JPH1088969A - Pipeline measuring device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a pipeline measuring device which can measure the pipeline at real time of excavation, by providing a gyroscope to be provided in a flexible pipe for excavating underground, an X-axis deflection meter, a Y-axis deflection meter, a distance meter, a pipeline computing means for computing the pipeline of flexible pipe and a driving means for preventing the rotation of gyroscope. SOLUTION: A pipeline measuring device main part 10 provided in a flexible pipe is moved forward with the advance of excavation. The main part 10 has a gyroscope 3, a X-axis deflection meter 4, a Y-axis deflection meter 5, a pipeline computing means 7 and a driving means 8. The driving means 8 hole the posture of the gyroscope 3 or the like so as to prevent the generation of error of the output of the gyroscope 3 during the excavation. The pipeline computing means 7 computes a pipeline 2 on the basis of the output signal from the gyroscope 3, the X-axis deflection meter, the Y-axis deflection meter and a distance meter. Consequently, pipeline can be measured at real time during the excavation or after a step for a very short time.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an improvement in a pipe measuring device for measuring a pipe of a flexible pipe which digs underground. In particular, the present invention relates to an improvement in which measurement can be performed in real time, measurement accuracy is high, and measurement work is efficient.

[0002]

2. Description of the Related Art When burying a pipe in the ground, besides laying it in a straight line at a target location, a flexible pipe may be laid in an arc shape for reasons such as avoiding obstacles in the ground. As described above, when the flexible tube is laid in an arc shape, it is particularly necessary to lay the flexible tube while measuring whether or not the target tube follows the target path. Conventionally, for measurement of a pipe, an insertion pipe for measuring a pipe of a flexible pipe by providing a pipe for measurement in a flexible pipe and inserting a measuring device into the pipe for measurement each time measurement is performed. Uses a road measurement device.

[0003]

When the pipe deviates from the target path, it is necessary to bend the flexible pipe in order to return to the target path. However, the minimum bending radius of the flexible pipe is limited. Therefore, it is necessary to measure the pipeline before greatly deviating from the target route. With an insertion-type pipe measuring device that measures the pipe of a flexible pipe by inserting a measuring device into the pipe for measurement each time measurement may deviate significantly from the target path at the time of measurement For this reason, the excavation was sometimes redone.

[0004] An object of the present invention is to eliminate this drawback, and to provide a pipeline measuring apparatus capable of measuring a pipeline in real time while excavating.

[0005]

In order to achieve the above object, a pipe measuring apparatus according to the present invention comprises a gyro 3, an X-axis eccentricity meter 4, and a Y-axis eccentricity installed in a flexible tube 1. The gyro 3 is connected to the pipeline 2 at a point O on the pipeline 2.
And the X axis and the Y axis that are orthogonal to each other
Outputs the azimuths of the three axes with respect to the X axis, and the X axis
The axis deviation meter 5 is an X-axis deviation and a Y-axis deviation of a point obtained by projecting a point A on the pipe 2 at a predetermined distance δ from the point O onto the XY plane at the point O in parallel with the Z axis. Is output. The distance meter 6 outputs the distance along the pipeline 2 from the intersection of the pipeline 2 and the ground surface to the point O.

When the distance from the intersection between the pipeline 2 and the ground surface to the point O is d, the point O is determined from the intersection between the pipeline 2 at the point O and the ground surface.
The azimuths of the X axis, the Y axis, and the Z axis of the point O when the distance to the point d is Xd, Yd, and Zd, and the X axis deviation and the Y axis deviation of the projection point of the point A are XAd and YAd. And If the coordinates of the point O in the coordinate system fixed on the ground when the distance from the intersection of the pipe line 2 and the ground surface to the point O is d are known, the coordinates of the point A in the coordinate system fixed on the ground are known. The coordinates can be obtained by calculating that the point A is located at a position away from the point O by the distance δ in the direction deviated by XAd and YAd with respect to the azimuths Xd, Yd and Zd. Therefore, first, X0, Y0, Z0, XA0, and YA0 at the intersection of the pipeline 2 and the ground surface are measured, and Xd, Yd, Zd, XAd are sequentially measured along the pipeline 2 at every distance δ.
By measuring YAd and YAd, the coordinates of the intersection of the pipeline 2 and the ground surface in the coordinate system fixed on the ground are naturally known, and therefore, on the pipeline 2 at every distance δ along the pipeline 2 If the coordinates of the point in the coordinate system fixed on the ground can be calculated, and Xd, Yd, Zd, XAd, and YAd can be measured without error, the pipeline can be measured.

A first means of the pipeline measuring apparatus according to the present invention is a driving means for preventing the gyro 3, the X-axis deflectometer 4 and the Y-axis deflectometer 5 from rotating around the Z-axis with respect to the earth. Since the gyro 3 does not rotate with respect to the coordinate system fixed on the ground even when the flexible tube 1 rotates, the true azimuth output by the gyro 3 does not cause an error. For this reason,
A pipe calculating means 7 for calculating the pipe 2 from the output signals of the gyro 3, the X-axis deflectometer 4, the Y-axis deflectometer 5, and the distance meter 6 calculates a pipe without error in real time. Can be. Note that even if the gyro 3 rotates around the X-axis or the Y-axis, the rotation speed is extremely small, so that no measurement error occurs.

The second means of the pipeline measuring apparatus according to the present invention includes a pipeline calculating means at rest, wherein the flexible pipe 1 is kept stationary for a predetermined period of time. The pipeline 2 is calculated by using the output signal of the gyro 3 output after a lapse of time. As described above, since the error of the output signal of the gyro 3 output when there is a sufficient period of rest can be ignored, the pipe line can be measured in real time only by waiting for a slight pause time. Can do things.

More specifically, the first means is provided inside a flexible pipe 1 which is moated in the ground, and is parallel to the pipe 2 at a point O on the pipe 2 of the flexible pipe 1. A gyro 3 that outputs true directions in a total of three directions: a direction of the Z axis, and two directions of an X axis and a Y axis that are orthogonal to the direction and orthogonal to each other;
A point A on the pipeline 2 that is installed inside the flexible tube 1 and that is separated from the point O by a predetermined distance with respect to the X axis and the Y axis at the point O X
X-axis deflectometer 4 for measuring axis coordinates and Y for measuring Y-axis coordinates
An axial eccentricity meter 5 and a distance meter 6 for measuring the distance between the intersection of the pipe 2 and the ground surface and the point O along the pipe 2
And the gyro 3, the X-axis displacement meter 4, and the Y
A pipe calculating means 7 for calculating the pipe 2 from respective output signals of the axis eccentricity meter 5 and the distance meter 6; the gyro 3; the X-axis eccentricity meter 4; The gyro 3 is driven to rotate around the Z-axis, and the gyro 3
And a driving means 8 for preventing rotation around the axis.

In the first means, the driving means 8 includes a negative feedback calculating means 81 for making the output signals of the gyro 3 in the X-axis direction and the Y-axis direction always constant. 3 does not rotate around the Z axis with respect to the earth, and all the driving means 8 can be processed only in the vicinity of the gyro 3, which is convenient.

In the first means, the driving means 8 receives the signal of the flexible tube rotation detecting means 82 for detecting the rotation of the flexible tube 1 and receives the signal of the flexible tube 1 in a direction opposite to the rotation of the flexible tube 1. Even if the gyro 3 has the reverse rotation command means 83 for rotating the gyro 3, the gyro 3 does not need to rotate the earth about the Z axis.

The second means replaces the pipeline calculating means 7 and the driving means 8 in the first means, and comprises the X-axis eccentricity meter 4 described above.
And output signals of the Y-axis displacement meter 5 and the distance meter 6, respectively, and are output after a predetermined time in a period in which the flexible tube 1 is stationary for a predetermined period. This is a pipeline measuring device having a pipeline calculation unit at rest 9 for calculating the pipeline 2 from the output signal of the gyro 3.

[0013]

Embodiments of the present invention will be further described below with reference to the drawings.

First Embodiment (Corresponding to Claims 1 and 2) FIGS. 1 and 2 FIG. 1 is a diagram showing an arrangement of main parts of a pipe measuring apparatus according to a first embodiment of the present invention. FIG. 2 shows a block diagram of a pipeline measuring device according to the first embodiment of the present invention. In FIG. 1, reference numeral 1 denotes a flexible tube. The flexible tube 1 is propelled forward in the ground as soil is excavated by an excavator not shown. Reference numeral 2 denotes a conduit connecting the centers of the flexible tubes 1.
Reference numeral 10 denotes a main part of a pipe measuring device installed near the head of the flexible pipe 1, which moves forward as excavation proceeds.
When the excavation advances, the flexible pipe 1 rotates around the pipe 2, so that the pipe measuring device main part 10 also moves forward while rotating about the pipe 2. Reference numeral 6 denotes a distance meter, which is measured by a cable 61 laid along the pipeline 2. As shown in FIG. 2, a gyro 3, an X-axis displacement meter 4, a Y-axis displacement meter 5, and a driving means 8
And Point 0 in the main part 10 of the pipeline measuring device
And point A (see FIG. 1) are both points on the pipeline 2, and point A is located at a position separated by a predetermined distance from point O.

FIG. 3 is a diagram for explaining the operation of the gyro 3, the X-axis displacement meter 4, and the Y-axis displacement meter 5. The gyro 3 has angular velocities around respective axes and a Z-axis which is a direction in contact with the pipeline 2 at the point O, and an X-axis and a Y-axis which are orthogonal to the Z-axis and orthogonal to each other. It has a sensor that measures acceleration, and the total of these angular velocity and acceleration is 6
The azimuth can be measured based on the direction of the earth axis indicated by the arrow N and the vertical direction indicated by the arrow P from the quantity. Xd, Y coming out of the gyro 3 in FIG.
The three lines indicated by d and Zd are the X axis and the Y axis, respectively.
This is an output line for outputting a signal indicating the azimuth of the axis and the Z axis. X
The axis displacement meter 4 measures the component in the X-axis direction of the inclination angle formed by the line segment connecting the point O and the point A with the Z-axis, and outputs the X-axis coordinate XAd. Is for measuring the component in the Y-axis direction of the inclination angle formed by the line segment connecting the point O and the point A with the Z-axis, and outputting the Y-axis coordinate YAd.

FIG. 2 is re-referenced. 8 is a driving means for rotating the gyro 3, the X-axis eccentricity meter 4 and the Y-axis eccentricity meter 5 around the Z-axis, and comprises a motor for driving the gyro 3 85 and a negative feedback calculation means 81 for instructing the drive unit 85. The negative feedback calculation means 81 receives the Xd output and the Yd output of the gyro 3, and sends the output to the drive unit 85 so as to match the gyro 3 outputs X 0 and Y 0 when the gyro 3 is at the ground surface at the start of excavation. Negative feedback. For this reason, even if the flexible pipe 1 rotates during excavation, the gyro 3, the X-axis eccentricity meter 4, and the Y-axis eccentricity meter 5 maintain the posture with respect to the pipeline 2 when it is on the ground surface at the time of starting excavation. Forward while bending in accordance with the bending of the pipeline 2. Therefore, no error occurs in the outputs Xd, Yd, and Zd of the gyro 3 even during excavation.

Numeral 7 denotes a pipeline calculating means, which calculates the outputs Xd, Yd, Zd of the gyro 3, the output XAd of the X-axis displacement meter 4, the output YAd of the Y-axis displacement meter 5, and the output d of the distance meter 6. It is inputted and the pipeline 2 is calculated. As described above, the output X of the gyro 3
Since there is no error in d, Yd, and Zd, the calculation result of the pipeline 2 output by the pipeline calculation means 7 also has a value with no error, and can be output in real time while excavating.

Second Embodiment (corresponding to claim 3) See FIG. 4 FIG. 4 is a block diagram of a pipeline measuring apparatus according to a second embodiment of the present invention. In FIG. 4, the driving unit 8 includes a driving unit 85, a flexible tube rotation detecting unit 82, and a reverse rotation instruction unit 83. The flexible tube rotation detecting means 82 detects the rotation of the flexible tube 1 installed on the surface of the ground and transmits the rotation to the reverse rotation command means 83. The reverse rotation command means 83 drives the drive unit 85 via a cable installed in the flexible tube 1 to reversely drive the gyro 3, the X-axis eccentricity meter 4, and the Y-axis eccentricity meter 5 around the Z-axis. I do. For this reason, the output of the gyro 3 has no error, and the pipeline calculation means 7 can output an error-free output in real time while excavating.

Third Embodiment (corresponding to claim 4) See FIG. 5 FIG. 5 is a block diagram of a pipeline measuring apparatus according to a third embodiment of the present invention. In FIG. 5, reference numeral 9 denotes a pipeline operation means at rest. The quiescent pipeline calculation means 9 includes the outputs Xd, Yd, Zd of the gyro 3, the output XAd of the X-axis eccentricity meter 4, the output YAd of the Y-axis eccentricity meter 5, the output d of the distance meter 6, and the in-rest signal. Is input, and the pipeline 2 is calculated. A pause signal is issued while the operator stops the operation of the excavator, and the pause-time pipeline calculating means 9 receives the pause signal and waits for a predetermined period of time, and then inputs the pause signal. Signals Xd, Yd,
The pipeline 2 is calculated from Zd, XAd, YAd, and d. Even if the gyro 3 is being rotated around the Z-axis during excavation and the rotation has caused errors in the signals Xd, Yd and Zd, the operation of the excavator is stopped and the rotation of the gyro 3 is stopped and the predetermined value is determined. Since there is no error in the output signals Xd, Yd, Zd of the gyro 3 after waiting for a certain period of time, the inactive pipeline calculation means 9 can calculate the pipeline 2 with no error. The pipe line measuring apparatus according to the present embodiment requires some waiting time as compared with the pipe line measuring apparatuses according to the first embodiment and the second embodiment, but compared with the pipe line measuring apparatus according to the related art, Preparation work for measurement is extremely shortened, and measurement can be performed almost in real time.

[0020]

As described above, according to the pipeline measuring apparatus according to the present invention, the equipment of the pipeline measuring apparatus necessary for constant measurement is installed in the flexible pipe, and the gyro is inverted. By rotating or taking a short waiting time, a signal without errors can be obtained, so that real-time pipe measurement can be performed during excavation or after a very short stop, and deviation from the target pipe can be detected immediately. And the re-drilling was irrelevant. In addition, unlike the insertion-type pipeline measuring device according to the related art, since it is a built-in pipeline measuring device, a large-sized gyro can be used, a highly accurate true direction can be obtained, and a highly accurate pipeline can be obtained. Can be obtained. In addition, the workability of pipe line measurement was dramatically improved.

[Brief description of the drawings]

FIG. 1 is an arrangement diagram of a main part of a pipeline measuring device according to a first embodiment of the present invention.

FIG. 2 is a block diagram of a pipeline measuring device according to a first embodiment of the present invention.

FIG. 3 is an operation explanatory diagram of a gyro, an X-axis displacement meter, and a Y-axis displacement meter according to the present invention.

FIG. 4 is a block diagram of a pipeline measuring device according to a second embodiment of the present invention.

FIG. 5 is a block diagram of a pipeline measuring device according to a third embodiment of the present invention.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Flexible pipe 2 Pipeline 3 Gyro 4 X-axis eccentricity meter 5 Y-axis eccentricity meter 6 Distance meter 7 Pipeline calculation means 8 Driving means 9 Pipeline calculation means at rest 10 Pipeline measurement device main part 61 Cable 81 Negative feedback Calculation means 82 Flexible tube rotation detection means 83 Reverse rotation command means 85 Drive unit

Claims (4)

[Claims] 1. A Z-axis that is installed inside a flexible pipe (1) that digs in the ground and is parallel to the pipe (2) at a point O on the pipe (2) of the flexible pipe (1). And a gyro (3) that outputs directions in a total of three directions, i.e., two directions, an X axis and a Y axis, which are orthogonal to each other and orthogonal to the direction, and a gyro (3) installed inside the flexible tube (1), An X-axis displacement meter (4) for measuring the X-axis coordinates of a point A on the pipeline (2) at a predetermined distance from the point O with reference to the X axis and the Y axis at the point O; And Y to measure Y axis coordinates
An axial displacement meter (5); a distance meter (6) for measuring the distance between the intersection of the pipe (2) and the ground surface and the point O along the pipe (2); and the gyro ( 3) a pipeline calculating means for calculating the pipeline (2) from output signals of the X-axis deflectometer (4), the Y-axis deflectometer (5) and the distance meter (6). 7)
The gyro (3), the X-axis eccentricity meter (4), and the Y-axis eccentricity meter (5) are rotated around the Z-axis, and the gyro (3) is rotated around the Z-axis with respect to the earth. And a driving means (8) for preventing rotation of the pipe. 2. The driving means (8) includes negative feedback calculating means (81) for performing negative feedback control so that signals for outputting the azimuths of the gyro (3) in the X axis and the Y axis become constant. The pipeline measuring device according to claim 1, wherein: 3. The driving means (8) receives a signal from a flexible pipe rotation detecting means (82) for detecting rotation of the flexible pipe (1), and rotates the flexible pipe (1) in a direction opposite to the rotation of the flexible pipe (1). 2. The pipeline measuring device according to claim 1, further comprising a reverse rotation commanding means for rotating the gyro. 4. A Z-axis which is installed inside a flexible pipe (1) which digs in the ground and is parallel to said pipe (2) at a point O on a pipe (2) of the flexible pipe (1). And a gyro (3) that outputs directions in a total of three directions, i.e., two directions, an X axis and a Y axis, which are orthogonal to each other and orthogonal to the direction, and a gyro (3) installed inside the flexible tube (1), An X-axis displacement meter (4) for measuring the X-axis coordinates of a point A on the pipeline (2) at a predetermined distance from the point O with reference to the X axis and the Y axis at the point O; And Y to measure Y axis coordinates
An axial displacement meter (5); a distance meter (6) for measuring a distance between the intersection of the pipe (2) and the ground surface and the point O along the pipe (2); The respective output signals of the displacement meter (4), the Y-axis displacement meter (5), and the distance meter (6), and within a period in which the flexible tube (1) is stationary for a predetermined period. A pipeline measuring device, comprising: a pipeline calculating means (9) for calculating the pipeline (2) from an output signal of the gyro (3) output after a predetermined time and a pipeline (2).