| 摘要 |
<p>PURPOSE:To calculate the position and the route of a duct line with high accuracy by constituting the instrument so that an inner cylinder loaded with a sensor group is controlled so as to always maintain a horizontal state every by a rotational motion of an outer cylinder. CONSTITUTION:When a probe 1 is inserted into a duct line, drawn at a constant speed and advanced, a rolling motion is generated in an outer cylinder 2 and it extends over an inner cylinder 3, as well. In such a case, a roll angle measuring inclination meter 9 detects a variation of a roll angle and outputs a rolling signal, and outputs a signal for rotating a motor 5 in the direction for returning a rolling angle to '0'. When the motor 5 rotates, the inner cylinder 3 cases a turning motion against the outer cylinder 2, and soon reaches a state that the roll angle of the inner cylinder 3 becomes '0', and the rotation of the motor 5 stops. On the other hand, a pitch angle measuring inclination angle meter 11 measures a pitch angle in the traveling direction of a probe 1, and an azimuth measuring gyro 12 detects a variation of an azimuth of the probe 1 which is traveling in the duct line. By sampling signals from these sensor groups in a prescribed period, and receiving information of a data accumulator by a coordinate calculator, three-dimensional coordinates of a position and a route of the duct line are calculated.</p> |
