Measurement device and measurement method

Abstract

A measurement device (20) comprises: a conduit opening insertion part (21) having a shape that allows the outer diameter thereof to fit the inner surface of a conduit (11) and the inner diameter thereof to fit a probe (12); a support column (22) having a lower portion that is installed inside a manhole (10) and an upper portion that is installed outside the manhole (10), the support column (22) holding the conduit opening insertion part (21) such that the vertical position, the horizontal position, and the orientation thereof are variable; a tripod (23) (supporting part) that vertically supports the support column (22) outside the manhole (10); a satellite positioning device (25) that measures the absolute coordinates of a reference point (24) of the support column (22) set outside the manhole (10); a first distance meter (26) that measures the vertical distance between the conduit opening insertion part (21) and the reference point (24); a second distance meter (27) that measures the horizontal distance between the conduit opening insertion part (21) and the reference point (24); an azimuth meter (28) that measures a reference azimuth; and an angle meter (30) that measures the angular difference between the measured reference azimuth and the orientation of the conduit opening insertion part (21).

Description

Measuring Device and Measuring Method

[0001] The present disclosure relates to a measuring device and a measuring method.

[0002] Conventionally, the position of underground buried objects has been managed by the relative position from a reference position such as a road boundary. The position information of underground buried objects is owned by each operator, and in order to confirm the positional relationship with the buried objects, it is necessary to check a plurality of drawings created for each operator. However, those plurality of drawings have different creation times and / or position references for each drawing. Therefore, it is impossible to grasp the accurate positional relationship, and it has been a problem that a lot of work is required for design and / or consultation in road construction, and / or damage accidents of buried objects occur during excavation work. Therefore, a technique for measuring the position of a buried pipeline with high accuracy has been demanded.

[0003] For example, in Non-Patent Document 1, a method of pipeline measurement using a gyro sensor has been proposed. According to this method, the position of the pipeline can be measured regardless of the installation environment without being affected by the buried depth of the pipeline and / or soil moisture like the conventional ground penetrating radar method.

[0004] Toru Kawahara, "Development of a Pipeline Position Measuring Device Using a Gyro Sensor", Chubu Electric Power, Technical Development News, February 2021 (No. 164), pp. 25 - 26

[0005] However, generally, errors accumulate in a gyro sensor over time. Therefore, there are problems in terms of accuracy in long-time / long-distance measurements and the like. Therefore, a method for easily and accurately measuring the position of a pipeline is required.

[0006] Therefore, the object of the present disclosure made by paying attention to these points is to improve the accuracy of measuring the position of a pipeline buried in the ground.

[0007] A measuring device according to one embodiment is a measuring device for measuring the absolute coordinates of a probe at the opening of a pipeline in a manhole and the azimuth angle indicating the orientation of the probe, comprising: a pipeline opening insertion part having an outer diameter that fits the inner surface of the pipeline and an inner diameter that fits the probe; a support column having its lower part installed inside the manhole and its upper part installed outside the manhole, which holds the pipeline opening insertion part in a variable vertical position, horizontal position and orientation; a support part that vertically supports the support column outside the manhole; a satellite positioning device that measures the absolute coordinates of a reference point of the support column set outside the manhole; a first distance meter that measures the vertical distance between the pipeline opening insertion part and the reference point; a second distance meter that measures the horizontal distance between the pipeline opening insertion part and the reference point; an azimuth angle meter that measures a reference direction; and an angle meter that measures the angle difference between the measured reference direction and the orientation of the pipeline opening insertion part.

[0008] A measurement method according to one embodiment is a method for measuring the position of a pipeline, wherein the position of the opening of the pipeline is designated as a first position, the position of the opening of the pipeline different from the first position is designated as a second position, a first azimuth angle indicating the orientation of the probe at the first position is obtained, a second azimuth angle indicating the orientation of the probe at the second position is obtained, the probe is moved inside the pipeline between the first position and the second position, the distance the probe is moved and the amount of change in the azimuth angle of the probe are measured sequentially to determine the position of the pipeline, and the azimuth angle of the probe inside the pipeline is corrected using the angular difference between the first azimuth angle and the second azimuth angle.

[0009] The measuring device and measuring method disclosed herein can improve the accuracy of positional measurement of pipelines buried underground.

[0010] This figure shows the schematic configuration of a measuring device according to one embodiment. This is a block diagram showing the schematic configuration of the probe in Figure 1. This is a block diagram showing the schematic configuration of the information processing device in Figure 1. This figure illustrates a method for measuring the location of a pipeline using the measuring device in Figure 1. This is a top view illustrating an example of a change in the direction of a pipeline connecting manholes. This is a graph showing an example of correction of the probe's azimuth angle. This is a flowchart showing the procedure for identifying the location of a pipeline buried underground.

[0011] Embodiments of this disclosure will be described below with reference to the drawings. The figures used in the following description are schematic. Dimensions and proportions shown in the drawings do not necessarily correspond to those of reality.

[0012] (Overall Configuration) As shown in Figure 1, the measuring device 20 according to one embodiment of the present disclosure is positioned at least partially inside the manhole 10. The manhole 10 is connected to other manholes in the vicinity by one or more conduits 11. The manhole 10 is a space accessible to humans, provided for the management and maintenance of underground facilities such as conduits 11 located underground. The conduits 11 include various types of conduits, such as conduits for communication cables, conduits for power cables, and sewer conduits. The measuring device 20 can measure the precise absolute coordinates and absolute orientation of the manhole 10 side end of the conduit 11 in the manhole 10.

[0013] When measuring the position of the conduit 11 using the measuring device 20, the probe 12 is inserted into the conduit 11. The measuring device 20 can measure the absolute coordinates and absolute direction of the probe 12 when it is located at the end of the conduit 11.

[0014] (Configuration of the measuring device) The measuring device 20 includes a pipe insertion section 21, a support column 22, and a support section 23. Hereinafter, the pipe insertion section 21, the support column 22, and the support section 23 may be referred to as the main body of the measuring device 20.

[0015] The conduit insertion section 21 has an annular shape with an outer diameter that fits the inner surface of the conduit 11 and an inner diameter that fits the probe 12. The conduit insertion section 21 is inserted into the conduit 11 during measurement. The conduit insertion section 21 also accommodates the probe 12 at the start or end of the measurement. In other words, the position of the conduit insertion section 21 is the starting or ending position of the probe 12's movement.

[0016] The support column 22 is installed with its lower part inside the manhole 10 and its upper part outside the manhole 10. The support column 22 includes a first part 22a, a second part 22b, and a third part 22c which are joined at the branching section 22d. The first part 22a and the second part 22b extend vertically. The first part 22a is located above the branching section 22d, and its upper end extends to the outside of the manhole 10 when the manhole cover is removed. The upper part of the first part 22a is connected to the support section 23. The second part 22b is located below the branching section 22d, and its lower end is in contact with the floor inside the manhole 10. The third part 22c has a pipe insertion section 21 at one end and extends horizontally from the branching section 22d to the pipe insertion section 21. The first portion 22a, the second portion 22b, and the third portion 22c of the support column 22 may be configured as length-adjustable rod-shaped members. The lengths of the first portion 22a, the second portion 22b, and the third portion 22c are determined by the position of the pipe insertion portion 21. The support column 22 holds the pipe insertion portion 21 in a variable vertical, horizontal, and orientation.

[0017] The support section 23 vertically supports the support column 22 outside the manhole 10. The support section 23 has, for example, a tripod structure. The tripod structure included in the support section 23 has three length-adjustable legs. The lower end of each leg of the support section 23 is fixed to the ground surface outside the manhole iron cover frame 13, which is the outer frame of the manhole cover. The upper ends of the legs of the support section 23 are integrated to support the vicinity of the upper end of the first portion 22a of the support column 22. For example, the upper end of each leg of the support section 23 is fixed to a ring-shaped portion. The upper end of the first portion 22a of the support column 22 is fixed in a horizontal position by sliding through this ring-shaped portion. The position of the support section 23 is adjusted so that the orientation of the first portion 22a and the second portion 22b of the support column 22 is vertical.

[0018] The main body of the measuring device 20 further includes a reference point 24, a satellite positioning device 25, a first distance meter 26, a second distance meter 27, an azimuth meter 28, a spirit level 29, and an angle meter 30.

[0019] The reference point 24 is a point set on the support column 22 on the outside of the manhole 10. The reference point 24 is a reference point for measuring the position and orientation of the pipe opening insertion part 21. The reference point 24 may be set, for example, at the upper end of the first part 22a of the support column 22.

[0020] The satellite positioning device 25 receives radio waves from an artificial satellite and measures the absolute coordinates of a reference point 24 located near or coinciding with the satellite positioning device 25. The satellite positioning device 25 includes a receiver compatible with the Global Navigation Satellite System (GNSS). GNSS includes, for example, GPS (Global Positioning System), GLONASS (Global Navigation Satellite System), Galileo, and the BeiDou navigation satellite system. The satellite positioning device 25 can obtain information on the latitude, longitude, and elevation of the reference point 24 using signals from the receiver.

[0021] The first distance meter 26 measures the vertical distance between the pipe insertion section 21 and the reference point 24. The first distance meter 26 may measure the distance using any method, including optical and mechanical methods. For example, the first distance meter 26 may measure the distance using the time of flight method, which involves shining a laser beam onto a mirror positioned at the branch section 22d of the support column 22 and near the upper end of the first portion 22a of the support column 22, and measuring the time it takes for the reflected light to return. Alternatively, for example, the first distance meter 26 may measure the vertical distance between the pipe insertion section 21 and the reference point 24 by mechanically linking with a mechanism that extends and retracts the first portion 22a of the support column 22.

[0022] The second distance meter 27 measures the horizontal distance between the conduit insertion section 21 and the reference point 24. The second distance meter 27 may measure the distance using any method, including optical and mechanical methods, similar to the first distance meter 26. For example, the second distance meter 27 may measure the horizontal distance between the conduit insertion section 21 and the reference point 24 using the time of flight method by irradiating a laser beam onto a mirror positioned on the branch section 22d side of the conduit insertion section 22, which is located at the branch section 22d of the support column 22.

[0023] In Figure 1, the first distance meter 26 and the second distance meter 27 are located at the branching portion 22d of the support column 22, but the first distance meter 26 and the second distance meter 27 may be located at any other arbitrary position.

[0024] The azimuth meter 28 is a magnetic direction sensor that measures the reference direction from observations of the Earth's magnetic field. The reference direction is, for example, true north.

[0025] The spirit level 29 measures the angle of the extension direction of the first portion 22a of the support column 22. By using the spirit level 29, the first portion 22a of the support column 22 is installed so that it is vertical by adjusting the support portion 23.

[0026] The angle meter 30 measures the azimuth angle indicating the orientation of the pipe insertion section 21. The azimuth angle is defined as the angle relative to the reference azimuth angle. The angle meter 30 measures the angle difference between the reference azimuth measured by the azimuth meter 28 and the orientation of the pipe insertion section 21. For example, the azimuth angle is measured such that the angle measured clockwise from the reference azimuth is a positive angle.

[0027] The satellite positioning device 25, the first rangefinder 26, the second rangefinder 27, and the angle meter 30 are configured to transmit measurement results to the outside of the measuring device 20 or to other components. The other components include an information processing device 31, which will be described later. The pipe opening insertion section 21 houses the probe 12 at the opening of the pipe 11 in the manhole 10. Therefore, the measuring device 20 becomes capable of measuring the absolute coordinates of the probe 12 and the azimuth angle indicating the orientation of the probe 12 at the opening of the pipe inside the manhole 10.

[0028] (Probe Configuration) The probe 12 moves inside the conduit 11 from one end to the other and measures the change in azimuth angle during movement. The probe 12 may have a spheroidal or capsule shape to facilitate movement inside the conduit 11. The azimuth angle of the moving probe 12 indicates the orientation of the probe 12, i.e., the direction in which the longitudinal direction of the probe 12 points along the conduit 11. The azimuth angle of the moving probe 12 substantially coincides with the direction in which the probe 12 is moving. The probe 12 moves inside the conduit 11 by external force. The probe 12 may be equipped with a motor and wheels, etc., and may be self-propelled to move inside the conduit 11. As shown in Figure 2, the probe 12 includes a gyro sensor 12a, a memory unit 12b, a control unit 12c, and a battery 12d.

[0029] The gyro sensor 12a is a sensor that measures the angular velocity of the probe 12. Angular velocity is the amount of change in angle per unit time. The gyro sensor 12a can detect the angular velocity and integrate it to determine the change in the azimuth angle of the probe 12. The gyro sensor 12a can employ various types of gyro sensors, including vibration type and optical type. In one embodiment, the gyro sensor 12a can be a vibration type MEMS (Micro Electro Mechanical Systems) gyro sensor. MEMS gyro sensors can detect angular velocity with high precision while being small in size. The gyro sensor 12a may also be able to measure the amount of change in the angles (roll angle, pitch angle, and yaw angle) in the three axes of the moving probe 12.

[0030] The storage unit 12b may include at least one of semiconductor memory and magnetic memory. The storage unit 12b may include volatile memory and non-volatile memory. The storage unit 12b may store information of the angular velocity of the probe 12 measured by the gyro sensor 12b in a time series. The storage unit 12b may also store information obtained by integrating the angular velocity measured by the gyro sensor 12a in a time series.

[0031] The control unit 12c is composed of one or more processors. The processors may be general-purpose processors or dedicated processors specialized for measurement processing by the probe 12. The control unit 12c controls the gyro sensor 12a, the memory unit 12b, and the battery 12d.

[0032] The battery 12d may be, for example, a primary battery such as a manganese dry cell or a mercury battery, or a rechargeable storage battery such as a lithium-ion secondary battery, nickel-metal hydride battery, or nickel-cadmium battery. The battery 12d supplies power to the gyro sensor 12a, the memory unit 12b, and the control unit 12c. The power supplied by the battery 12d allows the gyro sensor 12a to measure the angular velocity (change in azimuth angle), and the memory unit 12b stores the measured information of the angular velocity (change in azimuth angle). If there is a means to supply power to the probe 12 from an external source, either wired or contactless, the battery 12d may not be necessary.

[0033] The probe 12 may further include a communication interface for wireless or wired communication with an external device. If a communication interface is present, the probe 12 may sequentially transmit the measured angular velocity (change in azimuth angle) to an external device, such as an information processing device 31. In this case, the storage unit 12b may be omitted.

[0034] (Configuration of the Information Processing Device) As shown in Figure 3, the information processing device 31 is configured to include a communication unit 31a, a storage unit 31b, a control unit 31c, and an input / output unit 31d. The information processing device 31 may be a dedicated information processing device used for the measuring device 20. The information processing device 31 may be any electronic device, including a general-purpose computer, workstation, PC (Personal Computer), tablet PC, etc. The information processing device 31 may be placed in any location where it can communicate with the main body of the measuring device 20.

[0035] The communication unit 31a includes a communication interface for communicating with the main body of the measuring device 20. The communication unit 31a may support wireless or wired communication. The communication unit 31a is configured to receive information measured by the satellite positioning device 25, the first rangefinder 26, the second rangefinder 27, and the angle meter 30 of the measuring device 20. As a result, the information processing device 31 can obtain the absolute coordinates and azimuth angle of the probe 12 when the probe 12 is located in the pipe opening insertion part 12. The communication unit 31a may further obtain information on the amount of change in the azimuth angle of the probe 12 measured by the gyro sensor 12a from the probe 12. In addition, the communication unit 31a may obtain information on the distance traveled by the probe 12 from the distance measuring unit 36, which will be described later.

[0036] The storage unit 31b may be configured to include one or more of the following: semiconductor memory, magnetic memory, and optical memory. Semiconductor memory may include volatile memory and non-volatile memory. Magnetic memory may include, for example, hard disks and magnetoresistive random access memory (MRAM). Optical memory may include, for example, CDs (Compact Discs), DVDs (Digital Versatile Discs), and BDs (Blu-ray® Discs). The storage unit 31b may function as, for example, a main memory, an auxiliary memory, or a cache memory. The storage unit 31b may store information on the change in the azimuth angle of the probe 12 over time, acquired via the communication unit 31a. The storage unit 31b may also have a function to read from an external storage medium and may read and store information on the change in the azimuth angle of the probe 12 over time, stored in a USB memory or the like.

[0037] The control unit 31c includes one or more processors. In one embodiment, the "processor" is a general-purpose processor or a dedicated processor specialized for a specific process, but is not limited to these. The processor may be, for example, a CPU (Central Processing Unit), a DSP (Digital Signal Processor), or an ASIC (Application Specific Integrated Circuit). The control unit 31c manages the overall operation of the information processing device 31. The control device 31c may manage the overall operation of the measuring device 20. The control unit 31c may execute processing according to a program stored in the storage unit 31b.

[0038] The input / output unit 31d may include an input device for the operator of the information processing device 31 to input instructions and information, and a display for the information processing device 31 to display measurement results. The input device may include a keyboard and a mouse. The display may be a liquid crystal display (LCD), an organic electro-luminescence (OLED) display, or an inorganic EL display. The input / output unit 31d may include a touch panel that detects input by contacting the surface of the display.

[0039] The functions of the information processing device 31 are realized by executing a program relating to the measurement method of this embodiment on a processor corresponding to the control unit 31c. In other words, the functions of the information processing device 31 are realized by software. The program causes the computer to execute the operations of the information processing device 31, thereby causing the computer to function as the information processing device 31.

[0040] In this embodiment, the program can be recorded on a computer-readable recording medium. The computer-readable recording medium includes non-temporary computer-readable media, such as magnetic recording devices, optical discs, magneto-optical recording media, or semiconductor memory. The program can be distributed, for example, by selling, transferring, or lending portable recording media such as DVDs (digital versatile discs) or CD-ROMs (compact disc read-only memory) on which the program is recorded. Alternatively, the program may be stored on the storage of an external server and transmitted from the external server to other computers. The program may also be provided as a program product.

[0041] (Method for measuring the location of the pipeline) Next, a method for measuring the location of the pipeline using the measuring device 20 will be explained with reference to Figure 4. In Figure 4, a pipeline 11 is shown connecting two manholes 10A and 10B. The main body of the measuring device 20A is installed in manhole 10A, and the main body of the measuring device 20B is installed in manhole 10B. The measuring devices 20A and 20B each include pipeline opening insertion parts 21A and 21B, support columns 22A and 22B, and support parts 23A and 22B, respectively.

[0042] Measuring devices 20A and 20B each include a satellite positioning device 25, a first distance meter 26, a second distance meter 27, an azimuth meter 28, a level 29, and an angle meter 30. Therefore, measuring device 20A can measure the absolute coordinates of probe 12 and the azimuth indicating the orientation of probe 12 when probe 12 is located at the opening on the manhole 10A side of pipeline 11. Also, measuring device 20B can measure the absolute coordinates of probe 12 and the azimuth indicating the orientation of probe 12 when probe 12 is located at the opening on the manhole 10B side of pipeline 11. Measuring devices 20A and 20B can transmit the measured absolute coordinates and azimuth to information processing device

[0043] 31. However, in one embodiment described below, it is not essential to measure the absolute coordinates of probe 12 when probe 12 is located at the opening on the manhole 10B side of pipeline 11. Measuring device 20B has an azimuth meter 28 and an angle meter 30, and it is sufficient if it can measure the azimuth of probe 12 when probe 12 is located at the opening on the manhole 10B side of pipeline 11.

[0043] Probe 12 has a size movable between the pipe opening insertion part 21A on the manhole 10A side and the pipe opening insertion part 21B on the manhole 10B side inside pipeline 11. Measuring devices 20A and 20B further include a drive mechanism 35 for moving probe 12. For example, a rope 34 for pulling probe 12 may be attached to probe 12, and rope 34 may be connected to a winch, which is the drive mechanism 35, outside pipeline 11. The winch is a device that winds and pulls a drum or pulley that rotates rope 34. In FIG. 4, drive mechanism 35 is arranged on both sides of measuring devices 20A and 20B, but when moving probe 12 in one direction, drive mechanism 35 may be arranged only on one side that pulls probe 12. For example, in FIG. 4, probe

[0044] 12 may move from the state of being housed in pipe opening insertion part 21A towards pipe opening insertion part 21B, and drive mechanism 35 may be located only on the side of measuring device 20B. Drive mechanism 35 may be configured to be controllable by information processing device 31.

[0044] Furthermore, at least one of the measuring devices 20A and 20B includes a distance measuring unit 36 ​​for measuring the distance traveled by the probe 12. The distance measuring unit 36 ​​may, for example, use a roller or pulley to contact the rope 34 and rotate it together with the rope 34, measuring the distance traveled by the probe 12 based on the number of rotations. Alternatively, the distance measuring unit 36 ​​may be formed integrally with the drive mechanism 35 and configured, for example, to measure the length of the rope wound up by the drive mechanism 35, which is a hoisting machine. Or, the drive mechanism 35 may be configured to wind up the rope 34 at a constant speed, and the information processing device 31 may be configured to calculate the distance based on the elapsed time since the start of movement of the probe 12. In either case, the information processing device 31 can acquire or calculate the distance traveled by the probe 12 from its starting position. The distance measuring unit 36 ​​may include a memory to store the travel distance information acquired in chronological order and output it to the information processing device 31 in a batch.

[0045] In the device configuration shown in Figure 4, the position where the probe 12 is housed in the pipe entrance insertion section 21A located at the opening of the pipe 11 on the manhole 10A side is defined as the first position P1 of the probe 12. The position where the probe 12 is housed in the pipe entrance insertion section 21B located at the opening of the pipe 11 on the manhole 10B side is defined as the second position P2 of the probe 12. The information processing device 31 acquires the absolute coordinates of the first position P1 and the azimuth angle of the probe 12 at the first position P1. The azimuth angle of the probe 12 at the first position P1 is defined as the first azimuth angle. The absolute coordinates of the first position P1 are the absolute coordinates of the pipe entrance insertion section 21A. The first azimuth angle of the probe 12 at the first position P1 is the azimuth angle of the pipe entrance insertion section 21A. Similarly, the information processing device 31 acquires the azimuth angle of the probe 12 at the second position P2. The azimuth angle of the probe 12 at the second position P2 is defined as the second azimuth angle. The second azimuth angle of the probe 12 at the second position P2 is the azimuth angle of the pipe opening insertion section 21B.

[0046] According to the instructions of the operator who operates the measuring devices 20A and 20B, the probe 12 moves from the first position P1 to the second position P2. During the movement of the probe 12, the distance measuring unit 36 and the gyro sensor 12a measure the change amount of the moving distance and the azimuth angle of the probe 12. During or after the measurement, the information processing device 31 acquires the moving distance of the probe 12 measured from the first position P1 by the distance measuring unit 36 and the information on the change amount of the azimuth angle of the probe 12 measured by the gyro sensor 12a of the probe 12. Based on the acquired information on the moving distance and the change amount of the azimuth angle of the probe 12, the information processing device 31 identifies the position passed by the probe 12 starting from the absolute coordinates of the first position P1. The information processing device 31 can identify the position where the pipeline 11 passes based on the locus of the position passed by the probe 12.

[0047] However, since the azimuth angle is calculated by integrating the angular velocity measured by the gyro sensor 12a, errors accumulate with the passage of time. Therefore, the position of the pipeline 11 specified as described above includes errors. Thus, in the present embodiment, based on the difference between the first azimuth angle of the probe 12 at the first position P1 measured by the measuring device 20A and the second azimuth angle of the probe 12 at the second position P2 measured by the measuring device 20B, the azimuth angle of the probe 12 while the pipeline 11 is moving is corrected. This will be described below using the examples shown in FIGS. 5 and 6.

[0048] As shown in FIG. 5, assume a case where the pipeline 11 between the manhole 10A and the manhole 10B is bent in the horizontal plane, that is, in the Yaw direction, halfway. Let the first azimuth angle of the probe 12 at the first position P1 be x°, and the second azimuth angle of the probe 12 at the second position P2 be y°. In this case, the difference between the first azimuth angle and the second azimuth angle is y - x°.

[0049] On the other hand, FIG. 6 shows, with a solid line, the change amount of the Yaw angle integrated based on the angular velocity measured during the movement of the probe 12, with the x° direction as the direction of Yaw angle 0°. In this figure, the time when the probe 12 starting from the first position P1 at time t = 0 arrives at the second position P2 is t ｅ is set. The time t ｅThe Yaw angle z°, which is accumulated from the measurement results at the first position P2, is preferably equal to the difference y-x° between the first and second azimuth angles, but in reality, errors occur. Therefore, the information processing device 31 corrects the measurement results so that the Yaw angle at the second position P2 approaches the angular difference y-x°. For example, the correction amount H at any time t during measurement is expressed by the following formula (1).

[0050] H={z-(y-x)}t / t ｅ (1)

[0051] Figure 6 shows the time change of the Yaw angle after correction based on equation (1) by a dashed line. In the same figure, the correction amount H of the Yaw angle is represented by a downward arrow. Note that the Roll angle and Pitch angle can be based on the direction of gravity, so they can always be corrected by the gyro sensor 12a itself.

[0052] The information processing device 31 can determine the position of the underground pipeline 11 using the time changes of the corrected Yaw angle, Roll angle, and Pitch angle of the probe 12, and the distance traveled at each point in time.

[0053] (Procedure for locating the pipeline) The procedure for locating the pipeline 11 will be described with reference to Figure 7. The procedure in Figure 7 may be partially performed by an operator of the measuring device 20 by operating the measuring device 20. The procedure in Figure 7 may also be performed entirely under the control of the information processing device 31. The information processing device 31 may have its control unit 31c execute the procedure in Figure 7 according to a program stored in the storage unit 31b. In the following description, it will be assumed that the control unit 31c is the main unit that performs the processing.

[0054] First, the control unit 31c uses the first distance meter 26, the second distance meter 27, the azimuth meter 28, and the angle meter 30 of the measuring device 20A to measure the absolute coordinates and azimuth angle (first azimuth angle) of the probe 12 at the start of measurement and records them in the storage unit 31b (step S101).

[0055] The control unit 31c activates the drive mechanism 35 to start moving the probe 12 (step S102).

[0056] The distance measuring unit 36 ​​measures the distance traveled by the probe 12, and the gyro sensor 12a measures the change in angle of the probe 12 (step S103). The distance measuring unit 36 ​​may store the time-series distance traveled by the probe 12 in its internal memory and transmit it sequentially to the information processing device 31. The gyro sensor 12a may store the time-series change in angle in the storage unit 12b of the probe 12 and transmit it sequentially to the information processing device 31. The information processing device 31 may acquire the distance traveled and the change in angle information all at once after the measurement is completed, or it may acquire the distance traveled and the change in angle information as real-time information during the measurement.

[0057] The measuring device 20 continues the measurement in step S103 until the movement of the probe 12 is completed (step S104: No). When the movement of the probe 12 is completed (step S104: Yes), the control unit 31c proceeds to the next step S105.

[0058] In step S105, the control unit 31c uses the first distance meter 26, the second distance meter 27, the azimuth meter 28, and the angle meter 30 of the measuring device 20B to measure the absolute coordinates and azimuth angle (second azimuth angle) of the probe 12 at the end of the measurement and records them in the storage unit 31b. Step S105 does not need to be performed after step S104 and may be performed earlier. For example, step S105 may be performed at the same time as step S101. As mentioned above, measuring the absolute coordinates of the probe 12 at the end of the measurement is not essential.

[0059] The control unit 31c corrects the azimuth angle during movement, which is calculated based on the angular velocity measured by the gyro sensor 12a, based on the angular difference between the azimuth angles (first azimuth angle and second azimuth angle) of the probe 12 at the start and end of the measurement (step S106).

[0060] The control unit 31c calculates the coordinates of the probe 12's trajectory based on the time-series information on the distance traveled by the probe 12 and the time-series information on the azimuth angle of the probe 12 corrected in step S106. The trajectory of the probe 12 corresponds to the position information of the pipeline 11.

[0061] As described above, the measuring device 20 and measuring method of this embodiment correct the azimuth angle of the probe 12 while it is moving based on the angular difference in the azimuth angle of the probe 12 at the start and end of the measurement, thereby improving the accuracy of measuring the position of the pipeline 11 buried underground.

[0062] Although the embodiments described above are representative examples, it will be apparent to those skilled in the art that many modifications and substitutions are possible within the spirit and scope of the present invention. Therefore, the present invention should not be interpreted as being limited by the embodiments described above, and various modifications and / or changes are possible without departing from the scope of the claims. For example, it is possible to combine multiple component blocks described in the embodiments and examples into one, or to divide a single component block.

[0063] The following additional information is disclosed regarding the embodiments described above.

[0064] (Note 1) A measuring device for measuring the absolute coordinates of a probe at the opening of a pipeline in a manhole and the azimuth angle indicating the orientation of the probe, comprising: a pipeline opening insertion part having an outer diameter that fits the inner surface of the pipeline and an inner diameter that fits the probe; a support column having its lower part installed inside the manhole and its upper part installed outside the manhole, which holds the pipeline opening insertion part in a variable vertical position, horizontal position and orientation; a support part that vertically supports the support column outside the manhole; a satellite positioning device for measuring the absolute coordinates of a reference point of the support column set outside the manhole; a first distance meter for measuring the vertical distance between the pipeline opening insertion part and the reference point; a second distance meter for measuring the horizontal distance between the pipeline opening insertion part and the reference point; an azimuth angle meter for measuring a reference direction; and an angle meter for measuring the angle difference between the measured reference direction and the orientation of the pipeline opening insertion part. (Appendix 2) The measuring device according to Appendix 1, further comprising: a probe equipped with a sensor for measuring the amount of change in the azimuth angle; a drive mechanism for moving the probe within the conduit; and a distance measuring unit for measuring the distance the probe moves. (Appendix 3) The measuring device according to Appendix 2, further comprising: a control unit that corrects the azimuth angle of the probe inside the conduit, measured by the sensor, using the angular difference between a first azimuth angle indicating the orientation of the probe at the first position and a second azimuth angle indicating the orientation of the probe at the second position, with the position of the opening of the conduit being the first position and the position of the opening of the conduit being the second position. (Appendix 4) A method for measuring the position of a pipeline, wherein the position of the opening of the pipeline is designated as a first position, the position of the opening of the pipeline different from the first position is designated as a second position, a first azimuth angle indicating the orientation of the probe at the first position is obtained, a second azimuth angle indicating the orientation of the probe at the second position is obtained, the probe is moved inside the pipeline between the first position and the second position, the distance the probe is moved and the amount of change in the azimuth angle of the probe are measured sequentially to determine the position of the pipeline, and the measurement method further includes correcting the azimuth angle of the probe inside the pipeline using the angular difference between the first azimuth angle and the second azimuth angle.

[0065] 10, 10A, 10B Manhole 11 Pipeline 12 Probe 12a Gyro sensor (sensor) 12b Memory unit 12c Control unit 12d Battery 13 Manhole iron cover frame 20, 20A, 20B Measuring device 21, 21A, 21B Pipeline opening insertion part 22, 22A, 22B Support column 22a First part 22b Second part 22c Third part 23, 23A, 23B Tripod (support part) 24 Reference point 25 Satellite positioning device 26 First distance meter 27 Second distance meter 28 Azimuth meter 29 Level 30 Angle meter 31 Information processing device 31a Communication unit 31b Memory unit 31c Control unit 31d Input / output unit 34 Rope 35 Drive mechanism 36 Distance measuring unit P1 1st position P2 2nd position

Claims

1. A measuring device for measuring the absolute coordinates of a probe at the opening of a pipeline in a manhole and the azimuth angle indicating the orientation of the probe, comprising: a pipeline opening insertion part having an outer diameter that fits the inner surface of the pipeline and an inner diameter that fits the probe; a support column having its lower part installed inside the manhole and its upper part installed outside the manhole, which holds the pipeline opening insertion part in a variable vertical position, horizontal position and orientation; a support part that vertically supports the support column outside the manhole; a satellite positioning device for measuring the absolute coordinates of a reference point of the support column set outside the manhole; a first distance meter for measuring the vertical distance between the pipeline opening insertion part and the reference point; a second distance meter for measuring the horizontal distance between the pipeline opening insertion part and the reference point; an azimuth angle meter for measuring a reference direction; and an angle meter for measuring the angle difference between the measured reference direction and the orientation of the pipeline opening insertion part.

2. The measuring device according to claim 1, further comprising: a probe equipped with a sensor for measuring the amount of change in the azimuth angle; a drive mechanism for moving the probe within the conduit; and a distance measuring unit for measuring the distance the probe is moved.

3. The measuring device according to claim 2, further comprising a control unit that corrects the azimuth angle of the probe inside the conduit, as measured by the sensor, using the angular difference between a first azimuth angle indicating the orientation of the probe at the first position and a second azimuth angle indicating the orientation of the probe at the second position, with the position of the opening of the conduit being designated as a first position and the position of the opening of the conduit being designated as a second position.

4. A method for measuring the position of a pipeline, wherein the position of the opening of the pipeline is designated as a first position, the position of the opening of the pipeline different from the first position is designated as a second position, a first azimuth angle indicating the orientation of the probe at the first position is obtained, a second azimuth angle indicating the orientation of the probe at the second position is obtained, the probe is moved inside the pipeline between the first position and the second position, the distance the probe is moved and the amount of change in the azimuth angle of the probe are measured sequentially to determine the position of the pipeline, the measurement method comprising correcting the azimuth angle of the probe inside the pipeline using the angular difference between the first azimuth angle and the second azimuth angle.

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