JP5920968B2 - Inclinometer - Google Patents

Description

  The present invention relates to an inclinometer, and more particularly to an inclinometer that measures the inclination of a hole provided in the ground.

When excavating a tunnel or underground space, excavating the ground, or cutting or embankment to form a slope, measure and monitor the displacement of the natural ground or embankment to prevent the collapse of the excavated natural ground or embankment. Is done.
For example, Patent Document 1 describes an underground displacement measurement system in which an underground pipe is embedded in a hole drilled from the ground surface toward the ground, and the inclination of the underground pipe is measured.

  In the underground displacement measurement system of Patent Document 1, the underground pipe is provided with a plate-like protrusion at every 90 degrees around the central axis of the underground pipe on the outer peripheral surface. An optical fiber sensor is provided at the end along the axial direction of the underground pipe. Then, the amount of inclination of the underground pipe is measured by an optical fiber sensor provided in the underground pipe. Further, an inclinometer provided with a wheel and suspended by a wire is inserted into the underground pipe, and the wheel travels along a groove formed on the inner peripheral surface of the underground pipe. And the inclination amount of the underground pipe is also measured by moving the inclinometer along the axial direction of the underground pipe. Further, the measured value by the optical fiber sensor is verified by the measured value by the inclinometer.

Japanese Patent Laid-Open No. 2005-61985

  However, in the underground displacement measurement system of Patent Document 1, the inclinometer is suspended by a wire and moves in the underground pipe (hole), so that it is easy to measure the inclination of the underground pipe extending in the vertical direction. Although it is possible to implement, there is a problem that it is difficult to insert an inclinometer into the underground underground pipe extending in the horizontal direction and the inclination measurement is not easy.

  The present invention has been made to solve such problems, and an object thereof is to provide an inclinometer that facilitates the measurement of the inclination of a hole extending in the horizontal direction.

In order to solve the above-described problems, an inclinometer according to the present invention causes a main body to self-run by a main body that can move in a hole and a spherical traveling wheel that can be freely rotated and driven by a driving device. Traveling means, inclination amount detecting means for detecting the amount of inclination of the main body, movement amount detecting means for detecting the amount of movement of the main body by detecting rotational movement amounts of the spherical traveling wheels in two different directions, and traveling means A plurality of inclination amount detection rotating bodies that are provided opposite to each other and movable in a direction toward the traveling means and in a direction away from the traveling means, and an urging force that urges the inclination amount detection rotating bodies in the direction away from the traveling means. And a second movement amount detection means for detecting a movement amount of the inclination amount detection rotating body in a direction toward the traveling means and a direction away from the traveling means , and the inclination amount detection rotating body includes an urging force of the urging member. By Ru pressed against the hole wall.
Tilting the swash amount detection means includes a tilt sensor for detecting a lean amount of the body, the inclination amount detecting means, the direction and travel toward the traveling means of a plurality of tilt detection rotary body is detected by the second moving amount detecting means The relative tilt amount of the main body with respect to the hole may be detected based on the amount of movement in the direction away from the means, and the tilt amount detected by the tilt sensor may be corrected based on the detected relative tilt amount.

Further, the inclinometer according to the present invention includes a main body movable in the hole, traveling means for allowing the main body to self-run, inclination amount detecting means for detecting the inclination amount of the main body, and movement amount for detecting the movement amount of the main body. A detecting means, a plurality of inclination amount detecting rotating bodies provided opposite to the traveling means and movable in a direction toward and away from the traveling means, and the inclination amount detecting rotating bodies in a direction away from the traveling means. An urging member that urges the illuminating member, and a second movement amount detecting unit that detects a movement amount in a direction toward the traveling unit and a direction away from the traveling unit in the inclination amount detecting rotator, The inclination amount detecting means includes an inclination sensor that detects the inclination amount of the main body, and the inclination amount detecting means includes a plurality of inclination detection means that are detected by the second movement amount detection means. Inclination detection rotor Based on the amount of movement in the direction toward and away from the traveling means, the relative inclination amount of the main body with respect to the hole is detected, and the inclination amount detected by the inclination sensor is corrected based on the detected relative inclination amount. To do.
The inclinometer includes a moving amount detecting rotating body that rotates while contacting the hole wall of the hole as the main body moves, and the moving amount detecting means detects the rotating amount of the moving amount detecting rotating body. The amount of movement may be detected.
The movement amount detection rotating body is rotatable at least in a first direction along the axial direction of the hole and in a second direction perpendicular to the first direction, and the movement amount detection means is in the first direction and the second direction. You may detect the movement amount of a main body.
The inclination amount detection means may correct the inclination amount detected by the inclination sensor using the movement amount of the main body detected by the movement amount detection means.
The inclinometer further includes an approach detection sensor that senses the approach of the main body to a predetermined position in the hole, and a control means that controls the operation of the traveling means. When the approach is sensed, the traveling means may be stopped.

  According to the inclinometer according to the present invention, it is possible to easily measure the inclination of the hole extending in the horizontal direction.

It is a schematic cross section side view which shows the structure of the inclinometer which concerns on embodiment of this invention. It is a schematic cross section along the II-II line of FIG. It is a figure which shows the flow of the inclination measurement operation | movement by the inclinometer of FIG.

Embodiments of the present invention will be described below with reference to the accompanying drawings.
Embodiment First, the configuration of an inclinometer 101 according to an embodiment of the present invention will be described with reference to FIGS. In the present embodiment, an example in which the inclinometer 101 is used to measure the inclination of a borehole that is a horizontally extending hole will be described.

Referring to FIG. 1, the inclinometer 101 has a main body 10. The main body 10 has a flat bottom portion 10a, a flat top portion 10b, a side portion 10e and a side portion 10f (see FIG. 2) that form a cylindrical shape, and ends that are parallel to each other by closing both sides of the cylindrical shape. It is formed by the parts 10c and 10d. The bottom portion 10a and the upper portion 10b are formed in parallel to each other.
For convenience of explanation, the direction from the bottom 10a to the upper part 10b of the main body 10 on the paper surface is referred to as the upper side, and the direction from the upper part 10b to the bottom part 10a is referred to as the lower side. Accordingly, the part 10a in the main body 10 is called the bottom and the part 10b is called the top.

The inclinometer 101 includes a rotatable first traveling wheel 11 a and a second traveling wheel 12 a having a spherical shape inside the main body 10. Each of the first traveling wheel 11a and the second traveling wheel 12a protrudes from the bottom portion 10a and extends along the direction from the end portion 10c to the end portion 10d of the first traveling wheel 11a and the second traveling wheel 12a. They are arranged in a row in order.
Here, the first traveling wheel 11a and the second traveling wheel 12a constitute traveling means and a rotating body.

The inclinometer 101 includes a rotatable first auxiliary wheel 11b and a second auxiliary wheel 12b having a spherical shape inside the main body 10. Each of the first auxiliary wheel 11b and the second auxiliary wheel 12b protrudes from the upper part 10b, and the order of the first auxiliary wheel 11b and the second auxiliary wheel 12b along the direction from the end 10c to the end 10d. Arranged in a row. The first auxiliary wheel 11b and the second auxiliary wheel 12b are in a positional relationship facing the first traveling wheel 11a and the second traveling wheel 12a, respectively.
Here, the first auxiliary wheel 11b and the second auxiliary wheel 12b constitute a second rotating body.

Inside the main body 10, a partition wall 10g is formed from the end portion 10c toward the end portion 10d and extends between the first traveling wheel 11a and the first auxiliary wheel 11b.
The partition wall 10g supports the first traveling wheel 11a in a state in which the rotation direction can be freely set via a support portion 21 provided on the bottom 10a side of the partition wall 10g. Further, the partition wall 10g supports the first auxiliary wheel 11b through a spring 17 provided on the side of the upper part 10b of the partition wall 10g in a state in which the rotation direction is free. And the spring 17 is urging | biasing the 1st auxiliary wheel 11b to the 4th direction which is an upward direction which goes to the upper part 10b from the bottom part 10a. Further, when the first auxiliary wheel 11b is pressed against the urging force of the spring 17, it can move in the third direction, which is the downward direction from the upper part 10b to the bottom part 10a.

Further, inside the main body 10, a partition wall 10h is formed from the end portion 10d toward the end portion 10c, and extends between the second traveling wheel 12a and the second auxiliary wheel 12b.
The partition wall 10h supports the second traveling wheel 12a in a state in which the rotation direction can be freely set via a support portion 22 provided on the bottom 10a side of the partition wall 10h. Further, the partition wall 10h supports the second auxiliary wheel 12b through a spring 19 provided on the side of the upper part 10b of the partition wall 10h in a state in which the rotation direction can be freely set. The spring 19 urges the second auxiliary wheel 12b upward from the bottom 10a toward the upper part 10b. Furthermore, when the second auxiliary wheel 12b is pressed against the urging force of the spring 19, it can move downward from the upper part 10b toward the bottom part 10a.
Here, the springs 17 and 19 constitute an urging member.

  Therefore, the inclinometer 101 can move in any direction along the support surface while the first traveling wheel 11a and the second traveling wheel 12a are in contact with the support surface such as the ground. Even in a state where the one auxiliary wheel 11b and the second auxiliary wheel 12b are in contact with the support surface, they can move in any direction along the support surface.

Also, inside the main body 10, cylindrical driving rollers 13a and 14a are in contact with the first traveling wheel 11a and the second traveling wheel 12a, respectively.
The drive rollers 13a and 14a are coupled to rotate integrally with gears 13b and 14b (see FIG. 2), respectively. Further, the gears 13b and 14b are respectively connected to a gear box 15 provided inside the main body 10. The gears are engaged with the drive gears 15a and 15b. A gear (not shown) in the gear box 15 is gear-engaged with a drive shaft of a motor 16 provided inside the main body 10. Therefore, each of the driving rollers 13a and 14a is rotated by the driving force of the motor 16 being transmitted through the gear of the gear box 15, whereby the main body 10 is moved from the end portion 10c toward the end portion 10d or vice versa. The first traveling wheel 11a and the second traveling wheel 12a are rotated such that the first traveling wheel 11a travels. The motor 16 is electrically connected to a control device 50 provided inside the main body 10, and its operation is controlled by the control device 50.
Here, the control apparatus 50 comprises the control means.

Further, in the main body 10, the first expansion / contraction amount detection sensor 18 and the second expansion / contraction amount detection sensor 20 are in contact with the first auxiliary wheel 11b and the second auxiliary wheel 12b, respectively.
The first expansion / contraction amount detection sensor 18 and the second expansion / contraction amount detection sensor 20 are respectively provided inside the springs 17 and 19, supported by the partition walls 10 g and 10 h, and electrically connected to the control device 50. The first expansion / contraction amount detection sensor 18 and the second expansion / contraction amount detection sensor 20 can expand and contract in the upward direction from the bottom portion 10a toward the upper portion 10b and in the opposite downward direction, respectively. The amount of expansion and contraction that changes as the two auxiliary wheels 12b move in the vertical direction is sent to the control device 50.
Here, the first expansion / contraction amount detection sensor 18 and the second expansion / contraction amount detection sensor 20 constitute second movement amount detection means.

  Further, inside the main body 10, a Y-axis rotational speed sensor 23 and an X-axis rotational speed sensor 24 are provided for the first traveling wheel 11a, and a Y-axis rotational speed sensor 25 and the second traveling wheel 12a are provided. An X-axis rotational speed sensor 26 is provided. Further, a Y-axis rotational speed sensor 27 and an X-axis rotational speed sensor 28 are provided for the first auxiliary wheel 11b, and a Y-axis rotational speed sensor 29 and an X-axis rotational speed sensor 30 are provided for the second auxiliary wheel 12b. Is provided.

  Referring to FIG. 2, the Y-axis rotational speed sensor 23 includes a cylindrical roller part 23a that rotates in contact with the first traveling wheel 11a, and a detection part 23b that detects the rotational speed of the roller part 23a. The detection unit 23b is electrically connected to the control device 50 and sends the detected rotation speed information to the control device 50. That is, the roller portion 23a rotates in a direction centering on the Y axis, which is an axis parallel to the bottom portion 10a from the side portion 10e of the main body 10 toward the side portion 10f, and the rotation number detected by the Y axis rotation number sensor 23 is , The amount of rotational movement in the direction around the Y axis of the first traveling wheel 11a, that is, the X axis direction that is perpendicular to the Y axis and parallel to the bottom 10a from the end 10c of the main body 10 toward the end 10d ( This corresponds to the amount of rotational movement in the first direction).

  The X-axis rotational speed sensor 24 includes a cylindrical roller part 24a that rotates in contact with the first traveling wheel 11a, and a detection part 24b that detects the rotational speed of the roller part 24a. Is connected to the control device 50 and sends the detected rotation speed information to the control device 50. That is, the roller portion 24a rotates in the direction around the X axis, and the rotation speed detected by the X axis rotation speed sensor 24 is the rotational movement amount in the direction around the X axis in the first traveling wheel 11a, that is, Y This corresponds to the rotational movement amount in the axial direction (second direction).

The Y-axis rotational speed sensor 25 has the same configuration as that of the Y-axis rotational speed sensor 23, and includes a roller portion 25a that rotates together with the second traveling wheel 12a and a detection unit 25b. It is electrically connected to the controller 50 so as to detect the rotational speed of the roller portion 25a corresponding to the rotational movement amount of the 12a around the Y axis and send the detected rotational speed information. The X-axis rotational speed sensor 26 has a configuration similar to that of the X-axis rotational speed sensor 24, and includes a roller portion 26a that rotates together with the second traveling wheel 12a and a detection unit 26b. It is electrically connected to the controller 50 so as to detect the rotational speed of the roller portion 26a corresponding to the rotational movement amount in the direction around the X axis and send the detected rotational speed information.
Here, the Y-axis rotation speed sensors 23 and 25 and the X-axis rotation speed sensors 24 and 26 constitute movement amount detection means.

  Returning to FIG. 1, the Y-axis rotation speed sensor 27 and the X-axis rotation speed sensor 28 provided for the first auxiliary wheel 11 b have the same configurations as the Y-axis rotation speed sensor 23 and the X-axis rotation speed sensor 24, respectively. And detecting the rotational speed of the roller portion corresponding to the rotational movement amount in the direction around the Y axis of the first auxiliary wheel 11b and the rotational speed of the roller portion corresponding to the rotational movement amount in the direction around the X axis. It is electrically connected to the control device 50 so as to send the rotational speed information. Furthermore, the Y-axis rotation speed sensor 29 and the X-axis rotation speed sensor 30 provided for the second auxiliary wheel 12b also have the same configuration as the Y-axis rotation speed sensor 23 and the X-axis rotation speed sensor 24, respectively. The number of rotations of the roller part corresponding to the rotational movement amount in the direction around the Y axis of the second auxiliary wheel 12b and the number of rotations of the roller part corresponding to the rotational movement amount in the direction around the X axis are detected, and the detected rotational speed information Is electrically connected to the control device 50.

A biaxial tilt sensor 32 is provided inside the main body 10 and is electrically connected to the control device 50. The biaxial tilt sensor 32 detects the tilt angle of the X axis direction center axis 10CLx and the Y axis direction center axis 10CLy (see FIG. 2) of the main body 10 with respect to the horizontal plane as the tilt amount of the main body 10. Then, the biaxial tilt sensor 32 sends the detected tilt angle information to the control device 50. The X-axis direction central axis 10CLx is a central axis extending in parallel with the X-axis through the center of the end portion 10d, and the Y-axis direction central axis 10CLy passes through the center of the side portion 10f (see FIG. 2). This is a central axis that extends parallel to the Y axis and is perpendicular to the X axis direction central axis 10CLx.
Here, the biaxial inclination sensor 32 constitutes an inclination amount detecting means.

A magnetic sensor 31 for detecting the strength of the magnetic field is provided on the end 10d of the main body 10 so as to protrude outward. The magnetic sensor 31 is electrically connected to the control device 50, converts the detected magnetic field strength into a signal, and sends the signal to the control device 50.
Further, a temperature sensor 33 that is electrically connected to the control device 50 is provided at the end 10 c of the main body 10. The temperature sensor 33 measures the temperature outside the main body 10 and sends the measured temperature information to the control device 50.
Here, the magnetic sensor 31 constitutes an approach detection sensor.

In addition, an electric cable 51 extending from the inside of the main body 10 to the outside is connected to the control device 50. The electric cable 51 is also connected to the management device 130 (see FIG. 3). The electric cable 51 supplies power from the management device 130 to the control device 50 and mediates transmission / reception of commands to the control device 50 and information from the control device 50 between the control device 50 and the management device 130. . And the control apparatus 50 supplies the supplied electric power to the motor 16 and each sensor.
Further, one end of the piano wire 60 is connected to the end 10c of the main body 10 from the outside, and the other end of the piano wire 60 extends to the winder 120 (see FIG. 3) and winds. It is wound around a take-up drum 121 (see FIG. 3).

Referring to FIG. 3, the winder 120 is rotated by an internal motor to wind the piano wire 60, and a plurality of guide rollers 123 that guide the piano wire 60 to the winding drum 121. And have. Further, a pulse encoder 122 having a roller 122a that sandwiches the piano wire 60 from both sides is provided between the guide roller 123 and the winding drum 121. In the pulse encoder 122, the roller 122a rotates together with the piano wire 60 that is moved by winding or the like, and the amount of movement of the piano wire 60 is calculated from the number of rotations of the roller 122a.
The pulse encoder 122 is electrically connected to the management device 130 and sends the calculated movement amount of the piano wire 60 to the management device 130.

Next, the operation of the inclinometer 101 according to the embodiment of the present invention will be described with reference to FIGS.
Referring to FIG. 3, a bore hole 100 for measuring displacement such as subsidence and uplift of a natural ground is drilled in a horizontal direction with respect to the natural ground. Inside the bore hole 100, a pipe 110 made of a polyvinyl chloride pipe or the like and having a constant cross section connected through a joint 111 is inserted so as not to have a gap between the bore hole 100 and the bore hole 100. Further, a magnet 112 is attached to the tip of the pipe 110 located at the deepest part 100 b of the bore hole 100.

And when measuring the amount of inclination of the borehole 100 in order to confirm the displacement of the natural ground, the piano wire 60 extending from the winding drum 121 of the winder 120 is connected and the electric cable 51 extending from the management device 130 is connected. The inclinometer 101 is inserted into the pipe 110 by the measurer from the inlet 110a which is the open end of the pipe 110. At this time, the inclinometer 101 has the first auxiliary wheel 11b and the second auxiliary wheel 12b (see FIG. 1), the first traveling wheel 11a and the second traveling wheel 12a by the urging force of the springs 17 and 19 (see FIG. 1). (See FIG. 1) is pressed against the inner peripheral surface 110c of the pipe 110.
Then, the measurer operates the management device 130 to supply power to the control device 50 (see FIG. 1) of the inclinometer 101 and operate the motor 16 (see FIG. 1) and each sensor.

In the inclinometer 101, the first traveling wheel 11a and the second traveling wheel 12a (see FIG. 1) are rotationally driven by the motor 16 (see FIG. 1), and as shown in the state (3a) of FIG. The self-runs while pulling out the piano wire 60 and the electric cable 51 toward the magnet 112 along the axial direction.
The control device 50 (see FIG. 1) of the inclinometer 101 during traveling detects the strength of the magnetic field in the traveling direction by the magnetic sensor 31. When the strength of the magnetic field detected by the magnetic sensor 31 reaches a predetermined strength, the control device 50 stops the motor 16. At this time, the inclinometer 101 stops at a position close to the magnet 112 and enters a state shown in the state (3b) of FIG. Further, the control device 50 transmits stop information of the motor 16 to the management device 130. The control device 50 corrects the strength of the magnetic field detected by the magnetic sensor 31 based on the temperature information sent from the temperature sensor 33 (see FIG. 1), and the corrected strength of the magnetic field is the same as the strength of the predetermined magnetic field. Compare.

When the stop of the inclinometer 101 is confirmed via the management device 130, the measurer operates the winder 120 and causes the winding drum 121 to wind the piano wire 60.
The inclinometer 101 is moved toward the inlet 110a of the pipe 110 as shown in the state (3c) of FIG. 3 with the motor 16 (see FIG. 1) stopped by the wound piano wire 60. With the movement of the inclinometer 101, the first traveling wheel 11a, the second traveling wheel 12a, the first auxiliary wheel 11b, and the second auxiliary wheel 12b (see FIG. 1) are free to rotate. Rotate.

  At this time, the control device 50 (see FIG. 1) of the inclinometer 101 transmits the detection value detected by each sensor to the management device 130. That is, the rotation of the first traveling wheel 11a (see FIG. 1) around the X axis and the Y axis detected by the Y axis revolution number sensor 23 (see FIG. 1) and the X axis revolution number sensor 24 (see FIG. 2), respectively. The rotational speed corresponding to the amount of movement, the X-axis and Y-axis of the second traveling wheel 12a (see FIG. 1) detected by the Y-axis rotational speed sensor 25 (see FIG. 1) and the X-axis rotational speed sensor 26 (see FIG. 2), respectively. The first auxiliary wheel 11b (see FIG. 1) detected by the rotational speed corresponding to the rotational movement amount in the direction around the axis, the Y-axis rotational speed sensor 27 (see FIG. 1), and the X-axis rotational speed sensor 28 (see FIG. 1). ) Corresponding to the rotational movement amounts in the directions around the X axis and the Y axis, the second auxiliary detected by the Y axis rotational speed sensor 29 (see FIG. 1) and the X axis rotational speed sensor 30 (see FIG. 1), respectively. The amount of rotational movement of the wheel 12b (see FIG. 1) in the directions around the X and Y axes , The amount of movement of the first auxiliary wheel 11b and the second auxiliary wheel 12b detected by the first expansion / contraction amount detection sensor 18 and the second expansion / contraction amount detection sensor 20 (see FIG. 1), and the biaxial inclination sensor 32 (see FIG. 1). 1) and the temperature information measured by the temperature sensor 33 (see FIG. 1) are sent to the management device 130.

  At the same time, in the winder 120, the pulse encoder 122 measures the length of the piano wire 60 wound around the winding drum 121 and transmits the measured value to the management device 130.

  During the movement of the inclinometer 101, the management device 130 determines from the received information the X axis and the Y axis for the first traveling wheel 11a, the second traveling wheel 12a, the first auxiliary wheel 11b, and the second auxiliary wheel 12b (see FIG. 1). The amount of rotational movement in the axial direction is calculated, and further, the amount of movement of the inclinometer 101 in the pipe 110 of the inclinometer 101 and the amount of movement in the circumferential direction are calculated, and thereby the axial direction of the inclinometer 101 in the pipe 110 is calculated. Calculate the position.

In addition, the management device 130 calculates the amount of inclination of the inclinometer 101 at each position in the axial direction of the pipe 110 calculated as described above. At this time, the management device 130 corrects the inclination angle detected by the biaxial inclination sensor 32 (see FIG. 1) with the temperature measured by the temperature sensor 33 (see FIG. 1).
Furthermore, the management apparatus 130 sets the inclination angle of the Y axis direction central axis 10CLy (see FIG. 2) of the main body 10 of the inclinometer 101 to the horizontal direction in the pipe 110 of the inclinometer 101 among the inclination angles corrected for temperature. Use the amount of movement to correct. That is, the management device 130 calculates an inclination angle obtained by correcting the inclination of the inclinometer 101 in the direction along the inner peripheral surface 110 c relative to the pipe 110.

  Further, the management device 130 determines the inclination angle of the X axis direction center axis 10CLx (see FIG. 2) of the main body 10 of the inclinometer 101 with respect to the horizontal plane among the inclination angles corrected for temperature, by the first expansion / contraction amount detection sensor 18 and the second. Correction is performed using the detection value of the expansion / contraction amount detection sensor 20 (see FIG. 1). That is, the management device 130 calculates an inclination angle obtained by correcting the inclination of the inclinometer 101 in the vertical direction from the axial direction of the pipe 110 relative to the pipe 110.

  For example, when the inclinometer 101 passes through the gap 111a between the pipes 110 formed in the joint 111, the first auxiliary wheel 11b or the second auxiliary wheel 12b (see FIG. 1) pressed against the pipe 110 moves. The first expansion / contraction amount detection sensor 18 or the second expansion / contraction amount detection sensor 20 (see FIG. 1) is expanded and contracted. At the same time, the amount of tilt detected by the biaxial tilt sensor 32 (see FIG. 1) also varies. At this time, a sudden change occurs in the detection value of the first expansion / contraction amount detection sensor 18 or the second expansion / contraction amount detection sensor 20, and the detection values of the first expansion / contraction amount detection sensor 18 and the second expansion / contraction amount detection sensor 20 are detected. There is a difference between them. That is, the above-described rapid fluctuation of the detected value and the difference between the detected values are caused by the unevenness or the step of the inner peripheral surface 110c of the pipe 110. For this reason, the management apparatus 130 is the biaxial inclination sensor 32 at the time of the rapid fluctuation | variation in the detection value of the 1st expansion-contraction amount detection sensor 18 and the 2nd expansion-contraction amount detection sensor 20, and the difference between detection values having generate | occur | produced. The tilt angle is estimated from the detected values before and after without adopting the detected tilt angle, or the tilt angle detected by the detected values of the first expansion / contraction amount detection sensor 18 and the second expansion / contraction amount detection sensor 20 is corrected. Etc. are corrected.

As described above, the management device 130 calculates the position of the pipe 110 in the axial direction and the tilt angle in two directions at this position with respect to the inclinometer 101 during movement. Further, the management device 130 calculates the inclination state of the entire pipe 110, that is, the entire bore hole 100 two-dimensionally or three-dimensionally by combining the inclination angles at the respective positions in the axial direction of the pipe 110. It is displayed in a table and a figure on a monitor device attached to 130. That is, the tilted state of the borehole 100 that occurs with the subsidence or uplift of the natural ground is shown.
The management device 130 also displays the position of the inclinometer 101 in the axial direction of the pipe 110 calculated from the winding length of the piano wire 60 together with the attached monitor device, and the first traveling wheel 11a and the second traveling wheel 12a. The position of the inclinometer 101 in the axial direction of the pipe 110 calculated from the first auxiliary wheel 11b and the second auxiliary wheel 12b (see FIG. 1) can be verified by the measurer.

  From the above description, the inclinometer 101 according to the present invention is an inclinometer that can move in the borehole 100. Further, the inclinometer 101 includes a main body 10, a first traveling wheel 11 a and a second traveling wheel 12 a that cause the main body 10 to self-travel, a biaxial inclination sensor 32 that detects an inclination amount of the main body 10, and a movement amount of the main body 10. X-axis rotational speed sensors 24 and 26 and Y-axis rotational speed sensors 23 and 25 are provided.

  Thereby, the inclinometer 101 can move and reach the borehole 100 drilled in the horizontal direction to the deepest portion 100b by itself, so that it can be easily installed in the borehole 100. it can. Further, the inclinometer 101 can detect the movement amount and the inclination amount of the main body 10 in the borehole 100 in the process of moving in the borehole 100. Then, by calculating the position of the main body 10 in the bore hole 100 from the amount of movement of the main body 10, the amount of inclination of the main body 10 can be detected in correspondence with the position of the main body 10 in the bore hole 100. Therefore, the inclinometer 101 makes it easy to measure the amount of inclination at each position with respect to the bore hole 100 extending in the horizontal direction.

  The inclinometer 101 includes a first traveling wheel 11a and a second traveling wheel 12a that rotate while being in contact with the hole wall of the bore hole 100 (the inner peripheral surface 110c of the pipe 110) as the main body 10 moves. The rotational speed sensors 24 and 26 and the Y-axis rotational speed sensors 23 and 25 detect the movement amount of the main body 10 by detecting the rotational movement amounts of the first traveling wheel 11a and the second traveling wheel 12a. Thereby, the position of the main body 10 in the bore hole 100 can be detected from the rotational movement amounts of the first traveling wheel 11a and the second traveling wheel 12a. On the other hand, in a conventional inclinometer that moves the inclinometer by winding the cable attached to the inclinometer and calculates the movement amount of the inclinometer, that is, the position of the inclinometer from the winding length of the cable, There was an error in the calculated position of the inclinometer due to the inclination of the inclinometer in the borehole. However, by calculating the position of the main body 10 from the rotational movement amounts of the first traveling wheel 11a and the second traveling wheel 12a, it is possible to reduce the occurrence of the position error.

  In the inclinometer 101, the first traveling wheel 11a and the second traveling wheel 12a are at least perpendicular to the first direction (X-axis direction) and the first direction (X-axis direction) along the axial direction of the bore hole 100. It can rotate in two directions (Y-axis direction), and the Y-axis rotation speed sensors 23 and 25 and the X-axis rotation speed sensors 24 and 26 are respectively in the first direction (X-axis direction) and the second direction (Y-axis). The amount of movement of the main body 10 is detected with respect to (direction).

  At this time, the movement distance of the main body 10 of the inclinometer 101 is calculated from the rotational movement amount of the first traveling wheel 11a and the second traveling wheel 12a in the first direction (X-axis direction) along the axial direction of the bore hole 100. Thus, the position of the main body 10 in the axial direction of the bore hole 100 can be accurately calculated. Furthermore, the main body 10 with respect to the first direction (X-axis direction) is calculated by calculating the movement distance of the main body 10 from the rotational movement amount of the first traveling wheel 11a and the second traveling wheel 12a in the second direction (Y-axis direction). Or the amount of movement of the main body 10 in the circumferential direction of the bore hole 100 can be calculated. Then, by using the calculated amount of movement, the inclination of the main body 10 relative to the first direction (X-axis direction) or the movement of the bore hole 100 in the circumferential direction with respect to the amount of inclination calculated by the biaxial inclination sensor 32. Therefore, it is possible to calculate the tilt amount with higher accuracy. Further, since the amount of inclination of the main body 10 can be detected without restricting the movement of the main body 10 in the circumferential direction of the bore hole 100, a groove or the like for restraining and guiding the main body 10 in the pipe 110 is not required, thereby reducing the cost. It becomes possible to do.

  The inclinometer 101 is provided opposite to each of the first traveling wheel 11a and the second traveling wheel 12a and is provided in a third direction (downward) and a third direction toward the first traveling wheel 11a and the second traveling wheel 12a. The first auxiliary wheel 11b and the second auxiliary wheel 12b, which are movable in a fourth direction (upward) opposite to the direction, and the first auxiliary wheel 11b and the second auxiliary wheel 12b are urged toward the fourth direction, respectively. A first expansion / contraction amount detection sensor 18 and a second expansion / contraction amount detection sensor 20 for detecting movement amounts in the third direction and the fourth direction of the springs 17 and 19 and the first auxiliary wheel 11b and the second auxiliary wheel 12b, respectively; Is further provided. The first auxiliary wheel 11b and the second auxiliary wheel 12b are pressed against the hole wall (the inner peripheral surface 110c of the pipe 110) of the bore hole 100 by the urging forces of the springs 17 and 19, respectively.

  As a result, the first auxiliary wheel 11b and the second auxiliary wheel 12b move in the third direction or the fourth direction when passing through the unevenness or the step of the inner peripheral surface 110c of the pipe 110, and at this time, the first expansion / contraction amount Variations and differences occur in the movement amounts detected by the detection sensor 18 and the second expansion / contraction amount detection sensor 20. By correcting the amount of inclination of the main body 10 detected by the biaxial inclination sensor 32 when the fluctuation or difference of the movement amount as described above occurs, the inclination of the main body 10 due to the unevenness or step of the inner peripheral surface 110c of the pipe 110 is corrected. The influence on the amount can be eliminated, and the amount of inclination with higher accuracy can be detected.

  The inclinometer 101 further includes a magnetic sensor 31 that senses the approach of the main body 10 to a predetermined position in the bore hole 100, and a control device 50 that controls the operation of the first traveling wheel 11a and the second traveling wheel 12a. When the magnetic sensor 31 detects the approach of the main body 10 to a predetermined position, the control device 50 stops the first traveling wheel 11a and the second traveling wheel 12a. When the inclinometer 101 is inserted to a predetermined position of the borehole 100 and the amount of inclination is measured, the inclinometer 101 can be automatically installed at a predetermined position of the borehole 100. Therefore, when the inclinometer 101 is inserted to the deepest part 100b which is the end of the borehole 100, the inclinometer 101 is prevented from being damaged due to the collision with the end wall of the borehole 100, and the collision with the end wall of the borehole 100 is prevented. Therefore, it is not necessary to insert the inclinometer 101 carefully in order to avoid the problem, and the work time can be shortened.

  Further, in the inclinometer 101 of the embodiment, the biaxial tilt sensor 32 that detects the tilt angle with respect to the two axes is used to detect the tilt amount of the main body 10, but the present invention is not limited to this. . The sensor that detects the amount of inclination may be a three-axis inclination sensor that detects inclination angles about three axes. By using a triaxial tilt sensor, the tilt angle of the X axis direction center axis 10CLx and the Y axis direction center axis 10CLy with respect to the horizontal plane and the tilt angle in the rotation direction about the vertical axis are detected. can do.

  Further, the biaxial tilt sensor 32 in the inclinometer 101 of the embodiment detects the tilt angles of the X-axis direction central axis 10CLx and the Y-axis direction central axis 10CLy with respect to the horizontal plane, but is not limited to this. The biaxial tilt sensor 32 is any one of the tilt angle of the X-axis direction central axis 10CLx with respect to the horizontal plane, the tilt angle of the Y-axis direction central axis 10CLy with respect to the horizontal plane, and the tilt angle of the rotation direction about the vertical axis. One of them may be detected.

  In the embodiment, the magnetic sensor 31 and the magnet 112 are used to stop the motor 16 when the inclinometer 101 approaches the deepest part 100b of the borehole 100. However, the present invention is not limited to this. A magnetic type, inductive type, or capacitive type proximity sensor may be used instead of the magnetic sensor 31, and the motor 16 may be stopped by the control of the proximity sensor that senses the approach to the deepest portion 100b. Further, instead of the magnetic sensor 31 and the magnet 112, a laser distance meter and a laser reflector may be used, and the motor 16 may be stopped based on the distance from the laser reflector measured by the laser distance meter. . Further, instead of the magnetic sensor 31 and the magnet 112, an ultrasonic sensor, an ultrasonic transmitter, and an ultrasonic reflector are used, and the ultrasonic wave reflected by the ultrasonic reflector detected by the ultrasonic sensor is used. The motor 16 may be stopped based on the strength. Moreover, you may use the switch which will be in an ON or OFF state instead of the magnetic sensor 31 by being touched and pressed directly.

  Further, in the embodiment, the inclinometer 101 is installed in the bore hole 100 drilled in the horizontal direction, but is not limited to this, and may be installed in a vertical or oblique bore hole.

  DESCRIPTION OF SYMBOLS 10 Main body, 11a First traveling wheel (traveling means, rotating body), 11b First auxiliary wheel (second rotating body), 12a Second traveling wheel (traveling means, rotating body), 12b Second auxiliary wheel (second rotation) Body), 17, 19 spring (biasing member), 18 first expansion amount detection sensor (second movement amount detection means), 20 second expansion amount detection sensor (second movement amount detection means), 23, 25 Y-axis Rotation speed sensor (movement amount detection means), 24, 26 X-axis rotation speed sensor (movement amount detection means), 31 Magnetic sensor (approach detection sensor), 32 Biaxial inclination sensor (inclination amount detection means), 50 Control device ( Control means), 100 borehole (hole), 101 inclinometer, 110 pipe, 110c inner peripheral surface (hole wall).

Claims (7)

An inclinometer,
A body movable in the hole,
Traveling means for allowing the main body to self-travel by a spherical traveling wheel which is freely provided in the rotation direction and can be driven by a driving device;
A tilt amount detecting means for detecting a tilt amount of the main body;
A movement amount detecting means for detecting a movement amount of the main body by detecting a rotational movement amount of the spherical traveling wheel in two different directions ;
A plurality of inclination amount detection rotating bodies provided opposite to the traveling means and movable in a direction toward the traveling means and in a direction away from the traveling means;
A biasing member that biases the tilt amount detection rotating body in a direction away from the traveling means;
A second movement amount detection means for detecting a movement amount of the tilt amount detection rotating body in a direction toward the traveling means and in a direction away from the traveling means ;
The tilt detection rotary body, inclinometer that is pressed against the hole wall of the hole by the biasing force of the biasing member. Before Symbol tilt detection means includes a tilt sensor for detecting the inclination amount of the main body,
The inclination amount detection means is based on movement amounts of the plurality of inclination amount detection rotating bodies detected by the second movement amount detection means in a direction toward the traveling means and in a direction away from the traveling means. detecting a relative inclination of the body, based on the detected relative inclination amount, inclinometer according to claim 1 for correcting the tilt amount in which the tilt sensor detects. An inclinometer,
A body movable in the hole,
Traveling means for self-running the main body;
A tilt amount detecting means for detecting a tilt amount of the main body;
A movement amount detecting means for detecting a movement amount of the main body;
A plurality of inclination amount detection rotating bodies provided opposite to the traveling means and movable in a direction toward the traveling means and in a direction away from the traveling means;
A biasing member that biases the tilt amount detection rotating body in a direction away from the traveling means;
A second movement amount detection means for detecting a movement amount in a direction toward the traveling means and a direction away from the traveling means in the tilt amount detection rotating body;
The tilt amount detection rotating body is pressed against the hole wall of the hole by the biasing force of the biasing member,
The tilt amount detecting means includes a tilt sensor that detects the tilt amount of the main body,
The inclination amount detection means is based on movement amounts of the plurality of inclination amount detection rotating bodies detected by the second movement amount detection means in a direction toward the traveling means and in a direction away from the traveling means. An inclinometer that detects a relative tilt amount of the main body and corrects the tilt amount detected by the tilt sensor based on the detected relative tilt amount. A moving amount detection rotating body that rotates while contacting the hole wall of the hole as the main body moves,
The inclinometer according to claim 3 , wherein the movement amount detection means detects the movement amount of the main body by detecting a rotation movement amount of the movement amount detection rotating body. The movement amount detection rotating body is rotatable at least in a first direction along the axial direction of the hole and in a second direction perpendicular to the first direction,
The inclinometer according to claim 4 , wherein the movement amount detection unit detects a movement amount of the main body in the first direction and the second direction. The tilt amount detection means, the movement amount detecting means using the movement amount of the body that is detected, inclinometer according to any one of claims 2 to 5 for correcting a tilt amount of the tilt sensor detects . An proximity sensor for sensing the approach of the body to a predetermined position in the hole;
Control means for controlling the operation of the traveling means,
Wherein, inclinometer according to any one of claims 1 to 6, wherein the proximity detection sensor stops the traveling means and sensing the approach of the body to the predetermined position.

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