4 A device that calculates the trajectory of the underground pipeline simultaneously with geological exploration in four directions around the underground pipeline

摘要

The apparatus for calculating the trajectory of an underground pipeline at the same time as geological exploration in four directions around the underground pipeline according to an embodiment of the present invention includes an acceleration sensor, a gyroscope, and a geological explorer mounted therein to be put into the underground pipeline; It relates to an apparatus for exploring the trajectory of an underground pipeline and geology around the underground pipeline, including a ground measuring device for measuring the ground coordinates of the underground pipeline, wherein the pipeline input device and the ground measurement device are based on the azimuth error value unique to the gyroscope. The trajectory of the underground pipeline is calculated through error correction by The geological probe for geological exploration is mounted on the pipe input device that rotates left and right about the movement direction as the axis while moving along the calculated trajectory, and the roll angle of the geological probe sensor rotates together with the pipe input device. Using the gyroscope and the acceleration sensor measured for each unit time, and the roll angle, a specific position among the calculated trajectories, a direction to which the geological exploration sensor is directed at the specific position is calculated, and the underground for the direction A data processing module for providing information on geological exploration around the pipeline, wherein the calculated trajectory of the underground pipeline and an exploration point among the trajectories, an exploration direction at the exploration point, and geological information of the exploration direction are accurately provided at the same time characteristic of its composition. According to the present invention, according to the apparatus for calculating the trajectory of the underground pipeline at the same time as the geological exploration in four directions around the underground pipeline, the geological probe is coupled to the pipeline input device rather than the ground to explore the perimeter of the pipeline, thereby eliminating the need for a separate ground measurement space It is easy to measure, and the geological probe placed along the outer periphery of the pipeline input device performs geological exploration in four directions around the underground pipeline, enabling simultaneous exploration of not only the upper ground of the underground pipeline, but also the top, bottom, left, and right ground. In addition, according to the present invention, manual work such as moving and rotating the exploration equipment is required for multi-directional geological exploration, and unlike the existing technology having a complex structure and a complex calculation process, the geology coupled to the pipe input device is As the probe automatically rotates left and right with the movement direction as the axis during the movement process, separate movements and rotations are unnecessary for multidirectional geological exploration, and the number of parts is reduced to minimize production costs and simplify the structure. and the calculation is also simplified, so that the result can be calculated quickly and accurately. In addition, the direction of the geological probe at each point, that is, the rotation angle of the geological probe, can be accurately calculated using the roll angle data measured by the gyroscope and the accelerometer of the pipeline feeding device, and accordingly, each point to be explored It is possible to increase the accuracy of geological exploration by judging which geological data in the vicinity of the underground pipeline in the four directions explored in , exactly which four directions are in the vicinity of the underground pipeline. In addition, according to the present invention, the trajectory of the underground pipeline is calculated by correcting the trajectory error for each unit point of the underground pipeline calculated from the pipeline inserting device using the gyroscope intrinsic azimuth error value of the ground measuring device and the pipeline inserting device. By increasing the accuracy and clarifying the direction of exploration at each location to be explored by using the roll angle of the geological probe that matches the point to be explored among the calculated trajectories, The accuracy of the results can be further improved by providing geological analysis information about the exploration direction.