JP2007100918A - Curvature shape control device and pipe feeding method - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To feed a pipe into a jacking pipe inside after mating for joining a shape of a main pipe with a shape of the jacking pipe by calculating the most appropriate inside pipe end part adjusting angle which meets the curvature of the jacking pipe toward a bevel of each joining part of an inside pipe constituting the main pipe. <P>SOLUTION: A coordinate is worked out by measuring positions of a target 7 of the three points provided in the position at a constant distance away from the back end part of the feeding direction of the inside pipe 6n which is joined inside a starting shaft 2 and forward two pieces of the inside pipe 6(n-1), 6(n-2). Assuming that the inside pipe 6n connected at a plurality of correction angles for assumption is joined, a position error toward the jacking pipe 4 of each target 7 ahead than the inside pipe 6n is calculated when the inside pipe 6n is fed into the jacking pipe 4 curved at a constant curvature. Then a linear correction angle at which position errors of each target 7 are the smallest is sorted so that the inside pipe 6n is connected with the inside pipe 6(n-1) and the shape of the main pipe 5 constituting plural inside pipes 6 is substantially same as the curvature of the jacking pipe 4 so that the main pipe 5 is stably fed into the jacking pipe 4 inside. <P>COPYRIGHT: (C)2007,JPO&INPIT

Description

  This invention propels the inner tube end adjustment angle at the joint of each inner tube constituting the main tube so that the shape of the main tube introduced into the propulsion tube curved with a certain curvature matches the shape of the propulsion tube. The present invention relates to a curved shape management device and a pipe feeding method which are calculated according to the curvature of a pipe.

  For example, when laying gas pipes, etc., propulsion pipes made of steel pipes and fume pipes are propelled between the starting shaft and the reaching shaft, and the inner pipes constituting the main pipe are introduced into the propulsion pipe while being sequentially connected by joining at the starting shaft is doing.

When the propulsion pipe into which the main pipe is introduced is curved with a certain curvature, in order to match the shape of the main pipe with the shape of the propulsion pipe, when the inner pipes constituting the main pipe are sequentially connected at the site, the propulsion pipe It is necessary to join the inner tube to be connected to the other inner tube with a slight inclination to the other inner tube. For this reason, as shown in Patent Document 1, the inner pipe to be connected is inclined with respect to the other inner pipe by a certain minute angle determined according to the unit length of the inner pipe and the curvature of the propulsion pipe. The end portions of the inner pipes are cut along the end face of the other inner pipe so that the end faces of the inner pipes coincide with each other.
JP-A-55-54268

  When the propulsion pipe is curved with a certain curvature, as shown in Patent Document 1, the end of the inner pipe connected at the site is cut along the end face of the other inner pipe to cut the end faces of the inner pipes together. If they are matched, it takes a lot of time to cut the inner tube.

  In addition, the end of the inner tube that is connected to the other inner tube is inclined at a fixed minute angle determined according to the unit length of the inner tube and the curvature of the propulsion tube with respect to the other inner tube. Even if cut according to the above, the unit length is not always constant due to the manufacturing accuracy of the inner tube, so it is not easy to accurately match the shape of the main tube to the shape of the curved propulsion tube.

  The present invention improves such disadvantages, and when connecting an inner pipe to be introduced into a propulsion pipe that is curved with a constant curvature, the end of the inner pipe to be connected follows the end face of the other inner pipe. Curved shape that can calculate the optimum inner tube end adjustment angle according to the curvature of the propulsion pipe for the groove of each joint without cutting, and match the shape of the main pipe with the shape of the propulsion pipe The object is to provide a management device and a pipe feeding method.

  The curved shape management device according to the present invention selects a shape of an inner tube that is formed by feeding the inner tube while sequentially joining the outer tube that is curved with a certain curvature between the starting shaft and the reaching shaft. A plurality of targets, a surveying device, and an information processing device, wherein the targets are attached to a position separated from the rear end of the feeding direction of each inner pipe by a certain distance, and the surveying device is installed in a start shaft And the target provided in the (n-1) th inner pipe and the feed order provided in the (n-1) th inner pipe and the feed order provided in the (n-2) th inner pipe. The position of the target provided in the inner pipe is measured to calculate the coordinate values of the three targets, and the information processing apparatus has an input device and an arithmetic processing device, and the input device is curved with a constant curvature. Curve formed by the outer tube Enter the radius, the feed angle when feeding the inner pipe at the start shaft, and the feed order of the inner pipes fed to the outer pipe, and when joining the inner pipes, correction for adjusting the inner pipe end at each joint A plurality of assumed correction angles, which are assumed values of angles, are input, and the arithmetic processing unit includes a coordinate input unit, a data storage unit, an arithmetic processing unit, and an evaluation unit, and the coordinate input unit is calculated by the surveying device. The coordinate values of the three target points are input, and the data storage unit stores various data input by the input device and corresponds to the inner tube end adjustment at the joint portion of each inner tube corresponding to the feeding order of the inner tube. The linear correction angle is stored, and the arithmetic processing unit assumes that the inner pipe is joined at the assumed correction angles when the inner pipe is fed to the outer pipe on the assumption that the inner pipes are joined at the plurality of input assumed correction angles. The position of each target in front of the feeding direction The coordinates of the three targets input at the input unit, the assumed correction angle, the position of the target in the inner pipe that was assumed to be joined and sent at the assumed correction angle, the feed angle and the assumed correction when the inner pipe is fed Calculate the position error relative to the outer pipe by calculating from the linear correction angle when each inner pipe in the feed direction is joined from the inner pipe joined at the corner, and the evaluation unit calculates each target calculated by the arithmetic processing unit. The assumed correction angle that minimizes the position error is selected, and the linear correction angle for adjusting the inner pipe end of the joint is determined.

  The arithmetic processing unit joins the position of the target immediately before the feeding direction from the inner pipe joined at the assumed correction angle, the target coordinates calculated by the coordinate input unit, the assumed correction angle, and the assumed correction angle. One target position is calculated from the position of the target in the inner pipe and the feed angle when the inner pipe is fed, and the target ahead of the target in the feed direction from the inner pipe joined at the assumed correction angle. It is preferable to calculate the position of the rear target, the linear correction angle when the target inner pipe is joined, and the assumed correction angle and the feeding angle of the inner pipe assumed to be joined at the assumed correction angle.

  The pipe feeding method according to the present invention is a pipe feeding method in which an inner pipe is fed into an outer pipe that is curved with a constant curvature between a starting shaft and a reaching shaft while sequentially joining the inner pipe. Is a target provided at a position spaced apart from the rear end of the nth inner tube in the feeding direction and the rear end of the (n-1) th inner tube in the feeding direction. The target provided at a position separated by a certain distance from the target and the position of the target provided at a position spaced by a certain distance from the rear end of the feeding direction of the (n-2) th inner pipe in the feeding order were measured and surveyed. It was assumed that the coordinates of the three target points were calculated from the survey data of the three target points, and the joints were joined at the assumed correction angle when they were sent to the outer pipe assuming that the inner pipes were joined at a plurality of assumed correction angles. Feed direction from inner pipe The position of each target is calculated with the calculated three target coordinates, the assumed correction angle, the target position in the inner pipe that is joined at the assumed correction angle, and the sending position when the inner pipe is sent. The position error relative to the outer pipe is calculated by calculating from the linear correction angle when each inner pipe in the feed direction is joined from the inner pipe that is joined at the insertion angle and the assumed correction angle. Select the smallest assumed correction angle to determine the linear correction angle for adjusting the inner pipe end of the joint, and set the inner pipe end adjustment angle at the inner pipe joint based on the determined linear correction angle to join The inner pipe is joined to the inner pipe fed into the outer pipe and fed into the outer pipe.

  In addition, the target position immediately before the feeding direction from the inner pipe assumed to be joined at the assumed correction angle, the target in the inner pipe assumed to be joined at the calculated three target coordinates, the assumed correction angle, and the assumed correction angle. And the position of the target in front of the target immediately before the feeding direction from the inner pipe joined at the assumed correction angle, and the position of the target one behind, It is preferable to calculate with the linear correction angle when the target inner pipe is joined, and the assumed correction angle and the feeding angle of the inner pipe joined with the assumed correction angle.

  This invention calculates the coordinates by measuring the positions of three targets provided at a distance from the rear ends of the inner pipe to be joined in the starting shaft and the two inner pipes in the feed direction. Then, the position of each target ahead of the feed direction was calculated from the inner pipe that was assumed to be joined at the assumed correction angle when it was sent to the inner pipe assuming that the inner pipes that were joined at a plurality of assumed correction angles were joined. It is assumed that the coordinates of the three points of the target, the assumed correction angle, the position of the target in the inner pipe that was joined and sent at the assumed correction angle, and the feed angle and the assumed correction angle when the inner pipe is fed Calculate the position error relative to the outer pipe by calculating from the linear correction angle when each inner pipe in the feed direction ahead of the inner pipe is joined, and select the linear correction angle that minimizes the calculated position error of each target. Whether to join inner pipes to be joined , Can be matched substantially to the shape of the main pipe which constitutes a plurality of inner tubes for feeding the outer tube to the curvature of the outer tube, it is possible to feed the main stably the outer tube.

  In addition, even if there is an error in the length of the inner pipe, by measuring the position of the inner pipe to be joined and the target provided in the front of the inner pipe, the length of each inner pipe can be detected, The linear correction angle of the joint can be accurately determined according to the curved shape of the outer tube.

  FIG. 1 is a block diagram showing the configuration of the curved shape management device of the present invention. As shown in the plan sectional view of FIG. 2, the curved shape management device 1 sends each of the main pipes 5 into the propulsion pipe 4 which is curved with a certain curvature between the starting shaft 2 and the reaching shaft 3. The shape of the main pipe 5 is selected by calculating a linear correction angle for adjusting the inner pipe end part indicating the bending angle of each joint part of the inner pipe 6, and a plurality of targets 7, surveying devices 8, and information processing devices are selected. 9 As shown in the plan sectional view of FIG. 3A and the side sectional view of FIG. 3B, the target 7 has a propulsion pipe 4 at a feed angle β determined according to the radius R of the curve formed by the propulsion pipe 4. It is attached at a position spaced apart from the rear end of each inner pipe 6 fed into the pipe. As shown in FIG. 3, the surveying device 8 is installed in the start shaft 2, and the joining order of the target 7 n provided in the nth inner pipe 6 n and the feeding order sent to the propulsion pipe 4 are (n -1) Target 7 (n-1) provided in the inner pipe 6 (n-1) of the first and target 7 (n-2) provided in the (n-2) th inner pipe 6 (n-2) The position of (n-2) is surveyed, the coordinate values of the targets 7n to 7 (n-2) are calculated and output to the information processing apparatus 9.

  The information processing device 9 includes an input device 10, an arithmetic processing device 11, a display device 12, and an external storage device 13. The input device 10 is used for adjusting the radius R of the curve formed by the propulsion pipe 4 curved with a constant curvature, the feeding order of the inner pipe 6 fed into the propulsion pipe 4, and the inner pipe end at each joint portion of the inner pipe 6. Various data such as an assumed correction angle, which is an assumed value of the correction angle, is input to the arithmetic processing unit 11. The arithmetic processing unit 11 includes a central control unit 14, a program storage unit 15, a data storage unit 16, a coordinate input unit 17, an arithmetic processing unit 18, and an evaluation unit 19. The central control unit 14 controls the operation of the entire apparatus by a control program stored in the program storage unit 15. The data storage unit 16 stores various types of data. As shown in FIG. 4, the data storage unit 16 stores various types of data such as the curve radius R of the propulsion pipe 4 and the length of each inner pipe 6 input from the input device 10. An information storage area 16a, a coordinate storage area 16b for storing coordinate values of three targets 7n, targets 7 (n-1) and targets 7 (n-2) for each feeding order of the inner tube 6, and an input device 10 A plurality of assumed correction angles for adjusting the inner pipe end at each joint input from the above, and an assumed correction angle storage area 16c for storing data corresponding to each correction angle, and the inner pipe 6 when the inner pipe 6 is joined for each feed order. It has a linear correction angle storage area 16d for storing a linear correction angle for adjusting the pipe end. The coordinate input unit 17 inputs the XY coordinates of the three targets 7 n to 7 (n−2) calculated by the surveying instrument 8 to the central control unit 14. The arithmetic processing unit 18 propels each target 7 when the inner tube 6n is joined to the inner tube 6 (n-1) at a plurality of assumed correction angles for adjusting the inner tube end, and is sent to the propulsion tube 4. A position error with respect to the tube 4 is calculated by simulation. The evaluation unit 19 selects an assumed correction angle at which the position error of each target 7 calculated by the arithmetic processing unit 18 is the lowest, and determines a linear correction angle for adjusting the inner tube end. The display device 12 displays various data and a plurality of assumed correction angles and linear correction angles assumed for each feeding order of the inner tube 6. The external storage device 13 holds various data stored in the data storage unit 16.

  The curved shape selection device 1 calculates the position error of each target 7 with respect to the propulsion tube 4, selects the shape of the main pipe 5 that matches the shape of the propulsion pipe 4, and feeds the inner pipe 6 into the propulsion pipe 4. The process will be described with reference to the flowchart of FIG.

  First, the curve radius R of the propulsion pipe 4 curved by the operator from the input device 10 of the information processing apparatus 9, the correction angle α (R) for adjusting the inner pipe end determined according to the curve radius R of the propulsion pipe 4, and the start The feed angle β when the inner pipe 6 is fed by the shaft 2 is input and stored in the input information storage area 16a of the data storage unit 16 (step S1). In this state, as shown in FIG. 6, the inner pipe 61 having the first feed order from the start shaft 2 is fed into the propulsion pipe 4, and the inner pipe 62 having the second feed order stored in the data storage unit 16. It is joined to the inner pipe 61 at the end adjustment angle α (R) and fed into the propulsion pipe 4. Next, the leading end of the inner pipe 63 with the third feeding order is set against the rear end of the inner pipe 62, the feeding order is input from the input device 10, and the coordinate storage area 16b of the data storage unit 16 is set. Stored in the linear correction angle storage area 16d (step S2). Thereafter, the three positions of the target 71, the target 72, and the target 73 provided on the vent pipe 61, the inner pipe 62, and the inner pipe 63 are measured by the surveying device 8, and the coordinate values of the targets 71 to 73 are stored in the information processing device 9. input. The coordinate input unit 17 of the information processing device 9 stores the input X and Y coordinates of the three targets 71 to 73 in the coordinate storage area 16b of the data storage unit 16 in the order of sending (step S3). When the surveying of the three targets 71 to 73 by the surveying device 8 is completed, the operator inputs the correction angle for adjusting the inner tube end at the joint between the inner tube 62 and the inner tube 63 with the input device 10. A plurality of, for example, four types, for example, are input with reference to the edge adjustment correction angle Rα. The central control unit 14 stores the input plurality of assumed correction angles αa to αd in the assumed correction angle storage area 16c of the data storage unit 16 and displays them on the display device 12 (step S4). As shown in FIG. 7A, the assumed correction angle α is obtained when the inner pipe 6n to be joined is tilted toward the center of the curve formed by the propulsion pipe 4 with respect to the preceding inner pipe 6 (n-1). 7B, the inner pipe 6n to be joined is tilted to the opposite side of the center direction of the curve formed by the propulsion pipe 4 with respect to the inner pipe 6 (n-1) at the previous stage. If so, attach a minus sign.

  When execution of simulation is instructed by the input device 10 in this state, the arithmetic processing unit 18 uses the X and Y coordinates of the targets 72 and 73 provided in the inner tube 62 and the inner tube 63 stored in the coordinate storage area 16b to target 72. , 73, that is, the length L3 of the inner pipe 63 is calculated. When any one of the assumed correction angles αa to αd displayed on the display device 12 is selected by the input device 10, the feed order is set to the third inner pipe 62 having the selected feed rate, for example, the assumed correction angle αa. When the inner pipe 63 is joined and sent to the propulsion pipe 4 at the feed angle β, the X and Y coordinates of the target 72 provided on the inner pipe 62 are fed with the assumed correction angle αa to the inner pipe 63. Is calculated by the X and Y coordinates of the target 63 provided in the above, the length L3 of the inner tube 63 and the feed angle β, and an error from the curve indicated by the curve radius R of the propulsion tube 4 is calculated.

  For example, as shown in FIG. 8A, when the inner pipe 63 is set and the surveying device 8 measures the positions of the three targets 71 to 73, the target 73 is at a position P3 (x3, y3). When the target 72 is at the position P2 (x2, y2) and the target 71 is at the position P1 (x1, y1), assuming that the inner tube 63 is joined to the inner tube 62 at the assumed correction angle αa, the target 73 is positioned at the position P3. It moves to a position P3a (x3a, y3a) slightly away from (x3, y3). In this state, if the inner pipe 63 is sent to the propulsion pipe 4 at the feeding angle β and the target 73 moves to the position P31 (x31, y31) as shown in FIG. 8B, the target 72 is moved to the position P21. Moving to (x21, y21), the target 71 moves to the position P11 (x11, y11). The position P21 (x21, y21) to which the target 72 has moved is specified by the position P31 (x31, y31) of the target 73, the length L3 of the inner tube 63, the assumed correction angle αa, and the feeding angle β. From the coordinates x21, y21 of the position P21 (x21, y21) of the specified target 72 and the curve radius R of the propulsion tube 4, a position error d2 with respect to the curved line 4a of the curved propulsion tube 4 can be calculated. Similarly, the position P11 (x11, y11) where the target 71 has moved is the position P21 (x21, y21) of the target 72, the length L2 of the inner tube 62, the assumed correction angle αa, the feed angle β, and the feed order are the first. The position error d1 of the target 71 relative to the propulsion pipe 4 can be calculated by specifying the correction angle α (R) for adjusting the end of the inner pipe when the second inner pipe 62 is joined to the inner pipe 61. .

  The arithmetic processing unit 18 stores the calculated position errors of the targets 71 and 72 in association with the selected assumed correction angle αa in the assumed correction angle storage area 16c of the data storage unit 16, and the display device 12 also selects the assumption. Displayed in correspondence with the correction angle αa. This process is performed for all the assumed correction angles αa to αd that have been input, the position errors of the targets 71 and 72 are calculated for each of the assumed correction angles αa to αd, stored in the data storage unit 16, and displayed on the display device 12. (Step S5).

  When the position errors of the targets 71 and 72 with respect to all the input assumption correction angles αa to αd are calculated, the evaluation unit 19 assumes the smallest position error among the position errors of the targets 71 and 72 at the respective assumption correction angles αa to αd. The correction angle α is selected, and the selected assumed correction angle α is stored as the linear correction angle of the inner tube 63 in the linear correction angle storage area 16d of the data storage unit 12 in correspondence with the feeding order of the inner tube 6, and stored in the display device 12. Displayed (step S6). The operator sets the inner tube end adjustment angle at the joint between the inner tube 62 and the inner tube 63 based on the displayed linear correction angle (step S7), and joins the inner tube 63 to the inner tube 62 (step S8). Thereafter, the determined positions of the targets 71 to 73 provided in the inner pipes 61 to 63 are measured by the surveying device 8, and the determined coordinates of the targets 71 to 73 are stored in the coordinate storage area 16 b of the data storage unit 16. 63 is fed into the propulsion pipe 4 (steps S9 and S10). This process is repeated every time each inner pipe 6 is fed into the propulsion pipe 4 (steps S11, S2 to S10).

  For example, when the nth inner pipe 6n is fed, the position where the target 7 (n-1) provided in the inner pipe 6 (n-1) in the previous stage of the inner pipe 6n has moved is provided in the inner pipe 6n. The position of the target 7n, the length Ln of the inner tube 6n, the assumed correction angle α and the feeding angle β are specified, and the position of the target forward in the feed direction is the position of the target one behind and the target. The linear correction angle when the pipe is joined and the assumed correction angle α and the feed angle β for the inner pipe 6n are specified.

  Thus, for example, when the nth inner pipe 6n is fed, the target 7n provided in each inner pipe 6 from the inner pipe 6 (n-1) in the previous stage of the inner pipe 6n to the inner pipe 61 fed first. The inner pipe 6n can be joined to the inner pipe 6 (n-1) by selecting a linear correction angle with the smallest positional error of the -71 propulsion pipe 4, and a plurality of inner pipes 6 fed into the propulsion pipe 4 can be joined. Thus, the shape of the main pipe 5 can be substantially matched with the curvature of the propulsion pipe 4, and the main pipe 5 can be easily fed into the propulsion pipe 4.

  Even if there is an error in the length of the inner tube 6, by measuring the positions of the inner tube 6n to be joined and the target 7 provided in the front inner tube 6 (n-1), the inner tube 6n The length can be detected, and the linear correction angle of the joint can be accurately determined according to the curved shape of the propulsion tube 4.

  When this main pipe 5 is fed into the propulsion pipe 4, each inner pipe 6 is provided with a sliding member that slides along the inner surface of the propulsion pipe 4, and liquid is injected into the propulsion pipe 4 to give buoyancy to the main pipe 6. Thus, the main pipe 5 can be easily fed into the propulsion pipe 4.

It is a block diagram which shows the structure of the curved shape management apparatus of this invention. It is a plane sectional view showing the main pipe sent in the propulsion pipe which is curving with a fixed curvature. It is sectional drawing which shows the target and surveying instrument which the inner pipe | tube was provided. It is a schematic diagram which shows the structure of the data storage part of an arithmetic processing unit. It is a flowchart which shows the process of a curved shape management apparatus, and a pipe feeding process. It is a top sectional view showing the state where the 3rd inner order pipe was set to the 2nd inner order pipe. It is a schematic diagram which shows the assumption correction angle | corner of the junction part of an inner pipe. It is a schematic diagram which shows the position change of the target of 3 points | pieces, when an inner pipe | tube is joined with an assumption correction angle | corner and it sent to the propulsion pipe | tube.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1; Curved shape management apparatus, 2; Starting shaft, 3; Reaching shaft, 4; Propulsion pipe, 5; Main pipe,
6; Inner tube, 7; Target, 8; Surveying device, 9; Information processing device,
10; input device, 11; arithmetic processing device, 12; display device, 13; external storage device,
14; central control unit, 15; program storage unit, 16; data storage unit,
17; Coordinate input part, 18; Arithmetic processing part, 19; Evaluation part.

Claims (4)

A curved shape management device for selecting a shape of an inner pipe formed by sequentially feeding an inner pipe into an outer pipe that is curved with a constant curvature between a starting shaft and a reaching shaft,
It has a plurality of targets, surveying equipment and information processing equipment,
The target is attached to a position separated from the rear end of the feeding direction of each inner pipe by a certain distance,
The surveying device includes a target provided in the nth inner pipe for the order of joining in the start shaft and a target provided in the (n-1) th inner pipe for the order in which the feed order is sent to the outer pipe. Survey the position of the target provided in the (n-2) th inner tube in order, and calculate the coordinate value of each target,
The information processing apparatus includes an input device and an arithmetic processing device,
The input device inputs the radius of the curve formed by the outer pipe that is curved with a constant curvature, the feeding angle when the inner pipe is fed in the start shaft, and the feeding order of the inner pipe fed to the outer pipe, When joining the inner pipe, input a plurality of assumed correction angles, which are assumed values of the adjustment angle for adjusting the inner pipe end at each joint,
The arithmetic processing device includes a coordinate input unit, a data storage unit, an arithmetic processing unit, and an evaluation unit,
The coordinate input unit inputs coordinate values of three targets calculated by surveying with the surveying instrument,
The data storage unit stores various data input by the input device and stores a linear correction angle for adjusting the inner tube end portion in the joint portion of each inner tube corresponding to the feeding order of the inner tube,
The arithmetic processing unit assumes that each of the targets in the feed direction ahead of the inner pipe assumed to be joined at the assumed correction angle when the inner pipe is fed to the outer pipe assuming that the inner pipe is joined at each of the plurality of inputted assumed correction angles. The coordinates of the three targets entered in the coordinate input unit, the assumed correction angle, the position of the target in the inner pipe that was joined and sent at the assumed correction angle, and the feed when feeding the inner pipe Calculate the position error relative to the outer pipe by calculating from the linear correction angle when each inner pipe in the feed direction is joined from the inner pipe joined at the angle and the assumed corrected angle,
The evaluation unit selects a hypothetical correction angle that minimizes the position error of each target calculated by the arithmetic processing unit, and determines a linear correction angle for adjusting the inner pipe end of the joint, Management device.   The arithmetic processing unit joins the position of the target immediately before the feeding direction from the inner pipe joined at the assumed correction angle, the target coordinates calculated by the coordinate input unit, the assumed correction angle, and the assumed correction angle. One target position is calculated from the position of the target in the inner pipe and the feed angle when the inner pipe is fed, and the target ahead of the target in the feed direction from the inner pipe joined at the assumed correction angle. The curvature according to claim 1, wherein the calculation is performed based on the position of the rear target, the linear correction angle when the inner pipe with the target is joined, and the assumed correction angle and the feeding angle of the inner pipe joined at the assumed correction angle. Shape management device. A pipe feeding method for feeding the inner pipe while sequentially joining the inner pipe into the outer pipe curved with a constant curvature between the starting shaft and the reaching shaft,
The feed sequence to be joined in the starting shaft is the (n-1) th feed sequence sent to the target and the outer tube provided at a distance from the rear end of the feed direction of the nth inner tube. A target provided at a position spaced apart from the rear end of the pipe feeding direction by a certain distance and a target provided at a position spaced from the rear end of the feeding direction of the (n-2) th inner pipe by a certain distance. Measure the position of, calculate the coordinates of the three targets from the surveyed data of the three measured targets,
Assuming that the inner pipes are joined at multiple assumed correction angles, the target positions ahead of the feed direction from the inner pipe assumed to be joined at the assumed correction angles are calculated at three points. Target coordinates, hypothetical correction angle, target position in the inner pipe assumed to be joined and sent at the assumed correction angle, inner pipe assumed to be joined at the feeding angle and assumed correction angle when the inner pipe is fed Calculate the position error with respect to the outer pipe by calculating from the linear correction angle when joining the inner pipes ahead of the feeding direction,
Select the assumed correction angle that minimizes the calculated position error of each target to determine the linear correction angle for adjusting the inner pipe end of the joint,
A pipe feeding method characterized in that an inner pipe end adjustment angle at a joint portion of the inner pipe is set by the determined linear correction angle, and the inner pipe to be joined is joined to the inner pipe fed to the outer pipe and fed to the outer pipe. .   The target position immediately before the feeding direction from the inner pipe assumed to be joined at the assumed correction angle, the calculated target coordinates, the assumed correction angle, and the target in the inner pipe assumed to be joined at the assumed correction angle. Calculated from the position and the feed angle at the time of feeding the inner pipe, the position of the target ahead of the target immediately before the feed direction from the inner pipe joined at the assumed correction angle, the position of the target one behind, and the target 4. The pipe feeding method according to claim 3, wherein calculation is performed using a linear correction angle when a certain inner pipe is joined, an assumed correction angle of the inner pipe assumed to be joined at the assumed correction angle, and a feed angle.

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