JPH08313251A - Measuring-system calibration apparatus and method of measuring hole bend - Google Patents

Abstract

PURPOSE: To measure, with high accuracy and in a short time, the hole bend of a hole which has been excavated by using an excavating apparatus. CONSTITUTION: A measuring-system calibration apparatus which comprises a cylindrical body 3, an inclination measuring means 4 and an azimuth measuring means is used, and a probe 1 is held inside the cylindrical body 3. The inclination with reference to the vertical of the central axis of the probe 1 and the azimuth of the inclination are measured by using a sensor 2. In addition, by using the inclination measuring means 4 and the azimuth measuring means 5, the inclination with reference to the vertical of the central axis of the cylindrical body 3 and the azimuth of the inclination are measured. Then, measured values are compared with measured values. A calibration expression which calibrated the inclination with reference to the vertical of the central axis of the probe 1 and the azimuth of the inclination to the inclination with reference to the vertical of the central axis of the cylindrical body 3 and the azimuth of the inclination is computed. While the probe 1 is being moved inside a tube 6 to be measured, the hole bend of the tube 6 to be measured is measured by using the sensor 2, the measured value of the hole bend is calibrated by the calibration expression, and a calibrated hole bend is obtained.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a measuring system calibrating device and a hole bending measuring method. In particular, it relates to an improvement that enables highly accurate and short-time measurement when measuring the hole bending of a hole excavated using an excavator.

[0002]

2. Description of the Related Art There are various methods for measuring the hole bending of a hole excavated by using a drilling device, and there is a method of using a probe when measuring the hole bending. This probe has a sensor that is used when measuring the angle of inclination of the central axis of the probe with respect to the vertical and the azimuth of the inclination (direction of the line of intersection between the plane including the vertical and the central axis and the horizontal plane). There is. When measuring the hole bend, first, the probe is inserted into a pipe to be measured such as a guide pipe or a rod pipe provided on the excavation shaft of the excavator. A positioning member called a centrizer is attached to the probe so that the central axis of the probe matches the central axis of the pipe to be measured. Therefore, by using the sensor with the built-in probe, it is possible to measure the inclination of the central axis of the pipe to be measured with respect to the vertical and the azimuth of the inclination at the place where the probe is placed. Then, by measuring while moving in the pipe to be measured, the inclination of the pipe to be measured and the azimuth of the inclination can be obtained as a function of the moving distance from the inlet of the pipe to be measured, and the whole image of the hole bending can be known. This method of measuring while moving is shorter than the method of stopping the probe each time measurement is made,
It can be said that this is a highly efficient measurement method.

The sensor built into the probe is usually easily affected by the passage of time or temperature change, and changes in characteristics such as drift occur. Calibration is performed after each measurement in order to cancel out the characteristic change. Before calibrating a measurement system such as a sensor, hold the probe at an angle close to that when inserting it into the pipe to be measured before inserting the probe into the pipe to be measured. The inclination of the body with respect to the vertical and the azimuth of the inclination of the cylindrical body with respect to the vertical are measured. The measurement system such as a sensor is calibrated by comparing this value with the inclination obtained by using the sensor with the built-in probe and the azimuth of the inclination.

[0004]

By the way, in the hole bending measuring method according to the prior art, it is difficult to perform highly accurate calibration in the calibration which is the first step of the measurement, and it takes a long time for the calibration. In other words, there is an unavoidable drawback that the efficiency of the measurement performed while moving in the second stage of measurement, which is the measurement, is impaired.

An object of the present invention is to solve these problems, and a hole bending measuring method capable of measuring the hole bending with high accuracy and in a short time, and implementation of this hole bending measuring method. It is to provide a measurement system calibration device that enables

[0006]

[Means for Solving the Problems] Among the above objects, a measuring system calibrating device has a cylindrical body having an opening (21) at one end and having an area of a cavity appearing in a cross section within a predetermined range. (3), an inclination measuring means (4) for measuring an inclination angle of the central axis of the cylindrical body (3) with respect to the vertical direction, and an azimuth measuring means (for measuring an inclination direction of the cylindrical body (3) ( 5) with a measurement system calibration device having

Further, among the above objects, the hole bending measuring method, on the other hand, uses the above measuring system calibrating device so that the probe (1) is in contact with the inner wall of the cylindrical body (1). Using the sensor (2) which is held and built in the probe (1) and is used when measuring the inclination of the central axis of the probe (1) with respect to the vertical and the azimuth of this inclination, The inclination of the central axis of the probe (1) with respect to the vertical and the azimuth of this inclination, and the cylinder using the inclination measuring means (4) and the azimuth measuring means (5). The inclination of the central axis of the body (3) with respect to the vertical and the azimuth of the inclination are measured, the measured values are compared with each other, and the inclination and the inclination of the central axis of the probe (1) with respect to the vertical are measured. And the azimuth with respect to the vertical of the central axis of the cylindrical body (3). Calculating a calibration equation to calibrate to the orientation of the swash this inclination, on the other hand, the probe (1)
Is inserted into the pipe to be measured (6) in which the area of the cavity appearing in the cross section is within a predetermined range.
Using the sensor (2) described above, the hole bend of the pipe to be measured (6) is measured while moving the inside of the pipe so as to be in contact with the inner wall of the cylinder, and the measured value of the hole bend is calibrated by the above-mentioned calibration formula. And a hole bending measuring method having a step of detecting a calibrated hole bending of the pipe to be measured (6).

Further, in the hole bending measuring method, the measurement and measurement performed by holding the probe (1) in contact with the inner wall of the cylindrical body (1) are the same as the cylindrical body (1). ) Before and after the tilt, or
If it is rotated before and after the rotation, the calibration of the measurement system such as the sensor (2) used for measuring the inclination and the azimuth of the inclination is not only corrected for the zero point (parallel movement) but also for the sensitivity (input). Ratio of output change to change)
It is convenient that the correction can be performed.

[0009]

The measuring system calibrating apparatus according to the present invention has the cylindrical body 3, the inclination measuring means 4, and the azimuth measuring means 5, and the inclination measuring means 4 determines the inclination angle of the central axis of the cylindrical body 3 with respect to the vertical. It is possible to measure and measure the azimuth angle of the inclination by the azimuth measuring means 5. Therefore, the sensor 2 used when measuring the inclination with respect to the vertical and the azimuth of the inclination in the tubular body 3.
Is inserted into the probe 1, and the inclination and the azimuth of inclination with respect to the vertical are measured by using the probe 1 and compared with the values measured by the inclination measuring means 4 and the azimuth measuring means 5 to be built in the probe 1. It is possible to obtain a calibration formula that calibrates the measurement system such as the sensor 2 that is being used.

This calibration formula is for calibrating the values measured by using the probe 1 to the inclination of the central axis of the tube holding the probe 1 and the azimuth of the inclination. Furthermore, if it says, the measurement target of the measurement value obtained by using the sensor 2 with the built-in probe 1 does not need to be the central axis of the probe 1, and may be off the central axis of the probe 1. More specifically, the probe 1 is replaced by the cylindrical body 3
It is not necessary that the central axis of the probe 1 and the central axis of the cylindrical body 3 or the central axis of the measured tube 6 coincide with each other when inserted into the measured tube 6. In each case, the inclination of the central axis of the tube holding the probe 1 and the azimuth of the inclination are accurately calibrated.
In other words, since this calibration method uses a measurement system calibration device that is well-equipped, it has the effect of guaranteeing high-accuracy and short-time calibration.

In the hole bending measuring method according to the present invention, on the one hand, a calibration formula for calibrating the measuring system of the probe 1 is calculated by using the measuring system calibrating device, and on the other hand, the probe 1 is covered. The bending of the hole of the pipe 6 to be measured is measured by using the probe 1 while moving within the pipe 6 to be measured. Then, the measurement value of the hole bending is calibrated by a calibration formula. I am calibrating using a measuring system calibration device, regardless of manual labor, and coupled with measurement while moving,
Accurate hole bending measurement can be performed in a short time.

[0012]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS A measurement system calibrating apparatus and a hole bending measuring method according to an embodiment of the present invention will be described below in more detail with reference to the drawings.

FIG. 1 is a side view for explaining a hole bending measuring method according to an embodiment of the present invention. In FIG. 1, 10 is a measurement system calibration device. The measurement system calibration device 10 has a cylindrical tubular body 3 and is mounted on a carriage 7. The lower portion of the tubular body 3 has an opening 21. Reference numeral 4 is an inclination measuring means for measuring the inclination of the center line of the cylindrical body 3 with respect to the vertical, and the inclination is decomposed into components in the directions of the X axis and the Y axis which are orthogonal to each other on the horizontal plane and output. Reference numeral 5 denotes an azimuth measuring means for measuring the azimuth of the inclination, which has an azimuth measuring means for the X axis, and the X axis component and the Y axis component, which are outputs of the inclination measuring means 4, form the direction of the X axis and the central axis. The angle is calculated, and the azimuth of the X axis is added to this to measure the azimuth of the inclination.

Reference numeral 1 denotes a probe, which is a measurement system calibration device 10
It shows a state in which it is held in the cylindrical body 3 by the centrizer 11 and the suspension rope 12. Saint riser 1
In the reference numeral 1, an elastic body is pressed so that the center of the centrizer shaft having rollers at both ends is rotatably supported on the center axis of the probe and the centrizer shaft is oriented in the horizontal direction. Since the inner diameter of the tubular body 3 is shorter than the length of the centralizer 11, the rollers of the centralizer 11 are in close contact with the inner wall of the tubular body 3. Saint riser 11
There are two probes each above and below the probe, a total of four probes, and the upper two probes and the lower two probes are both orthogonal to each other. Therefore, the central axis of the tubular body 3 and the central axis of the probe 1 coincide with each other.

The probe 1 has a sensor 2 built in a cylindrical body. The sensor 2 is composed of three acceleration sensors such as capacitive accelerometers and three angular velocity sensors such as a vibration gyro, and the acceleration components in the directions of three axes orthogonal to each other and the angular velocity around each of the three axes. The ingredients and are being measured. The power supply and the signal transmission to the electronic circuit in the probe 1 are performed by the cable arranged along the suspension line 12, and the acceleration component in the three-axis direction and the angular velocity component around the three-axis pass through the cable. Is transmitted to the tilt measuring device 8 installed on the trolley 7, and the tilt measuring device 8 temporarily converts the roll angle, pitch angle, and yaw angle of the probe 1, and then the tilt and tilt of the central axis of the probe 1 with respect to the vertical direction. It is converted to and output. Reference numeral 9 denotes a calibration / tilt output device, and the tilt and tilt azimuth of the central axis of the probe 1 measured by the sensor 2 and the tilt measuring device 8 while the probe 1 is held in the tubular body 3, Inclination measuring means 4
And the azimuth of inclination of the central axis of the cylindrical body 3 measured by the azimuth and the azimuth measuring means 5, and the former measurement with reference to the inclination and azimuth of inclination of the central axis of the latter cylindrical body 3. A calibration formula for calibrating values is calculated and stored.

Reference numeral 13 is a take-up reel for the suspension rope 12, which is fixed to the tubular body 3. Reference numeral 14 is a distance sensor that measures the amount of extension of the hanging rope 12, that is, the moving distance of the probe 1.

Reference numeral 6 denotes a pipe to be measured such as a guide pipe or a rod pipe provided on the excavation shaft of the excavator, which is located in a hole excavated in the ground. Reference numeral 61 is an end of the pipe to be measured 6 which is open to the ground. The inner diameter of the pipe to be measured 6 is shorter than the length of the centrizer 11 as in the case of the tubular body 3, so that the roller of the centrizer 11 is in close contact with the inner wall of the pipe to be measured 6. When measuring the bending of a hole, a probe is inserted into the pipe to be measured 6 and the inclination of the pipe to be measured 6 and the azimuth of the inclination are measured while moving the inside of the pipe to be measured 6 downward. At this time, the calibration / tilt output device 9 calibrates and outputs the tilt and the azimuth of the tilt obtained by the measurement using a calibration formula.

Next, a method for measuring hole bending will be described step by step. I. It is installed so that the opening 21 of the measuring system calibration device faces the opening surface of the end 61 of the pipe 6 to be measured, which is installed in the hole to be measured whose hole bending is to be measured. B. The probe 1 is held inside the tubular body 1. C. The inclination and the azimuth of inclination of the probe 1 are measured using the sensor 2, and the inclination measuring means 4 and the azimuth measuring means 5 are measured.
And are used to measure the inclination of the cylindrical body 1 and the azimuth of the inclination. D. The cylindrical body 1 is tilted, the tilt of the probe 1 and the azimuth of the tilt are measured again by using the sensor 2, and the tilt of the cylindrical body 1 is measured by using the tilt measuring means 4 and the azimuth measuring means 5. And the azimuth of the inclination are measured. E. The cylindrical body 1 is rotated, and the inclination and the azimuth of the inclination of the probe 1 are measured by using the sensor 2, and the inclination measuring unit 4 and the azimuth measuring unit 5 are used to measure the cylindrical body 1. The tilt and the azimuth of the tilt are measured. F. By comparing the measured values obtained in the above items C, D, and E with the measured values, the inclination of the central axis of the tubular body 3 with respect to the vertical is determined from the inclination of the central axis of the probe 1 and the azimuth of the inclination. A calibration formula for calibrating the tilt direction and the azimuth is calculated. G. After returning the position of the tubular body 1 to the original position, the winding pulley 13 is rotated to move the probe 1 into the opening 21 and the end portion 6.
After being guided to the pipe to be measured 6 via 1 and 1, the bending of the pipe to be measured 6 is measured using the sensor 2 while moving inside the pipe to be measured 6. At the same time, the distance sensor 14 is used to measure the distance from the end portion 51. J. The hole bending measurement value is calibrated by a calibration formula to obtain the calibrated hole bending of the pipe 6 to be measured. Re. The take-up pulley 13 is taken up and the probe 1 is returned to the inside of the tubular body 1.

With the above, the measurement of the hole bending is completed. Of the above procedures, procedure b. C. D. E. The calculation of the calibration formula of the F term may be performed after the measurement of the G term. D. E. (F) Not only the correction of 0 point but also the sensitivity correction can be performed in a short time from the measured value and the measured value obtained in the respective states before and after the tilt and before and after the inclination and before and after the rotation.

[0020]

As described above, according to the measuring system calibrating device and the hole bending measuring method of the present invention, the measuring system calibrating device having the cylindrical body, the inclination measuring means and the azimuth measuring means can be applied to the probe. It is possible to obtain a highly accurate calibration formula in a short time with respect to the tilt and tilt azimuths of the probe center axis measured by using the built-in sensor. Then, while moving the probe in the pipe to be measured, the inclination and the azimuth of the inclination are measured by using the built-in sensor, and the calibration is performed by the calibration formula, so that highly accurate hole bending measurement can be performed in a short time. it can.

[Brief description of drawings]

FIG. 1 is a diagram illustrating a measurement system calibration device and a hole bending measurement method according to the present invention.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 probe 3 cylindrical body 4 inclination measuring means 5 azimuth measuring means 6 pipe to be measured 7 dolly 8 inclination measuring device 9 calibration / output device 10 measuring system calibrating device 11 cent riser 12 suspension cord 13 winding pulley 14 distance sensor 21 opening 61 edge

Claims (3)

[Claims] 1. A tubular body (3) having an opening (21) at one end thereof, wherein the area of a cavity appearing in a cross section is within a predetermined range, and a central axis of the tubular body (3). A measuring system calibration device comprising: an inclination measuring means (4) for measuring an inclination angle with respect to a vertical direction; and an azimuth measuring means (5) for measuring an azimuth of inclination of the tubular body (3). 2. On the other hand, the measuring system calibrating apparatus according to claim 1 is used, and the probe (1) is held in contact with the inner wall of the cylindrical body (1), and the probe (1) is held in the probe (1). Using a sensor (2) which is built in and used when measuring the inclination of the central axis of the probe (1) with respect to the vertical and the azimuth of the inclination, the sensor (2) with respect to the vertical of the central axis of the probe (1) is used. The tilt and the azimuth of the tilt are measured, and the tilt measuring means (4) and the azimuth measuring means (5) are used to measure the tilt and the azimuth of the central axis of the cylindrical body (3) with respect to the vertical. Is measured, the measured values are compared with each other, and the inclination of the central axis of the probe (1) with respect to the vertical and the azimuth of the inclination are determined with respect to the vertical of the central axis of the tubular body (3). And the azimuth of the inclination to calculate a calibration formula, and on the other hand, The probe (1) is inserted into the pipe to be measured (6) in which the area of the cavity appearing in the cross section is in a predetermined range, and the inside of the pipe to be measured (6) is kept in contact with the inner wall of the cylinder. The hole bend of the pipe to be measured (6) is measured by using the sensor (2) while moving, and the measured value of the hole bend is calibrated by the calibration formula to calibrate the pipe to be measured (6). A method for measuring hole bending, which is characterized by detecting hole bending. 3. The cylindrical body (1) including the probe (1).
The measurement and the measurement performed by holding it so as to contact the inner wall of the cylinder
The hole bending measuring method according to claim 2, wherein the cylindrical body (1) is tilted before and after the tilting, or rotated and before and after the tilting.