JPH08240427A - Hole bend measuring device - Google Patents
Hole bend measuring deviceInfo
- Publication number
- JPH08240427A JPH08240427A JP7041664A JP4166495A JPH08240427A JP H08240427 A JPH08240427 A JP H08240427A JP 7041664 A JP7041664 A JP 7041664A JP 4166495 A JP4166495 A JP 4166495A JP H08240427 A JPH08240427 A JP H08240427A
- Authority
- JP
- Japan
- Prior art keywords
- hole
- measured
- angular displacement
- displacement meter
- memory
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
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Abstract
Description
【０００１】[0001]
【産業上の利用分野】本発明は孔曲り計測装置に関し、
とくに地下掘削孔の深さ方向と直角方向の変位を計測す
る孔曲り計測装置に関する。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a hole bending measuring device,
In particular, it relates to a hole bending measuring device for measuring the displacement of an underground excavation hole in the direction perpendicular to the depth direction.
【０００２】[0002]
【従来の技術】地下発電所等の地下構造物の建設工事で
は鉛直ボーリング孔、水平ボーリング孔、斜め方向ボー
リング孔等の種々の孔を掘削する。品質管理等の観点か
ら掘削終了後にこれらの孔の形状を確認する必要があ
り、従来は例えば図４に示す坑井記録傾斜儀等を用いて
孔曲りを計測することにより孔の形状を確認している。2. Description of the Related Art In the construction of underground structures such as underground power plants, various holes such as vertical boring holes, horizontal boring holes and diagonal boring holes are excavated. From the viewpoint of quality control, etc., it is necessary to confirm the shape of these holes after the completion of excavation. Conventionally, the shape of these holes has been confirmed by measuring the hole bend using, for example, a well recording tilting device shown in FIG. ing.
【０００３】図４に示す坑井記録傾斜儀20は、乾電池等
の電源21、フィルムとランプを設けたカメラ23、ランプ
の照明時間を制御するタイマー22、及び方位角及び傾斜
角を示すコンパス24を有する。この坑井記録傾斜儀20に
よる図４(Ａ)の鉛直孔1aの孔曲り計測方法を簡単に説明
すると、坑井記録傾斜儀20をワイヤ14等で鉛直孔1a内の
所望深さまで吊下げ、ランプ点灯によりカメラ23でコン
パス24を撮影し、引上げ後に例えば掘削現場に設けた現
像装置25でフィルムを現像することにより、コンパス24
の写真から鉛直孔1aの傾斜角度と傾斜の方位を計測す
る。図４(Ｂ)はコンパス24の写真の一例を示し、図示例
の指針24aは方位角N40゜の方位に傾斜角6゜で傾斜してい
ることを表す。必要に応じて複数毎のフィルムをカメラ
23に収納し、坑井記録傾斜儀20の１回の吊下げにより異
なる深さの複数毎の写真を得ることが可能である。図４
に示す坑井記録傾斜儀20は基本的には鉛直孔1aの孔曲り
を計測するものであるが、図４(Ｃ)の水平孔1bの場合も
水平孔1b内で撮影したコンパス24の写真に基づく孔曲り
計測が行なわれている。なお図４(Ａ)中の符号９はワイ
ヤ14の繰出し長さから深さを計測する距離計、符号15は
ワイヤ14の巻上げウィンチを示す。A well recording tilting device 20 shown in FIG. 4 includes a power source 21 such as a dry battery, a camera 23 provided with a film and a lamp, a timer 22 for controlling the lighting time of the lamp, and a compass 24 showing an azimuth angle and a tilt angle. Have. Briefly explaining the method for measuring the hole bending of the vertical hole 1a of FIG. 4 (A) by the well recording tilting device 20, the well recording tilting device 20 is hung by the wire 14 or the like to a desired depth in the vertical hole 1a, The compass 24 is photographed by the camera 23 when the lamp is turned on, and the film is developed by the developing device 25 provided at the excavation site, for example, after the compass 24 is pulled up.
The inclination angle and the azimuth of the inclination of the vertical hole 1a are measured from the photograph. FIG. 4B shows an example of a photograph of the compass 24, and shows that the pointer 24a in the illustrated example is tilted at an azimuth angle of N40 ° at an inclination angle of 6 °. Camera for multiple films as needed
It is possible to obtain a plurality of photographs of different depths by hanging the well recording tilting device 20 once in 23. FIG.
The well recording tilter 20 shown in Fig. 4 basically measures the bending of the vertical hole 1a, but in the case of the horizontal hole 1b in Fig. 4 (C), a photograph of the compass 24 taken in the horizontal hole 1b is also taken. The hole bending measurement based on is performed. Reference numeral 9 in FIG. 4 (A) indicates a range finder for measuring the depth from the payout length of the wire 14, and reference numeral 15 indicates a winding winch for the wire 14.
【０００４】[0004]
【発明が解決しようとする課題】しかし上記坑井記録傾
斜儀20のコンパス24は、図４に示すように鉛直方向をｚ
軸とした場合、ｘ軸又はｙ軸のみが回転した時の回転角
度は計測できるものの、ｚ軸のみが回転した時の回転角
度が計測できない問題点がある。例えば図４(Ｂ)のコン
パス24では、ｚ軸のみが回転しても指針24aが半径方向
には動かないので、この場合ｚ軸の回りの回転角度が計
測できない。図４(Ａ)の鉛直孔1aの孔曲り計測ではｚ軸
の回りの傾斜の検出は不要であるのに対し、図４(Ｃ)の
水平孔1bの孔曲り計測ではｚ軸の回りの回転角度の検出
が必須であり、上記問題点のため坑井記録傾斜儀20では
非鉛直孔の正確な孔曲り計測をすることは困難である。
また従来の坑井記録傾斜儀20は一度の吊下げ作業で撮影
できる写真の枚数に限界があり、深さに応じて傾斜角デ
ータの写真を連続的に撮影することが難しいので、この
点からも正確な孔曲り計測が難しい。However, as shown in FIG. 4, the compass 24 of the well recording tilting device 20 has the z direction in the vertical direction.
When the axis is used, the rotation angle when only the x-axis or the y-axis rotates can be measured, but the rotation angle when only the z-axis rotates cannot be measured. For example, in the compass 24 of FIG. 4B, even if only the z-axis rotates, the pointer 24a does not move in the radial direction. In this case, therefore, the rotation angle around the z-axis cannot be measured. In the hole bending measurement of the vertical hole 1a in FIG. 4 (A), it is not necessary to detect the inclination around the z axis, whereas in the hole bending measurement of the horizontal hole 1b in FIG. 4 (C), the rotation around the z axis is performed. Since it is essential to detect the angle, it is difficult for the well recording tilting device 20 to accurately measure the bend of a non-vertical hole due to the above problems.
In addition, the conventional well recording tilting device 20 has a limit to the number of photos that can be taken in one hanging operation, and it is difficult to continuously take photos of tilt angle data according to the depth, so from this point However, accurate hole bending measurement is difficult.
【０００５】そこで本発明の目的は、あらゆる向きの掘
削孔の形状が正確に計測できる孔曲り計測装置を提供す
るにある。Therefore, an object of the present invention is to provide a hole bending measuring device capable of accurately measuring the shape of a drill hole in any direction.
【０００６】[0006]
【課題を解決するための手段】本発明者は最近非常に小
型化が進んだ圧電振動ジャイロ利用の方向センサーに注
目した。この方向センサーは、３個の小型圧電振動ジャ
イロをそれぞれ所定回転軸の回りに回転させ、前記回転
軸の回りの相対的な角変位を検出するものである。例え
ばピッチ角、ロール角、及び方位角を同時に計測するこ
とができる。この圧電振動ジャイロの原理により、例え
ばたばこの箱とほぼ同サイズの三次元方向センサーが開
発されている。小型の圧電振動ジャイロを用いれば、比
較的小径の掘削孔にも挿入可能で、且つ複数の軸の回り
の回転角度をそれぞれ正確に計測する角変位計が製作で
きる。The present inventor has paid attention to a direction sensor using a piezoelectric vibrating gyroscope, which has recently been extremely miniaturized. This direction sensor rotates each of three small piezoelectric vibrating gyros around a predetermined rotation axis, and detects a relative angular displacement around the rotation axis. For example, the pitch angle, the roll angle, and the azimuth angle can be measured at the same time. Based on the principle of this piezoelectric vibrating gyro, for example, a three-dimensional directional sensor having the same size as a cigarette box has been developed. By using a small piezoelectric vibrating gyro, it is possible to manufacture an angular displacement meter that can be inserted into a relatively small diameter drill hole and that accurately measures the rotation angles around a plurality of axes.
【０００７】図１の実施例を参照するに、本発明の孔曲
り計測装置は、互いに直交する３軸（ｘ軸、ｙ軸、及び
ｚ軸）の回りの回転角度θx、θy、θzをそれぞれ計測
する３個の圧電振動ジャイロ3x、3y、3zを有し且つ被計
測孔１に挿入可能な角変位計５、角変位計５を被計測孔
１内の深さ方向に移動させる移動手段７、角変位計５の
被計測孔１内の移動距離Ｌを計測する距離計９、及び角
変位計５及び距離計９に接続されたメモリ11付演算装置
10を備えてなる。被計測孔１の入口で角変位計５の１軸
（例えばｚ軸）の方向を前記深さ方向と一致させ、且つ
角変位計５の計測する３軸の初期回転角度θx0、θy0、
θz0を前回回転角度θx(i-1)、θy(i-1)、θz(i-1)とし
てメモリ11に記憶する。移動手段７による角変位計５の
被計測孔１内の移動時に、距離計９の計測する前回位置
Ti-1から今回位置Tiまでの移動距離Liとメモリ11に記憶
した３軸の前回回転角度θx(i-1)、θy(i-1)、θz(i-1)
とから演算装置10により今回位置Tiの前回位置Ti-1に対
する前記深さ方向の変位zi及び前記深さ方向と直角方向
の変位（xi、yi）を算出し、且つ角変位計５が今回位置
Tiで計測する３軸の今回回転角度θxi、θyi、θzi及び
各変位（xi、yi、zi）をメモリ11に記憶するサイクルを
繰返し、メモリ11に記憶した各変位（xi、yi、zi）を積
算することにより被計測孔１の三次元形状を求める。Referring to the embodiment shown in FIG. 1, the hole bending measuring apparatus of the present invention has rotation angles θ x , θ y , and θ around three axes (x axis, y axis, and z axis) orthogonal to each other. An angular displacement meter 5, which has three piezoelectric vibrating gyros 3 x , 3 y , and 3 z for respectively measuring z , and which can be inserted into the hole 1 to be measured, and an angular displacement meter 5 in the depth direction inside the hole 1 to be measured. Moving means 7 for moving to a position, a distance meter 9 for measuring the moving distance L of the angular displacement meter 5 in the hole 1 to be measured, and an arithmetic unit with a memory 11 connected to the angular displacement meter 5 and the distance meter 9.
Comprised of 10. At the entrance of the hole 1 to be measured, the direction of one axis (for example, z axis) of the angular displacement meter 5 coincides with the depth direction, and the initial rotation angles θ x0 , θ y0 of the three axes measured by the angular displacement meter 5,
θ z0 is stored in the memory 11 as the previous rotation angles θ x (i-1) , θ y (i-1) , and θ z (i-1) . The previous position measured by the distance meter 9 when the angular displacement meter 5 is moved within the hole 1 to be measured by the moving means 7.
The moving distance L i from T i-1 to the current position T i and the previous rotation angles θ x (i-1) , θ y (i-1) , θ z (i-1) of the three axes stored in the memory 11.
From the calculation device 10, the displacement z i in the depth direction and the displacement (x i , y i ) in the direction perpendicular to the depth direction with respect to the previous position T i-1 of the current position T i are calculated from A total of 5 positions this time
The cycle of storing the present rotation angles θ xi , θ yi , θ zi and the respective displacements (x i , y i , z i ) of the three axes measured at T i in the memory 11 is repeated, and the respective displacements stored in the memory 11 ( The three-dimensional shape of the hole 1 to be measured is obtained by integrating x i , y i , z i ).
【０００８】[0008]
【作用】図１を参照するに、本発明で用いる角変位計５
は３個の圧電振動ジャイロ3x、3y、3zを有し、各圧電振
動ジャイロ３により直交する３軸の回りの回転角度
θx、θy、θzをそれぞれ計測し、例えば各回転角度を
デジタル信号で出力するものである。このような角変位
計５は従来技術に属し、小径の被計測孔１にも挿入可能
な十分小型のものとすることができる。以下の説明にお
いて角変位計５の３軸をｘ軸、ｙ軸、ｚ軸とする。図１
の角変位計５の一端には移動手段７が取付けられ、例え
ばスクリュー羽根付き移動手段７の正回転により角変位
計５を被計測孔１の深さ向きに前進させ、その逆回転に
より後退させる。また角変位計５の他端はワイヤ14を介
して回転式距離計９に接続され、距離計９がワイヤ14の
繰出し長さから角変位計５の移動距離を計測する。但し
移動手段７及び距離計９は図１の例に限定されず、例え
ば被計測孔１が水平方向より下向きの掘削孔である場合
は、図１の移動手段７に替えて図４(Ａ)のワイヤ14に接
続した巻上げウィンチ15を移動手段７とすることができ
る。角変位計５の出力するｘ軸、ｙ軸、ｚ軸の回りの回
転角度信号θx、θy、θz及び距離計９の出力する移動
距離信号Ｌは、それぞれデータ伝送ケーブル13を介して
演算装置10へ入力する。Operation Referring to FIG. 1, an angular displacement meter 5 used in the present invention
Has three piezoelectric vibrating gyros 3 x , 3 y , 3 z , and each piezoelectric vibrating gyro 3 measures rotation angles θ x , θ y , θ z around three axes orthogonal to each other. The angle is output as a digital signal. Such an angular displacement meter 5 belongs to the related art and can be made sufficiently small so that it can be inserted into the hole 1 to be measured having a small diameter. In the following description, the three axes of the angular displacement meter 5 will be referred to as x-axis, y-axis, and z-axis. FIG.
A moving means 7 is attached to one end of the angular displacement meter 5 of FIG. 1 and, for example, the angular displacement meter 5 is moved forward in the depth direction of the hole 1 to be measured by the forward rotation of the moving means 7 with a screw blade, and is moved backward by the reverse rotation. . The other end of the angular displacement meter 5 is connected to the rotary distance meter 9 via the wire 14, and the distance meter 9 measures the moving distance of the angular displacement meter 5 from the length of the wire 14 fed out. However, the moving means 7 and the distance meter 9 are not limited to the example of FIG. 1, and for example, when the measured hole 1 is an excavation hole that is downward from the horizontal direction, the moving means 7 of FIG. The hoisting winch 15 connected to the wire 14 can be used as the moving means 7. The rotation angle signals θ x , θ y , and θ z about the x-axis, y-axis, and z-axis output from the angular displacement meter 5 and the moving distance signal L output from the distance meter 9 are respectively transmitted via the data transmission cable 13. Input to the arithmetic unit 10.
【０００９】本発明装置による孔曲り計測方法を説明す
るに、先ず被計測孔１の入口の初期位置T0において角変
位計５のｚ軸の方向を被計測孔１の深さ方向と一致さ
せ、残りのｘ軸及びｙ軸で定まる平面を深さ方向と直角
にする。ｚ軸の方向を深さ方向と一致させるのは、被計
測孔１の孔曲りをｘｙ平面上の変位として計測するため
である。また初期位置T0において角変位計５の３軸の初
期回転角度θx0、θy0、θz0を計測し、演算装置に入力
してメモリ11に記憶する。To explain the hole bending measuring method by the device of the present invention, first, at the initial position T 0 of the entrance of the hole 1 to be measured, the direction of the z axis of the angular displacement meter 5 is made to coincide with the depth direction of the hole 1 to be measured. , The plane defined by the remaining x and y axes is perpendicular to the depth direction. The direction of the z-axis is made to coincide with the depth direction in order to measure the hole bending of the measured hole 1 as a displacement on the xy plane. Further, at the initial position T 0 , the initial rotation angles θ x0 , θ y0 , and θ z0 of the three axes of the angular displacement meter 5 are measured, input to the arithmetic device, and stored in the memory 11.
【００１０】次に移動手段７により角変位計５を初期位
置T0から被計測孔１内の今回位置T1まで移動させ、その
移動距離L1を距離計９により計測して演算装置10に入力
する。図２を参照するに、初期位置T0に対する今回位置
T1のｘ軸、ｙ軸、ｚ軸方向の変位をそれぞれx1、y1、z1
とすると、初期位置T0と今回位置T1と間の移動距離L1と
変位x1、y1、z1との間には下記式(1)で示す関係があ
る。また初期位置T0から今回位置T1への移動の間にｘ
軸、ｙ軸、ｚ軸の回転角度が維持されるとすると、初期
回転角度θx0、θy0、θz0と変位x1、y1、z1との間に下
記式(2)で示す関係が成立する。式(1)及び(2)を用いて
式(3)を解くと、式(4)(5)(6)に示すように、変位x1、
y1、z1をそれぞれ初期回転角度θx0、θy0、θz0と移動
距離L1とから導き出すことができる。Next, the displacement means 7 is used to move the angular displacement meter 5 from the initial position T 0 to the current position T 1 in the hole 1 to be measured, and the moving distance L 1 is measured by the distance meter 9 to the arithmetic unit 10. input. Referring to FIG. 2, the current position with respect to the initial position T 0
Displacement of T 1 in the x-axis, y-axis, and z-axis directions is x 1 , y 1 , and z 1 respectively.
Then, the moving distance L 1 between the initial position T 0 and the current position T 1 and the displacements x 1 , y 1 , and z 1 have a relationship represented by the following formula (1). Also, during the movement from the initial position T 0 to the current position T 1 , x
Assuming that the rotation angles of the axes, y-axis, and z-axis are maintained, the relationship shown in the following equation (2) between the initial rotation angles θ x0 , θ y0 , and θ z0 and the displacements x 1 , y 1 , and z 1 Is established. Solving equation (3) using equations (1) and (2), as shown in equations (4), (5) and (6), the displacement x 1 ,
y 1 and z 1 can be derived from the initial rotation angles θ x0 , θ y0 and θ z0 and the moving distance L 1 , respectively.
【００１１】[0011]
【数１】 L1 2＝x1 2＋y1 2＋z1 2 ………(1) tanθx0＝y1/z1、tanθy0＝x1/z1、tanθz0＝x1/y1 ………(2) tan2θx0＋tan2θy0＝(y1 2＋x1 2)/z1 2 ＝(L1 2−z1 2)/z1 2＝(L1 2/z1 2)−1 ………(3) z1＝L1/(tan2θx0＋tan2θy0＋１)1/2 ………(4) x1＝z1tanθy0＝L1tanθy0/(tan2θx0＋tan2θy0＋１)1/2 ………(5) y1＝z1tanθx0＝L1tanθx0/(tan2θx0＋tan2θy0＋１)1/2 ………(6)[Equation 1] L 1 2 = x 1 2 ＋ y 1 2 ＋ z 1 2 ……… (1) tan θ x0 ＝ y 1 / z 1 , tan θ y0 ＝ x 1 / z 1 , tan θ z0 ＝ x 1 / y 1 … …… (2) tan 2 θ x0 ＋ tan 2 θ y0 ＝ (y 1 2 ＋ x 1 2 ) / z 1 2 ＝ (L 1 2 −z 1 2 ) / z 1 2 ＝ (L 1 2 / z 1 2 ) −1 ………… (3) z 1 ＝ L 1 / (tan 2 θ x0 ＋ tan 2 θ y0 +1) 1/2 ……… (4) x 1 ＝ z 1 tan θ y0 ＝ L 1 tan θ y0 / (tan 2 θ x0 + tan 2 θ y0 +1) 1/2 ……… (5) y 1 ＝ z 1 tan θ x0 ＝ L 1 tan θ x0 / (tan 2 θ x0 ＋ tan 2 θ y0 +1) 1/2 ……… (6)
【００１２】また今回位置T1において角変位計５により
今回回転角度θxi、θyi、θziを計測してメモリ11に記
憶し、今回位置T1から次回位置T2までの移動距離L2を距
離計９により計測すれば、次回位置T2の今回位置T1に対
する変位x2、y2、z2を式(4)(5)(6)により算出すること
もできる。要するに、前回位置における回転角度の計測
と記憶、前回位置から今回位置までの移動距離の計測、
及び今回位置の前回位置に対する三次元変位の算出をサ
イクルとして繰返すことができる。このサイクルを必要
な回数だけ繰返し、各サイクルで算出した三次元変位を
メモリ11に記憶しておけば、メモリ11に記憶したｘ軸、
ｙ軸、ｚ軸方向の変位をそれぞれ積算することにより、
被計測孔１入口の初期位置に対する各計測位置の三次元
変位が算出できる。被計測孔１の深さ方向をｚ軸とすれ
ば、各計測位置のｘｙ平面上の変位が求まるので、被計
測孔１の正確な孔曲りが計測できる。Further, at the current position T 1 , the current rotational angles θ xi , θ yi , and θ zi are measured by the angular displacement meter 5 and stored in the memory 11, and the moving distance L 2 from the current position T 1 to the next position T 2 is measured. If the distance is measured by the distance meter 9, the displacements x 2 , y 2 and z 2 of the next position T 2 with respect to the current position T 1 can be calculated by the equations (4), (5) and (6). In short, measuring and storing the rotation angle at the previous position, measuring the moving distance from the previous position to the current position,
The calculation of the three-dimensional displacement of the current position with respect to the previous position can be repeated as a cycle. This cycle is repeated as many times as necessary, and if the three-dimensional displacement calculated in each cycle is stored in the memory 11, the x-axis stored in the memory 11,
By integrating the displacements in the y-axis and z-axis directions,
It is possible to calculate the three-dimensional displacement of each measurement position with respect to the initial position of the measured hole 1 inlet. If the depth direction of the hole 1 to be measured is taken as the z-axis, the displacement of each measurement position on the xy plane can be obtained, so that accurate hole bending of the hole 1 to be measured can be measured.
【００１３】こうして本発明の目的である「あらゆる向
きの掘削孔の形状が正確に計測できる孔曲り計測装置」
の提供を達成することができる。Thus, the object of the present invention is "a hole bend measuring device capable of accurately measuring the shape of a drill hole in any direction".
Can be achieved.
【００１４】好ましくは、１サイクルの間に角変位計５
が移動する単位距離を十分短くする。十分短い単位距離
毎に上記サイクルを繰返すことにより、被計測孔１の一
層正確な曲り計測を行なうことが期待できる。Preferably, the angular displacement meter 5 is used during one cycle.
Shorten the unit distance for moving. By repeating the above cycle for each sufficiently short unit distance, more accurate bending measurement of the hole 1 to be measured can be expected.
【００１５】[0015]
【実施例】以上、被計測孔１の深さ方向と直角方向の変
位から孔曲りを計測する方法について説明したが、変位
の方向を求めるためには角変位計５の３軸の方向を定め
る必要がある。図３の流れ図は変位の方向を求める孔曲
り計測方法の一例を示す。図３の流れ図のステップ301
では、被計測孔１の入口の初期位置T0において角変位計
３のｘ軸、ｙ軸、ｚ軸の各々の方位及び仰角を計測し、
３軸による地表座標系を定めている。この地表座標系
は、図１の入力手段12によりメモリ11へ記憶する。ステ
ップ302で角変位計５の３軸の回りの初期回転角度を計
測し、メモリ11に前回回転角度θx(i-1)、θy(i-1)、θ
z(i-1)として記憶する。[Embodiment] The method of measuring the hole bend from the displacement of the hole 1 to be measured in the direction perpendicular to the depth direction has been described above. To determine the direction of displacement, the directions of the three axes of the angular displacement meter 5 are determined. There is a need. The flowchart of FIG. 3 shows an example of a hole bending measuring method for obtaining the direction of displacement. Step 301 in the flow chart of FIG.
Then, the azimuth and elevation of each of the x-axis, y-axis, and z-axis of the angular displacement meter 3 are measured at the initial position T 0 at the entrance of the hole to be measured 1,
It defines a surface coordinate system with three axes. This surface coordinate system is stored in the memory 11 by the input means 12 of FIG. In step 302, the initial rotation angle of the angular displacement meter 5 around the three axes is measured, and the memory 11 stores the previous rotation angles θ x (i-1) , θ y (i-1) , θ.
Store as z (i-1) .
【００１６】ステップ303で角変位計５を前回位置Ti-1
から今回位置Tiまで移動させ、移動距離Liを距離計９に
より計測し、ステップ304で上記式(4)(5)(6)により今回
位置Tiの前回位置Ti-1に対する変位xi、yi、ziを求め
る。ステップ305で今回位置Tiの初期位置T0に対する変
位Σxi、Σyi、Σziを算出し、ステップ306で変位Σ
xi、Σyi、Σziをメモリ11に記憶する。ステップ304〜3
05で算出する変位は何れも前記地表座標系による変位で
あり、変位Σxi、Σyi、Σziから孔曲りの変位の方位及
び仰角が求められる。ステップ307で計測終了を判断
し、計測を継続する場合はステップ308へ進み、角変位
計５の今回回転角度θxi、θyi、θziを計測してメモリ
11に記憶した後ステップ303〜306を繰返す。ステップ30
7で終了する場合はステップ309へ進み、各計測位置Tiの
変位Σxi、Σyi、Σziを結ぶ曲線から前記地表座標系に
よる被計測孔１の三次元形状を求める。In step 303, the angular displacement meter 5 is moved to the previous position T i-1.
To the current position T i , the moving distance L i is measured by the range finder 9, and in step 304, the displacement x of the current position T i with respect to the previous position T i-1 is calculated by the above equations (4), (5) and (6). Find i , y i , and z i . In step 305, the displacements Σx i , Σy i , Σz i of the current position T i with respect to the initial position T 0 are calculated, and in step 306 the displacement Σ
The memory 11 stores x i , Σy i , and Σz i . Steps 304-3
The displacements calculated in 05 are all displacements based on the surface coordinate system, and the azimuth and elevation angle of the hole bending displacement are obtained from the displacements Σx i , Σy i , and Σz i . If it is determined in step 307 that the measurement has ended, and if the measurement is to be continued, the process proceeds to step 308, and the current rotation angles θ xi , θ yi , and θ zi of the angular displacement meter 5 are measured and stored.
After storing in step 11, steps 303 to 306 are repeated. Step 30
When the process ends at 7, the process proceeds to step 309, and the three-dimensional shape of the hole 1 to be measured by the surface coordinate system is obtained from the curve connecting the displacements Σx i , Σy i , Σz i of each measurement position T i .
【００１７】図３のステップ301で初期位置T0の対地座
標を求めてメモリ11に記憶しておけば、ステップ305及
びステップ309において各計測位置Tiの対地座標を求め
ることができる。またメモリ11に被計測孔１の三次元設
計図等を記憶しておけば、ステップ309で求めた被計測
孔１の三次元形状と設計形状とを比較することも可能で
ある。If the ground coordinates of the initial position T 0 are calculated in step 301 of FIG. 3 and stored in the memory 11, the ground coordinates of each measurement position T i can be calculated in steps 305 and 309. Further, by storing a three-dimensional design drawing of the hole to be measured 1 in the memory 11, it is possible to compare the three-dimensional shape of the hole to be measured 1 obtained in step 309 with the designed shape.
【００１８】[0018]
【発明の効果】以上説明したように、本発明の孔曲り計
測装置は、互いに直交する３軸の回りの回転角度をそれ
ぞれ計測する３個の圧電振動ジャイロを有し且つ被計測
孔に挿入可能な角変位計、角変位計を被計測孔内の深さ
方向に移動させる移動手段、角変位計の移動距離を計測
する距離計、及び角変位計及び距離計に接続されたメモ
リ付演算装置を備え、移動手段により角変位計を移動さ
せながら今回位置の前回位置に対する深さ方向の変位及
び深さ方向と直角方向の変位を算出するサイクルを繰返
すので、以下の顕著な効果を奏する。As described above, the hole bending measuring device of the present invention has three piezoelectric vibrating gyros for respectively measuring the rotation angles about three axes orthogonal to each other and can be inserted into the hole to be measured. Angular displacement meter, moving means for moving the angular displacement meter in the depth direction in the hole to be measured, rangefinder for measuring the moving distance of the angular displacement meter, and angular displacement meter and arithmetic unit with memory connected to the distance meter Since the cycle for calculating the displacement in the depth direction and the displacement in the direction perpendicular to the depth direction with respect to the previous position of the current position is repeated while moving the angular displacement meter by the moving means, the following remarkable effects are achieved.
【００１９】(イ)鉛直孔、水平孔、斜め方向の孔などあ
らゆる向きの被計測孔の孔曲りを正確に計測することが
できる。 (ロ)１サイクル間の角変位計の移動距離を十分短くして
変位を計測するサイクルを繰返すことにより、計測孔１
の精確な三次元形状を求めることができる。(A) It is possible to accurately measure the bending of a hole to be measured in any direction such as a vertical hole, a horizontal hole, and a diagonal hole. (B) The measurement distance of the measurement hole 1
The precise three-dimensional shape of can be obtained.
【図１】は、本発明の一実施例のブロック図である。FIG. 1 is a block diagram of an embodiment of the present invention.
【図２】は、本発明の作用を示す説明図である。FIG. 2 is an explanatory view showing the operation of the present invention.
【図３】は、本発明の計測方法の流れ図の一例である。FIG. 3 is an example of a flow chart of the measuring method of the present invention.
【図４】は、従来技術の説明図である。FIG. 4 is an explanatory diagram of a conventional technique.
１ 被計測孔 ３ 圧電振動ジャイロ ５ 角変位計 ７ 移動手段 ９ 距離計 10 演算装置 11 メモリ 12 入力手段 13 伝送ケーブル 14 ワイヤ 15 ウィンチ 20 坑井記録傾斜儀 21 電源 22 タイマー 23 カメラ 24 コンパス 25 現像装置。 1 Measured Hole 3 Piezoelectric Vibration Gyro 5 Angular Displacement Meter 7 Moving Means 9 Distance Meter 10 Computing Device 11 Memory 12 Input Means 13 Transmission Cable 14 Wire 15 Winch 20 Well Recording Tilt 21 Power Supply 22 Timer 23 Camera 24 Compass 25 Developing Device .
Claims (3)
れぞれ計測する３個の圧電振動ジャイロを有し且つ被計
測孔に挿入可能な角変位計、前記角変位計を被計測孔内
の深さ方向に移動させる移動手段、前記角変位計の被計
測孔内の移動距離を計測する距離計、及び前記角変位計
及び距離計に接続されたメモリ付演算装置を備え、被計
測孔の入口で前記角変位計の１軸の方向を前記深さ方向
と一致させ且つ前記角変位計の計測する３軸の初期回転
角度を前回回転角度として前記メモリに記憶し、前記移
動手段による前記角変位計の被計測孔内の移動時に前記
距離計の計測する前回位置から今回位置までの移動距離
と前記メモリに記憶した３軸の前回回転角度とから前記
演算装置により今回位置の前回位置に対する前記深さ方
向の変位及び前記深さ方向と直角方向の変位を算出し且
つ前記角変位計が今回位置で計測する３軸の今回回転角
度及び前記各変位を前記メモリに記憶するサイクルを繰
返し、前記メモリに記憶した各変位を積算することによ
り被計測孔の三次元形状を求めてなる孔曲り計測装置。1. An angular displacement meter having three piezoelectric vibrating gyros for respectively measuring rotation angles about three axes orthogonal to each other and insertable into a hole to be measured; A moving means for moving in the depth direction, a distance meter for measuring a moving distance in the measured hole of the angular displacement meter, and a calculation device with a memory connected to the angular displacement meter and the distance meter are provided. At the entrance, the direction of one axis of the angular displacement meter is made to coincide with the depth direction, and the initial rotation angle of the three axes measured by the angular displacement meter is stored in the memory as the previous rotation angle, and the angle by the moving means is stored. Based on the moving distance from the previous position to the current position measured by the range finder when the displacement meter moves in the measured hole and the previous rotation angles of the three axes stored in the memory, the arithmetic unit described above with respect to the previous position of the current position. Displacement in the depth direction and the above The cycle in which the displacement in the vertical direction and the direction perpendicular to the vertical direction are calculated and the current rotational angle of the three axes measured by the angular displacement meter at the current position and the respective displacements are stored in the memory is repeated, and the respective displacements stored in the memory are integrated. A hole bend measuring device that obtains the three-dimensional shape of the hole to be measured by doing so.
置から今回位置への移動の単位距離を十分短くし、前記
角変位計が前記単位距離だけ移動する毎に前記サイクル
を繰返してなる孔曲り計測装置。2. The measuring device according to claim 1, wherein the unit distance of the movement from the previous position to the current position is sufficiently short, and the cycle is repeated every time the angular displacement meter moves by the unit distance. Bending measurement device.
被計測孔の入口で前記角変位計の３軸を所定地表座標系
の座標軸と一致させ、前記所定地表座標系を前記メモリ
に記憶し、前記演算装置により前記地表座標系における
変位を算出してなる孔曲り計測装置。3. The measuring device according to claim 1, wherein at the entrance of the hole to be measured, the three axes of the angular displacement meter are matched with the coordinate axes of a predetermined surface coordinate system, and the predetermined surface coordinate system is stored in the memory. Then, the hole bend measuring device obtained by calculating the displacement in the surface coordinate system by the arithmetic device.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP7041664A JPH08240427A (en) | 1995-03-01 | 1995-03-01 | Hole bend measuring device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP7041664A JPH08240427A (en) | 1995-03-01 | 1995-03-01 | Hole bend measuring device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPH08240427A true JPH08240427A (en) | 1996-09-17 |
Family
ID=12614660
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP7041664A Pending JPH08240427A (en) | 1995-03-01 | 1995-03-01 | Hole bend measuring device |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPH08240427A (en) |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2007155377A (en) * | 2005-12-01 | 2007-06-21 | Tamagawa Seiki Co Ltd | Method of measuring porous passage |
| WO2009101735A1 (en) * | 2008-02-14 | 2009-08-20 | Yanmar Co., Ltd. | Underwater cleaning robot and auxiliary cleaning work machine |
| JP2009189961A (en) * | 2008-02-14 | 2009-08-27 | Yanmar Co Ltd | Underwater cleaning robot and auxiliary cleaning work machine |
| JP2009248061A (en) * | 2008-04-10 | 2009-10-29 | Yanmar Co Ltd | Underwater cleaning robot |
| JP2010091504A (en) * | 2008-10-10 | 2010-04-22 | Tamagawa Seiki Co Ltd | Hole passage measuring device |
| JP2011174749A (en) * | 2010-02-23 | 2011-09-08 | Tamagawa Seiki Co Ltd | Hole path measurement apparatus |
| RU2503809C1 (en) * | 2012-07-31 | 2014-01-10 | Федеральное Государственное Автономное Образовательное Учреждение Высшего Профессионального Образования "Сибирский Федеральный Университет" | Device for determining parameters of location of downcoming inclined bore pits and wells |
| CN115493562A (en) * | 2022-09-06 | 2022-12-20 | 滕州城建集团有限公司 | Building engineering is with straightness detection device that hangs down |
-
1995
- 1995-03-01 JP JP7041664A patent/JPH08240427A/en active Pending
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2007155377A (en) * | 2005-12-01 | 2007-06-21 | Tamagawa Seiki Co Ltd | Method of measuring porous passage |
| WO2009101735A1 (en) * | 2008-02-14 | 2009-08-20 | Yanmar Co., Ltd. | Underwater cleaning robot and auxiliary cleaning work machine |
| JP2009189961A (en) * | 2008-02-14 | 2009-08-27 | Yanmar Co Ltd | Underwater cleaning robot and auxiliary cleaning work machine |
| AU2008350457B2 (en) * | 2008-02-14 | 2012-05-03 | Yanmar Co., Ltd. | Underwater cleaning robot and auxiliary cleaning work machine |
| JP2009248061A (en) * | 2008-04-10 | 2009-10-29 | Yanmar Co Ltd | Underwater cleaning robot |
| JP2010091504A (en) * | 2008-10-10 | 2010-04-22 | Tamagawa Seiki Co Ltd | Hole passage measuring device |
| JP2011174749A (en) * | 2010-02-23 | 2011-09-08 | Tamagawa Seiki Co Ltd | Hole path measurement apparatus |
| RU2503809C1 (en) * | 2012-07-31 | 2014-01-10 | Федеральное Государственное Автономное Образовательное Учреждение Высшего Профессионального Образования "Сибирский Федеральный Университет" | Device for determining parameters of location of downcoming inclined bore pits and wells |
| CN115493562A (en) * | 2022-09-06 | 2022-12-20 | 滕州城建集团有限公司 | Building engineering is with straightness detection device that hangs down |
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