JP2010007784A - Device and method of pipe installation - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a device and a method for pipe installation capable of efficiently executing pipe positioning in pipe installation. <P>SOLUTION: According to the device for pipe installation, at first an installation pipe 14 is allocated to the existing pipe 12 roughly on an extension of the existing pipe 12. Next, in the outer peripheral part of the existing pipe 12, a laser irradiation device 18 is assembled and at the same time, a platy target 20 is mounted opposite to the laser irradiation 18 in the outer periphery of the installation pipe 14. From the laser irradiation device 18, the laser light is irradiated to the target 20 and positioning devices 16, 16 move the installation pipe 14 to position the laser spot on the target 20 in the detecting point 21 of the target 20 for the existing pipe 12. Thereby, the installation pipe 14 is positioned coaxially on the same shaft against the existing pipe 12. Then, both pipes are joined at the smaller deviation rotational position of the outer periphery of both pipes. <P>COPYRIGHT: (C)2010,JPO&INPIT

Description

  The present invention relates to a pipe installation apparatus and a pipe installation method, and more particularly to a pipe installation apparatus and a pipe installation method for aligning a groove portion of an installation pipe with a groove portion of an existing pipe.

An example of the piping installation device is disclosed in Patent Document 1. According to this pipe installation device, first, the installation pipe is lifted using a plurality of electric chain blocks, and then the feeding length of each electric chain block is changed on a trial basis, and the installation pipes at that time are changed. The amount of change is measured, and a conversion parameter (Jacobi matrix) from the amount of change in the installation piping to the amount of change in the feeding length of each electric chain block is calculated based on the measurement result. Then, using this conversion parameter, the amount of change in the length of each electric chain block for positioning the installation pipe at the installation position is calculated, and the amount of change in the length of each electric chain block is adjusted by the amount of change, The installation piping is positioned at the installation position. Thereby, according to the piping installation apparatus of patent document 1, there exists an advantage that the piping for installation can be accurately positioned in a desired position irrespective of experience of an expert etc.
Japanese Patent Application Laid-Open No. 11-152900.

  The pipe installation apparatus disclosed in Patent Document 1 is an apparatus premised on installation at a high place in which an electric chain block is attached to a column installed near a ceiling in a building and an installation pipe is installed near the ceiling.

  However, the above-described steam supply pipe is embedded in a groove constructed on the ground or in the ground, that is, the almost full length is installed in a place where there is no building outdoors. Installation using chain blocks was not possible. It should be noted that there is a drawback that the gate-type frame becomes large, although it is not impossible if the electric chain block is suspended on the movable gate-type frame (gantry).

  The steam supply pipe is, for example, a heavy object having a ton of 1 ton per meter, and the length is as long as 6 to 11 meters. Therefore, such a long heavy object pipe can be used without using an electric chain block. Therefore, a pipe installation device and a pipe installation method that can be installed efficiently have been desired. In addition, the pipe groove adjustment work includes the work of reducing the deviation of the outer circumference of the pipes to be welded. In this process, the pipe is rotated in the circumferential direction so that the deviation of the outer circumference of the pipes is reduced. It was necessary to weld the pipes together.

  The present invention has been made in view of such circumstances, and it is an object of the present invention to provide a pipe installation apparatus and a pipe installation method capable of efficiently performing alignment work during pipe installation.

  In order to achieve the above object, the present invention provides a pipe installation device for connecting an existing pipe that has already been installed and an installation pipe to be installed to install a plurality of pipes at an installation position. A laser light irradiation means is attached, and a target is attached to the outer peripheral portion of the installation pipe so as to face the laser light irradiation means, and the laser light irradiation means emits laser light emitted toward the target. It is attached so that the mouth is located on the extension line of the center line of the existing pipe, the detection point of the target is located on the extension line of the center line of the installation pipe, and the detection point and the outer periphery of the pipe Is attached at a position where the distance is equal to the distance between the emission port and the outer periphery of the pipe, and the target is irradiated with a laser beam. Installation pipe as the laser beam is positioned at the detection point of the target from to provide a piping installation apparatus characterized by being positioned by the positioning means with respect to existing piping.

  In order to achieve the above object, the present invention provides a pipe installation method in which an existing pipe that has already been installed and an installation pipe to be installed are connected and a plurality of pipes are installed at the installation position. Attaching a laser beam irradiating means and attaching a target to the outer periphery of the installation pipe so as to face the laser beam irradiating means, the laser beam irradiating means having a laser beam exit port that is emitted toward the target It is attached so as to be located on the extension line of the center line of the existing pipe, the detection point of the target is located on the extension line of the center line of the installation pipe, and the distance between the detection point and the outer periphery of the pipe Is attached at a position equal to the distance between the emission port and the outer periphery of the pipe, and is irradiated from the laser beam irradiation means projected onto the target. Za light provides a piping installation method characterized by positioning a mounting pipe to be located to the detection point of the target with respect to existing piping.

  According to the present invention, first, the installation pipe is roughly arranged on the extension of the existing pipe with respect to the existing pipe. For example, the installation pipe is arranged with the groove part of the installation pipe about 10 cm away from the groove part of the existing pipe. Next, the laser light irradiation means is attached to the outer peripheral portion of the existing pipe, and the target is attached to the outer peripheral portion of the installation pipe so as to face the laser light irradiation means. Next, the laser beam is irradiated from the laser beam irradiation unit toward the target, and the positioning unit positions the installation pipe with respect to the existing pipe so that the laser beam projected on the target is positioned at the detection point of the target. As a result, the installation pipe is positioned coaxially with the existing pipe. Thereby, this invention can implement efficiently the position alignment operation | work at the time of piping installation. In addition, the operation of connecting the installation pipe to the existing pipe is performed by moving the positioned installation pipe toward the existing pipe along the axis (the central axis of the installation pipe), and matching the groove portions with each other. Weld the groove parts together. Further, the laser light of the laser light irradiation means is initially set so as to be irradiated in parallel to the axis of the existing pipe.

  Further, according to the present invention, the positioning means supports a pair of inclined blocks which are supported so that the installation pipe is sandwiched between the inclined surfaces and can move forward and backward in the horizontal direction, and the pair of inclined blocks. A first driving means for moving the installation pipe in the horizontal direction by moving the first support means, a cradle for supporting the pair of inclined blocks, and a first stage for moving the installation pipe in the vertical direction by moving the cradle up and down. 2 drive means.

  The positioning means of the present invention includes a pair of inclined blocks that are supported so that the installation pipe is sandwiched between the inclined surfaces. These inclined blocks are supported so as to be movable in the horizontal direction along guide members such as guide rails, and are moved in the horizontal direction by using a first driving means such as a hydraulic cylinder. Thereby, the installation pipe is moved in the horizontal direction. Further, the pair of inclined blocks are supported on a cradle, and the cradle is moved up and down by a second driving means such as a hydraulic cylinder with respect to a fixed structure such as a gantry. Thereby, the installation piping is moved in the vertical direction. Therefore, the installation piping can be moved horizontally and vertically by the first driving means and the second driving means, so that the installation piping can be positioned with respect to the existing piping.

  Further, according to the present invention, it is preferable that the positioning means is installed at both end portions of the installation pipe, and both positioning means are controlled in conjunction with each other.

  By installing the positioning means of the present invention at both ends of the installation pipe and controlling both positioning means in conjunction, the installation pipe moves smoothly. Thereby, positioning work is performed efficiently.

  According to the present invention, the laser beam projected on the target is imaged, and the control unit controls the positioning unit so that the detection point of the target matches the laser beam based on the captured image. Is preferred.

  As in the present invention, the laser beam projected on the target is imaged by the imaging unit (solid-state imaging device), and the control unit controls the positioning unit based on the captured image so that the detection point of the target matches the laser beam. As a result, the positioning operation can be automated.

  Furthermore, according to the present invention, the inclined surface of the inclined block is preferably formed by a roller.

  By forming the inclined surface of the inclined block with a roller as in the present invention, the frictional resistance between the installation pipe and the inclination block can be reduced, and the installation pipe can be prevented from being damaged.

  Further, according to the present invention, the outer peripheral shape of each of the existing pipe and the installation pipe is acquired, and the installation pipe is rotated with respect to the existing pipe at a position where the deviation of the outer periphery is minimized. It is preferable to determine the connection position. This maximizes the connection strength between the existing pipe and the installation pipe.

  According to the pipe installation device and the pipe installation method of the present invention, since the pipes are positioned using the laser beam irradiation means and the target, the alignment work at the time of pipe installation can be performed efficiently.

  Hereinafter, preferred embodiments of a pipe installation device and a pipe installation method according to the present invention will be described with reference to the accompanying drawings.

  The pipes 12 and 14 installed by the pipe installation apparatus 10 according to the embodiment shown in FIG. 1 are steam supply pipes, for example, a radius of 850 mm, a wall thickness of 45 mm, and a length of one piece having a length of 6 to 11 m. It is a steel pipe for things. The total length of the steam supply pipe may be as long as 1.5 km.

  FIG. 1 also shows an existing pipe 12 that has already been installed and an installation pipe 14 to be installed. This installation pipe 14 is connected to positioning devices (positioning means) 16, 16 that constitute the pipe installation device 10. While being mounted, these positioning devices 16 and 16 are positioned with respect to the existing pipe 12. That is, the existing pipe 12 and the installation pipe 14 are the same size pipes, and after the installation pipe 14 is positioned on the same axis as the existing pipe 12 by the positioning devices 16, 16, the groove portion of the existing pipe 12 is provided. 12A and groove portion 14A of installation pipe 14 are abutted and welded.

  The outline of the pipe installation method will be described. First, the installation pipe 14 is roughly arranged on the extension of the existing pipe 12 with respect to the existing pipe 12. In FIG. 1, the figure by which the both ends of the installation piping 14 were mounted in the positioning devices 16 and 16 is shown. At this time, it is preferable from the viewpoint of increasing the efficiency of the joining work to dispose the installation pipe 14 by separating the groove 14A of the installation pipe 14 by about 10 cm from the groove 12A of the existing pipe 12.

  Next, a laser beam irradiation device (laser beam irradiation means) 18 is attached to the outer periphery of the existing piping 12 as shown in FIG. 2, and a plate-like target 20 is installed so as to face the laser beam irradiation device 18. 14 is attached to the outer periphery. The laser beam irradiation device 18 and the target 20 may be attached in any form as long as they can be easily attached and detached.

  The laser light irradiation device 18 is attached to the outer peripheral portion of the existing pipe 12 so that the laser light emission port 18 </ b> A is positioned on the extension line of the center line P <b> 1 of the existing pipe 12. Similarly, the target 20 is also attached to the outer periphery of the installation pipe 14 so that the detection point 21 is located on the extension line of the center line P2 of the installation pipe 14. The target 20 is attached at a position where the distance a between the detection point 21 and the outer peripheral portion of the installation pipe 14 is equal to the distance a between the emission port 18 </ b> A and the outer peripheral portion of the existing pipe 12. The laser beam irradiation device 18 is arranged so that the optical axis of the laser beam irradiated to the target 20 is parallel to the central axis P3 of the existing pipe 12. The target 20 projects a laser spot on the surface thereof when irradiated with laser light, and a detection point 21 is drawn at a predetermined position.

  The positioning devices 16 and 16 are installed so that the laser beam is irradiated from the laser beam irradiation device 18 initially set in this way toward the target 20 and the laser spot projected on the target 20 is positioned at the detection point 21 of the target 20. The working pipe 14 is moved and positioned with respect to the existing pipe 12. As a result, the installation pipe 14 is positioned coaxially with respect to the existing pipe 12. The configuration of the positioning device 16 and the positioning method of the installation pipe 14 by the positioning device 16 will be described later.

  Further, the operation of connecting the installation pipe 14 to the existing pipe 12 is performed by moving the positioned installation pipe 14 toward the existing pipe 12 along the central axis P4 of the installation pipe 14 to form groove portions 12A, 14A. After butting each other, the groove portions 12A and 14A are welded together. For example, the feed screw devices 100 and 100 shown in FIG. 3 are used, and the groove portions 12A and 14A are brought into contact with each other. That is, the screw rods 102 and 102 of the feed screw devices 100 and 100 are arranged in parallel with the central axes P3 and P4, the motors 104 and 104 are temporarily joined to the existing pipe 12 side, and the nuts 106 and 106 are installed. Temporarily joined to the piping 14 side. In this state, the motors 104 and 104 are simultaneously driven to rotate the screw rods 102 and 102 in the same direction and at the same speed, whereby the installation pipe 14 is horizontally moved toward the existing pipe 12 via the nuts 106 and 106. The groove portions 12A and 14A are butted together. Reference numerals 108 and 108 denote band-shaped heaters, and the heaters 108 and 108 heat the vicinity of the groove portions 12A and 14A prior to welding. The groove alignment mechanism is not limited to the feed screw device 100 of FIG.

  Next, the configuration of the positioning device 16 will be described.

  As shown in FIGS. 4 and 5, the positioning device 16 includes a pair of triangular blocks (inclined blocks) 22, 24 that are opposed to each other and a guide rail 26 that is disposed in a direction perpendicular to the installation pipe 14. , 26 is slidably attached.

  A piston 29 of a hydraulic cylinder (first driving means) 28 is connected to the back side of the triangular block 22, and a piston 31 of a hydraulic cylinder (second driving means) 30 is connected to the back side of the triangular block 24. Yes. When the piston 29 of the hydraulic cylinder 28 is extended, the triangular block 22 moves rightward and pushes the installation pipe 14 rightward. At this time, the hydraulic cylinder 30 is not moved or the piston 31 is contracted. As a result, the installation pipe 14 is pushed by the triangular block 22 and moves to the right. When moving the installation pipe 14 to the left, the reverse operation is performed. That is, when the piston 31 of the hydraulic cylinder 30 is extended, the triangular block 24 moves to the left and pushes the installation pipe 14 to the left. At this time, the hydraulic cylinder 28 is not moved or the piston 29 is contracted. Thereby, the installation piping 14 is pushed by the triangular block 24 and moves to the left.

  The pair of claws 22 </ b> A and 22 </ b> A constituting the inclined surface of the triangular block 22 is immersed in the openings 24 </ b> A and 24 </ b> A formed on the inclined surface of the triangular block 24 when approaching the triangular block 24. Thereby, since the triangular block 22 and the triangular block 24 can be brought closer, even a small-diameter installation pipe can be supported so as to be sandwiched between both inclined surfaces.

  The pair of triangular blocks 22 and 24 are supported on a cradle 32. Further, the cradle 32 is connected to a gantry 34 positioned therebelow via four pantograph type lifting mechanisms 36, 36..., And can be moved in the vertical direction by these lifting mechanisms 36, 36. Is provided. A piston 39 of a hydraulic cylinder (second drive means) 38 is connected to one link 37 constituting the elevating mechanism 36. Therefore, when the piston 39 is extended, the elevating mechanism 36 is extended, whereby the installation pipe 14 is moved upward. Further, when the piston 39 is contracted, the elevating mechanism 36 is contracted, whereby the installation pipe 14 is moved downward. The pistons 39, 39 ... are simultaneously expanded and contracted. In addition, a hydraulic cylinder (second drive means) 40 that directly raises and lowers the cradle 32 is also installed on the gantry 34. That is, the piston 41 of the hydraulic cylinder 40 is fixed to the lower surface of the cradle 32.

  The hydraulic cylinders 28, 30, 38, 38, 40 are operated by a hydraulic pump 44 that is controlled by the control unit 42. The control unit 42 can control the amount of expansion / contraction of the pistons 29, 31, 39, 39, 41 of the hydraulic cylinders 28, 30, 38, 38, 40 by controlling the hydraulic pump 44.

  The operation of the positioning device 16 configured as described above will be described.

  The positioning device 16 includes a pair of triangular blocks 22 and 24 that support the installation pipe 14 with the inclined surface therebetween. These triangular blocks 22 and 24 are supported along the guide rails 26 and 26 so as to be movable in the horizontal direction, and are moved in the horizontal direction using the hydraulic cylinders 28 and 30. Thereby, the installation pipe 14 can be moved in the horizontal direction. Further, the pair of triangular blocks 22, 24 are supported on a cradle 32, and the cradle 32 is moved up and down with respect to the gantry 34 by hydraulic cylinders 38, 38, 40. Thereby, the installation pipe 14 can be moved in the vertical direction.

  Therefore, according to this positioning device 16, the installation pipe 14 can be moved horizontally and vertically by the hydraulic cylinders 28, 30 and the hydraulic cylinders 38, 38, 40. Can be positioned with respect to each other.

  The positioned installation pipe 14 is supported by the gantry 34 by a supporter (not shown), and then the positioning device 16 is removed from the gantry 34 and used for the next installation work of the installation pipe.

  Further, the two positioning devices 16, 16 arranged at both ends of the installation pipe 14 are controlled in conjunction by the control unit 42. By linking and controlling the positioning devices 16 and 16, the installation pipe 14 moves smoothly, so that the positioning operation of the installation pipe 14 is performed efficiently.

  Furthermore, the pipe installation device 10 according to the embodiment captures the laser light from the laser light irradiation device 18 projected on the target 20 as shown in FIG. 6 by the CCD camera 46 and detects the detection point 21 of the target 20 based on the captured image. The control unit 42 controls the positioning device 16 so as to match the laser spot. As a result, the positioning operation can be automated.

  According to FIG. 6, the laser beam irradiation device 18 and the CCD camera 46 are initially set so that the laser spot is irradiated to the center position of the image captured by the CCD camera 46. In other words, the CCD camera 46 is disposed above the laser beam irradiation device 18 with the lens 47 facing down, and the half mirror 48 is fixed at a 45 ° tilt angle at a position where both optical axes intersect.

  The detection point 21 of the target 20 before being imaged by the CCD camera 46 is separated from the center position of the image irradiated with the laser spot by a predetermined distance. Here, the distance between the center position of the image and the detection point 21 of the target 20 and the shift direction thereof can be obtained by analyzing the image by the control unit 42, and the control unit 42 determines the distance and the direction. On the basis of this, the moving amount and moving direction of the installation pipe 14 are calculated, and the hydraulic pump 44 of the positioning device 16 is controlled based on this moving amount and moving direction, and the hydraulic cylinders 28, 30, 38, 38, 40 are controlled. The expansion and contraction amounts of the pistons 29, 31, 39, 39, and 41 are controlled. As a result, the detection point 21 of the target 20 matches the center position (laser spot) of the image, and the installation pipe 14 is positioned on the same axis as the existing pipe 12.

  FIG. 7 shows a modification of the triangular blocks 22 and 24. The inclined surface of the triangular block 22 is constituted by a roller 50. Thereby, the frictional resistance between the installation pipe 14 and the triangular block 22 can be reduced, and the outer peripheral surface of the installation pipe 14 can be prevented from being damaged. The inclined surface of the triangular block 24 can also be constituted by the roller 50.

  Further, as a method of positioning the installation pipe 14, the positioning device 16 on the existing pipe 12 side is operated first, and the groove portion 12 A of the existing pipe 12 and the groove portion 14 A of the installation pipe 14 are combined, so that the existing pipe 12 And the installation piping 14 are made parallel. Next, there is a method in which the positioning device 16 separated from the existing pipe 12 is operated until both the groove gap and the shaft core are within the allowable range.

  Further, according to the embodiment, the outer peripheral shapes of the existing pipe 12 and the installation pipe 14 positioned as described above are acquired, and the installation pipe 14 is placed at a position where the deviation of the respective outer circumferences is minimized. It is preferable to determine the connection position of both by rotating the existing pipe 12. This maximizes the connection strength between the existing pipe 12 and the installation pipe 14.

  When a carbon steel pipe for pressure piping specified in JIS 3454 is used as piping, the outer diameter tolerance is ± 0.8% with respect to the outer diameter. For example, in a steel pipe having an outer diameter of 650 mm, the outer diameter tolerance is 655.1 to 665.7 mm. When steel pipes having such an outer diameter are simply centered and joined together, joining at a position where the deviation of the outer periphery is large causes a problem that the joint strength is small and the connection strength becomes small. Therefore, it is required to connect the steel pipes at a position where the deviation of the outer periphery is minimized.

  More specifically, the connection end face of the existing pipe 12 is imaged with a digital camera, and this is subjected to image processing to acquire the outer peripheral shape of the existing pipe 12. Next, the outer peripheral shape of the installation pipe 14 is acquired using the apparatus shown in FIG. That is, the gantry 52 is temporarily fixed on the existing pipe 12, the arm 54 is horizontally attached to the gantry 52, and the laser length measuring device 56 is fixed to the distal end portion of the arm 54 toward the outer periphery of the installation pipe 14. An alignment marker 58 is attached to the outer peripheral portion of the installation pipe 14, and the installation pipe 14 is rotated once by a rotation driving means (not shown) based on the alignment marker 58. Thereby, the distance information to the outer periphery of the installation pipe 14 with respect to the laser length measuring device 56 is output according to the rotation angle, and the outer peripheral shape of the installation pipe 14 is acquired based on this distance information. As shown in FIG. 5, guide rollers 60 and 62 are provided on the pair of triangular blocks 22 and 24, and the installation pipe 14 is placed on the guide rollers 60 and 62 so that the installation pipe 14 is connected to its axis. It can be easily rotated around the core.

  FIG. 9 is an explanatory diagram showing that the pipes 12 and 14 are connected at a position where the deviation between the outer circumferences of the existing pipe 12 and the installation pipe 14 is minimized.

  In other words, the contents of the rotation of the installation pipe 14 with respect to the existing pipe 12 and the position of the rotation direction of the installation pipe 14 determined at the position where the deviation of the outer circumference is minimized are shown. Yes.

  In addition, even if the connection position of the installation pipe 14 with respect to the existing pipe 12 is a position where the deviation of the respective outer circumferences is minimum, the weld line 13, 14 of each pipe 12, 14 is a rotational direction position that does not match. This is required from the viewpoint of increasing the connection strength.

  Of course, the pipe installation device and the pipe installation method of the present invention can be variously modified within the scope of the present invention as well as the above embodiments.

The perspective view which showed the whole structure of the piping installation apparatus of embodiment Main part explanatory drawing which showed attachment structure of laser beam irradiation device and target Explanatory drawing showing the groove alignment mechanism between existing piping and installation piping The perspective view which showed the structure of the positioning device Front view of positioning device Configuration diagram of automatic axis alignment mechanism using CCD camera Front view of a positioning device showing a modification of the positioning device Schematic showing the device for determining the outer circumference deviation of the installation piping Explanatory drawing showing that both pipes are connected at the position where the deviation of the outer circumference is minimum

Explanation of symbols

  DESCRIPTION OF SYMBOLS 10 ... Piping installation apparatus, 12 ... Existing piping, 13 ... Welding line, 14 ... Installation piping, 15 ... Welding line, 16 ... Positioning device, 18 ... Laser beam irradiation apparatus, 20 ... Target, 22 ... Triangle block, 24 ... Triangle block, 26 ... guide rail, 28 ... hydraulic cylinder, 30 ... hydraulic cylinder, 32 ... cradle, 34 ... gantry, 36 ... lifting mechanism, 38 ... hydraulic cylinder, 40 ... hydraulic cylinder, 42 ... control unit, 44 ... hydraulic pressure Pump, 46 ... CCD camera, 48 ... Half mirror, 50 ... Roller, 52 ... Mount, 54 ... Arm, 56 ... Laser length measuring instrument, 58 ... Positioning marker, 60, 62 ... Guide roller

Claims (8)

In a pipe installation device that connects an existing pipe that has already been installed and an installation pipe to be installed, and installs multiple pipes at the installation position,
A laser light irradiation means is attached to the outer peripheral portion of the existing pipe, and a target is attached to the outer peripheral portion of the installation pipe so as to face the laser light irradiation means,
The laser beam irradiating means is attached so that the exit of the laser beam emitted toward the target is located on an extension of the center line of the existing pipe, and the detection point of the target is the center line of the installation pipe Is attached to a position where the distance between the detection point and the pipe outer periphery is equal to the distance between the exit port and the pipe outer periphery,
A pipe installation apparatus, wherein an installation pipe is positioned with respect to an existing pipe by positioning means so that a laser beam from a laser beam irradiation means projected and projected on the target is positioned at the detection point of the target .   The positioning means supports the installation pipe so that the installation pipe is sandwiched between the inclined surfaces, and a pair of inclination blocks provided so as to be movable forward and backward in the horizontal direction, and the installation pipe by moving the pair of inclination blocks A first driving means for moving the mounting block in a horizontal direction, a receiving base for supporting the pair of inclined blocks, and a second driving means for moving the installation pipe up and down by moving the receiving base up and down. The piping installation device according to claim 1.   3. The pipe installation device according to claim 2, wherein the positioning means is installed at both ends of the installation pipe, and both positioning means are controlled in conjunction with each other.   4. The method according to claim 1, wherein the laser beam projected on the target is imaged, and the control unit controls the positioning unit so that the detection point of the target matches the laser beam based on the captured image. Piping installation device according to crab.   The pipe installation device according to claim 1, wherein the inclined surface of the inclined block is formed by a roller.   Means for obtaining the outer peripheral shape of each of the existing pipe and the installation pipe, and determining the connection position of both by rotating the installation pipe with respect to the existing pipe at a position where the deviation of the respective outer circumference is minimized. The piping installation device according to any one of claims 1 to 5, wherein the piping installation device is provided. In a pipe installation method in which existing pipes that have already been installed and installation pipes to be installed are connected and multiple pipes are installed at the installation position,
Attaching a laser light irradiation means to the outer peripheral portion of the existing pipe, and attaching a target to the outer peripheral portion of the installation pipe facing the laser light irradiation means,
The laser beam irradiating means is attached so that the exit of the laser beam emitted toward the target is located on an extension of the center line of the existing pipe, and the detection point of the target is the center line of the installation pipe Is attached to a position where the distance between the detection point and the pipe outer periphery is equal to the distance between the exit port and the pipe outer periphery,
A pipe installation method comprising positioning an installation pipe with respect to an existing pipe so that a laser beam from a laser beam irradiation means projected and projected on the target is positioned at the detection point of the target.   Acquire the outer peripheral shape of each of the positioned existing pipe and the installation pipe, and rotate the installation pipe with respect to the existing pipe to the position where the deviation of the respective outer circumference is minimized to determine the connection position of both The piping installation method according to claim 7, wherein:

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