姿勢角累積法による管路位置計測

概要

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A new position measurement method for conduit pipelines buried under public roads is proposed. In the new method, a piece of equipment consisting of two modules, a vehicle and a probe, move inside a pipeline. The probe measures the pipeline inclination and curvature radius. The pipelines position is calculated by cumulating the inclination and the attitude obtained from the curvature radius measurement. Furthermore, position measurement accuracy is analyzed and evaluated with standard deviations of the inclination or curvature radius. The usefulness of this measurement method is confirmed through an experiment using a pipeline 80 mm in internal diameter and 40 m in length. The horizontal and vertical position measurement error is found to be smaller than 20 cm in the experiment.
1987-12-25