measuring train D at the same speed in the distal direction of the pipeline β, leaving the last measuring machine α1.

First, regarding the measuring machines α1 and α2, the relative positions of the light receivers 6a, 6b and the laser oscillators 7a, 7b change every moment because the conduit β is bent, but the light receivers 6a, 6b 6b and the piezo actuator 11a,
By the servo mechanism composed of 11b, the laser oscillators 7a and 7b are controlled to swing and swing so that the laser beam always hits the laser light irradiation center point 16 of the opposed photodetectors 6a and 6b.

From the swinging turning angle θ1 of the laser oscillator 7a and the center-to-vehicle open / closed distance L1 between the measuring machines α1 and α2 which can be known from the output of an encoder (not shown) built in the reel 8a, the calculation circuit γ calculates. , The position of the measuring machine α2 is sequentially calculated. The formula is shown below.

As shown in FIG. 5, for convenience, the measuring machine α
Assuming that the vehicle body direction of 1 is the x-axis, the direction perpendicular thereto is the y-axis, and the center position of the measuring machine α1 is the origin O (0,0), the center position (x1, y1) of the measuring machine α2 is given by the following formula. . x1 = L1 cos θ1 (1) y1 = L1 sin θ1 (2)

When the measuring machine cars α2 to α4 move to some extent, the measuring machine car α1 and the measuring machine car α are due to the bending of the conduit β.
Laser light 19a, 1 from the laser oscillators 7a, 7b
9b is blocked by the wall of the conduit β and cannot reach the photodetectors 6a and 6b.

At this time, when the sum signal S1 output from each of the light receivers 6a and 6b falls below a set value level, the motor 10a of the measuring machine α2 is stopped and the measuring machine α2.
2 stops moving.

Even when the measuring machine car α2 is stopped, the measuring machine cars α3 and α4 continue to move, and the positional relationship among the measuring machine cars α1 to α4 is as shown in FIG. 4 (c). Then, due to the bending of the conduit β, the light receivers 6 mounted on the measuring machines α2 and α3
The relative positions of c, 6d and the laser oscillators 7c, 7d change, and the laser oscillators 7c, 7d swing and swing as in the case of the measuring machines α1 and α2.

Then, as shown in FIG. 5 for convenience,
Swinging and turning angles θ2 and θ3 of the laser oscillators 7b and 7c,
From the center vehicle-to-vehicle inter-expansion distance L2 of the measuring machine cars α2 and α3 detected from the encoder output built in the reel 8b,
The position (x2, y2) of 3 is calculated by the following formula.
Note that θ2 and θ3 are angles from the axis 4a direction of the carriage 4 of the measuring machine vehicle α2. x2 = x1 + L2cos (θ1 + θ2 + θ3) (3) y2 = y1 + L2sin (θ1 + θ2 + θ3) (4)

When the measuring machines α3 and α4 move to some extent, the laser beams 19c and 19d from the laser oscillators 7c and 7d cannot reach the photodetectors 6c and 6d due to the bending of the conduit β, like the measuring machine α2. Then, the measuring machine α3 stops moving like the measuring machine α2.

Even after the measuring machine car α3 has stopped, the measuring machine car α3
4 continues to move, and the positional relationship among the measuring machines α1 to α4 is as shown in FIG. 4 (d). Then, in the same manner as described above, the position (x3) of the measuring machine α4 is calculated from the swinging and turning angles θ4 and θ5 of the laser oscillators 7d and 7e and the center-to-vehicle spread distance L3 between the measuring machines α3 and α4 by the following formula. , Y3) is calculated. x3 = x2 + L3cos (θ1 + θ2 + θ3 + θ4 + θ5) (5) y3 = y2 + L3sin (θ1 + θ2 + θ3 + θ4 + θ5) (6)

Incidentally, θ4 and θ5 are the same as in the case of measuring the position of the measuring machine α3, and the axis 4 of the carriage 4 of the measuring machine α3.
It is an angle from the a direction. As described above, the shape of the conduit β can be measured by sequentially measuring the positions of the measuring machines α2 to α4.

Further, in the present method example, the number of measuring machine cars α connected to the pipe shape measuring train D is four, but any number may be used as long as it is two or more. The larger the number is, the larger the bend can be measured, and the longer the measurement section can be.

Further, the trolleys 4 are driven by the motors 10a to 10b, and each trolley 4 is provided with a tow line such as a rope, a tether, or a wire, and the tow line is pulled by a winch outside the conduit β. It is also possible to carry out the traveling type of traction drive by winding up.

The traveling distance is measured by the reels 8a to 8c.
However, this may be performed by detecting the rotation angle of the wheels 5 attached to the carriage 4 of the measuring machine vehicle α with an encoder.

[0062]

As described above, according to the present invention, since the laser oscillator having the swinging and swinging mechanism is moved by the carriage to measure the pipe line shape, no error is caused by the surrounding magnetic body. Also, there is no need to put a sensor on the ground. Therefore, the measurement accuracy is improved, the measurement target can be widened, and remote measurement and measurement can be performed, which is excellent in usefulness.

[Brief description of drawings]

FIG. 1 is a plan view of the inside of a pipeline showing an overall system configuration of a pipeline shape measuring apparatus and an appearance of a pipeline shape measuring train in an apparatus example of the present invention.

FIG. 2 is a plan view showing an example of a typical configuration of a measuring vehicle in the apparatus example of the present invention.

FIG. 3 is a conceptual diagram showing the internal structure of the photodetector,
(A) is a plan view and (b) is a front view.

FIG. 4 is a plan view showing a transition process of a temporal positional relationship state of each measuring machine of a pipeline measuring train traveling in a pipeline in the method example of the present invention.

FIG. 5 is an explanatory diagram showing the measurement principle for convenience.

FIG. 6 is a vertical cross-sectional view of soil showing a conventional method of measuring the state of a conduit by a magnetic field.

[Explanation of symbols]

 α, α1 to α4 ... Measuring machine β ... Pipeline A ... Vertical hole B ... Horizontal hole C ... Pipeline shape measuring device D ... Pipeline shape measuring train G ... Ground surface S1 ... Sum signal S2 ... Difference signal 1 ... Excavation machine 1a ... Drill 2 ... Magnetic field generator 3 ... Magnetic field sensor 4 ... Bogie 5 ... Wheel 5a ... Axle 6,6a-6e ... Photoreceiver 7,7a-7e ... Laser oscillator 8a-8c ... Reel 9a-9c ... Connecting wire 10a-10c ... Motors 11, 11a to 11e ... Piezo actuator 12 ... Oscillation shaft 12a ... Encoder 13 ', 13 "... Photodiode 14 ... Adder 15 ... Subtractor 16 ... Laser light irradiation center point 17 ... Photodetection detection surface 17a, 17b ... Piece Half surface 18a to 18e, 20a to 20e ... Signal line 19a to 19e ... Laser light

Front Page Continuation (72) Inventor Tomohiro Kurosawa 1-1-6 Uchisaiwaicho, Chiyoda-ku, Tokyo Nihon Telegraph and Telephone Corporation (72) Inventor Kazuyoshi Kawabata 1-1-6 Uchisaiwaicho, Chiyoda-ku, Tokyo Nihon Telegraph and Telephone Corporation

Claims (17)

[Claims] 1. When measuring the bending state of a pipeline such as an underground buried pipe, a pipeline shape measuring train consisting of a plurality of measuring machines is run in the pipeline, and the measuring vehicles are adjacent to each other. The light is emitted so that it can be swung and swiveled at all times toward the center of the light-receiving detection surface on the measuring machine vehicle, and the swinging and swiveling angle of the light emission that is relatively changing and the inter-vehicle distance between the adjacent measuring vehicles are detected and calculated. A method for measuring the shape of a pipe, comprising detecting a bent state of the pipe. 2. The pipeline shape measuring method according to claim 1, wherein the traveling is of a self-propelled type or of another type. 3. The pipe line shape measuring method according to claim 1, wherein the self-propelled type is a motor drive and the self-propelled type is a traction drive. 4. The pipe line shape measuring method according to claim 1, wherein the light emission is laser light emission. 5. The light receiving / detecting surface is capable of independently detecting the light receiving on each of the half surfaces with the center as a boundary.
The method for measuring the shape of a pipe according to 2, 3, or 4. 6. The pipe shape measurement according to claim 1, wherein the light receiving detection surface detects the center deviation of the light emission irradiation by changing the balance of the light receiving amount of both half surfaces. Method. 7. A light receiving detection surface subtracts an output signal from each half surface according to the amount of received light, and in accordance with the difference signal, light emission is always radiated to the center and the follow swing turning angle is fed back. Controlling, controlling,
The method for measuring the shape of a pipe line according to 3, 4, 5 or 6. 8. A light-receiving detection surface is formed by adding output signals from respective one-half surfaces according to the amount of received light, and when the sum signal does not reach a preset reference signal level. 8. The method for measuring the shape of a pipeline according to claim 1, 2, 3, 4, 5, 6 or 7, wherein the traveling of the measuring machine vehicle according to claim 1 is stopped. 9. A trolley having wheels, a traveling control means for driving and controlling the trolley, a laser beam receiving means provided on each trolley, and a signal output from the optical receiver, which is always the center of the optical receiver. Laser light oscillation means provided on the adjacent trolley and having swinging and swinging control means for controlling to irradiate laser light to the vehicle and outputting an angle signal, and measuring the distance between vehicles to output the distance signal. A pipe shape measuring train in which a plurality of measuring machine cars are connected, and a calculating means for calculating respective positions of the plurality of measuring machine cars based on the angle signal and the distance signal output from the plurality of measuring machine cars. A pipe line shape measuring device comprising: 10. The distance signal measuring and outputting means is an encoder for detecting the rotation of a reel mounted on a carriage for leading out a connecting wire, or an encoder for detecting the rotation of wheels mounted on the carriage. The pipe line shape measuring device according to claim 9. 11. The pipe line shape measuring device according to claim 9, wherein the traveling control means is a motor coupled to a wheel or a group of tow ropes connected to each carriage. 12. The light receiving means and the swing and turn control means constitute a servo mechanism.
1. The pipe shape measuring device according to 1. 13. The light receiving means, the laser light oscillating means, the swing and turn control means, and the computing means are a light receiving device, a laser oscillator, a piezo actuator, and a computing circuit. The pipe shape measuring device described. 14. The pipe shape measuring device according to claim 13, wherein the photodetector is provided with photodiodes on both sides sandwiching a laser light irradiation center point therebetween. 15. The pipeline according to claim 13 or 14, wherein the light receiver comprises a subtractor for subtracting the output signals from the two photodiodes and outputting the subtracted signals to the swing and turn control means. Shape measuring device. 16. The light receiver comprises an adder for adding output signals from two photodiodes and outputting the result to the traveling control means.
The pipe shape measuring device described. 17. The light receiver and the laser oscillator are arranged at diagonal positions on the carriage.
5. The pipe shape measuring device according to 5 or 16.