JPH0914932A - Duct line measuring device and method - Google Patents

Abstract

PURPOSE: To measure even a duct line having a bent part by retaining two connection members at a connection part which is supported by a centerizer for positioning the center axis on the center axis of a flexible tube. CONSTITUTION: Rays of light 15 and 16 are applied in the direction of light reception parts 2 and 3 on the center axis from laser light sources 17 and 18 provided near the center of a connection part 11. Two-dimensional light reception sensors 22 and 32 are fixed to the other edge of connection members 12 and 13 being present in the light reception parts 2 and 3 in the direction for receiving the rays of light 15 and 16. When the sensors 22 and 32 receive the rays of light 15 and 16, they output a signal corresponding to the coordinates of the light reception point determined by x and y axes which have an origin on the center axis of the connection members 12 and 13 and are predetermined on the light reception surface. When a flexible tube 4 is rectilinear, the coordinates of two light reception points both indicate an origin. However, when the flexible tube 4 is bent, the coordinates of the two light reception points deviate from the origin and outputs coordinates related to the flexible tube 4.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a conduit measuring device and a conduit measuring method. In particular, it relates to improvements that enable the measurement of underground pipes.

[0002]

2. Description of the Related Art Conventionally, in order to measure a pipeline of an underground pipe, a two-dimensional light receiving sensor which emits a laser beam and which is installed in front of a straight line 1 in an arbitrary direction is used. Then, the xy coordinates of the light receiving point on the two-dimensional light receiving sensor surface are measured. Then, the distance l is sequentially separated and measured, and the obtained X coordinate value xi and Y coordinate value yi
According to the linear distance li and the direction of the laser beam, the conduit of the underground pipe is used.

[0003]

By the way, in the measuring method according to the prior art, when the conduit becomes long and the bend becomes large, the laser beam traveling straight ahead is not emitted to the two-dimensional light receiving sensor, and the You will not be able to make measurements.

An object of the present invention is to solve this problem, and it is an object of the present invention to provide a pipeline measuring device and a pipeline measuring method capable of measuring a pipeline even in a curved pipeline.

[0005]

Among the above-mentioned objects, the conduit measuring device can be achieved by any of the following means.

The first means is a first centerizer (19) for positioning the central axis on the central axis of the slidable tube (4) having a predetermined cross sectional space, and the first centerizer (19). ), A first connecting member (12) whose one end is rotatably held by the above-mentioned connecting part (11), and one end of which is rotatably described above. Second connecting member (13) held by the coupling part (11) of
A first light ray (15) fixed to the joint (11) and illuminating the front through the tube of the first connecting member (12); and a first light ray fixed to the joint (11). A first light source part (1) having a second light ray (16) which illuminates the first light ray (15) in the rear direction in parallel with the first light ray (15) through the tube of the second connecting member (13); A second centerizer (29) positioned in front of the part (1) and positioned on the central axis of the slidable pipe (4), and supported by the second centerizer (29), The first end portion (21) rotatably holding the other end of the first connecting member (12) and the other end of the first connecting member (12) are fixed to the first light beam. The first two-dimensional light receiving sensor (2) that outputs a signal corresponding to the coordinates (x1, y1) of the point illuminated by (15) ) First light receiving portion having a (2)
A third centerizer (39) located rearward of the light source unit (1) and centered on the central axis of the slidable tube (4); and a third centerizer (39) A second end (31) that is supported and rotatably holds the other end of the second connecting member (13), and is fixed to the other end of the second connecting member (13), Second light receiving unit (3) having a second two-dimensional light receiving sensor (32) that outputs a signal corresponding to the coordinates (x2, y2) of the point irradiated by the second light ray (16) of It is a pipe measuring device.

The second means is a connecting part (11) fixed to the tip (81) of the underground excavating rod (8) and one end rotatably held by the connecting part (11). First done
Connecting member (12) and a second connecting member (13) whose one end is rotatably held by the connecting part (11).
A first light ray (15) fixed to the coupling part (11) and illuminating the front through the tube of the first connecting member (12), and a second connecting member (13). A light source part (1) having a second light beam (16) for illuminating the rear side in parallel with the first light beam (15) through a pipe, and the light source part (1) located in front of the light source part (1), A first end (21) fixed to the underground excavation rod (8) and rotatably holding the other end of the first connecting member (12), and the first connecting member (12). Fixed to the other end of the first two-dimensional light receiving sensor (2) which outputs a signal corresponding to the coordinates (x1, y1) of the point irradiated by the first light ray (15).
A first light receiving part (2) having 2), and the underground excavation rod (8) located behind the light source part (1).
A second end (31) which is fixed to the second connecting member (13) and rotatably holds the other end of the second connecting member (13), and the other end of the second connecting member (13), A second light receiving unit (3) having a second two-dimensional light receiving sensor (32) that outputs a signal corresponding to the coordinates (x2, y2) of the point irradiated by the second light ray (16). It is a pipeline measuring device which has.

Of the above-mentioned objects, the method for measuring the pipeline can be achieved by any of the following means.

According to the first means, the distance from the center of the coupling portion (11) to the first two-dimensional light receiving sensor (22) or the second two-dimensional light receiving sensor (32) is both ( L), the pipe measuring device of the first means is used, and the open end (41) of the slidable pipe (4) is used.
The coordinates in the fixed coordinate system of the center (point A1) of the slidable tube (4) at a predetermined distance from
1) The distance (L) from the center of the slidable tube (4) (point A2) in the fixed coordinate system is measured, and the second two-dimensional photosensor (32) detects (point A1). And the center of the joint (11) is (point A2).
, The coordinates (x1, y1) output by the first two-dimensional light receiving sensor (22) and the second two-dimensional light receiving by using the above-described pipe line measuring device. The coordinates (x2, y2) output by the sensor (32) are measured, and the obtained coordinates (x1, y1) and coordinates (x2, y2) are measured.
2) and the coordinates of (point A1) in the fixed coordinate system already obtained and the coordinates of (point A2) in the fixed coordinate system, the first two-dimensional light receiving sensor (22) is positioned. The coordinates of (point A3) in the fixed coordinate system are calculated, and the pipe length measuring device is set in the slidable pipe (4) without rotating the pipe measuring device. While sequentially stepping by the distance (L) in the direction, the above-mentioned conduit measuring device is used to measure each step, and the first two-dimensional light receiving sensor (22) is sequentially positioned (point A4), ( Point A
5), (point A6), and the like, are pipe line measuring methods for calculating coordinates in respective fixed coordinate systems.

In the second means, the distance from the center of the coupling portion (11) to the first two-dimensional light receiving sensor (22) or the second two-dimensional light receiving sensor (32) is both ( L) The pipe measuring device of the second means, which is referred to as L), is used to excavate soil in the ground and to pull the ground excavating rod (8) in the axial direction without rotating it. The medium excavation robot (9) is configured to detect the coordinates (A2) in the fixed coordinate system of the light source unit (1) and the second two-dimensional light receiving sensor (32) at a predetermined position at the start of excavation. The coordinate (A1) in the fixed coordinate system is measured from the ground using an existing measuring device, and at the same time, the first two-dimensional light receiving sensor (22) outputs using the pipe measuring device. Coordinates (x1, y1) and the second
Of the coordinates (x2,
y2) is measured, and the obtained coordinates (x1, y1) and coordinates (x2, y2) are obtained as the coordinates in the fixed coordinate system of (point A1) and the coordinates of (point A2) in the fixed coordinate system. Using the and, the coordinates in the fixed coordinate system of the point (A3) where the first two-dimensional light receiving sensor (22) is located are calculated, and thereafter, the underground excavating robot (9) excavates at each distance (L). Each time the measurement is performed, the first two-dimensional photosensor (22) is sequentially positioned (point A
4), (point A5), (point A6), and the like, which is a pipe measuring method.

[0011]

The pipe measuring device according to the present invention is fixed to the pipe measuring device to be used by inserting it into the radial pipe 4 to be measured and to the underground excavating rod 8 towed by the underground excavating robot 9. Although there is a difference in the method of supporting or fixing the light source unit 1, the first light receiving unit 2 and the second light receiving unit 3, the principle of the pipe line measurement is the same.

Please refer to FIG. 3 and also refer to FIG. 1. FIG. 3 is a view for explaining the optical system of the conduit measuring device according to the present invention. FIG. 1 shows the conduit measuring device according to the first embodiment of the present invention. FIG. The light source unit 1 has a first light ray 15 for illuminating the front side and a second light ray 16 for illuminating the rear side in parallel with the first light ray 15, and the first light receiving section 2 is a first two-dimensional light receiving sensor. 22 and the second light receiving unit 3 has a second two-dimensional light receiving sensor 32. A point O indicates the center point of the coupling section 11, a point P indicates the center point of the first light receiving section 2, and a point Q.
Indicates the center point of the second light receiving portion 3. A point R indicates that the first connecting member 12 is rotatably held by the connecting portion 11, and a point S indicates that the second connecting member 13 is rotatably held by the connecting portion 11. There is.

When the pipe to be measured is bent, the first light ray 15 has the coordinates (x1, x1) of the first two-dimensional light receiving sensor 22.
y1), and the second light beam 16 illuminates the coordinates (x2, y2) of the second two-dimensional light receiving sensor 32. And
The coordinates (x1, y1) and the coordinates (x2, y2) are output from the first two-dimensional light receiving sensor 22 and the second two-dimensional light receiving sensor 32, respectively. On the other hand, the distance OR, R
Since P, OS, and SQ are known values, fixed coordinate values (X _O Y _O Z _O ) and (X _Q Y
_{If Q} Z _Q ) is known, from coordinates (x1, y1) and coordinates (x2, y2) and distances OR, RP, OS, SQ,
The fixed coordinate value (X _P Y _P Z _P ) of the point P can be easily calculated. The fixed coordinate value is a coordinate value measured with fixed coordinates fixed to an arbitrary measurement point.

Further, in FIGS. 3 and 1, the first light ray 15 and the second light ray 16 illuminate the front and the rear on the same axis passing through the center point O of the connecting portion 11. , In principle, there is no change as long as they are parallel even if they are not on the same axis. It suffices to take the parameters indicating the positions of the first light ray 15 and the second light ray 16 into consideration in the calculation.

The difference in the method of supporting or fixing the light source section 1, the first light receiving section 2 and the second light receiving section 3 is that the slant pipe 4 is supported by using a centerizer or the underground excavating rod 8 is supported. It is a difference in the means for holding the relative positional relationship between the conduit and the light source unit 1, the first light receiving unit 2, or the second light receiving unit 3 whether or not to fix the pipe line. Since it does not exist, it is possible to measure any of them.

Next, the conduit measuring method according to the present invention uses the conduit measuring device according to the present invention to step by step by the distance between points O and Q in FIG. This is a method of repeating the measurement.

FIG. 3 is re-referenced and FIG. 4 is referred. FIG. 3 is a view for explaining the optical system of the conduit measuring device according to the present invention. FIG. 4 shows the conduit measuring device according to the present invention in a conduit. It is a conceptual diagram which shows the state which is advanced and performs a sequential measurement.

In the figure, reference numeral 4 is a conduit, 41 is an open end thereof, which is a reference point of fixed coordinates. A1 is a first measurement point, which is a point that enters the pipeline at an actually measurable distance from the open end 41 of the pipeline. The reason why the first measurement point A1 and the open end 41 of the conduit are separated is that the centerizer has a thickness. A2 is a second measurement point, which can be measured from the opening end 41 of the pipeline, and is a point separated from the first measurement point A1 by a distance L along the pipeline. Below, point A
, 3, etc. are the third, fourth, ..., etc. measurement points, respectively, and are distance L, distance 2 from the second measurement point A2.
L, ..., etc. are points apart from each other. However, the open end 41 of the pipeline is
Therefore, it may not be possible to measure.

First, the coordinates (X2, Y2, Z2) of the point A2 and the coordinates (X1, Y1,) of the point A1 corresponding to the points O and Q, respectively.
Z1) and the coordinate values of these fixed coordinate systems, and the coordinate values (x) obtained using the conduit measuring device according to the present invention.
1, y1) and the coordinates (x2, y2), the coordinates (X3, Y3, Z3) in the fixed coordinate system of the point A3 where the point P is located.
Is calculated.

Next, the points O and Q are stepped to the points A3 and A2, and the coordinates (X4, X4) of the point A4 where P is located at this time are stepped.
Y4, Z5) are calculated, and thereafter, the coordinates in the fixed coordinate system are sequentially obtained from the point A5 and the point A6.

In the meantime, in the method (first means) in which the pipe measuring device is inserted into the slidable pipe 4 to measure, the pipe measuring device is prevented from rotating in the slidable pipe 4, and the underground excavating rod 8 is used. In the method (the second means) of pulling the object by the underground excavating robot 9 and measuring it, the underground excavating rod is prevented from rotating, and the accuracy of the moving coordinate system is ensured in any method. There is.

When the prior art is used, the two-dimensional light receiving sensor placed at the point P cannot receive the light even if the light beam is emitted from the point Q because the pipe is bent, and therefore, the measurement of the line cannot be performed. Even if it is not possible, it is possible to measure the pipeline by using the pipeline measuring device according to the present invention.
I understand from. Further, like the pipeline measuring method according to the present invention, the measurement is continued many times while moving the pipeline measuring device, and if the coordinates in the fixed coordinate system are successively obtained, it is a curved pipeline. Can also be measured.

[0023]

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

First Embodiment (corresponding to claim 1) See FIG. 1. FIG. 1 is a side view of a pipe measuring apparatus according to a first embodiment of the present invention. In FIG. 1, 1 is a light source unit, 2 is a first light receiving unit, 3 is a second light receiving unit, 4 is a rod tube, 19 is a first centerizer, and 29 is a second 2 is a centerizer, and 39 is a third centerizer.
The light source unit 1 includes a coupling unit 11, a first coupling member 12, and a second coupling unit 12.
There is a connecting member 13, a first laser light source 17 and a second laser light source 18. The first light receiving portion 2 has a first end portion 21 and a first two-dimensional light receiving sensor 22.
The light receiving section 3 has a second end portion 31 and a second two-dimensional light receiving sensor 32. As a two-dimensional light receiving sensor, C
CD (charge coupled device) and PSD (position sen
sor device) is used.

The joint portion 11 is supported by the first centerizer 19 so that the central axis of the joint portion 11 is located on the central axis of the slidable tube 4. That is, the first centerizer 1
While 9 is rotatably supported at the center of a centering shaft having a roller on both ends at the center of the coupling portion 11,
The centerer shaft is pressed by an elastic body so that the centerizer shaft is orthogonal to the slidable tube 4. The inner diameter of the slidable tube 4 is the first centerizer 1
Since it is shorter than the total length of 9, the roller of the first centerizer 19 is in close contact with the inner surface of the slidable tube 4. First
There are two centerizers 19 as a set, one for each of the front and rear.
The group is equipped. A set of two first centerizers 19
Are orthogonal to each other, the center of the centerizer shaft that supports the connecting portion 11 is always located on the central axis of the slidable tube 4, and the four first centerizers 19 connect the connecting portions. The central axis of 11 is positioned on the central axis of the slidable tube 4.

The first connecting member 12 and the second connecting member 13
Both are made of a rigid metal body having a cylindrical shape, and one end of each is rotatably held using a universal joint or the like with a point on the central axis of the joint 11 as the center of rotation. There is. The other end of the first connecting member 12 is rotatably held by using a universal joint or the like around a point on the central axis of the first end portion 21 as a rotation center, and the other end of the second connecting member 13 is The other end is rotatably held using a universal joint or the like with a point on the central axis of the second end 31 as the center of rotation. The first end 21 is supported by the second centerizer 29, and the second end 31 is supported by the third centerizer 39.

Then, in the vicinity of the center of the coupling portion 11, on the central axis of the coupling portion 11, in the direction of the first light receiving portion 2, a first light receiving portion 2 is formed.
The first laser light source 17 that emits the light beam 15 and the second laser light source 18 that emits the second light beam 16 in the direction of the second light receiving unit 3 on the central axis of the coupling unit 11 are installed. The first connecting member 1 present in the first light receiving portion 2
At the other end of 2, a first two-dimensional light receiving sensor 22 is fixed in a direction to receive the first light ray 15, and when the first light ray 15 is received, on the central axis of the first connecting member 12. The first two-dimensional light receiving sensor 22 outputs a signal corresponding to the coordinates (x1, y1) of the light receiving point, which has the origin as a point and is determined by the predetermined x axis and y axis on the light receiving surface. At the other end of the second connecting member 13 existing in the second light receiving unit 3, the second
The second two-dimensional light receiving sensor 32 is fixed in the direction of receiving the light beam 16 of
The signal corresponding to the coordinate value (x2, y2) of the light receiving point determined by the coordinates having the origin on the central axis of the second connecting member 13 and the predetermined x axis and y axis on the light receiving surface The two-dimensional light receiving sensor 32 outputs.

If the sliding tube 4 is a straight line, the coordinates of the first light receiving point and the second light receiving point are (0,0) and (0,0), both of which indicate the origin, but When the tube 4 is slid, the coordinates of the first light receiving point and the second light receiving point deviate from the origin, and the slidable tube 4
Coordinates (x1, y1) and coordinates (x2, y) related to the radius of
2) and are output. Using these coordinates, the center of the coupling portion 11 with respect to the line segment connecting the origin on the first two-dimensional light receiving sensor 22 and the center of the coupling portion 11 is connected to the origin on the second two-dimensional light receiving sensor 32. The positional relationship of line segments can be calculated.

Second embodiment (corresponding to claim 2) In the pipe measuring apparatus according to the first embodiment, the first connecting member 12 and the second connecting member 13 have the same length, and the connecting portion is the same. First two-dimensional light receiving sensor 2 from the center of 11
The length up to 2 and the length from the center of the coupling portion 11 to the second two-dimensional light receiving sensor 32 are the same (the length is L).
Using the above-mentioned pipe line measuring device, measure according to the following procedure.

See FIG. 1 and FIG. 4. Coordinates indicated by a coordinate system in which the center A1 of the slidable tube 4 located at a predetermined distance from the opening end 41 of the slidable tube 4 and the center A2 of the slidable tube 4 located at a distance L from the point A1 are fixed. The coordinates shown in the above coordinate system are measured using a transit and a tape measure. 2. Insert the pipe measuring device from the open end 41 of the slidable pipe 4,
A cable scale is attached to the conduit measuring device so that the distance from the fixed position on the ground near the opening end 41 to the conduit measuring device can be measured by the cable scale. 3. The second two-dimensional light receiving sensor 32 is installed so as to come to the point A1 (at this time, the center of the coupling portion 11 is at the point A2), and the first two-dimensional light receiving sensor 22 is set using the conduit measuring device. The output coordinates (x1, y1) and the coordinates (x2, y2) output by the second two-dimensional light receiving sensor 32 are measured. 4. Obtained coordinates (x1, y1) and coordinates (x2, y2)
Then, using the fixed coordinate value of the point A1 and the fixed coordinate value of the point A2 already obtained, the coordinate of the point A3 where the first two-dimensional light receiving sensor 22 is located in the fixed coordinate system is calculated. 5. Hereinafter, each time the step is performed using the conduit measuring device, the conduit measuring device is slid in the pipe 4 step by step by the distance L in the longitudinal direction of the conduit without rotating the conduit measuring device. Point A at which the first two-dimensional light receiving sensor 22 is sequentially measured
The coordinates of each of the points 4, A 5, A 6, etc. in the fixed coordinate system are calculated. 6. The coordinate of the Ai point in the fixed coordinate system obtained by the calculation is used as the conduit of the slidable pipe 4.

The conduit of the slidable pipe 4 is measured by the above procedure.

Third Embodiment (corresponding to claim 3) See also FIG. 2 and FIG. 1 FIG. 2 is a side view of a pipe line measuring apparatus according to a third embodiment of the present invention. In FIG. 2, 1 is a light source unit, 2 is a first light receiving unit, and 3 is a second light receiving unit. Since all of them are the same as those already described in detail with respect to the means configured in the first embodiment, the description will be omitted and only different points will be described.

In the third embodiment, from the front to the first end 2
1, the connecting portion 11, and the second end portion 31 are fixed to the tip portion 81 of the underground excavation rod 8 in this order.

Reference numeral 9 denotes an underground excavating robot, which pulls the underground excavating rod 8 while excavating the underground. Since the end portion of the underground excavating rod 8 exposed on the ground is shortened as a result of excavation, the underground excavating rod 8 is excavated while adding the underground excavating rod 8 to the end portion.

Fourth Embodiment (Corresponding to Claim 4) In the pipe measuring apparatus according to the third embodiment, the first connecting member 12 and the second connecting member 13 have the same length, and the connecting portion is the same. First two-dimensional light receiving sensor 2 from the center of 11
The length up to 2 and the length from the center of the coupling portion 11 to the second two-dimensional light receiving sensor 32 are the same (the length is L).
The following procedure is used to measure with the pipe measuring device. 1. The underground excavating robot 9 is driven to excavate the soil in the ground and to pull the ground excavating rod 8 in the axial direction without rotating it to propel the ground. 2. The distance from the ground fixing point provided near the ground-side opening end of the underground excavating rod 8 to the conduit measuring device is measured by a cord scale attached to the conduit measuring device. 3. At a predetermined position at the time of starting excavation by the underground excavation robot 9, the coordinates of the first light source unit 1 in the fixed coordinate system (hereinafter referred to as the coordinates of the point A2) and the second two-dimensional light receiving sensor 32. Coordinates in a fixed coordinate system (hereinafter referred to as coordinates of point A1) are measured from the ground using an existing measuring device. 4. At the same time, using the conduit measuring device, the coordinates (x1, y1) output by the first two-dimensional light receiving sensor 22 and the coordinates (x2, y2) output by the second two-dimensional light receiving sensor 32.
And measure. 5. Obtained coordinates (x1, y1) and coordinates (x2, y2)
And are used to calculate the coordinates in the fixed coordinate system of the point A3 where the first two-dimensional light receiving sensor 22 is located by using the coordinates of the point A1 in the fixed coordinate system and the coordinates of the point A2 in the fixed coordinate system. To do. 6. Hereinafter, each time the underground excavating robot 9 moves forward by the distance L, the pipe measuring device is used to measure the coordinates in the moving coordinate system, and from this and the coordinates in the fixed coordinate system obtained immediately before, the first Point A where the two-dimensional light receiving sensor 22 is sequentially located
The coordinates in the fixed coordinate system such as 4, point A5, point A6, etc. are calculated. 7. The coordinate of the Ai point obtained by the calculation is used as the pipeline of the underground excavation rod 8.

The pipeline of the underground excavation rod 8 is measured by the above procedure.

[0037]

As described above, the conduit measuring device according to the present invention includes the first light beam that illuminates the front, and the first two-dimensional light receiving sensor that receives the light beam and outputs the coordinates of the light receiving point. , A second ray parallel to the first ray and illuminating the rear,
Since it has a second two-dimensional light receiving sensor that receives this and outputs the coordinates of the light receiving point,
The positional relationship of the two-dimensional light receiving sensor and the positional relationship of the second two-dimensional light receiving sensor with respect to the second light ray can be calculated and calculated from the coordinates output from each. That is, the relative positional relationship of the three points of the origin of the first two-dimensional light receiving sensor, the center point of the coupling portion, and the origin of the first two-dimensional light receiving sensor is obtained, and if the coordinates of the two points are known, the remaining one The coordinates can be determined. Further, according to the pipeline measuring method of the present invention, initially, the coordinates of two points are measured by a known means, and the relative positional relationship of three points and the coordinates of two points measured using the pipeline measuring device are used. Know the coordinates of the remaining points. Then, step by step, each time, the relative positional relationship of the three points of the origin of the first two-dimensional light receiving sensor, the center point of the coupling portion, and the origin of the first two-dimensional light receiving sensor is measured, and the known 2 If the coordinates of the remaining points are calculated using the coordinates of the points, it is possible to measure the pipeline without problems even if the pipeline is bent.

[Brief description of the drawings]

FIG. 1 is a side view of a conduit measuring device according to a first embodiment of the present invention.

FIG. 2 is a side view of a conduit measuring device according to a third embodiment of the present invention.

FIG. 3 is a perspective view of an optical system for explaining the principle of the present invention.

FIG. 4 is a conceptual diagram showing a state in which the pipeline measuring apparatus according to the present invention is stepped through the pipeline to sequentially perform measurement.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Light source part 2 1st light receiving part 3 2nd light receiving part 4 Hollow tube 8 Underground excavation rod 9 Underground excavation robot 11 Coupling part 12 First connecting member 13 Second connecting member 15 First light beam 16 Second light ray 19 First centerizer 21 First end 22 First two-dimensional light receiving sensor 29 Second centerizer 31 Second end 32 Second two-dimensional light receiving sensor 39 Third centerizer 41 Open end 81 Tip

Claims (4)

[Claims] 1. A first centerizer (19) for positioning the central axis on the central axis of a slidable tube (4) having a predetermined cross sectional space, and supported by the first centerizer (19). Connection part (1
1), a first connecting member (12) whose one end is rotatably held by the joint (11), and one end which is rotatably held by the joint (11). The second connecting member (13) and the first portion fixed to the coupling portion (11)
For illuminating the front through the pipe of the connecting member (12) of the first
Light ray (15) and a second light ray (16) fixed to the coupling portion (11) and illuminating the rear side through the tube of the second connecting member (13) in parallel with the first light ray (15). And a second centralizer (29) positioned forward from the light source (1) by a predetermined distance and having its center positioned on the central axis of the slidable tube (4). ), A first end portion (21) supported by the second centerizer (29) and rotatably holding the other end of the first connecting member (12), and the first connecting member (). A first two-dimensional light receiving sensor (22), which is fixed to the other end of 12) and outputs a signal corresponding to the coordinates (x1, y1) of the point irradiated by the first light ray (15). Light receiving part (2)
A third centerizer (39) positioned rearward from the light source section (1) by a predetermined distance and centered on the central axis of the slidable tube (4); and the third centerizer. A second end (31) supported by (39) and rotatably holding the other end of the second connecting member (13) and fixed to the other end of the second connecting member (13). A second light receiving section (3) having a second two-dimensional light receiving sensor (32) for outputting a signal corresponding to the coordinates (x2, y2) of the point irradiated by the second light ray (16). A conduit measuring device characterized by having. 2. The first part from the center of the coupling part (11)
The two-dimensional light receiving sensor (22) or the second two-dimensional light receiving sensor (32) are both set to a distance (L), and the pipe measuring device according to claim 1 is used. Coordinates in the fixed coordinate system of the center (point A1) of the radial tube (4), which is located at a predetermined distance from the open end (41) of the tube (4), and the distance (L) from the point (A1). The coordinates of the center (point A2) of the entered slidable tube (4) in the fixed coordinate system are measured, and the second two-dimensional light receiving sensor (32) detects the (point A2).
1) and the center of the coupling part (11) is located at the point (A2), and the first two-dimensional light receiving sensor is installed by using the conduit measuring device. (22) outputs the coordinates (x1, y1) and the second two-dimensional photosensor (32) outputs the coordinates (x2, y).
2) is measured, and the obtained coordinates (x1, y1) and coordinates (x2, y2)
Using the coordinates of the (point A1) in the fixed coordinate system and the coordinates of the (point A2) in the fixed coordinate system, which have already been obtained,
The first two-dimensional light receiving sensor (22) is located (point A
3) The coordinates in the fixed coordinate system are calculated, and the pipe line measuring device is moved within the slidable pipe (4) in the pipe length direction without rotating the pipe line measuring device. While sequentially stepping one by one, each time the step measurement is performed using the above-mentioned conduit measuring device, the first two-dimensional light receiving sensor (22) is sequentially positioned (point A4), (point A5), (point A6) A pipeline measuring method characterized by calculating coordinates in each of the fixed coordinate systems. 3. A tip portion (81) of an underground drilling rod (8).
And a first connecting member (1) whose one end is rotatably held by the connecting part (11).
2), a second connecting member (13) whose one end is rotatably held by the connecting portion (11), and the connecting portion (1).
A first light beam (15) fixed to 1) and illuminating the front through the tube of the first connecting member (12);
Through the tube of the connecting member (13) of
5), a light source part (1) having a second light ray (16) that illuminates the rear side in parallel, and is positioned in front of the light source part (1) and fixed to the underground excavation rod (8), A first end portion (21) rotatably holding the other end of the first connecting member (12) and the other end of the first connecting member (12) are fixed to the first light beam ( 15) a first light receiving unit (2) having a first two-dimensional light receiving sensor (22) that outputs a signal corresponding to the coordinates (x1, y1) of the point illuminated by the light source unit (1); A second end portion (31) that is located rearward, is fixed to the underground excavation rod (8), and rotatably holds the other end of the second connecting member (13), and the second connecting portion. It is fixed to the other end of the member (13) and outputs a signal corresponding to the coordinates (x2, y2) of the point irradiated by the second light beam (16). The second light receiving portion and a second two-dimensional light-receiving sensor (32) (3) a conduit measuring apparatus characterized by having a. 4. The first part from the center of the coupling part (11)
The two-dimensional light receiving sensor (22) or the second two-dimensional light receiving sensor (32) are both set to a distance (L), and the pipe line measuring device according to claim 3 is used. Excavating earth and sand at the above-mentioned underground drilling rod (8)
An underground excavation robot (9) that pulls in the axial direction without rotating the shaft, at a predetermined position at the start of excavation, with the coordinates (A2) in the fixed coordinate system of the light source unit (1) and the first The coordinate (A1) in the fixed coordinate system of the two-dimensional light receiving sensor (32) of No. 2 is measured from the ground, and at the same time, the first two-dimensional light receiving sensor (22) is Output coordinates (x1, y1)
And the coordinates (x2, y2) output by the second two-dimensional light receiving sensor (32) were measured, and the obtained coordinates (x1, y1) and coordinates (x2, y2) were already obtained (point Using the coordinates in the fixed coordinate system of (A1) and the coordinates in the fixed coordinate system of (point A2),
The coordinate in the fixed coordinate system of the point A3 where the two-dimensional light receiving sensor (22) is located is calculated, and the pipe line measurement is performed every time the underground excavating robot (9) excavates a distance (L). Measure using the device, first
The two-dimensional light receiving sensors (22) are sequentially positioned (point A
4), (point A5), (point A6), and the like, each coordinate is calculated.