Method for measuring bending angle of pipe joint

Abstract

To provide a bending angle measurement method of a pipe joint capable of accurately and simply measuring a bending angle regardless of the bending direction of a pipe line.SOLUTION: A method for measuring the bending angle of a pipe joint comprises: a first measuring step in which a first azimuth angle θMH1 and a first inclination angle θMV1 of a first pipe body 1 are measured by a measuring instrument 4 equipped with an acceleration sensor for measuring the inclination of three mutually orthogonal axes with respect to the direction of gravitational acceleration and an angular velocity sensor for measuring the angle of rotation around each of the three axes; a second measuring step in which a second azimuth angle θMH2 and a second inclination angle θMV2 of a second pipe body 2 are respectively measured by the measuring instrument 4; and a calculation step for calculating a bending angle θ between the first pipe body 1 and the second pipe body 2 on the basis of the first azimuth angle θMH1, the first inclination angle θMV1, the second azimuth angle θMH2, and the second inclination angle θMV2.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] The present invention relates to a method for measuring a bend angle of a pipe joint. [Background technology]

[0002] For example, when joining pipes for water supply and sewerage, industrial water supply, agricultural water supply, etc., construction management methods and standards are established according to the pipe type to ensure that the joints are joined reliably without damaging them and to ensure the performance of the joints after joining. In particular, in recent years, there has been an increase in demand for GX-type ductile iron pipes and NS pipes (E-type pipes), which can be laid in narrow excavation widths, due to the need for earthquake resistance, but as part of construction management to build high-quality pipelines, it is necessary to check the joint angle when joining.

[0003] One method for checking this joint angle is to measure the dimensions a1 and a2 between the annular white line 21 formed on the end of the insertion side pipe 20 and the socket end face of the receiving side pipe 22 on the outside and inside of the bend of the joint, respectively, as shown in Figure 16, and calculate the bending angle θ of the joint based on the following formula (1). The allowable bending angle is managed by calculating the bending angle θ in this way. θ=tan -1 ((a1-a2) / D) (1)

[0004] In measuring this bending angle, for example, as shown in Patent Document 1 below, a method has been proposed in which an image of the joint is taken from above with an imaging device and edges are extracted from the image to determine the bending angle (see paragraph 0081, Figure 9(b) of Patent Document 1, etc.). [Prior art documents] [Patent documents]

[0005] [Patent Document 1] Patent No. 6178692 Summary of the Invention [Problem to be solved by the invention]

[0006] As shown in FIG. 16, the method of calculating the bending angle θ of the joint from the dimensional difference between the white line 21 and the socket end face requires converting the measured value into a bending angle based on the above formula (1), but the calculation work at the construction site is troublesome, which places a burden on the worker and reduces construction efficiency. In addition, the measurement work of the dimensions is prone to errors depending on the worker's skill level and the measurement environment. In addition, in order to calculate the bending in the vertical direction, it is necessary to measure the dimensions at the bottom of the pipe, which can be difficult to do. In addition, the measurement interval is often rough, and it is sometimes difficult to determine whether the angle management is performed accurately. In addition, the configuration of Patent Document 1 can calculate the bending angle in a horizontal plane, but cannot calculate the bending angle in a vertical plane.

[0007] Therefore, an object of the present invention is to measure the bending angle accurately and easily regardless of the bending direction of the pipeline. [Means for solving the problem]

[0008] In order to solve the above problems, the present invention provides: A method for measuring a bend angle of a pipe joint, the method comprising the steps of: a first measuring step of setting a reference jig on the first tubular body, and then placing a measuring device including an acceleration sensor for measuring an inclination of the first tubular body relative to the direction of gravitational acceleration along three mutually perpendicular axes and an angular velocity sensor for measuring a rotation angle around each of the three axes at a predetermined position on the reference jig based on measurement results of the sensors, and measuring with the measuring device a first orientation angle, which is an angle between a predetermined reference line in a horizontal plane and an axial direction of the first tubular body, and a first inclination angle, which is an inclination of the measuring device from the horizontal plane within a vertical plane; a second measuring step of setting the reference jig on the second tubular body, placing the measuring device at the predetermined position on the reference jig based on the measurement results of each of the sensors, and measuring with the measuring device a second azimuth angle, which is the angle between the reference line and the axial direction of the second tubular body in a horizontal plane, and a second tilt angle, which is the tilt of the measuring device from the horizontal plane in a vertical plane; a calculation step of calculating a bending angle between the first tube and the second tube from the first azimuth angle and the first tilt angle measured in the first measurement step, and the second azimuth angle and the second tilt angle measured in the second measurement step; The present invention provides a method for measuring a bending angle of a pipe joint, comprising the steps of:

[0009] In this way, the bending angle can be accurately and easily measured from the first azimuth angle and the first tilt angle, and the second azimuth angle and the second tilt angle measured for each pipe using each sensor (6-axis sensor) of the measuring device, regardless of the bending direction of the pipe. In addition, since the measurement work at the bottom of the pipe is not required, the work is simplified and errors due to the skill level of the operator and the measurement environment can be reduced.

[0010] In the above configuration, It is preferable that the measuring device has a global positioning system function and is capable of obtaining position information of the positions at which the first measuring step and the second measuring step are performed.

[0011] In this way, two-dimensional map information of the pipeline can be automatically created using an information processing device such as a computer based on the position information of each pipe body stored in the measuring device.

[0012] In all of the above configurations: It is preferable that the measuring instrument is equipped with a camera and a display for displaying an image taken by the camera, and a reference mark is displayed at a predetermined position on the display, and in the first measurement step and the second measurement step, the measuring instrument is swung within a vertical plane including the tube axis direction from a reference position of the measuring instrument in which the camera is facing in a direction parallel to the tube axis direction of the tube body while being placed at the predetermined position on the reference jig, and the swing angle from the reference position when the reference mark coincides with a predetermined tube position of the tube body displayed on the display, and the swing angle from the reference position when the reference mark coincides with the ground surface directly above the predetermined tube position displayed on the display are recorded, and the depth from the ground surface to the predetermined pipe position is calculated from both swing angles and the height of the camera from the surface of the tube body.

[0013] In this way, by using an information processing device such as a computer, it is possible to automatically create a plan piping diagram and a longitudinal piping diagram including pipeline depth information based on the depth (soil covering) information of each pipe body stored in the measuring device. Moreover, since there is no human error such as recording mistakes by workers on-site or drawing mistakes when drawing based on those records, which can occur when creating a piping diagram using CAD or the like, the accuracy of the piping diagram can be ensured.

[0014] In all of the above configurations: Preferably, the measuring instrument is a smart device.

[0015] In this way, the measurement work can be smoothly performed using a smart device such as a smartphone or tablet terminal that can be easily obtained. In addition, the measurement results can be recorded at the same time using the data storage function of the smart device. Furthermore, the pass / fail judgment of the construction can be smoothly performed based on the calculated bending angle. Effect of the Invention

[0016] In this invention, a measuring device (six-axis sensor) equipped with an acceleration sensor for measuring the inclination of three mutually orthogonal axes relative to the direction of gravitational acceleration and an angular velocity sensor for measuring the rotation angle around each of the three axes is used to measure the first azimuth angle and first inclination angle of the first tube, and the second azimuth angle and second inclination angle of the second tube, and calculate the bending angle between the first tube and the second tube from these angles, so that the bending angle can be measured accurately and easily regardless of the bending direction of the tube. In addition, since the measurement work at the bottom of the tube is not required, the work is simplified and errors due to the skill level of the operator and the measurement environment can be reduced. [Brief description of the drawings]

[0017] [Figure 1] FIG. 2 is a flow chart showing a first embodiment of a method for measuring a bending angle of a pipe joint according to the present invention. [Diagram 2] 2 shows an example of a reference jig used in the bending angle measurement method shown in FIG. 1, where (a) is a plan view, (b) is a front view, and (c) is a perspective view showing a state in which a measuring device is placed on the reference jig. [Diagram 3] A diagram showing the detection direction of each sensor built into the measuring device [Figure 4] FIG. 13 is a perspective view showing a state in which a measuring device is placed on a first tubular body. [Diagram 5] FIG. 13 is a perspective view showing a state in which a measuring device is placed on the second tube. [Figure 6] Plan view showing an example of measuring azimuth angle [Figure 7] Side view showing an example of measuring the inclination angle [Figure 8] A diagram showing the calculation flow of the bending angle [Figure 9] FIG. 11 is a flow chart showing a second embodiment of a method for measuring a bend angle of a pipe joint according to the present invention. [Figure 10] 10A and 10B show an example of a state in which a measuring device is placed on a reference jig used in a second embodiment, in which (a) is a front view, (b) is a side view of the measuring device in an upright state (reference position), and (c) is a side view of the measuring device in a state in which it is swung downward. [Figure 11]1A is a side view showing a measurement state of the first pipe body (when the pipe body is horizontal), in which (a) is a state in which the first direction angle and the first inclination angle are measured and position information is acquired, (b) is a state in which the measurement device (camera) is directed toward the pipe measurement point, and (c) is a state in which the measurement device (camera) is directed toward the ground surface measurement point. [Figure 12] An example of an image shown on the display in the state of FIG. 11(b) [Figure 13] An example of an image shown on the display in the state of FIG. 11(c) [Figure 14] FIG. 1 is a side view showing a measurement state of a first pipe body (when the pipe body is inclined downward), in which (a) is a state in which a first direction angle and a first inclination angle are measured and position information is acquired, (b) is a state in which a measurement device (camera) is directed toward a pipe measurement point, and (c) is a state in which a measurement device (camera) is directed toward a ground surface measurement point. [Figure 15] FIG. 1 is a side view showing a measurement state of a first pipe body (when the pipe body is inclined upward), in which (a) is a state in which a first direction angle and a first inclination angle are measured and position information is acquired, (b) is a state in which a measurement device (camera) is directed toward a pipe measurement point, and (c) is a state in which a measurement device (camera) is directed toward a ground surface measurement point. [Figure 16] Plan view showing a conventional bending angle calculation procedure DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0018] A first embodiment of a method for measuring a bend angle of a pipe joint according to the present invention (hereinafter, abbreviated as a bend angle measuring method) is a method for measuring a bend angle θ between a first pipe body 1 and a second pipe body 2 that are connected. As shown in FIG. 1, this measuring method is a method for measuring a first position angle θ of the first pipe body 1. MH1 and the first inclination angle θ MV1 A first measurement step (step S1 in FIG. 1) for measuring the second azimuth angle θ MH2 and the second inclination angle θ MV2 A second measurement step (step S2 in FIG. 1) for measuring a first phase angle θ MH1 and the first inclination angle θ MV1 And the second azimuth angle θ MH2 and the second inclination angle θ MV2and a calculation step (step S3 in FIG. 1) of calculating the bending angle θ of the first tubular body 1 and the second tubular body 2 from the above.

[0019] 2(a) and 2(b) show an example of the reference jig 3 used in the first embodiment, and FIG. 2(c) shows a state in which the measuring device 4 is placed on the reference jig 3. This reference jig 3 has a reference part 5 on which the measuring device 4 is placed, and a leg part 6 that is in an inverted V shape in front view and is provided on the lower surface side of the reference part 5. By providing this leg part 6 so as to straddle each of the tubes 1 and 2, the measuring device 4 can be stably set on each of the tubes 1 and 2 by the reference jig 3.

[0020] As shown in FIG. 2(a), by marking the upper surface of the reference part 5 with a mark 7 as a guide for the position when placing the measuring device 4, the measuring device 4 can be easily positioned. Furthermore, by providing a non-slip member such as a sheet-like rubber on the upper surface of the reference part 5 or the lower surface of the leg part 6, the measuring device 4 and the reference jig 3 can be stably held, and the measurement accuracy can be improved. Although the material of the reference jig 3 is not particularly limited, resin can be used because no particularly large force acts on the reference jig 3 during use. In this way, the weight of the reference jig 3 can be reduced, and it can be easily installed and transported.

[0021] As shown in FIG. 3, the measuring device 4 has a function as a six-axis sensor including an acceleration sensor that measures the inclination of three mutually orthogonal axes with respect to the direction of gravitational acceleration, and an angular velocity sensor that measures the rotation angle around each of the three axes. Here, the axis perpendicular to the long side of the measuring device 4 is called the X-axis, the axis perpendicular to the short side of the measuring device 4 is called the Y-axis, and the axis perpendicular to the display of the measuring device 4 is called the Z-axis, and the rotation angle around the X-axis is called the pitch angle, the rotation angle around the Y-axis is called the roll angle, and the rotation angle around the Z-axis is called the yaw angle. In this embodiment, a smart device (hereinafter, the same reference numeral as the measuring device 4 is used) is used as the measuring device 4. Specifically, the smart device 4 is a smartphone. Instead of using the smart device 4 as the measuring device 4, a dedicated device having a function as a six-axis sensor can also be used.

[0022] In the first measurement step, as shown in FIG. 4, the reference jig 3 is set on the first tube 1, and the smart device 4 is placed in a predetermined position of the reference jig 3 (in this embodiment, a mark 7 on the reference part 5). Then, information such as the type (joint type) and nominal diameter of the tubes 1 and 2 is input to the smart device 4, and the position of the reference jig 3 is finely adjusted so that the smart device 4 is located at the top of the first tube 1 while monitoring the roll angle value of the angular velocity sensor. At this time, the long side of the smart device 4 is parallel to the tube axis direction x1 of the first tube 1. Note that the position of the reference jig 3 can also be finely adjusted by simultaneously monitoring the X-axis or Z-axis value of the acceleration sensor in addition to the roll angle value of the angular velocity sensor.

[0023] When the smart device 4 is adjusted to be located at the top of the first tubular body 1, as shown in FIG. 6 and FIG. 7, a first angle θ 1 is an angle between a predetermined reference line a in a horizontal plane and an axial direction x1 of the first tubular body 1. MH1 (0.5 degrees in this embodiment), and a first tilt angle θ which is the tilt of the smart device 4 from the horizontal plane h in the vertical plane. MV1 (In this embodiment, 0.5 degrees) are measured.MH1 , θ MH2 The reference line a is a line that is uniquely determined within a plane related to the measurement, and the position of this reference line a does not change even if the smart device 4 is moved.

[0024] In the second measurement step, as shown in FIG. 5, the reference jig 3 is set on the second tubular body 2, and the smart device 4 is placed in the predetermined position of the reference jig 3. Then, while monitoring the roll angle value of the angular velocity sensor, the position of the reference jig 3 is finely adjusted so that the smart device 4 is located at the top of the second tubular body 2. At this time, the long side of the smart device 4 is parallel to the tube axis direction x2 of the second tubular body 2. As in the first measurement step, the position of the reference jig 3 can also be finely adjusted by simultaneously monitoring the X-axis or Z-axis value of the acceleration sensor in addition to the roll angle value of the angular velocity sensor.

[0025] When the smart device 4 is adjusted to be located at the top of the second tube 2 on the second tube 2, as shown in Figs. 6 and 7, a second azimuth angle θ, which is an angle between a predetermined reference line a in a horizontal plane and an axis direction x2 of the second tube 2, is set. MH2 (1.5 degrees in this embodiment), and a second tilt angle θ , which is the tilt of the smart device 4 from the horizontal plane h in the vertical plane. MV2 (In this embodiment, 2.5 degrees) are measured.

[0026] first azimuthal angle θ MH1 and the second azimuth angle θ MH2 is the first tilt angle θ from the change in yaw angle from the reference line a MV1 and the first inclination angle θ MV2 can be measured from the change in pitch angle from the horizontal plane h, but in addition, the change in the acceleration sensor value is also taken into account, and each azimuth angle θ MH1 , θ MH2 and each inclination angle θ MV1 , θ MV2 It may also be possible to measure.

[0027] In the calculation step, the first position angle θMH1 and the first inclination angle θ MV1 , and the second azimuth angle θ measured in the second measurement step MH2 and the second inclination angle θ MV2 From this, the bending angle θ between the first tubular body 1 and the second tubular body 2 is calculated. This calculation is performed based on the calculation flow shown in FIG.

[0028] In this calculation flow, first, the first position angle θ of the first tubular body 1 measured in the first measurement step and the second measurement step is calculated. MH1 and the first inclination angle θ MV1 , and the second azimuth angle θ of the second tube 2 MH2 and the second inclination angle θ MV2 From step S11 in FIG. 8, the difference angle θ in the horizontal plane is calculated based on the following equations (2) and (3). H and the difference angle θ in the vertical plane V In the case of the above measurement example, the difference angle θ H = |0.5°-1.5°|=1°, the difference angle θ in the vertical plane V =|0.5°-2.5°|=2°. In other words, in this case, with respect to the first pipe 1 as the reference, the second pipe 2 is joined in a state where it is bent 1° counterclockwise in the horizontal plane and 2° downward in the vertical plane. θ H =|θ MH1 -θ MH2 | (2) θ V =|θ MV1 -θ MV2 | (3)

[0029] Furthermore, the difference angle θ in the horizontal plane H and the difference angle θ in the vertical plane V Then, the bending angle θ is calculated based on the following formula (4) (step S13 in FIG. 8). In the above measurement example, θ=cos -1 (cos1° cos2°) = 2.24°. The difference angle θ in the horizontal plane calculated above H , the difference angle θ in the vertical plane VThe connection condition is judged to be good when all of the bending angles θ are below the allowable bending angle determined based on information such as the joint type and nominal diameter entered before measurement began, and the connection condition is judged to be poor when any one of the bending angles is greater than the allowable bending angle. θ=cos -1 (cosθ H cosθ V ) (4)

[0030] The bending angle measuring method described above can be widely applied regardless of the joint type and nominal diameter of the pipes 1 and 2.

[0031] According to the above bending angle measuring method, a measuring device 4 (smart device 4) (6-axis sensor) including an acceleration sensor for measuring the inclination with respect to the direction of gravitational acceleration of three mutually orthogonal axes and an angular velocity sensor for measuring the rotation angle around each of the three axes is used to measure a first direction angle θ of the first tubular body 1. MH1 and the first inclination angle θ MV1 , and the second azimuth angle θ of the second tubular body 2 MH2 and the second inclination angle θ MV2 and calculate the bending angle θ between the first tubular body 1 and the second tubular body 2 from these angles, so that the bending angle θ can be measured accurately and easily regardless of the bending direction of the pipe. In addition, since the measurement work at the bottom of the pipe is not required, the work is simplified and errors due to the skill level of the operator, the measurement environment, etc. can be reduced.

[0032] In addition, by using a readily available smart device 4 as the measuring device 4, the measurement work can be performed smoothly. In addition, the data storage function of the smart device 4 allows the measurement results to be recorded at the same time. Furthermore, the pass / fail judgment of the construction can be performed smoothly based on the calculated bending angle θ. Note that, although a smartphone is used as the smart device 4 in this embodiment, other types of smart devices 4 such as a tablet terminal can be used instead.

[0033] A second embodiment of the bending angle measuring method according to the present invention will be described. As shown in Fig. 9, the bending angle measuring method according to the second embodiment mainly comprises a first measuring step (step S21 in Fig. 9), a second measuring step (step S22 in Fig. 9), and a calculation step (step S23 in Fig. 9), and is common to the bending angle measuring method according to the first embodiment in that it uses a measuring device 4 equipped with an acceleration sensor that measures the inclination with respect to the direction of gravitational acceleration of three mutually orthogonal axes, and an angular velocity sensor that measures the rotation angle around each of the three axes, but the contents of each step are different.

[0034] Specifically, in the first measurement step and the second measurement step, the first phase angle θ MH1 and the first inclination angle θ MV1 , and the second azimuth angle θ MH2 and the second inclination angle θ MV2 In addition to the above measurements, the measuring device 4 has a global positioning system (hereinafter abbreviated as GPS) function to obtain position information of the implementation position of each measurement step, and each sensor of the measuring device 4 makes it possible to calculate the installation depth L of each pipe body 1, 2. The measuring device 4 used here is a smart device (hereinafter, the same reference numeral as the measuring device 4 will be used) as in the first embodiment. This smart device 4 is specifically a smartphone, and has a camera 8 on its back side and a display 9 on its front side.

[0035] This smart device 4 has an augmented reality function (AR function) that, when an image captured by the camera 8 is displayed on the display 9, displays a horizontal guideline (hereinafter, given the same reference number as the reference display 10) superimposed on the display (approximately at the center in the vertical direction of the display 9) as a reference display 10. When the orientation of the camera 8 is moved, the image captured by the camera 8 also moves accordingly, but the position of the horizontal guideline 10 is fixed within the display.

[0036] 10(a) to (c) show an example of a state in which a smart device 4 is placed on a reference jig 3 used in the bending angle measurement method according to the second embodiment. This reference jig 3 has a base 12 with an inverted V-shaped recess 11 formed in the lower part when viewed from the front, an arm 13 extending vertically upward from the base 12, and a reference part 5 provided on the upper end of the arm 13. The smart device 4 is placed at a predetermined position on the reference part 5 so that the camera 8 faces the seam side of the tubes 1, 2 and the display 9 faces the worker.

[0037] The arm 13 has an extension function, and can change the height of the reference part 5 relative to the base 12 as necessary. The arm 13 is provided with a scale (not shown) so that the height from the tube top to the camera 8 of the smart device 4 can be confirmed when the arm 13 is extended or retracted. The reference part 5 has a swing mechanism that can swing in a plane including the tube axis direction of each tube 1, 2. This swing mechanism has a notch mechanism that lightly fixes the reference part 5 to the arm 13 when the orientation of the smart device 4 placed on the reference part 5 is parallel to the tube axis direction. In the second embodiment, the orientation of the reference part 5 (smart device 4) when the orientation of the smart device 4 placed on the reference part 5 (the orientation of the camera 8) is parallel to the tube axis direction is referred to as the reference orientation.

[0038] In addition, since the reference jig 3 in the second embodiment has an inverted V-shaped recess 11, this reference jig 3 can be applied regardless of the nominal diameter of each pipe body 1, 2, but the recess 11 can also be made arc-shaped with a curvature corresponding to the nominal diameter of each pipe body 1, 2.

[0039] (a) When the tube axis is horizontal In the first measurement step, as shown in FIG. 11(a), first, the reference jig 3 is set on the first pipe 1 (in this embodiment, near the receiving port). Then, information such as the type (joint type) of the pipes 1 and 2, the nominal diameter, and the height L1 from the pipe top to the camera 8 of the smart device 4 is input into the smart device 4, and the smart device 4 is placed on the reference part 5 of the reference jig 3 so that it is in the reference posture and located at the top of the first pipe 1. In this state, the first position angle θ of the first pipe 1 is measured by the acceleration sensor and angular velocity sensor mounted on the smart device 4. MH1 and the first inclination angle θ MV1 In addition to measuring the position, the GPS function of the smart device 4 also obtains location information of the location where the first measurement step is performed.

[0040] Next, as shown in Fig. 11(b), the reference part 5 is swung to tilt the smart device 4 downward. Then, as shown in Fig. 12, a predetermined pipe position (in this embodiment, the joint between the two pipe bodies 1 and 2; hereinafter, referred to as pipe measurement point P1) is aligned with the position of a horizontal guideline 10 displayed at a predetermined position on the display 9 of the smart device 4 (in this embodiment, approximately the middle position in the vertical direction of the display 9), and the downward tilt angle of the smart device 4 at this time (tilt angle θ1 from the horizontal direction) is measured by each sensor of the smart device 4.

[0041] 11(c), the reference part 5 is swung to tilt the smart device 4 upward. Then, as shown in FIG. 13, the position of the ground surface directly above the pipe measurement point P1 (hereinafter referred to as ground surface measurement point P2) is aligned with the position of the horizontal guide line 10 displayed at a predetermined position on the display 9 of the smart device 4, and the upward tilt angle of the smart device 4 at this time (tilt angle θ2 from the horizontal direction) is measured by each sensor of the smart device 4.

[0042] The depth L from the ground surface measurement point P2 to the pipe measurement point P1 is derived as follows: First, the horizontal distance L2 from the camera 8 to the pipe measurement point P1 is calculated based on the height L1 from the pipe top to the camera 8 of the smart device 4 and the downward tilt angle θ1 of the smart device 4, according to the following equation (5). L2 = L1 / tan θ1 (5)

[0043] Next, the height L3 from the camera 8 to the ground surface measurement point P2 is calculated based on the horizontal distance L2 from the camera 8 to the pipe measurement point P1 and the upward tilt angle θ2 of the smart device 4, according to the following equation (6). L3 = L2 × tan θ2 (6)

[0044] Then, from the height L1 from the pipe top to the camera 8 and the height L3 from the camera 8 to the ground surface measurement point P2, the depth L from the ground surface measurement point P2 to the pipe measurement point P1 is calculated based on the following equation (7). L=L1+L3 (7)

[0045] In the second measurement step, similarly to the first measurement step, the second azimuth angle θ MH2 and the second inclination angle θ MV2 After acquiring the position information of the implementation position of the second measurement step, the smart device 4 is swung up and down to calculate the depth L from the ground surface measurement point P2 to the pipe measurement point P1. Note that in the calculation step, the first direction angle θ MH1 and the first inclination angle θ MV1 , and the second azimuth angle θ MH2 and the second inclination angle θ MV2 The means for calculating the bending angle from the above is the same as in the first embodiment, so the explanation will be omitted.

[0046] (b) When the tube axis is tilted downward In the first measurement step, as shown in FIG. 14(a), first, the reference jig 3 is set on the first pipe 1 (in this embodiment, near the receiving port). Then, information such as the type (joint type) of the pipes 1 and 2, the nominal diameter, and the height L1 from the pipe top to the camera 8 of the smart device 4 is input into the smart device 4, and the smart device 4 is placed on the reference part 5 of the reference jig 3 so that it is in the reference posture and located at the top of the first pipe 1. In this state, the first position angle θ of the first pipe 1 is measured by the acceleration sensor and angular velocity sensor mounted on the smart device 4. MH1 and the first inclination angle θ MV1 In addition, the position information of the position where the first measurement step is performed is also obtained by the GPS function of the smart device 4. If the tube axis is tilted downward, the tilt angle θ A The value of this inclination angle θ A The value of the first inclination angle θ MV1 corresponds to the value of

[0047] 14(b), the smart device 4 is tilted downward by swinging the reference part 5. Then, the horizontal guide line 10 displayed at a predetermined position on the display 9 of the smart device 4 is aligned with the position of the pipe measurement point P1, and the downward tilt angle of the smart device 4 (tilt angle θ1 from the reference position) is measured.

[0048] 14(c), the reference part 5 is swung to tilt the smart device 4 upward. Then, the horizontal guide line 10 displayed at a predetermined position on the display 9 of the smart device 4 is aligned with the position of the ground surface measurement point P2, and the upward tilt angle of the smart device 4 at this time (tilt angle θ from the reference attitude) is measured by each sensor of the smart device 4. A +θ3) where the angle θ A is the angle from the reference position to the horizontal direction, and angle θ3 is the upward tilt angle from the horizontal direction.

[0049] The depth L from the ground surface measurement point P2 to the pipe measurement point P1 is derived as follows. First, the height L1 from the pipe top to the camera 8 of the smart device 4 and the inclination angle θ of the pipe axis are calculated. A From the downward tilt angle θ1 of the smart device 4, the length L of the perpendicular line of the triangle formed by the tilt of the tube axis is calculated based on the following equations (8) to (10). A , the distance L along the pipe axis from camera 8 to pipe measurement point P1 B Then, a vertical height L1' corresponding to the height L1 from the top of the pipe to the camera 8 of the smart device 4 is calculated. L A = L1 × tan θ A (8) L B = L1 / tan θ1(9) L1'=L1 / cosθ A (10)

[0050] Next, the length of the perpendicular line of the triangle formed by the calculated inclination of the tube axis, L A , the distance L along the pipe axis from camera 8 to pipe measurement point P1 B Based on the following equations (11) and (12), the vertical distance L1'' between the extension line of the orientation of the smart device 4 in the reference posture directly above the pipe measurement point P1 and its extension line in the horizontal direction, and the horizontal distance L2 from the camera 8 to the pipe measurement point P1 are calculated. L1''=(L B -L A ) × sinθ A (11) L2=(L B -L A ) × cosθ A (12)

[0051] Furthermore, based on the calculated horizontal distance L2 from the camera 8 to the pipe measurement point P1 and the upward inclination angle θ3 of the camera 8 from the horizontal direction, the height L1''' from the horizontal extension line passing through the smart device 4 directly above the pipe measurement point P1 to the ground surface measurement point P2 is calculated based on the following equation (13). L1'''=L2×tan θ3(13)

[0052] Then, the depth L from the ground surface measurement point P2 to the pipe measurement point P1 is calculated based on the vertical length L1' corresponding to the height L1 from the pipe top to the camera 8, the vertical distance L1'' between the extension line of the orientation of the smart device 4 in the reference posture directly above the pipe measurement point P1 and the horizontal extension line passing through the smart device 4, and the height L1''' from the horizontal extension line passing through the smart device 4 directly above the pipe measurement point P1 to the ground surface measurement point P2, based on the following equation (14). L=L1'+L1''+L1'' (14)

[0053] The second measurement step and the calculation step are the same as those described above, and therefore the explanation will be omitted.

[0054] (c) When the tube axis is tilted upward In the first measurement step, as shown in FIG. 15(a), first, the reference jig 3 is set on the first pipe 1 (in this embodiment, near the receiving port). Then, information such as the type (joint type) of the pipes 1 and 2, the nominal diameter, and the height L1 from the pipe top to the camera 8 of the smart device 4 is input into the smart device 4, and the smart device 4 is placed on the reference part 5 of the reference jig 3 so that it is in the reference posture and located at the top of the first pipe 1. In this state, the first position angle θ of the first pipe 1 is measured by the acceleration sensor and angular velocity sensor mounted on the smart device 4. MH1 and the first inclination angle θ MV1 In addition, the position information of the implementation position of the first measurement step is also obtained by the GPS function of the smart device 4. If the tube axis is tilted upward, the tilt angle θ A The value of this inclination angle θ A The value of the first inclination angle θ MV1 corresponds to the value of

[0055] Next, as shown in FIG. 15(b), the reference part 5 is swung to tilt the smart device 4 downward. Then, the horizontal guide line 10 displayed at a predetermined position on the display 9 of the smart device 4 is aligned with the position of the pipe measuring point P1, and the downward tilt angle of the smart device 4 (tilt angle θ1 from the reference position) is measured. This tilt angle θ1 is the tilt angle θ from the reference position of the smart device 4 to the horizontal direction. A and the downward inclination angle θ from the horizontal direction toward pipe measuring point P1. B Sum of (θ1=θ A +θ B ).

[0056] 15(c), the smart device 4 is tilted upward by swinging the reference part 5. Then, the horizontal guide line 10 displayed at a predetermined position on the display 9 of the smart device 4 is aligned with the position of the ground surface measurement point P2, and the upward tilt angle of the smart device 4 at this time (tilt angle θ3 from the horizontal direction) is measured by each sensor of the smart device 4.

[0057] The depth L from the ground surface measurement point P2 to the pipe measurement point P1 is derived as follows. First, the distance L from the camera 8 to the pipe measurement point P1 is calculated based on the height L1 from the pipe top to the camera 8 of the smart device 4 and the downward tilt angle θ1 of the smart device 4, based on the following equation (15). A is calculated. L A = L1 / sinθ1(15)

[0058] Next, the calculated distance L from camera 8 to pipe measurement point P1 A Based on the following equation (16), the length of the perpendicular line of a triangle with the horizontal line passing through the height of camera 8 as the base, the line connecting camera 8 and pipe measurement point P1 as the hypotenuse, and the vertical line passing through pipe measurement point P1 as the perpendicular line (height L1' from pipe measurement point P1 directly above it to the horizontal extension line passing through smart device 4) is calculated. L1'=L A ×sinθ B (16)

[0059] Here, since the length L2 of the base can be expressed by the following equation (17), equation (16) can be transformed into the following equation (18). L2=L A ×cosθ B (17) L1'=(L2 / cosθ B ) × sinθ B =L2×tanθ B (18)

[0060] Furthermore, based on the length L2 of the base of the above triangle and the upward inclination angle θ3 of the smart device 4 from the horizontal direction, the height L1'' from the horizontal extension line passing through the smart device 4 directly above the pipe measurement point P1 to the ground surface measurement point P2 is calculated based on the following equation (19). L1'' = L2 × tan θ3 (19)

[0061] Then, from the height L1' to a horizontal extension line passing through the smart device 4 directly above the pipe measurement point P1, and the height L1'' from the horizontal extension line passing through the smart device 4 directly above the pipe measurement point P1 to the ground surface measurement point P2, the depth L from the ground surface measurement point P2 to the pipe measurement point P1 is calculated based on the following equation (20). L=L1'+L1'' (20)

[0062] The second measurement step and the calculation step are the same as those described above, and therefore the explanation will be omitted.

[0063] In the above, the procedure for calculating the depth L from the ground surface measurement point P2 to the pipe measurement point P1 was explained separately for the cases where the pipe bodies 1 and 2 are horizontal and where they are inclined downward or upward, but workers can perform work on site without being aware of the inclination of the pipe bodies 1 and 2.

[0064] In addition, the position information of the pipes 1 and 2 obtained by the GPS function is near the receiving ports of the pipes 1 and 2, whereas the depth information of the pipes 1 and 2 is near the insertion ports of the same pipes 1 and 2. Therefore, it is preferable to take this discrepancy into consideration when performing 3D mapping.

[0065] According to the bending angle measuring method of the second embodiment, two-dimensional map information of the pipeline can be automatically created using an information processing device such as a computer based on the position information of each pipe body 1, 2 stored in the smart device 4, and a plan piping diagram and a longitudinal piping diagram including the depth information of the pipeline can be automatically created based on the depth (earth covering) information of each pipe body 1, 2 stored in the smart device 4. Moreover, since there is no human error such as recording mistakes by an operator on-site or drawing mistakes when drawing based on the records, which may occur when creating a piping diagram using CAD or the like, the accuracy of the piping diagram can be ensured.

[0066] In addition, the bending angle measurement method according to the second embodiment utilizes an AR function that displays an image captured by the camera 8 of the smart device 4 on the display 9 and displays a reference horizontal guideline 10 within the display to adjust the angle of the smart device 4 by swinging it, thereby enabling the angle measurement task using the smart device 4 to be performed smoothly.

[0067] In addition, in the bending angle measurement method of the second embodiment, a reference jig 3 is used in which the reference part 5 has a swing function that allows it to swing within a plane including the tube axial direction of each tube body 1, 2. Therefore, the angle of the smart device 4 provided on this reference part 5 can be easily adjusted, and accuracy in measuring the swing angle when swinging this smart device 4 can be ensured.

[0068] The embodiments disclosed herein are illustrative in all respects and should not be considered as limiting. Therefore, the scope of the present invention is defined by the claims, not by the above description, and is intended to include the meaning equivalent to the claims and all modifications. [Explanation of symbols]

[0069] 1 First pipe 2 Second pipe body 3. Reference fixture 4. Measuring equipment (smart devices) 5 Reference part 6 legs 7 Landmarks 8. Camera 9. Display 10 Reference mark (horizontal guideline) 11 Recess 12 Base 13 Arm section θ bending angle θ MH1 first azimuthal angle θ MV1 First inclination angle θ MH2 second azimuth θ MV2 Second angle of inclination a Reference line h horizontal plane x1 (of the first tube) tube axis direction x2 (of the second tube) tube axis direction θ H Difference angle (in the horizontal plane) θ V Difference angle (in a vertical plane) θ A Tilt angle (of tube axis) θ1, θ2, θ3 (measurement equipment) tilt angles L Depth L1, L1', L1'', L1'''', L3 height L2 horizontal distance P1 pipe station P2 Ground surface station

Claims

1. A method for measuring a bend angle of a pipe joint, which measures a bend angle (θ) between a first pipe body (1) and a second pipe body (2) that are connected, comprising the steps of: A reference jig (3) is set on the first tubular body (1), and a measuring device (4) including an acceleration sensor for measuring the inclination of three mutually perpendicular axes with respect to the direction of gravitational acceleration and an angular velocity sensor for measuring the rotation angle around each of the three axes is placed at a predetermined position on the reference jig (3) based on the measurement results of each of the sensors. The measuring device (4) measures the relationship between a predetermined reference line (a) in a horizontal plane and the axial direction (x) of the first tubular body (1). １ ) is the first phase angle (θ ＭＨ１ ), and a first inclination angle (θ ＭＶ１ ) a first measuring step of measuring each of the After the reference jig (3) is set on the second tubular body (2), the measuring device (4) is placed at the predetermined position of the reference jig (3) based on the measurement results of each of the sensors, and the reference line (a) in a horizontal plane and the tube axis direction (x ２ ) is the second azimuth angle (θ ＭＨ２ ), and a second inclination angle (θ ＭＶ２ ) a second measuring step of measuring each of the The first position angle (θ ＭＨ１ ) and the first tilt angle (θ ＭＶ１ ), and the second azimuth angle (θ ＭＨ２ ) and the second tilt angle (θ ＭＶ２ A calculation step of calculating a bending angle (θ) between the first tube (1) and the second tube (2) from the above-mentioned A method for measuring a bend angle of a pipe joint, comprising:

2. The method for measuring a bend angle of a pipe joint according to claim 1, wherein the measuring device (4) has a global positioning system function and is capable of obtaining position information of the positions where the first measuring process and the second measuring process are performed.

3. The measuring device (4) includes a camera (8) and a display (9) for displaying an image captured by the camera (8), and a reference display (10) is displayed at a predetermined position on the display (9). In the first measurement step and the second measurement step, the measuring device (4) is swung in a vertical plane including the tube axis direction while being placed at the predetermined position on the reference jig (3) from a reference position of the measuring device (4) in which the camera (8) is oriented in a direction parallel to the tube axis direction of the tube bodies (1, 2). a swing angle from the reference posture when the reference indication (10) coincides with a predetermined pipe position of the pipe body (1, 2) displayed on the display (9) and a swing angle from the reference posture when the reference indication (10) coincides with the ground surface directly above the predetermined pipe position displayed on the display (9), and a depth (L) from the ground surface to the predetermined pipe position is calculated from both swing angles and the height of the camera (8) from the surface of the pipe body (1, 2).

4. The method for measuring a bend angle of a pipe joint according to any one of claims 1 to 3, wherein the measuring instrument (4) is a smart device (4).

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