JPH06281464A - Displacement quantity measuring method for pipe conduct using inertia sensor - Google Patents
Displacement quantity measuring method for pipe conduct using inertia sensorInfo
- Publication number
- JPH06281464A JPH06281464A JP35733992A JP35733992A JPH06281464A JP H06281464 A JPH06281464 A JP H06281464A JP 35733992 A JP35733992 A JP 35733992A JP 35733992 A JP35733992 A JP 35733992A JP H06281464 A JPH06281464 A JP H06281464A
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- Prior art keywords
- sensor
- inertial sensor
- displacement
- gap
- measuring
- Prior art date
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Abstract
Description
【０００１】[0001]
【産業上の利用分野】本発明は、加速度計とジャイロス
コープとを有した慣性センサを用いて基準位置からの管
路の変位量を計測する計測方法に関する。従って、土木
建設工事における地盤の変形状態の計測等に利用可能で
ある。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a measuring method for measuring a displacement amount of a conduit from a reference position by using an inertial sensor having an accelerometer and a gyroscope. Therefore, it can be used for measuring the deformation state of the ground in civil engineering construction work.
【０００２】[0002]
【従来の技術】従来、工事中の地盤等の変形状態を監視
するために、その地盤に測定用の管路を埋設しておき、
初期の基準位置からのこの管路の変位量を種々の方法に
よって測定している。この測定において、最近になって
慣性センサを用いて変位量を計測する方法が開発されて
きた。この慣性センサに関しては、本出願人の内の一の
出願人が平成３年１１月１１日付けで出願した特願平３
ー３２１４４９号“孔曲り計測装置”や、同出願人によ
る平成４年４月１４日付けの特願平４−１１９６００号
“孔曲り計測装置及び孔曲り計測方法”に詳細な説明が
ある。2. Description of the Related Art Conventionally, in order to monitor the deformation state of the ground or the like during construction, a pipe for measurement is buried in the ground,
The displacement of this pipeline from the initial reference position is measured by various methods. In this measurement, a method of measuring the displacement amount using an inertial sensor has recently been developed. Regarding this inertial sensor, one of the applicants filed a patent application No. 3 filed on Nov. 11, 1991.
No. 321449 “Pole bend measuring device” and Japanese Patent Application No. 4-119600 “Pole bend measuring device and hole bend measuring method” dated Apr. 14, 1992 by the same applicant for detailed explanation.
【０００３】[0003]
【発明が解決しようとする課題】しかしこの計測方法は
計測対象管路に慣性センサを走行させて行っている。こ
の場合走行する計測対象管路内面と慣性センサとの間に
は幾分かの隙間が存在したり、また、ばね支持により管
路内面と慣性センサとの間の隙間を無くすることも考え
られるが、いずれの場合も慣性センサがピッチングやヨ
ーイングを生じ、この躍りの量も計測結果に現われるた
め計測対象管路の変位量を正しく計測できないという問
題が有る。However, this measuring method is carried out by running an inertial sensor on the pipe to be measured. In this case, it is conceivable that there is some clearance between the inner surface of the running pipe to be measured and the inertial sensor, or that the clearance between the inner surface of the conduit and the inertial sensor is eliminated by spring support. However, in both cases, the inertial sensor causes pitching and yawing, and the amount of this jump also appears in the measurement result, so that there is a problem that the displacement amount of the measurement target pipeline cannot be correctly measured.
【０００４】依って、本発明は測定対象管路の変位量を
高精度で計測することのできる計測方法の提供を目的と
する。Therefore, an object of the present invention is to provide a measuring method capable of measuring a displacement amount of a pipe to be measured with high accuracy.
【０００５】[0005]
【課題を解決するための手段】上記目的に鑑みて本発明
は、基準位置に対する管路の変位量を該管路を走行する
慣性センサによって計測する変位量計測方法であって、
前記慣性センサのケーシングにギャップセンサを取り付
けて、該慣性センサの計測走行中の前記管路の内面に対
する躍り量を計測し、該躍り量によって慣性センサの出
力値を補正することを特徴とする慣性センサを用いた管
路の変位量計測方法を提供する。In view of the above object, the present invention provides a displacement amount measuring method for measuring an amount of displacement of a pipe line with respect to a reference position by an inertial sensor traveling in the pipe line.
A gap sensor is attached to the casing of the inertial sensor, the amount of jump of the inertial sensor with respect to the inner surface of the pipe during measurement is measured, and the output value of the inertial sensor is corrected by the amount of jump. Provided is a method for measuring a displacement amount of a pipeline using a sensor.
【０００６】[0006]
【作用】慣性センサのケーシングにはギャップセンサを
取り付けているため、管路の内面との位置関係が計測走
行中に測定できる。従って、慣性センサが躍りながら走
行してもこの躍り量を正しく把握でき、慣性センサの計
測結果である出力値からこの躍り量を差し引いて、より
正確な変位量を求めることができる。Since the gap sensor is attached to the casing of the inertial sensor, the positional relationship with the inner surface of the pipeline can be measured during the measurement traveling. Therefore, even if the inertia sensor travels while jumping, the jump amount can be correctly grasped, and the jump amount can be subtracted from the output value which is the measurement result of the inertia sensor to obtain a more accurate displacement amount.
【０００７】[0007]
【実施例】以下、本発明を添付図面に示す実施例に基づ
き更に詳細に説明する。図１は計測対象管路１０の中に
慣性センサ１２を走行させている状態を示す縦断面図で
ある。図２は図１の矢視線Ｂ−Ｂによる横断面図であ
る。これらの図を参照すると、慣性センサ１２はケーシ
ング１４によって覆われており、その外側に走行のため
の車輪が前側に４個の前側車輪１６Ｆと、後側に４個の
後側車輪１６Ｒが配設されている。DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS The present invention will be described below in more detail based on the embodiments shown in the accompanying drawings. FIG. 1 is a vertical cross-sectional view showing a state in which an inertial sensor 12 is running inside a pipe 10 to be measured. 2 is a cross-sectional view taken along the line BB of FIG. With reference to these figures, the inertial sensor 12 is covered by a casing 14, on the outside of which four front wheels 16F for traveling are arranged on the front side and four rear wheels 16R on the rear side. It is set up.
【０００８】図２に示すようにこれらの各車輪は管路１
０の各壁面に接触して、慣性センサ１２の走行を滑らか
にする役割を果たすが、本発明においてはこれら車輪の
存在は必須ではなく、例えば、そりのような部品で走行
を滑らかにするような構成であってもよい。As shown in FIG. 2, each of these wheels has a conduit 1
Although the role of smoothing the traveling of the inertial sensor 12 is played by contacting each wall surface of No. 0, the presence of these wheels is not essential in the present invention. For example, a component such as a sled is used to smooth the traveling. It may have any configuration.
【０００９】然しながら、管路１０や慣性センサ１２の
製造誤差等のために、慣性センサ１２と管路１０の内面
との間の隙間を完全になくすることはできず、隙間が存
在する。この実施例では全車輪１６Ｆ，１６Ｒと管路１
０の各壁面とは常時接触しているのではなく、慣性セン
サ１２の走行状態によって接触している車輪とそうでな
い車輪とが存在し、時間とともにこの接触関係が変化す
ることが一般的である。However, the gap between the inertial sensor 12 and the inner surface of the conduit 10 cannot be completely eliminated due to manufacturing errors of the conduit 10 and the inertial sensor 12, and there is a gap. In this embodiment, all the wheels 16F, 16R and the pipeline 1 are
It is general that there are wheels that are not in contact with each wall surface of 0 at all times, but wheels that are in contact with each other depending on the running state of the inertial sensor 12 and wheels that are not so, and this contact relationship changes over time. .
【００１０】このため慣性センサ１２はその走行中に図
４に示す如く躍り現象を生ずる。即ち、ピッチングやヨ
ーイングを生ずる。これでは管路１０の基準位置からの
変位量を正しく計測できないこととなる。そこで本発明
ではこうした躍り量を計測すべく、図１や図２に示す様
に慣性センサ１２のケーシング１４にギャップセンサＳ
Ｆ１，ＳＦ２，ＳＲ１，ＳＲ２を取り付けている。For this reason, the inertial sensor 12 causes a jump phenomenon as shown in FIG. That is, pitching and yawing occur. This means that the displacement amount of the conduit 10 from the reference position cannot be measured correctly. Therefore, in the present invention, in order to measure such a jump amount, the gap sensor S is provided in the casing 14 of the inertial sensor 12 as shown in FIGS.
F1, SF2, SR1 and SR2 are attached.
【００１１】図２から明瞭なように、慣性センサ１２の
前側は、正方形断面の管路１０の縦壁Ｗ１に対してギャ
ップセンサＳＦ１が、また、上側壁Ｗ２に対してはギャ
ップセンサＳＦ２が対向している。慣性センサ１２の後
側についても同様で、縦壁Ｗ１に対してギャップセンサ
ＳＲ１，上側壁Ｗ２に対してギャップセンサＳＲ２がそ
れぞれ対向している。これらのギャップセンサは非接触
センサであり、例えば渦電流式の変位センサ等を使用す
ることができる。As is clear from FIG. 2, on the front side of the inertial sensor 12, the gap sensor SF1 faces the vertical wall W1 of the duct 10 having a square cross section, and the gap sensor SF2 faces the upper side wall W2. is doing. The same applies to the rear side of the inertial sensor 12, and the gap sensor SR1 faces the vertical wall W1 and the gap sensor SR2 faces the upper side wall W2. These gap sensors are non-contact sensors, and for example, an eddy current type displacement sensor or the like can be used.
【００１２】渦電流式変位センサの原理は以下の通りで
ある。高周波磁界内に鉄等の金属を置くと電磁誘導によ
ってその金属表面に磁界と距離に応じた渦電流が発生す
る。この渦電流はそれを生起させた磁界と逆方向の磁界
を発生させる。従って、高周波発生コイルを有したセン
サが鉄等の金属に近づくと、その距離に応じてコイルの
生起させた磁界が減殺される。この減殺程度を計測する
ことによって金属とセンサとの距離を知ることができ
る。The principle of the eddy current displacement sensor is as follows. When a metal such as iron is placed in a high frequency magnetic field, electromagnetic induction causes an eddy current depending on the magnetic field and distance on the metal surface. This eddy current produces a magnetic field in the opposite direction to the magnetic field that generated it. Therefore, when the sensor having the high frequency generating coil approaches a metal such as iron, the magnetic field generated by the coil is attenuated according to the distance. The distance between the metal and the sensor can be known by measuring this degree of attenuation.
【００１３】このような原理で各ギャップセンサはその
対向している壁面との距離を計測できるが、更にその計
測精度を向上させるために、図２に示すようにギャップ
センサＳＦ１の反対側に同様なギャップセンサＳＦ１’
を、またギャップセンサＳＦ２の反対側には同様なギャ
ップセンサＳＦ２’を配置して、反対側の縦壁Ｗ１’や
下側壁Ｗ２’と各ギャップセンサＳＦ１’，ＳＦ２’と
の距離を計測する。そしてギャップセンサＳＦ１とＳＦ
１’とを組合せ、またギャップセンサＳＦ２とＳＦ２’
とを組合せてそれぞれ差動方式のセンサとすることが好
ましい。これは慣性センサ１２の後側についても同様で
ある。On the basis of such a principle, each gap sensor can measure the distance from the wall surface facing it, but in order to further improve the measurement accuracy, it is the same on the opposite side of the gap sensor SF1 as shown in FIG. Gap sensor SF1 '
Further, a similar gap sensor SF2 ′ is arranged on the opposite side of the gap sensor SF2 to measure the distance between the vertical wall W1 ′ or the lower side wall W2 ′ on the opposite side and each gap sensor SF1 ′, SF2 ′. And the gap sensors SF1 and SF
1 ', and gap sensors SF2 and SF2'
It is preferable to combine and to form differential sensors. This also applies to the rear side of the inertial sensor 12.
【００１４】更には、図３は管路１０’が円形断面の場
合についての４個のギャップセンサＳＦ１，ＳＦ２，Ｓ
Ｆ１’，ＳＦ２’の配置の一例を示している。Further, FIG. 3 shows four gap sensors SF1, SF2, S when the pipe line 10 'has a circular cross section.
An example of arrangement of F1 'and SF2' is shown.
【００１５】以上のようにして管路１０（１０’）と慣
性センサ１２との距離を計測して、その結果から慣性セ
ンサ１２の管路１０に対する傾きを求める原理につき図
４を参照しながら説明する。前側の各ギャップセンサと
後側の各ギャップセンサとの距離をＬ０とし、管路１０
の中心軸線を１０Ｃとし、慣性センサ１２のケーシング
１４の中心軸線を１４Ｃとして、両軸線１０Ｃと１４Ｃ
との成す角度（ピッチング角）をθとする。The principle of measuring the distance between the conduit 10 (10 ') and the inertial sensor 12 as described above and obtaining the inclination of the inertial sensor 12 with respect to the conduit 10 will be described with reference to FIG. To do. The distance between each front gap sensor and each rear gap sensor is set to L0, and
10C, the central axis of the casing 14 of the inertial sensor 12 is 14C, and both axis 10C and 14C
The angle (pitching angle) formed by and is θ.
【００１６】ギャップセンサＳＦ２の計測距離がＬ２で
あり、ギャップセンサＳＲ２の計測距離がＬ１であると
する。この場合次式が成立する。 ｔａｎθ＝（Ｌ２−Ｌ１）／Ｌ０ この式から慣性センサ１２のピッチング角θが算出でき
ることとなる。It is assumed that the measurement distance of the gap sensor SF2 is L2 and the measurement distance of the gap sensor SR2 is L1. In this case, the following equation holds. tan θ = (L2−L1) / L0 From this equation, the pitching angle θ of the inertial sensor 12 can be calculated.
【００１７】このピッチング躍りに対して直交する方向
の躍りであるヨーイングの角度についても、ギャップセ
ンサＳＦ１とＳＲ１との計測値によって上述の式と同様
にして算出できる。The yawing angle, which is a jump in a direction orthogonal to the pitching jump, can also be calculated by the measurement values of the gap sensors SF1 and SR1 in the same manner as the above equation.
【００１８】このようにして計測、算出した慣性センサ
１２の躍り量は、管路１０の本来の変位量とは無関係で
あるため、慣性センサ１２の出力する計測値からこの躍
り量を差し引くことによって管路変位量の高精度な計測
が可能となる。Since the amount of jump of the inertial sensor 12 measured and calculated in this way has nothing to do with the original amount of displacement of the conduit 10, by subtracting this amount of jump from the measured value output from the inertial sensor 12. Highly accurate measurement of pipe displacement is possible.
【００１９】図５は、慣性センサが計測対象管路１０内
を走行する際に、該慣性センサがガタつかないようにそ
の前後の車輪１６Ｆ，１６Ｒを板ばね１８によって支持
した慣性センサ１２’’の走行中の１状態を模式的に示
している。即ち、各車輪１６Ｆ，１６Ｒは計測対象管路
１０の内面に常に接触してはいるが、図４の場合と同様
にピッチングやヨーイングを生ずる。従って、各ギャッ
プセンサＳＦ１，ＳＦ２，ＳＲ１，ＳＲ２によるギャッ
プの計測値を慣性センサ１２’’の計測値の補正に使用
することは有効である。FIG. 5 shows an inertial sensor 12 '' having front and rear wheels 16F and 16R supported by leaf springs 18 so that the inertial sensor does not rattle when the inertial sensor travels in the pipe 10 to be measured. 1 schematically shows one state during running. That is, although the wheels 16F and 16R are always in contact with the inner surface of the pipe 10 to be measured, pitching and yawing occur as in the case of FIG. Therefore, it is effective to use the measured value of the gap by each of the gap sensors SF1, SF2, SR1, SR2 for correcting the measured value of the inertial sensor 12 ″.
【００２０】[0020]
【発明の効果】以上の説明から明らかなように本発明に
よれば、慣性センサにギャップセンサを取り付けて測定
対象管路内面との距離を計測しつつ該管路の変位量を計
測するため、変位量が高精度に計測可能となる。As is apparent from the above description, according to the present invention, the gap sensor is attached to the inertial sensor to measure the displacement amount of the pipeline while measuring the distance to the inner surface of the pipeline to be measured. The amount of displacement can be measured with high accuracy.
【図１】図１は本発明に係る計測方法に使用する装置の
縦断面図である。FIG. 1 is a vertical cross-sectional view of an apparatus used for a measuring method according to the present invention.
【図２】図２は図１の矢視線Ｂ−Ｂによる横断面図であ
る。2 is a cross-sectional view taken along the line BB of FIG.
【図３】図３は図２に対応する他の管路の横断面図であ
る。FIG. 3 is a cross-sectional view of another conduit corresponding to FIG.
【図４】図４は本発明に係る計測方法の原理を説明する
図である。FIG. 4 is a diagram for explaining the principle of the measuring method according to the present invention.
【図５】図５は本発明に係る計測方法の他の適用例を示
す図である。FIG. 5 is a diagram showing another application example of the measuring method according to the present invention.
１０，１０’ 計測対象管路 １０Ｃ 管路の中心軸線 １２，１２’，１２’’ 慣性センサ １４ ケーシング １４Ｃ ケーシングの中心
軸線 １６Ｆ，１６Ｒ 車輪 １８ 板ばね ＳＦ１，ＳＲ１，ＳＦ２，ＳＲ２ ギャップセンサ10, 10 'Pipeline to be measured 10C Central axis of pipe 12, 12', 12 '' Inertial sensor 14 Casing 14C Central axis of casing 16F, 16R Wheel 18 Leaf spring SF1, SR1, SF2, SR2 Gap sensor
Claims (1)
を走行する慣性センサによって計測する変位量計測方法
であって、 前記慣性センサのケーシングにギャップセンサを取り付
けて、該慣性センサの計測走行中の前記管路の内面に対
する躍り量を計測し、 該躍り量によって慣性センサの出力値を補正することを
特徴とする慣性センサを用いた管路の変位量計測方法。1. A displacement amount measuring method for measuring an amount of displacement of a pipeline with respect to a reference position by an inertial sensor traveling in the pipeline, wherein a gap sensor is attached to a casing of the inertial sensor, and the measurement of the inertial sensor is performed. A method for measuring a displacement amount of a pipeline using an inertial sensor, which comprises measuring an amount of jump with respect to an inner surface of the pipeline while traveling and correcting an output value of the inertial sensor based on the amount of jump.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP35733992A JP3191888B2 (en) | 1992-12-24 | 1992-12-24 | Pipeline displacement measurement method using inertial sensor |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP35733992A JP3191888B2 (en) | 1992-12-24 | 1992-12-24 | Pipeline displacement measurement method using inertial sensor |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPH06281464A true JPH06281464A (en) | 1994-10-07 |
| JP3191888B2 JP3191888B2 (en) | 2001-07-23 |
Family
ID=18453622
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP35733992A Expired - Fee Related JP3191888B2 (en) | 1992-12-24 | 1992-12-24 | Pipeline displacement measurement method using inertial sensor |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JP3191888B2 (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP6009115B1 (en) * | 2016-05-13 | 2016-10-19 | ユニ・チャーム株式会社 | Pet bed |
| KR200491543Y1 (en) * | 2018-10-05 | 2020-04-23 | 하미경 | Multi purpose cushion for pet |
-
1992
- 1992-12-24 JP JP35733992A patent/JP3191888B2/en not_active Expired - Fee Related
Also Published As
| Publication number | Publication date |
|---|---|
| JP3191888B2 (en) | 2001-07-23 |
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