JP2012087838A - Method and device for maintenance of conduit - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a method and device for maintenance of a conduit that can perform maintenance work in a region in which the conduit cannot directly be seen from a manhole side, based on an image signal taken by a wireless communication camera.SOLUTION: An imaging part 12 of the wireless communication camera 14 is arranged at a side opposite to a manhole D rather than the region in which the maintenance work is performed in lateral piping 11, the image signal imaged by the imaging part 12 of the wireless communication camera 14 is transmitted, by electromagnetic waves, to the manhole D side in a space 13 in the lateral piping 11 by a transmission and reception part 15 of the wireless communication camera 14 arranged at the side opposite to the manhole D rather than the region in which the maintenance work is performed in the lateral piping 11, the image signal which is transmitted, by the electromagnetic waves, by a transmission and reception part 18 of a radio relay 17 arranged in a space which communicates with a space 13 in the lateral piping 11 and with a space 16 in the manhole D, and the maintenance work is performed to the region in which the conduit cannot directly be seen from the manhole D side at the internal peripheral face 11a of the lateral piping 11 on the basis of the image signal which is received by the transmission and reception part 18 of the radio relay 17.

Description

  The present invention relates to a pipe line repair method and a repair device when performing predetermined repair work on a portion of the inner peripheral surface of a horizontal pipe connected to a manhole that cannot be directly seen from the manhole side. .

  Conventionally, it has been necessary to perform various kinds of repair work in a narrow part such as a small-diameter pipe. Such maintenance work includes, for example, cutting of various grooves such as guide joints that induce destruction of the horizontal pipe in the event of an earthquake, cleaning of the inner peripheral surface of the horizontal pipe, and intrusion from the connecting part of the horizontal pipe There are various maintenance work such as removing the roots of the plant, removing the mortar that connects the horizontal pipes or between the horizontal pipes and the branch pipes, and repairing the ends of the branch pipes protruding into the horizontal pipes. However, since there is no way to look inside the pipe or put a hand at the time of work, there is a demand for the work to be carried out with high accuracy and certainty by directly observing it during repair work.

  For example, as a seismic structure for manholes, the inner peripheral surface of a horizontal pipe connected to the manhole and extending in a substantially horizontal direction is cut over the entire circumference, so that it is transverse to vibrations and impacts received from the ground, earthquakes and uneven settlement, etc. It has been proposed to form an induction joint that can induce the destruction of the piping and prevent the destruction of the manhole (Patent Document 1). The present applicant has applied for another patent for a working device that can form a guide joint having a desired depth by rotating a cutting blade in a horizontal pipe when forming such a guide joint (Japanese Patent Application No. 2009-). 171799).

  Such a working device is, for example, generally about 50 cm of horizontal piping from the outer surface side of the manhole, or when protective concrete is placed at the pipe port, 50 cm of horizontal piping from the end of the protective concrete. When there is a residual retaining wall or the like, a rotary cutting blade is disposed at a position of about 50 cm of the horizontal pipe from the end of the residual retaining wall, and is provided on the manhole side from the rotary cutting blade. It is operated by the operation panel. The rotary cutting blade is provided on a disc-shaped rotary member having an outer diameter corresponding to the inner diameter of the horizontal pipe, and the rotary member is mounted at the tip of a carriage that runs in the horizontal pipe. The part that cuts the inner surface of the pipe cannot be directly seen from the manhole side, and the nipping member that holds the cutting blade comes into contact with the work target surface to regulate the cutting depth.

  The cutting depth with such rotary cutting blades is required to be accurate so that the destruction of the horizontal pipe can be surely induced during an earthquake, etc., so we want to confirm the depth of the cutting groove during cutting visually. There was a request. For example, Patent Document 2 describes that work performed in the vicinity of one manhole side is monitored by inserting a traveling carriage equipped with a television camera in a horizontal pipe from the other manhole side. Further, in Patent Documents 3 to 6, a TV camera is directly mounted on a welding repair device, a cavity exploration device, various repair devices, and the like, and various operations are performed by viewing images on a monitor TV connected with a signal cable. It is also described.

JP 2006-144229 A Japanese Patent Laid-Open No. 06-201085 Japanese Utility Model Publication No. 02-127393 Japanese Patent Laid-Open No. 09-080161 Japanese Patent Laid-Open No. 11-118088 JP 2001-347392 A

  However, in the technique of Patent Document 2, there may be a long distance from one manhole to the other manhole, the video signal cable connecting the TV camera in the horizontal pipe and the ground monitor TV becomes a long distance, There has been a problem in that image noise occurs and video deterioration occurs. In addition, since two manholes are opened, there is a problem that it is expensive because a traffic guide must be arranged around each manhole or a work zone must be installed using a color cone, a corn bar, or the like. In addition, it is difficult to immediately and accurately transmit an image captured by a television camera car parked on the other manhole side to an operator on one manhole side. In addition, a separate high-pressure washing car may be required to run a traveling carriage equipped with a TV camera in a horizontal pipe.

  In addition, when a television camera is directly mounted on the repair device as in Patent Documents 3 to 6, when the repair device performs repair work involving vibration, blurring due to vibration occurs in an image captured by the television camera. There was a problem that it was difficult to see because of the disturbance of the image on the monitor TV on the ground and dirt on the lens.

  The present invention solves the above-mentioned problems, and the object of the present invention is that the inner peripheral surface of the horizontal pipe connected to the manhole is not directly visible from the manhole side behind the work device. The maintenance site is imaged from the opposite side of the manhole without running a TV camera from the manhole side, and electromagnetic waves are transmitted to the manhole side wirelessly by a transceiver, and the manhole side is behind the work equipment based on the image signal. Therefore, it is intended to provide a pipeline repair method and a repair device that can perform repair work on a portion that cannot be directly seen.

  In order to achieve the above object, the first configuration of the pipe line repairing method according to the present invention provides a predetermined maintenance for a portion of the inner peripheral surface of the horizontal pipe connected to the manhole that cannot be directly seen from the manhole side. A method of repairing a pipe line when performing a repair work, wherein an imaging means for imaging a part to be subjected to the repair work is on the opposite side of the manhole from a part to be subjected to the repair work in the horizontal pipe. The image signal picked up by the imaging means is arranged on the side of the manhole in the space in the horizontal pipe by a transmitter arranged on the opposite side of the manhole from the part where the maintenance work is performed in the horizontal pipe. An image signal transmitted by the receiver and received by the receiver disposed in a space communicating with the space in the horizontal pipe and the space in the manhole, and received by the receiver Based on the above horizontal And characterized by applying the coercive 繕作 industry against a site that does not foresee direct from the manhole side inner circumferential surface of the pipe.

  Moreover, the 2nd structure of the pipe repair method which concerns on this invention is the said 1st structure. WHEREIN: The said repair work is the said manhole dynamically or statically in the horizontal piping connected to the said manhole. It is an operation performed in a state shielded from the side.

  Further, according to a third configuration of the pipe repair method according to the present invention, in the first configuration, the repair work is performed by the rotary cutting blade installed in the horizontal pipe in the vicinity of the manhole. It is the operation | work which cuts the internal peripheral surface of piping and forms a groove | channel, It is characterized by the above-mentioned.

  According to a fourth configuration of the pipe repair method according to the present invention, in the first configuration, the repair work is performed by the horizontal cleaning member installed in the horizontal pipe in the vicinity of the manhole. It is the work which cleans the internal peripheral surface of piping.

  Further, the first configuration of the pipe line repairing apparatus according to the present invention is a pipe that performs a predetermined repair work on a portion that cannot be directly seen from the manhole side on the inner peripheral surface of the horizontal pipe connected to the manhole. It is a road maintenance device, the maintenance means for performing a predetermined maintenance work on the inner peripheral surface of the horizontal pipe, and the part for performing the maintenance work by the maintenance means in the horizontal pipe It is arranged on the opposite side to the manhole, and is arranged on the opposite side of the manhole from the imaging means for imaging the part to be repaired by the maintenance means, and the part to be repaired in the horizontal pipe. The transmitter is configured to transmit an image signal picked up by the image pickup means to the manhole side in the space in the horizontal pipe, and in a space communicating with the space in the horizontal pipe and the space in the manhole. Are transmitted by the transmitter. And having a receiver for receiving an image signal, and control means for controlling said Ho繕 means based on the image signal received by said receiver.

  Moreover, the 2nd structure of the maintenance apparatus of the pipe line which concerns on this invention is a said 1st structure. WHEREIN: The said maintenance means is installed in the said horizontal piping in the vicinity of the said manhole, The inner periphery of the said horizontal piping It has a rotary cutting blade that cuts the surface to form a groove.

  Moreover, the 3rd structure of the pipe | tube maintenance apparatus which concerns on this invention is a said 2nd structure, The scale which can visually recognize the cutting depth was provided in the said rotary cutting blade, It is characterized by the above-mentioned. .

  According to a fourth configuration of the pipeline repairing apparatus of the present invention, in the first configuration, the repairing means is installed in the horizontal pipe in the vicinity of the manhole, and an inner periphery of the horizontal pipe It has the rotation cleaning member which cleans a surface, It is characterized by the above-mentioned.

  According to the first configuration of the pipeline repair method according to the present invention, the imaging means for imaging the part to be repaired is arranged on the opposite side of the manhole from the part to be repaired in the horizontal pipe. Then, the image signal picked up by the image pickup means is transmitted as an electromagnetic wave toward the manhole side in the space in the horizontal pipe by a transmitter disposed on the opposite side of the manhole from the part to be repaired in the horizontal pipe. The image signal transmitted by the electromagnetic wave is received by a receiver arranged in a space communicating with the space in the horizontal pipe and the space in the manhole, and the inner circumference of the horizontal pipe is based on the image signal received by the receiver. It is possible to perform maintenance work on the part that cannot be directly seen from the manhole side. As a result, a predetermined repair work is performed on the inner peripheral surface of the horizontal pipe connected to the manhole, based on the imaged image signal even for a portion that cannot be directly seen from the manhole side, or while viewing the imaged image. I can do it.

  According to the second configuration of the pipeline maintenance method according to the present invention, in the case of maintenance work performed in a state where the inside of the horizontal pipe connected to the manhole is dynamically or statically shielded from the manhole side, There are many cases where the signal cable from the imaging means installed in the horizontal pipe cannot be pulled out to the manhole side, and it is not possible to see directly from the manhole side behind a shield such as a protective work device. The maintenance work receives the image signal transmitted by radio wave by the receiver, and repairs the part that cannot be directly seen from the manhole side on the inner peripheral surface of the horizontal pipe based on the image signal received by the receiver Work can be done easily.

  According to the third configuration of the pipe repair method according to the present invention, the inner peripheral surface of the horizontal pipe is cut by a rotary cutting blade installed in the horizontal pipe in the vicinity of the manhole, and the horizontal Grooves such as guide joints that are not visible directly from the manhole side during maintenance work that forms grooves such as guide joints that induce pipe destruction The maintenance work that forms can be performed.

  According to the fourth configuration of the pipe line repairing method according to the present invention, from the manhole side during the maintenance work for cleaning the inner peripheral surface of the horizontal pipe by the rotary cleaning member installed in the horizontal pipe in the vicinity of the manhole. It is possible to perform a maintenance work for cleaning the inner peripheral surface of the horizontal pipe based on the imaged image signal even for a portion that cannot be directly seen, or while viewing the captured image.

  Further, according to the first configuration of the pipe line repairing apparatus according to the present invention, the image pickup means disposed on the opposite side of the manhole from the part where the repair work is performed by the repair means in the horizontal pipe. The part to be repaired can be imaged, and the image signal captured by the imaging means is a space in the horizontal pipe by a transmitter disposed on the side opposite to the manhole from the part to be repaired in the horizontal pipe. The electromagnetic wave can be transmitted toward the manhole inside. Then, an image signal transmitted by the transmitter is received by a receiver disposed in a space communicating with the space in the horizontal pipe and the space in the manhole, and control is performed based on the image signal received by the receiver. By controlling the repairing means, the inner peripheral surface of the horizontal pipe connected to the manhole can also be used to visually check the captured image based on the image signal taken for the part that cannot be seen directly from the manhole side. It is possible to carry out predetermined maintenance work while doing so. That is, the maintenance work may be performed by converting the image signal received by the receiver into a predetermined control signal and automatically controlling the repair means by the control means based on the control signal, or by the image received by the receiver. The signal may be visualized by video means such as a television monitor, and the maintenance means may be controlled by the control means while viewing the video.

  According to the second configuration of the pipe line repairing apparatus according to the present invention, the pipe is installed in the horizontal pipe in the vicinity of the manhole, and the horizontal pipe is broken in the event of an earthquake or the like by cutting the inner peripheral surface of the horizontal pipe. Control the repairing means having a rotary cutting blade that forms grooves such as guiding joints to guide, based on the image signal captured even for the part that cannot be directly seen from the manhole side, or while viewing the captured image Maintenance work for forming grooves such as guide joints can be performed.

  According to the third configuration of the pipeline repairing apparatus according to the present invention, the cutting depth can be visually recognized by the scale provided on the rotary cutting blade, and the accuracy of the cutting depth can be improved. .

  According to the fourth configuration of the pipe line repairing apparatus according to the present invention, the repairing means is installed in the horizontal pipe in the vicinity of the manhole and has a rotating cleaning member for cleaning the inner peripheral surface of the horizontal pipe. Thus, it is possible to perform a maintenance work for cleaning the inner peripheral surface of the horizontal pipe based on the imaged image signal even for a portion that cannot be directly seen from the manhole side, or while viewing the captured image.

It is a section explanatory view showing the whole composition of a 1st embodiment of the maintenance device of the pipe line concerning the present invention. It is a schematic diagram which shows the mode of the wireless communication camera which mounts an imaging means and a transmitter / receiver, the wireless repeater which has a transmission / reception function, and the controller connected to the wireless repeater. It is a block diagram which shows the structure of the control system of the pipe repair apparatus which concerns on this invention. It is a figure which shows an example of the cutting device which has a rotary cutting blade which forms an induction joint in the internal peripheral surface of a horizontal piping. It is a figure which shows the structure of the rotating member of the cutting device shown in FIG. FIG. 5 is an explanatory cross-sectional view showing a state in which an induction joint is formed by cutting the inner peripheral surface of the horizontal pipe over the entire circumference with the rotary cutting blade of the cutting apparatus shown in FIG. 4. It is a figure which shows a mode that the image imaged by the imaging means was displayed on the monitor screen which cut | disconnected the internal peripheral surface of horizontal piping with a rotary cutting blade, and forms a guidance joint. It is a figure which shows a mode that the image imaged by the imaging means was displayed on the monitor screen which cut | disconnected the internal peripheral surface of horizontal piping with a rotary cutting blade, and forms a guidance joint. It is a figure which shows a mode that the scale which can visually recognize the cutting depth was provided in the rotary cutting blade. It is sectional explanatory drawing which shows an example of the cleaning apparatus which has a rotation cleaning member which cleans the internal peripheral surface of a horizontal piping as 2nd Embodiment of the pipeline maintenance apparatus which concerns on this invention. It is a section explanatory view showing the composition of a 3rd embodiment of the maintenance device of the pipe line concerning the present invention. It is a section explanatory view showing the composition of a 4th embodiment of the maintenance device of the pipe line concerning the present invention.

  An embodiment of a pipe line repair method and a repair apparatus according to the present invention will be specifically described with reference to the drawings.

  In FIG. 1 to FIG. 12, the maintenance device A of the pipe C is located at a portion that cannot be directly seen from the manhole D side on the inner peripheral surface 11a of the horizontal pipe 11 of the pipe C connected to the manhole D in a substantially horizontal direction. On the other hand, it is configured to perform a predetermined repair work. The maintenance work of each embodiment shown below is an operation performed in a state where the inside of the horizontal pipe 11 connected to the manhole D is dynamically or statically shielded from the manhole D side. Dynamically shielding is when performing maintenance work using various rotating members such as a rotating cutting blade and a rotating cleaning member that rotate in the circumferential direction in the horizontal pipe 11, and to statically shield, This is the case when the inside of the horizontal pipe 11 is covered with various shielding members such as an air packer type expander and the repair work is performed in a state where it cannot be directly seen from the manhole D side.

  The maintenance device A is a cutting device B shown in FIGS. 4 to 6, 11, and 12 serving as maintenance means for performing a predetermined maintenance operation on the inner peripheral surface 11 a of the horizontal pipe 11 of the pipe C. Alternatively, the cleaning device F shown in FIG. 10 is disposed on the opposite side of the manhole D from the portion 11b where the repair work is performed by the repairing means (cutting device B, cleaning device F) in the horizontal pipe 11, and the repairing means A CMOS (Complementary Metal Oxide Semiconductor) camera or CCD built in the wireless communication camera 14 serving as an imaging means for imaging the part 11b to be repaired by the (cutting device B, cleaning device F) (Charge Coupled Device) An imaging unit 12 constituted by a camera or the like, and a portion 11b where maintenance work is performed in the horizontal pipe 11 are arranged on the side opposite to the manhole D, and is placed in the wireless communication camera 14. The image signal captured by the built-in imaging unit 12 In a space that communicates with the transmitter / receiver 15 built in the wireless communication camera 14 serving as a transmitter that transmits electromagnetic waves toward the manhole D in the space 13, the space 13 in the horizontal pipe 11, and the space 16 in the manhole D A transmitter / receiver 18 built in a wireless repeater 17 serving as a receiver for receiving an image signal transmitted by an electromagnetic wave by a transmitter / receiver 15 built in a wireless communication camera 14 serving as a transmitter; The controller 19 is configured to be a control unit that controls the maintenance unit (the cutting device B and the cleaning device F) based on the image signal received by the transmission / reception unit 18 serving as a machine. Note that the wireless communication camera 14 of the present embodiment is configured to have waterproof performance.

  As shown in FIGS. 4 and 5, the cutting device B shown in FIGS. 1 to 8 includes a rotating member 1 and a cutting member 20 provided so as to be movable from the center to the outer periphery with respect to the rotating member 1. And a biasing member 3 that biases the cutting member 20 in the central direction of the rotating member 1.

  The rotating member 1 includes a rotating body 1a and a rotating shaft 1b. The rotating member 1a is disposed at the end of the rotating shaft 1b, and the axis of the rotating body 1a is aligned with the axis of the rotating shaft 1b. The two are fixed and integrated. Therefore, the rotating member 1 is configured to be able to rotate smoothly around the shaft core 1c.

  In the present embodiment, the rotating body 1a is formed in a disc shape. However, the rotating body 1a does not necessarily have a disk shape, and an electromagnetic wave signal is generated by the disk-shaped rotating body 1a when transmitting an image signal picked up by the imaging unit 12 of the wireless communication camera 14 toward the manhole D side. In such a case, the rotating body can be configured by a linear arm that can secure a larger transmission space, and the rotating body may be configured by a trifurcated arm. It is also possible to configure the rotating body with a cross-shaped arm.

  In this embodiment, the cutting member 20 is a rotary cutting blade that cuts the inner peripheral surface 11a of the horizontal pipe 11 of the pipe C and cuts the groove E serving as a guide joint that induces the destruction of the horizontal pipe 11 during an earthquake or the like. 21a. The cutting member 20 includes a blade member 21 serving as a disk-shaped blade portion, a sandwiching member 22 disposed on both sides in the thickness direction of the blade member 21 and serving as a main body portion, and a blade member 21 that is rotatable and non-rotatable. It has a sliding member 23 as a guided portion to be attached and attached to the guide member 4.

  A plurality of rotary cutting blades 21 a are formed on the outer periphery of the blade member 21. In particular, the protruding portion is configured as the rotary cutting blade 21a by the blade member 21 being sandwiched by the sandwiching member 22 having an outer diameter smaller than the outer diameter of the blade member 21. The rotary cutting blade 21a has a function of cutting the inner peripheral surface 11a of the horizontal pipe 11 of the pipe C. The thickness of the rotary cutting blade 21a is not particularly limited, and is formed to an optimum value according to how the inner peripheral surface 11a of the horizontal pipe 11 of the pipe C is cut.

  In the present embodiment, the thickness of the rotary cutting blade 21a has a dimension that is substantially equal to or slightly smaller than the width of the groove E serving as a guide joint to be formed on the inner peripheral surface 11a of the horizontal pipe 11 of the pipe C. In addition, diamond particles are fixed to the outer peripheral surface of the rotary cutting blade 21a, both side surfaces in the thickness direction, and end surfaces in the thickness direction. The rotary cutting blade 21a may be constituted by a so-called bite in which a chip made of cemented carbide is fixed to a bar-shaped shank.

  The sandwiching member 22 is formed in a disk shape having an outer diameter smaller than the outer diameter of the blade member 21 by the size of the rotary cutting blade 21a. The sandwiching member 22 is formed so as not to have a cutting function. When the blade member 21 is sandwiched between two sandwiching members 22, the sandwiching member 22 functions as a main body of the cutting member 20. To do. That is, the cutting in the depth direction with respect to the inner peripheral surface 11a of the horizontal pipe 11 of the pipe C by the rotary cutting blade 21a proceeds, and the outer peripheral surface of the clamping member 22 becomes the inner peripheral surface 11a of the horizontal pipe 11 of the pipe C. When contacted, the outer peripheral surface does not have a cutting function, so that cutting in the depth direction does not proceed. For this reason, it is possible to regulate the cutting depth with respect to the inner peripheral surface 11a of the horizontal pipe 11 of the pipe C.

  The blade member 21 and the clamping member 22 are rotatably and non-rotatably attached to a sliding member 23 that is mounted on a guide member 4 described later and slides while being guided by the guide member 4. That is, a shaft 23a and a pin 24 are erected on the sliding member 23, and the blade member 21 and the clamping member 22 are rotatably supported by the shaft 23a and the pin 24. The clamping member 22 and the blade member 21 are formed with a hole 24a penetrating the clamping member 22 and the blade member 21, and a pin 24 erected on the sliding member 23 serving as a guided portion is inserted into the hole 24a. Thus, the blade member 21 and the clamping member 22 are configured to be non-rotatable. Instead of the pin 24, the blade member 21 and the clamping member 22 may be fixed to the sliding member 23 by bolting.

  The cutting member 20 is constituted by the blade member 21, the clamping member 22, and the sliding member 23 configured as described above. In this embodiment, two sets of cutting members 20 are arranged on a diameter passing through the center of the rotating body 1a.

  The biasing member 3 biases the cutting member 20 toward the center of the rotating body 1a. In this embodiment, the urging member 3 is constituted by a single spring disposed between the surfaces of the sliding members 23 of the two sets of cutting members 20 facing each other. In this case, if there is a difference in frictional resistance when the two sets of cutting members 20 are guided by the guide member 4, the smaller one is attracted to the larger frictional resistance. It will be necessary. For this reason, it may be preferable to bias the two sets of cutting members 20 individually.

  In particular, when three or more sets of cutting members 20 are arranged, the urging member 3 is provided for each cutting member 20 in order to urge each cutting member 20 toward the center of the rotating body 1a. It is preferable.

  A guide member 4 for guiding the movement of the cutting member 20 is provided on the surface of the rotating body 1a. As shown in FIG. 5, the guide member 4 has a C-shaped cross section, and a sliding member 23 is slidably fitted into the C-shaped groove and guided. As shown in FIG. 4, stoppers 4 a are respectively attached to predetermined positions of both ends and an intermediate part of the guide member 4, and the sliding member 23 is detached from the guide member 4 by the stoppers 4 a attached to both ends. And one of the sliding members 23 is prevented from moving to the other sliding member 23 side by the stopper 4a attached to the intermediate portion.

  A gap 4 b is formed between the inner peripheral surface of the guide member 4 and the outer peripheral surface of the sliding member 23. For example, cutting waste generated when the inner peripheral surface 11 a of the horizontal pipe 11 of the pipe C is cut by the cutting member 20 may fall on the guide member 4 and is formed between the guide member 4 and the sliding member 23. There is a risk that clogging will occur by entering the gap 4b and hindering smooth sliding of the sliding member 23. If the gap 4b is too large, an impact may occur when the cutting member 20 cuts the inner peripheral surface 11a of the horizontal pipe 11 of the pipe C. For this reason, it is preferable that the dimension of the gap 4b between the guide member 4 and the sliding member 23 is appropriate. In particular, in order to smoothly slide the sliding member 23 on the guide member 4, it is preferable to apply or fill the gap 4b with lubricating oil (for example, grease).

  However, when it is configured to sufficiently prevent the cutting waste falling on the guide member 4 from entering the gap 4b portion with the sliding member 23, the guide member 4 is a combination of a square bar and a linear bearing, or It can be configured by a combination of a pair of shafts and a linear bearing.

  In this embodiment, the guide member 4 is configured to guide two sets of cutting members 20 on a diameter passing through the center of the rotating body 1a. However, the present invention is not limited to this configuration, and the guide member 4 can be configured to be guided linearly or to be guided in an arc shape (not shown).

  In the cutting apparatus B configured as described above, the rotating body 1a is rotated by rotating the rotating shaft 1b of the rotating member 1, and the cutting member 20 is guided by the guide member 4 along with this rotation to the outer peripheral direction. Moving. With the movement of the cutting member 20 in the outer peripheral direction, the rotary cutting blade 21a of the blade member 21 constituting the cutting member 20 protrudes further outward than the outer periphery of the rotating body 1a, and the horizontal piping 11 of the pipe C The inner peripheral surface 11a is cut.

  When the rotational speed of the rotary member 1 is increased, the centrifugal force acting on the cutting member 20 increases as the rotational speed increases, and the rotary cutting blade 21a is applied to the inner peripheral surface 11a of the horizontal pipe 11 of the pipe C. To advance cutting in the depth direction. Thereby, the inner peripheral surface 11a of the horizontal pipe 11 of the pipe C can be cut into a circle. Then, when cutting in the depth direction of the inner peripheral surface 11a of the horizontal pipe 11 of the pipe C by the rotary cutting blade 21a proceeds and the clamping member 22 contacts the inner peripheral surface 11a of the horizontal pipe 11 of the pipe C, The holding member 22 rotates while maintaining a state in which it is in contact with the inner peripheral surface 11a of the horizontal pipe 11 of the pipe C. Therefore, the cutting depth with respect to the inner peripheral surface 11a of the horizontal pipe 11 of the pipe C by the cutting member 20 is regulated without cutting in the depth direction with respect to the inner peripheral surface 11a of the horizontal pipe 11 of the pipe C. The

  When the target cutting on the inner peripheral surface 11a of the horizontal pipe 11 of the pipe C is completed, if the rotational speed of the rotating member 1 is reduced, the centrifugal force acting on the cutting member 20 is reduced, and the biasing force by the biasing member 3 is reduced. Is moved in the center direction of the rotating body 1a. In this process, the rotary cutting blade 21a is detached from the groove E formed in the inner peripheral surface 11a of the horizontal pipe 11 of the pipe C and returns to the initial state.

  As shown in FIGS. 4 and 6, in the cutting apparatus B, the rotary member 1 is rotatably mounted on a carriage 30 as a support member configured to be movable in the pipe C. The carriage 30 is configured to travel while being inserted into the horizontal pipe 11 of the pipe C, stop at a desired position, and hold the stop position. In particular, when the torque acting on the rotating member 1 acts as a reaction force on the carriage 30 when the inner peripheral surface 11a of the horizontal pipe 11 of the pipe C is cut to form the groove E serving as a guide joint, this reaction force is applied. It is comprised so that it can support.

  The carriage 30 includes a casing 31, a rotation drive member 32 that is built in the casing 31 and rotationally drives the rotation member 1, a plurality of wheels 33 that are disposed on a side surface of the casing 31, and a travel motor 34 that drives the wheels 33. And a pressure contact member 35 that supports the stopped state of the carriage 30 and allows the rotation member 1 to move in the direction of the axis 1c, and a hydraulic cylinder 36 that drives the pressure contact member 35.

  The cutting device B serving as maintenance means is configured to be able to move inside the horizontal pipe 11 of the target pipe C to a desired position. For this reason, the rotating body 1a of the rotating member 1 mounted on the carriage 30 has an outer diameter smaller than the inner diameter of the pipe C, and the two sets of cutting members 20 provided on the rotating body 1a are closest to each other. In the initial state, the rotary cutting blade 21a is configured not to protrude from the outer periphery of the rotating body 1a.

  When the cutting device B is inserted into the target pipe C, the axis 1c of the rotating member 1 and the axis of the pipe C do not have to coincide with each other. That is, when the axis 1c of the rotating member 1 and the axis of the pipe C do not match, the rotating body 1a rotates eccentrically with respect to the pipe C. However, the cutting member 20 is guided between the center and the outer periphery of the rotating body 1a by the guide member 4, and contacts the inner peripheral surface 11a of the horizontal pipe 11 of the pipe C by the centrifugal force generated according to the rotation of the rotating body 1a. To do. For this reason, after the cutting member 20 comes into contact with the inner peripheral surface 11a of the horizontal pipe 11 of the pipe C, the inner circumference of the horizontal pipe 11 of the pipe C is not rotated around the axis 1c of the rotating body 1a. It rotates along the surface 11a.

  Therefore, even if the axis 1c of the rotating member 1 and the axis of the pipe C do not coincide with each other, the cutting member 20 can smoothly rotate along the inner peripheral surface 11a of the horizontal pipe 11 of the pipe C. Become. That is, the rotating body 1a rotates about the axis 1c, and the cutting member 20 rotates about the axis of the pipe C. Such rotation is caused by the cutting member 20 coming into contact with the inner peripheral surface of the pipe C by the action of centrifugal force. However, it is not preferable that the axial center 1c of the rotating member 1 and the axial center of the pipe line C are in a significantly different position.

  The total length of the cutting device B is not particularly limited. However, as shown in FIG. 1, when a groove E serving as a guide joint is formed on the end side (manhole D side) of the pipe C, and the dimension from the end is specified. Is preferably shorter than this specified dimension. In general, the groove E serving as a guide joint is preferably at a position of about 500 mm from the end of the pipe C (the connecting portion between the manhole D and the horizontal pipe 11). For example, when protective concrete is placed in the pipe opening, the position of the horizontal piping is about 50 cm from the end of the protective concrete, or if there is a residual earth retaining wall, from the end of the residual earth retaining wall, etc. It is preferable that the position is about 50 cm in the horizontal pipe. For this reason, it is preferable that the dimension from the blade member 21 which comprises the cutting device B to the edge part of the casing 31 is set to 500 mm or less. In addition, the groove | channel E used as a guidance joint is suitably set in the position of about 500 mm-1000 mm from the breakable edge part of this pipe line C corresponding to the aperture of the pipe line C.

  The rotation drive member 32 has a function of rotating the rotation member 1 at a desired number of rotations, and is driven and controlled by the rotation drive control unit 5 provided in the controller 19 serving as control means. And the internal peripheral surface 11a of the horizontal piping 11 of the pipe line C is cut by making a centrifugal force act on the cutting member 20 with rotation of the rotating member 1. In particular, it is preferable that the centrifugal force acting on the cutting member 20 can be increased or decreased steplessly, and it is preferable that the rotational speed of the rotating member 1 be changed steplessly.

  Accordingly, the rotation drive member 32 is selected so that it can be steplessly shifted and the cutting member 20 can apply a force sufficient to cut the inner peripheral surface 11a of the horizontal pipe 11 of the pipe C. In the present embodiment, a hydraulic motor is used as the rotation drive member 32. In addition, by using an electric motor as the rotation drive member 32 and controlling the speed of the electric motor by inverter control by the rotation drive control unit 5, the rotation member 1 can be rotated at a desired number of rotations.

  The traveling motor 34 that drives the wheels 33 may be any motor that can cause the carriage 30 to travel, and the traveling speed is not necessarily changed. For this reason, a small electric motor is adopted as the traveling motor 34. The traveling motor 34 is connected to the traveling motor drive control unit 6 provided in the controller 19 serving as the control means shown in FIG. They are connected and driven and controlled by the travel motor drive control unit 6.

  The pressure contact member 35 is driven by the hydraulic cylinder 36 to appear and retract, and when it protrudes, presses against the inner peripheral surface 11a of the horizontal pipe 11 of the pipe C to support the carriage 30 together with the plurality of wheels 33 and It has a function of allowing movement in the direction along the shaft core 1c. That is, when cutting the inner peripheral surface 11a of the horizontal pipe 11 of the pipe C by the cutting member 20, the horizontal pipe 11 of the pipe C can be countered with the reaction force generated according to the torque acting on the rotating body 1a. Is in pressure contact with the inner peripheral surface 11a. The hydraulic cylinder 36 is driven and controlled by a hydraulic cylinder drive control unit 7 provided in a controller 19 serving as a control means.

  The pressure contact member 35 includes a roller 35a that directly contacts the inner peripheral surface 11a of the horizontal pipe 11 of the pipe C, an attachment member 35b to which the roller 35a is attached, a base member 35c that is attached to the hydraulic cylinder 36, and an attachment member. A spring 35d is disposed between 35b and the base member 35c. The roller 35a may be omitted, and the attachment member 35b may be in direct contact with the inner peripheral surface 11a of the horizontal pipe 11 of the pipe C.

  In the state where the rod of the hydraulic cylinder 36 is immersed, the pressure member 35 does not contact the inner peripheral surface 11a of the horizontal pipe 11 of the pipe C, and the carriage 30 can move freely. . When the rod of the hydraulic cylinder 36 is extended, the base member 35c moves in the direction of the inner peripheral surface 11a of the horizontal pipe 11 of the pipe C, and the roller 35a provided on the mounting member 35b is connected to the pipe via the spring 35d. It is brought into pressure contact with the inner peripheral surface 11a of the horizontal pipe 11 of the path C. At this time, since the spring 35d is disposed between the mounting member 35b and the base member 35c, the roller 35a is moved by the urging force according to the spring constant and the amount of deflection of the spring 35d. It will press-contact with the surrounding surface 11a. When a change occurs in the diameter of the inner peripheral surface 11a of the horizontal pipe 11 of the pipe C, the amount of bending of the spring 35d changes, and the change in the diameter of the inner peripheral surface 11a can be followed.

  A hydraulic unit (not shown) is installed at a position separated from the cutting device B, and the hydraulic unit, the rotary drive member 32, and the hydraulic cylinder 36 are connected by a hose 37. The rotary drive member 32 and the hydraulic cylinder 36 are selectively operated by operating a hydraulic unit or a switching valve (not shown). In particular, the piping system of the rotation drive member 32 is provided with a pressure control mechanism or a flow rate control mechanism so that the rotation speed can be increased or decreased steplessly by adjusting the pressure or flow rate supplied to the rotation drive member 32. It is configured.

  The pressure oil supply system for the rotary drive member 32 and the hydraulic cylinder 36 is not limited to the above structure, and a manifold (not shown) is provided inside the casing 31 and is connected via a switching valve connected to the manifold. The hydraulic unit, the rotary drive member 32, and the hydraulic cylinder 36 may be connected. In this case, the rotation drive member 32 and the hydraulic cylinder 36 can be operated by remotely operating the respective switching valves by the rotation drive control unit 5 and the hydraulic cylinder drive control unit 7 provided in the controller 19 serving as a control means. Is possible.

  Next, the cutting device B configured as described above cuts the inner peripheral surface 11a of the horizontal pipe 11 of the pipe C to form a groove E serving as a guide joint, and the cutting state of the groove E is referred to as imaging means. A procedure for capturing an image with the wireless communication camera 14 and performing the cutting operation of the groove E based on the image signal will be described with reference to FIG. As described above, the configuration of the pipe C is not limited. For example, a fume pipe, a ceramic pipe, a hard vinyl chloride pipe, FRPM (Fiberglass Reinforced Plastic Mortar Pipes), a glass fiber reinforced plastic (FRP), and a resin mortar. (Resin Mortar) may be composed of a pipe such as a reinforced plastic composite pipe). Furthermore, the pipe line which renovated the inner peripheral surface of the said pipe | tube may be sufficient.

  First, the wireless communication camera 14 was inserted from the manhole D into the horizontal pipe 11 of the pipe C, and a transmission / reception unit 18 serving as a receiver connected to a controller 19 serving as a control means via a cable 17a was provided. The wireless repeater 17 is suspended in the manhole D and disposed in a space that communicates with the space 13 in the horizontal pipe 11 and the space 16 in the manhole D.

  The wireless communication camera 14 is travel-controlled by a controller 19 serving as control means. That is, an operation signal from the camera travel wheel drive control unit 8 provided in the controller 19 is transmitted via the transmission / reception unit 18 of the wireless repeater 17, and is received by the transmission / reception unit 15 provided in the wireless communication camera 14, A driving wheel driving unit 26 having an electric motor or the like is driven and controlled by the control unit 25, and a pair of wheels 27 provided in the wireless communication camera 14 shown in FIG.

  In addition, an operation signal by the camera elevation angle drive control unit 28 provided in the controller 19 is transmitted via the transmission / reception unit 18 of the wireless repeater 17, and is received by the transmission / reception unit 15 provided in the wireless communication camera 14, and the control unit A camera elevation angle drive unit 29 having an electric motor, an elevation angle drive gear, and the like is driven and controlled by a 25 (Complementary Metal Oxide Semiconductor) camera, a CCD (Charge Coupled Device) camera, and the like. The elevation angle of the imaging unit 12 configured is controlled.

  In addition, an operation signal from the camera illumination control unit 38 provided in the controller 19 is transmitted via the transmission / reception unit 18 of the wireless repeater 17, received by the transmission / reception unit 15 provided in the wireless communication camera 14, and the control unit 25. Thus, the camera illumination unit 39 configured by LED (light emitting diode) illumination or the like is controlled to illuminate the imaging region.

  The power in the wireless communication camera 14 is supplied by a battery unit 45 composed of a lithium battery or the like. As such a wireless communication camera 14, a fire support robot (see http://www.hoyarobot.com/) manufactured by Hoya Robot Co., Ltd. of Korea can be applied.

  In this way, the wireless communication camera 14 is travel-controlled by the controller 19 serving as a control means, and the inner side of the horizontal pipe 11 in the pipe C (from FIG. 6) rather than the portion where the groove E serving as the target guiding joint is formed. Install on the left side.

  Subsequently, the cutting device B is inserted from the manhole D into the horizontal pipe 11 of the pipe C. At this time, the cutting member 20 is configured to be non-rotatable to the sliding member 23 by the pin 24, and the two sets of cutting members 20 are biased by the biasing member 3 and are in the initial positions closest to each other.

  Then, the traveling motor 34 is driven and controlled by the traveling motor drive control unit 6 provided in the controller 19, and the carriage 30 is caused to travel until the rotary cutting blade 21a reaches a position facing the position where the groove E is to be formed. When the position is reached, the driving of the traveling motor 34 is stopped. In this state, the hydraulic cylinder drive controller 7 provided in the controller 19 supplies pressure oil to the hydraulic cylinder 36 to project the pressure contact member 35 so that the roller 35a contacts the inner peripheral surface 11a of the horizontal pipe 11 of the pipe C. Let The pressure contact member 35 presses the inner peripheral surface 11a of the horizontal pipe 11 of the pipe C with a force corresponding to the pressure of the pressure oil supplied to the hydraulic cylinder 36, and at the same time, a plurality of wheels 33 are also connected to the horizontal pipe 11 of the pipe C. The inner peripheral surface 11a is pressed. Thereby, the carriage 30 is firmly supported by the inner peripheral surface 11a of the horizontal pipe 11 of the pipe C.

  In the state where the carriage 30 is supported by the pipe C as described above, pressure oil is supplied to the rotation drive member 32 to rotate the rotation member 1. As the rotational speed of the rotating member 1 increases, the centrifugal force acting on the sliding member 23 overcomes the urging force of the urging member 3 and is guided by the guide member 4 to move to the outer peripheral side of the rotating body 1a. Then, the rotary cutting blade 21a comes into contact with the inner peripheral surface 11a of the horizontal pipe 11 of the pipe C and starts cutting the inner peripheral surface 11a. On the other hand, the wireless communication camera 14 drives the traveling wheel drive unit 26 and the camera elevation angle drive unit 29 to dispose the image pickup unit 12 toward the site where the groove E serving as the guide joint is cut by the rotary cutting blade 21a. The part to cut the groove E serving as a guide joint is illuminated by 39 to start imaging. After that, by continuing the rotation of the rotating member 1, the cutting depth with respect to the pipe C is increased, and the manhole D is transmitted via the transmission / reception unit 15 in which the image signal captured by the imaging unit 12 of the wireless communication camera 14 becomes a transmitter. The electromagnetic wave is transmitted toward the side (the right side in FIG. 6), received by the transmission / reception unit 18 of the wireless repeater 17 serving as a receiver, and sent to the monitor unit 46 provided in the controller 19 disposed on the ground via the cable 17a. Monitored. 7 and 8 are images taken by the imaging unit 12 of the wireless communication camera 14 serving as an imaging means in which the inner peripheral surface 11a of the horizontal pipe 11 is cut by the rotary cutting blade 21a to form the groove E serving as a guide joint. Is shown on the monitor screen of the monitor unit 46 provided in the controller 19, FIG. 7 shows a state before the rotary cutting blade 21a rotates, and FIG. 8 shows a state during the rotation of the rotary cutting blade 21a. Various operation buttons are displayed on the monitor screen of the monitor unit 46, and the wireless communication camera 14 can be operated by operating the operation buttons.

  For example, as shown in FIG. 9, when the rotary cutting blade 21a is provided with a plurality of scales 2a, 2b, and 2c colored with different colors whose cutting depths can be visually recognized, they are displayed on the monitor screen of the monitor unit 46. By visually checking the scales 2a, 2b, 2c exposed from the inner peripheral surface 11a of the horizontal pipe 11 of the rotary cutting blade 21a, the cutting depth of the groove E can be easily obtained, and the predetermined depth Whether or not the groove E has been cut can be confirmed during the cutting operation. The outer peripheral edge of the rotary cutting blade 21a is provided with a blade made of a diamond bit, and the thickness width of this portion is about twice as large as the thickness width of the base portion of the blade member 21. Accordingly, the scales 2a, 2b, 2c provided circumferentially at the base portion of the blade member 21 and colored with different colors contact the both side walls of the groove E being cut even when the rotary cutting blade 21a rotates. Therefore, the scales 2a, 2b, 2c do not disappear due to the cutting operation, and the monitor screen of the monitor unit 46 visually recognizes which color scales 2a, 2b, 2c have reached the position of the inner peripheral surface 11a of the horizontal pipe 11. By doing so, it is possible to know the current depth of the groove E during cutting. A plurality of grooves may be formed circumferentially at a pitch of a predetermined radius at the base of the blade member 21 and the scales 2a, 2b, 2c may be provided by coloring the inside of the grooves with different colors. A plurality of scales 2a, 2b, and 2c colored with different colors may be provided on the surface of the base of the blade member 21 at different pitches on the surface of the base of the blade member 21 without forming a groove in the base.

  The cutting device B may be operated by the controller 19 while watching the image displayed on the monitor unit 46, or received by the transmission / reception unit 18 of the wireless repeater 17 serving as a receiver and sent to the controller 19 via the cable 17a. The obtained image signal may be image-processed using a known image processing technique, and the controller 19 may automatically control the cutting device B based on the image signal.

  When cutting with respect to the pipe C by the cutting member 20 proceeds and a groove E having a depth corresponding to the length of the rotary cutting blade 21a is formed in the pipe C, the outer peripheral surface of the clamping member 22 becomes the pipe line. It contacts the inner peripheral surface 11a of the C horizontal pipe 11. However, since the outer peripheral surface of the clamping member 22 does not have a cutting function, the clamping member 22 simply slides in contact with the inner peripheral surface 11a of the horizontal pipe 11 of the pipe C as the rotating member 1 rotates. Will rotate. For this reason, the groove | channel E formed in the pipe line C is prescribed | regulated to substantially constant depth, without the cutting by the rotary cutting blade 21a progressing.

  After the groove E is formed on the inner peripheral surface 11a of the horizontal pipe 11 of the pipe C over the entire circumference, the rotation drive control unit 5 provided in the controller 19 is operated to supply pressure oil to the rotation drive member 32. When the rotational speed of the rotating member 1 is reduced by reducing the rotational speed, the centrifugal force acting on the cutting member 20 is reduced as the rotational speed is reduced. When the acting centrifugal force becomes smaller than the urging force by the urging member 3, the two sets of cutting members 20 are attracted toward the center of the rotating body 1 a by the urging force of the urging member 3, and the rotation of the rotating member 1. Return to the initial position when the operation stops.

  Thereafter, the hydraulic cylinder drive control unit 7 provided in the controller 19 is operated to supply the hydraulic oil to the hydraulic cylinder 36 and the pressure contact member 35 is retracted, whereby the conduit C formed by the pressure contact member 35 and the plurality of wheels 33 is retracted. The pressing state against the inner peripheral surface 11a of the horizontal pipe 11 is released. Accordingly, the carriage 30 can freely travel along the laying direction of the pipe C. Accordingly, the traveling motor drive control unit 6 provided in the controller 19 is operated to drive the traveling motor 34 to cause the cutting device B to travel in the manhole D direction (right direction in FIG. 6), and after reaching the manhole D, The cutting device B can be detached from the manhole D. Similarly, the camera driving wheel drive control unit 8 provided in the controller 19 is operated to transmit a control signal to the transmission / reception unit 15 of the wireless communication camera 14 via the transmission / reception unit 18 of the wireless repeater 17 to drive the traveling wheel. The vehicle 26 is driven and controlled to rotate and drive the wheels 27 of the wireless communication camera 14 so that the wireless communication camera 14 travels in the direction of the manhole D (right direction in FIG. 6). The wireless communication camera 14 can be detached.

  As described above, based on the image signal captured by the imaging unit 12 of the wireless communication camera 14 and received by the transmission / reception unit 18 of the wireless repeater 17 serving as a receiver by electromagnetic wave transmission from the transmission / reception unit 15 serving as a transmitter. Alternatively, the inner peripheral surface 11a of the horizontal pipe 11 of the pipe C is cut from the portion of the inner peripheral surface 11a of the horizontal pipe 11 of the pipe C that cannot be directly seen from the manhole D side while viewing the captured image. It is possible to form a groove E having a depth equal to the protruding length of the rotary cutting blade 21a of the cutting member 20.

  When the rotary cutting blade 21a having the groove E formed by cutting the inner peripheral surface 11a of the horizontal pipe 11 of the pipe C is consumed, the blade member 21 and the clamping member 22 are pulled out of the shaft 23a and the pin 24 and rotated. After the rotary cutting blade 21a is positioned on the outermost periphery, the blade member 21 and the clamping member 22 are inserted into the shaft 23a and the pin 24 so that they cannot rotate with respect to the sliding member 23. It is possible to use a rotary cutting blade 21a having cutting performance.

  According to the said structure, the imaging part 12 of the radio | wireless communication camera 14 used as the imaging means arrange | positioned on the opposite side to the manhole D rather than the site | part which performs repair work with the cutting device B used as a maintenance means in the horizontal piping 11. The part to be repaired can be imaged by the above, and the image signal imaged by the imaging unit 12 of the wireless communication camera 14 is arranged on the opposite side of the manhole D from the part to be repaired in the horizontal pipe 11 The transmitter / receiver 15 of the wireless communication camera 14 serving as the transmitter can transmit electromagnetic waves toward the manhole D in the space 13 in the horizontal pipe 11 of the pipe C. Then, electromagnetic waves are transmitted by the transmission / reception unit 15 of the wireless communication camera 14 by the transmission / reception unit 18 of the wireless repeater 17 serving as a receiver arranged in the space communicating with the space 13 in the horizontal pipe 11 and the space 16 in the manhole D. The cutting device B serving as a repairing means is received by the controller 19 serving as the control means based on the image signal received by the transmitting / receiving unit 18 of the wireless repeater 17 or while viewing the captured video. By controlling, it is possible to reliably perform a predetermined repair work even on a portion of the inner peripheral surface 11a of the horizontal pipe 11 connected to the manhole D that cannot be directly seen from the manhole D side.

  As a method of controlling the cutting device B serving as the maintenance means by the controller 19 serving as the control means based on the image signal received by the transmission / reception section 18 of the wireless repeater 17, the transmission / reception section 18 of the wireless repeater 17 serving as the receiver is used. The image signal received by the above may be visualized by a monitor unit 46 serving as video means such as a television monitor, and the cutting device B may be controlled by the controller 19 while viewing the video, or by the transmission / reception unit 18 of the wireless repeater 17 The received image signal may be converted into a predetermined control signal, and the cutting device B may be automatically controlled by the controller 19 based on the control signal.

  Next, a configuration when applied to the cleaning device F as a maintenance means will be described with reference to FIG. In addition, the same code | symbol is attached | subjected to the part which has the same part as the above-mentioned embodiment, or the same function, and abbreviate | omits description.

  The cleaning device F serving as the repair means shown in FIG. 10 is configured to be able to clean deposits such as earth and sand, scales, and paste on the inner peripheral surface 11a of the horizontal pipe 11 of the pipe C. The maintenance device A has substantially the same configuration as that of the first embodiment. That is, the cleaning device F is installed in the horizontal pipe 11 near the manhole D, and has a brush 40 that serves as a rotary cleaning member that cleans the inner peripheral surface 11a of the horizontal pipe 11. A sliding member 23 is slidably fitted into a guide member 4 provided on a rotating body 1a constituting the rotating member 1. A brush 40 is provided on the outer peripheral surface of the sliding member 23.

  The configuration of the brush 40 is not particularly limited, and a brush such as a hard fiber brush or a wire brush can be selectively employed. As such a brush, for example, a metal wire, chemical fiber, plant fiber or animal fiber or the like implanted in a shaft-like pedestal made of wood, aluminum, nylon, or the like, or any one of the above-mentioned fibers in a ring shape There is a structure in which the unit is implanted into a pedestal so that the unit can be attached to and detached from the cylindrical body, and any of them can be preferably used.

  The cleaning device F is mounted on a frame 41 configured to be pulled and moved inside the horizontal pipe 11 of the pipe C. That is, the frame 41 has a function as a support member, and the frame 41 is provided with a pair of support bodies 42 that rotatably support the rotating shaft 1b of the rotating member 1. The rotary shaft 1b is connected to a rotary drive member 32 made of an electric motor. The rotary drive member 32 is connected to a rotary drive control unit 5 provided in the controller 19 via a cable 9.

  A pair of sleds 43 are provided at predetermined positions of the frame 41, and the sleds 43 are configured to be able to contact and slide on the inner peripheral surface 11a of the horizontal pipe 11 of the pipe C. Further, a rod 44 is connected to the side of the frame 41 opposite to the side on which the cleaning device F is attached, and the rod 44 is used as appropriate. The final end of the rod 44 is connected to a winch (not shown).

  An image signal captured by the wireless communication camera 14 using the cleaning device F configured as described above is directed toward the manhole D in the space 13 in the horizontal pipe 11 of the pipe C by the transmission / reception unit 15 serving as a transmitter. Based on the image signal received by the transmission / reception unit 18 of the wireless repeater 17 serving as a receiver that transmits electromagnetic waves and is disposed in a space communicating with the space 13 in the horizontal pipe 11 and the space 16 in the manhole D A procedure for cleaning a portion of the inner peripheral surface 11a of the horizontal pipe 11 that cannot be directly seen from the manhole D side will be described. Both ends of the pipe C to be cleaned are connected to the respective manholes D.

  First, the cleaning device F is arranged in one manhole D and the rod 44 is connected. In addition, the wireless communication camera 14 is inserted into the side pipe 11 of the pipe C from one manhole D, and is installed on the opposite side of the pulling direction of the rod 44 from the part 11b to be repaired as a target cleaning part. To do. Further, the wireless repeater 17 provided with the transmitter / receiver 18 connected to the controller 19 serving as the control means via the cable 17a is suspended in the manhole D on the side where the rod 44 is pulled, and the horizontal pipe 11 The space 13 and the space 16 in the manhole D are disposed in the space.

  When the rod 44 is pulled to cause the cleaning device F to enter the inside of the horizontal pipe 11 of the pipe C and the brush 40 faces the inner peripheral surface 11a of the horizontal pipe 11 of the pipe C, the controller 19 shown in FIG. The rotating member 1 is rotated by the rotating drive member 32 by operating the rotation drive control unit 5 provided on the rotating member. On the other hand, the traveling wheel drive unit 26 and the camera elevation angle drive unit 29 of the wireless communication camera 14 are controlled so that the imaging unit 12 is arranged toward the site to be cleaned by the brush 40, and the camera illumination unit 39 is controlled by the brush 40. Illuminate the area to be cleaned and start imaging. Thereafter, by continuing the rotation of the rotating member 1, the inner peripheral surface 11a of the horizontal pipe 11 of the pipe C is cleaned, and a transmission / reception unit in which an image signal captured by the imaging unit 12 of the wireless communication camera 14 serves as a transmitter. The electromagnetic wave is transmitted toward the manhole D through 15, received by the transmission / reception unit 18 of the wireless repeater 17 serving as a receiver, and monitored by the monitor unit 46 provided in the controller 19 through the cable 17 a.

  The cleaning device F may be operated by the controller 19 while watching the image displayed on the monitor unit 46, or received by the transmission / reception unit 18 of the wireless repeater 17 serving as a receiver and sent to the controller 19 via the cable 17a. The image signal thus obtained may be processed using a known image processing technique, and the cleaning device F may be automatically controlled based on the image signal.

  As the rotational speed of the rotating member 1 increases, the sliding member 23 provided with the brush 40 is guided by the guide member 4 and moves in the outer circumferential direction of the rotating body 1a, and the brush 40 protrudes from the outer periphery of the rotating body 1a. It contacts the inner peripheral surface 11a of the horizontal pipe 11 of the pipe C. Accordingly, the brush 40 moves along the inner peripheral surface 11a of the horizontal pipe 11 of the pipe C as the rotating body 1a rotates, and the inner peripheral surface 11a can be cleaned in this moving process.

  The strength when the brush 40 contacts the inner peripheral surface 11a of the horizontal pipe 11 of the pipe C is determined according to the centrifugal force acting. For this reason, the rotational speed of the rotating member 1 is maintained so that the brush 40 maintains a contact strength such that the inner peripheral surface 11a of the horizontal pipe 11 of the pipe C can be satisfactorily cleaned. The cleaning device F is pulled to move in the direction of laying the pipe C, and the camera driving wheel drive control unit 8 provided in the controller 19 is operated to transmit the control signal wirelessly via the transmission / reception unit 18 of the wireless repeater 17. It transmits to the transmission / reception unit 15 of the communication camera 14, drives and controls the traveling wheel drive unit 26, rotationally drives the wheel 27, and tracks and moves the wireless communication camera 14 to the cleaning device F, thereby providing wireless as imaging means. The image signal picked up by the image pickup unit 12 of the communication camera 14 is piped by a transmission / reception unit 15 serving as a transmitter disposed on the side opposite to the manhole D on the side in which the rod 44 is pulled with respect to the portion where the cleaning work is performed in the horizontal pipe 11 Direction of pulling the rod 44 in the space 13 in the horizontal pipe 11 of the road C Transmission / reception of a radio repeater 17 serving as a receiver arranged in a space communicating with the space 13 in the horizontal pipe 11 and the space 16 in the manhole D by transmitting electromagnetic waves toward the manhole D side (right side of FIG. 10) The image signal transmitted by the electromagnetic wave by the unit 18 is received, and the pipe C that cannot be directly seen from the manhole D side in the direction of pulling the rod 44 on the inner peripheral surface 11a of the horizontal pipe 11 of the pipe C based on the image signal. It is possible to continuously clean the portion of the inner peripheral surface 11a of the horizontal pipe 11.

  If the pipe C is laid for sewerage, the pipe diameter may suddenly increase in the middle of the pipe C for some reason. In such a part, the contact pressure of the brush 40 with respect to the inner peripheral surface 11a of the horizontal pipe 11 of the pipe C is rapidly reduced, so that the balance with the centrifugal force is lost, and the brush 40 rapidly moves to the outer peripheral side of the rotating body 1a. Will move. For this reason, the brush 40 can follow a rapid change in the diameter of the pipe C.

  According to this embodiment, the cleaning device F that is installed in the horizontal pipe 11 in the vicinity of the manhole D and serves as a maintenance means having the brush 40 that serves as a rotary cleaning member for cleaning the inner peripheral surface 11a of the horizontal pipe 11 is provided. Based on the image signal captured by the imaging unit 12 of the wireless communication camera 14 and received by the transmission / reception unit 18 of the wireless repeater 17 serving as the receiver from the transmission / reception unit 15 serving as the transmitter, or the captured video It is possible to reliably perform the cleaning operation even on the part that cannot be directly seen from the manhole D side by controlling with the controller 19 as the control means while visually observing.

  As a method of controlling the cleaning device F serving as the maintenance means by the controller 19 serving as the control means based on the image signal received by the transmission / reception section 18 of the wireless repeater 17, the transmission / reception section 18 of the wireless repeater 17 serving as the receiver is used. The image signal received by the above may be visualized by a monitor unit 46 serving as a video means such as a television monitor, and the cleaning device F may be controlled by the controller 19 while viewing the video, or by the transmission / reception unit 18 of the wireless repeater 17. The received image signal may be converted into a predetermined control signal, and the cleaning device F may be automatically controlled by the controller 19 based on the control signal. Other configurations are the same as those in the first embodiment, and the same effects can be obtained.

  In each said embodiment, even during the repair work which uses the brush 40 used as the rotary cutting blade 21a or a rotary cleaning member as a repair means, in the horizontal piping 11, rather than the cutting device B and the cleaning device F Transmission / reception of a wireless communication camera 14 serving as a transmitter disposed on the side opposite to the manhole D and transmission / reception of a wireless repeater 17 serving as a receiver disposed on the side of the manhole D relative to the cutting device B or the cleaning device F When an environment in which an image signal captured by the imaging unit 12 of the wireless communication camera 14 serving as an imaging unit can be transmitted to the manhole D side in the space 13 in the horizontal pipe 11 is maintained with the unit 18 As shown in FIG. 11, the electric motor 51 serving as a rotational drive member for rotationally driving the rotary cutting blade 21a fills the bag with air and expands the diameter, as shown in FIG. Air pressed against the inner peripheral surface 11a of the C horizontal pipe 11 When supported by the packer type diameter expander 52, an electromagnetic wave is shielded by the electric motor 51 and the air packer type diameter expander 52, and the image signal captured by the imaging unit 12 of the wireless communication camera 14 serving as an imaging unit is laterally piped 11. It can be considered that it is difficult to transmit electromagnetic waves toward the manhole D in the inner space 13.

  In such a case, as shown in FIG. 11, the cable 17a connected to the wireless repeater 17 is inserted into the gap between the air packer type diameter expander 52 and the inner peripheral surface 11a of the horizontal pipe 11 of the pipe C. By arranging the wireless repeater 17 between the air packer type expander 52 and the rotary cutting blade 21a, the radio relay 17 is arranged on the opposite side of the manhole D from the rotary cutting blade 21a in the horizontal pipe 11. Between the transmitter / receiver 15 of the wireless communication camera 14 serving as the transmitter and the transmitter / receiver 18 of the wireless repeater 17 serving as the receiver disposed on the manhole D side relative to the rotary cutting blade 21a. It is possible to maintain an environment in which an image signal captured by the imaging unit 12 of the communication camera 14 can be transmitted as an electromagnetic wave toward the manhole D in the space 13 in the horizontal pipe 11. The same applies to the case where a brush 40 serving as a rotary cleaning member is used instead of the rotary cutting blade 21a as the repairing means. In FIG. 11, reference numeral 51a denotes a cable connected to the electric motor 51 serving as a rotation drive member. Other configurations are the same as those in the above-described embodiments, and the same effects can be obtained.

  In the third embodiment, an example in which the controller 19 and the wireless repeater 17 are directly connected via the cable 17a has been described. However, in the present embodiment, transmission / reception units are provided on both sides of the air packer diameter expander 52, respectively. Radio repeaters 17 and 17 'having 18 are arranged, and the radio repeaters 17 and 17' are inserted into a gap between the air packer type diameter expander 52 and the inner peripheral surface 11a of the horizontal pipe 11 of the pipe C. They are connected by a cable 17a '. In addition, a wireless repeater 17 ″ provided with a transmission / reception unit 18 serving as a receiver connected to a controller 19 serving as a control means via a cable 17a is suspended in the manhole D to suspend the space 13 in the horizontal pipe 11 and the manhole. The image signal captured by the imaging unit 12 of the wireless communication camera 14 is transmitted to the manhole D side via the transmission / reception unit 15 serving as a transmitter, Received by the transmission / reception unit 18 of the wireless repeater 17 serving as a receiver, received by the transmission / reception unit 18 of the wireless relay 17 ′ via the cable 17a ′, and further received by the transmission / reception unit 18 of the wireless relay 17 ′. The image signal picked up by the image pickup unit 12 is transmitted as an electromagnetic wave toward the wireless repeater 17 ″, received by the transmission / reception unit 18 of the wireless repeater 17 ″ serving as a receiver, and provided in the controller 19 via the cable 17a. Moni This configuration eliminates the need for the long cable 17a to be routed into the horizontal pipe 11. The other configurations are the same as those of the above-described embodiments. An effect can be obtained.

  As a utilization example of the present invention, a pipe line repairing method and a repairing device for carrying out a predetermined repairing work on a part of the inner peripheral surface of a horizontal pipe connected to a manhole that cannot be directly seen from the manhole side It can be applied, in addition to cutting various grooves such as induction joints that induce destruction of horizontal pipes in the event of an earthquake, etc., and cleaning work on the inner peripheral surface of horizontal pipes, Try to look inside the pipe, such as removing roots, removing mortar that connects the horizontal pipes or between the horizontal pipes and branch pipes, and repairing the ends of the branch pipes protruding into the horizontal pipes. The present invention can be applied to a pipe line repair method and a repair device when performing various repair work in various narrow spaces that cannot be performed.

A ... Maintenance device B ... Cutting device (maintenance means)
C ... Pipe line D ... Manhole E ... Groove F ... Cleaning device (repair means)
DESCRIPTION OF SYMBOLS 1 ... Rotating member 1a ... Rotating body 1b ... Rotating shaft 1c ... Shaft core 2a, 2b, 2c ... Scale 3 ... Energizing member 4 ... Guide member 4a ... Stopper 4b ... Gap 5 ... Rotation drive control part 6 ... Travel motor drive control Part 7 ... Hydraulic cylinder drive controller 8 ... Camera drive wheel drive controller 9 ... Cable
11… Horizontal piping
11a ... Inner peripheral surface
11b ... parts to be repaired
12 ... Imaging unit (imaging means)
13… space
14… Wireless communication camera
15 ... Transmitter / receiver (transmitter)
16 Space
17, 17 ', 17 "... wireless repeater
17a, 17a '... cable
18… Transmitter / receiver (receiver)
19 ... Controller (control means)
20… Cutting material
21… Blade material
21a ... Rotary cutting blade
22… clamping member
23… Sliding member
23a ... axis
24… pin
24a… hole
25… Control part
26… Running wheel drive unit
27… wheels
29… Camera elevation drive unit
30… cart
31… Casing
32… Rotation drive member
33… wheels
34… Travel motor
34a ... cable
35… Pressing contact member
35a ... Roller
35b ... Mounting member
35c ... Base member
35d… Spring
36… Hydraulic cylinder
37… hose
38… Camera lighting control unit
39… Camera lighting
40… Brush (Rotating cleaning member)
41… Frame
42… Support
44… Rod
43 ... sled
45… Battery section
46… Monitor part (video means)
51… Electric motor
51a ... cable
52… Air packer type expander

Claims (8)

A method of repairing a pipe line when performing a predetermined repair work on a portion that cannot be directly seen from the manhole side on the inner peripheral surface of a horizontal pipe connected to the manhole,
An imaging means for imaging the part for performing the maintenance work is disposed on the opposite side of the manhole from the part for performing the maintenance work in the horizontal pipe,
The image signal picked up by the image pickup means is directed toward the manhole side in the space in the horizontal pipe by a transmitter disposed on the opposite side of the manhole from the part that performs the maintenance work in the horizontal pipe. The image signal transmitted by the electromagnetic wave is received by a receiver disposed in a space communicating with the space in the horizontal pipe and the space in the manhole by transmitting an electromagnetic wave,
A pipe line repairing method, comprising: performing repair work on a portion of the inner peripheral surface of the horizontal pipe that cannot be directly seen from the manhole side based on an image signal received by the receiver. 2. The pipeline repair according to claim 1, wherein the maintenance work is an operation performed in a state where a horizontal pipe connected to the manhole is dynamically or statically shielded from the manhole side. Method. The said maintenance work is an operation | work which forms the groove | channel by cutting the internal peripheral surface of the said horizontal piping with the rotary cutting blade installed in the said horizontal piping in the vicinity of the said manhole. How to repair pipes. The pipe maintenance according to claim 1, wherein the maintenance work is an operation of cleaning an inner peripheral surface of the horizontal pipe by a rotary cleaning member installed in the horizontal pipe in the vicinity of the manhole. Patching method. A pipe line repair device that performs a predetermined repair work on a portion of the inner peripheral surface of a horizontal pipe connected to a manhole that cannot be directly seen from the manhole side,
Repairing means for performing a predetermined repairing operation on the inner peripheral surface of the horizontal pipe;
An imaging means for imaging a part to be repaired by the maintenance means, arranged on the opposite side of the manhole from a part for performing the maintenance work by the maintenance means in the horizontal pipe,
It is arranged on the opposite side of the manhole from the part to be repaired in the horizontal pipe, and transmits an image signal picked up by the imaging means toward the manhole in the space in the horizontal pipe. A transmitter,
A receiver that is disposed in a space that communicates with a space in the horizontal pipe and a space in the manhole, and that receives an image signal transmitted by electromagnetic waves by the transmitter;
Control means for controlling the maintenance means based on the image signal received by the receiver;
A pipeline maintenance device characterized by comprising: The pipe according to claim 5, wherein the maintenance means includes a rotary cutting blade that is installed in the horizontal pipe in the vicinity of the manhole and forms a groove by cutting an inner peripheral surface of the horizontal pipe. Road maintenance device. The pipe repair device according to claim 6, wherein the rotary cutting blade is provided with a scale capable of visually confirming a cutting depth. The pipe maintenance apparatus according to claim 5, wherein the maintenance means includes a rotary cleaning member that is installed in the horizontal pipe in the vicinity of the manhole and cleans an inner peripheral surface of the horizontal pipe. .