JP2014114653A - Underground pipe construction apparatus utilizing robot - Google Patents

Abstract

PROBLEM TO BE SOLVED: To efficiently perform dredging/cleaning work of sludge in an underground pipe such as a water-supply pipe, sewage pipe, agricultural water, and various pipelines or deposits such as slurry, sediment, pebbles, waste liquid, and organisms safely and reliably under a dangerous environment such as oxygen deficiency.SOLUTION: An operator outside a manhole performs operation-control of cleaning fluid high-pressure nozzle injection dredging/cleaning by an automatic running mobile robot 4 freely while visually confirming a situation inside an underground pipe 3 transmitted from the automatic running mobile robot 4 by an image. Since a high-pressure injection nozzle 2 is rotatable by 360 degrees, the high-pressure injection nozzle 2 advances while rotationally cleaning, and stays for hard sludge to clean for a long time.

Description

  The present invention is for pipe work for dredging, cleaning or cutting / excavating inner walls of medium to large diameter buried pipes from small diameter pipes such as water supply pipes, sewer pipes, underdrain pipes, agricultural water, and various pipelines. It relates to the device. Further, the present invention relates to an apparatus for buried pipe construction used for scraping and cleaning sludge in buried pipes, sludge such as sewer pipes and underdrain pipes, sediments such as earth and sand, pebbles, waste liquid, and living things.

  In general, in the case of buried pipes, especially large-diameter pipes, such as water supply pipes, sewer pipes, underdrain pipes, agricultural water, and various pipelines, before the workers enter and work to repair and coat the inner walls, Soot cleaning operations such as removal of sludge, sludge, earth and sand, pebbles, waste liquid, living organisms, etc., and removal of combustible gas are performed. For this purpose, conventionally, the inner wall scissors have been cleaned by spraying water or cleaning liquid while manually moving a jet nozzle connected to a hose for supplying cleaning water within the pipe.

  In addition, in the case of dredging washing of buried pipes such as water supply pipes, sewer pipes, culvert pipes, and various pipelines that are small and medium caliber pipes, the hose is fed from a high-pressure washing car on the ground through a manhole and a high-pressure injection device at the tip of the hose is buried While moving in the pipe, high-pressure water or cleaning liquid was jetted from the nozzle, and the sediment in the water pipe was stirred, floated, washed by soot, collected downstream of the manhole, and sucked and removed by a sludge suction vehicle.

  Similarly, when repairing or painting the inner wall breakage point after washing the buried pipe, the location of the breakage point, the magnitude of the breakage, the breakage situation, or the need for painting, cutting, or excavation work Since it is necessary to confirm the location, position, area, wall surface state, etc. in advance accurately, it is necessary for the worker to enter and visually check this, and this is a work with great danger such as lack of oxygen.

  In particular, in the case of visual confirmation of the inner wall of a buried pipe, which is a small and medium caliber pipe, the operator cannot enter the buried pipe, so an optical fiber hose fitted with a video camera is fed from the ground through a manhole, It was necessary to photograph and visually check the position, magnitude of breakage, breakage, or the location, position, area, wall surface, etc. required for painting, cutting and excavation work.

JP-A-9-29193 JP 2006-28748 A

  However, in the method in which the hose is fed out from the high pressure washing vehicle on the ground through the manhole and the high pressure spraying device at the tip of the hose is moved in the water channel pipe, high pressure water or cleaning liquid is jetted from the nozzle to perform soot washing, Since the position and amount of sediment such as sludge, earth and sand, pebbles, waste liquid, and living organisms, and the state of accumulation cannot be confirmed accurately, the high-pressure washing car on the ground that performs the work will not be able to The flow rate and pressure of high-pressure water were kept constant under conditions based on empirical rules, and the inner wall of the pipe had to be uniformly washed with respect to the entire inner wall in the 360 ° direction, without any gaps.

  For this reason, in places where there is relatively little sediment such as sludge, sludge, earth and sand, pebbles, waste liquid, and living things in the pipe to be washed, spray cleaning liquid and high-pressure water more than necessary after cleaning. Therefore, the amount of use of cleaning liquid and cleaning water, work time, and work power were wasted. Conversely, in areas where there is a lot of sediment such as sludge in the pipe, sludge, earth and sand, pebbles, waste liquid, and organisms, uniform injection is performed, so there is a shortage of cleaning liquid, insufficient high pressure cleaning water, and insufficient cleaning time. Due to the lack of soot cleaning ability, there has been a problem that the jet nozzle that supplies the cleaning water is allowed to pass through without sufficient soot cleaning.

  In this way, in dredging cleaning in buried pipes such as water supply pipes, sewer pipes, underdrain pipes, agricultural water, various pipelines, etc., the material, Various wastes such as work time, work power, and cost were generated.

  Even for pipe repairs and painting work after cleaning of small and medium caliber pipes, simple optical fiber hose camera image confirmation allows smooth movement of the camera in the pipe repair and painting places up and down, left and right, or forward and backward. Because it is not possible, the worker cannot fully visually confirm the part that requires confirmation of the situation inside the pipe, resulting in a lack of construction plans such as repair work methods, preparation of materials for painting, preparation of materials, etc. There was a problem of generating waste. Similarly, there was great difficulty with buried pipes filled with sewage and muddy water.

  The present invention has been made to solve the above-described problems in the prior art, and in an environment where it is difficult for normal workers to work, such as in water, in radioactivity, or in a toxic gas atmosphere, For example, it is possible to remotely control sludge, sediment, etc. in submerged piping, etc., by remote operation, in accordance with its hardness and degree of accumulation, as well as excavation work, cutting work, waste liquid, waste soil, excavated material. It is an object of the present invention to provide an apparatus for buried pipe construction using a robot that enables even removal work.

  In order to solve the above-described problems, the present invention moves an embedded pipe using an automatic traveling mobile robot equipped with a high-pressure washing jet nozzle, a video camera, an excavation cutting machine, and the like, to provide a water supply pipe, a sewer pipe, and a culvert pipe. Technical idea for robotic buried pipe construction equipment that performs dredging washing, excavation and cutting work in buried pipes such as agricultural water and various pipelines.

  Similarly, the present invention uses an automatic traveling mobile robot equipped with a high-pressure washing jet nozzle, a video camera, an excavation cutting machine, and the like to move through the buried pipe to provide a water supply pipe, a sewer pipe, a culvert pipe, agricultural water, and various pipes. The technical philosophy regarding the method of buried pipe construction using robots that performs dredging, excavation, and cutting work in buried pipes such as lines.

  The automatic traveling mobile robot according to the present invention can freely travel forward / backward, left / right, and forward / backward from outside the manhole by the instruction control of the scissors washing operator. The method of transmitting the traveling instruction control to the automatic traveling mobile robot may be a method of wired transmission via a wired electrical signal wiring connected to the automatic traveling mobile robot from outside the manhole, or the electrical signal may be wireless equipment. It may be a wireless transmission method for transmitting and receiving.

  The automatic traveling mobile robot of the present invention has a large-diameter mud tire, four-wheel drive, and a meandering function, and has a function capable of traveling on an obstacle or in a curved pipe. Further, the size of the automatic traveling mobile robot has several types of sizes that can be selected depending on the size of the buried pipe diameter to travel (see FIG. 5).

  The automatic traveling mobile robot of the present invention is equipped with a video camera such as a CCD camera, an ultrasonic camera, an infrared camera, etc. at the tip of the head, and the camera mounting portion is fixed at a position protruding from the robot head and has a substantially spherical shape. With this, it is possible to take 360-degree video images by rotating up, down, left, and right by instruction control from the worker outside the manhole, and send the image data to the video output screen for confirmation by the worker outside the manhole. can do. The video data may be connected to a recording device so as to be sequentially recorded.

  In addition, the position of the automatic traveling mobile robot is sequentially plotted and displayed on the buried pipe piping video map in the outside manhole instruction control unit, and the correlation between the transmitted video data and its position is achieved, so the indication outside the manhole The operator who controls the system should be aware of what sludge, sludge, earth and sand, pebbles, waste liquid, living organisms, etc., or obstacles in the buried pipes, their accumulation status, and the inner wall of the buried pipe. It is possible to give a control instruction to the automatic traveling robot while accurately grasping the state of the vehicle.

  The video shooting camera unit (referred to as “main camera”) can be switched to a video camera function instead of a small satellite camera fixed to the tip of a soft push rod attached to an automatic traveling robot. By controlling and discharging the soft push rod in the required direction from the head of the automatic traveling robot, the satellite camera fixed to the tip of the soft push rod can be used even in the situation of a branch embedded pipe with a minute diameter that cannot be photographed by the main camera. It is inserted into the caliber branch pipe, and the video in the branch buried pipe can be taken.

  Switching between the main camera and the satellite camera of these video shooting cameras is arbitrarily performed by an operation of an operator who performs a control instruction operation outside the manhole.

  Of course, the above main camera and satellite camera can be selected according to the photographing function such as a CCD camera, an infrared camera, an ultrasonic camera, etc., according to the purpose of use or construction. Hereinafter, they are collectively referred to as “video camera”.

  The automatic traveling mobile robot of the present invention includes a high-pressure cleaning liquid jet nozzle connected to a soft hose pipe for supplying high-pressure cleaning liquid and cleaning water from outside the manhole. The high-pressure cleaning liquid injection nozzle injection port can be rotated 360 degrees up, down, left, and right by an instruction control of an operator outside the manhole to inject cleaning liquid and cleaning water in a free direction. The washing water and the washing liquid are supplied to the high-pressure washing liquid injection nozzle mounted on the automatic traveling mobile robot with the arbitrary water amount and arbitrary pressure set by the worker outside the manhole through the soft hose pipe by the high-pressure pump device outside the manhole.

  The injection port of this high-pressure cleaning liquid injection nozzle can be freely changed in direction with respect to the top, bottom, left, and right, front and rear by the operator's control from the outside of the manhole. It can be changed and adjusted by similar controls.

  From outside the manhole, the operator controls the automatic mobile robot and sees the captured video screen that is received. What kind of sludge, sludge, earth and sand, pebbles, waste liquid, living things, etc. It is possible to accurately visually check the deposits and the condition of the inner wall of the buried pipe, etc., so that the spraying position and direction of the cleaning liquid or cleaning water from the high-pressure cleaning liquid spray nozzle are simultaneously Washing can be performed while optimally setting the injection pressure, the injection time, and the like.

The high-pressure spray nozzle of cleaning liquid or cleaning water provided in the automatic traveling mobile robot is a high-pressure-resistant special spray nozzle (“Dragon Jet Nozzle”) called Dragon Jet (registered trademark) capable of spraying cleaning water or cleaning liquid with an ultra-high pressure and a large flow rate. May be used). Ultra-high pressure cleaning water or ultra-high pressure cleaning liquid ejected by the dragon jet nozzle can spray up to 2000 kgd / cm ² , so that not only normal dredging cleaning work on the inner wall of the buried pipe, but also hard sludge, sludge, sludge, and sediment Massive sediments such as pebbles and organisms can be thoroughly washed by applying physical energy from the impact of dragon jet nozzle injection.

  The soot washing operation with ultra high pressure washing water or super high pressure washing liquid ejected by the dragon jet nozzle has a strong jet pressure that adds physical energy due to the impact of the dragon jet nozzle jet, so normal soot washing of the inner wall of the buried pipe Not only the work but also the unnecessary inner wall material of the buried pipe inner wall can be used as a hanging work. It may also be a wall surface pre-roughing operation for the suspension operation.

  The cleaning liquid or cleaning water high-pressure spray nozzle provided in the automatic traveling mobile robot can adopt a nozzle shape that performs high-pressure spraying of fine powder or powdered dry ice for performing dry ice cleaning. Dry ice cleaning means pelletized (diameter of about 3 mm or less), fine powder, or powdered dry ice is sprayed onto the object to be cleaned using compressed air, and the physical impact force of the spraying pressure of the dry ice particles and the dry ice This is a method in which dirt deposits such as strong sludge are peeled off at the interface by the expansion pressure due to rapid vaporization and washed.

  The high-pressure spray nozzle for dry ice cleaning provided in the automatic traveling mobile robot can rotate 360 degrees up, down, left and right by the control operation of the operator outside the manhole to spray high-pressure spray of dry ice powder or dry ice powder in any direction. it can. Dry ice powder or dry ice powder supplied from the high-pressure pump equipment outside the manhole is a high-pressure spray nozzle for washing dry ice that is mounted on an automatic traveling mobile robot with an arbitrary amount and pressure set by the operator through a soft hose pipe. The surface to be cleaned of the inner wall of the buried pipe can be cleaned with dry pressure at a high pressure for a required time by the operator's instruction operation control.

  Dry ice cleaning is a special high-pressure cleaning method that can be used for liquid cleaning of cracked parts in buried pipes, parts that are repaired or painted, and parts that are not suitable for work such as electrical wiring, and is also called anhydrous cleaning. is there.

  The self-traveling mobile robot of the present invention has a structure in which a cutting bit is provided on the tip head. Cutting, polishing, and repair work in the buried pipe can be performed by the control operation of the worker outside the manhole. Cutting and polishing work for protruding foreign objects, mortar, tree roots, etc. in the buried pipe is performed while rotating the cutting bit mounted on the tip of the automatic traveling mobile robot at high speed and interlocking with the forward and backward movement of the automatic traveling mobile robot. There are special specifications such as cylindrical type, large cylindrical type, conical type, and large conical type that can be selected according to the type of workpiece, and only cutting and polishing work can be done by changing the die bit specifications. Instead, it can also function as a KA-TE method or Bravo KA-TE method (registered trademark) robot.

  Similarly, an excavator such as a small shield machine can be provided at the tip head. When the buried pipe is buried with earth or sand, or when new underground excavation is required for the extension and widening work of the buried pipe, various excavators such as shield machines can be attached to the tip of the mobile robot. Underground excavation is performed in the same manner as the cutting bit provided on the head.

  In addition to the shield method that uses a shield machine as the excavation mechanism, there are downhill cut method, bench cut method, etc., as the excavation mechanism suitable for that method, dipper method, blade method, scraper method, ripper method, An excavator, which is a suitable excavation mechanism such as a continuous excavation method, can be mounted on an automatic traveling mobile robot to perform underground excavation work similar to the above. That is, the excavator provided at the tip of the automatic traveling mobile robot means an excavator including each excavation type excavation mechanism.

  The automatic traveling mobile robot of the present invention is equipped with an epoxy resin injection nozzle at the tip of the tip, and can perform filling and hardening work by injecting epoxy resin into a buried pipe repair portion or a crack portion. In the above-mentioned cutting work or dredging cleaning work in the buried pipe, in the pipe, in places where there is a need for filling of damaged holes due to damage to the pipe wall, filling of cracks, etc., use a filling hardener attached to the tip of the automatic traveling robot An appropriate amount of epoxy resin is injected into the location of the broken crack by an instruction control operation by an operator outside the manhole to discharge a certain epoxy resin, and filling and curing work is performed.

  The epoxy resin to be filled and discharged may be supplied from the outside of the manhole to the epoxy resin injection nozzle provided in the automatic traveling mobile robot in the buried pipe by using an external high-pressure pump using a soft pipe hose, or the work may be done with a small amount of epoxy resin. If it can be completed, a small epoxy resin supply tank may be attached to the automatic traveling mobile robot for supply.

  Cleaning water or cleaning liquid high-pressure spray nozzle 浚 渫 cleaning, dragon jet nozzle spray 浚 渫 cleaning, dry ice cleaning, cutting of buried pipe with cutting bit, polishing, repair work, extension of buried pipe by excavator Widening work, epoxy resin injection filling work, soft push rod small satellite camera alternative video shooting function, etc. can be handled in the same way in underwater work as well as on water work. Of course, individual device specifications have waterproofing measures. Especially for underwater photography, an ultrasonic camera demonstrates its capabilities.

  In addition, as described above, in various types of construction using automatic mobile robots, waste liquid, earth and sand, sludge, excavated materials, etc., to be discharged after washing or dredging work, cutting and excavation work, etc. are discharged outside the buried pipe. The method becomes a problem. Since these are obstacles to the free running of the automatic mobile robot, a negative pressure suction nozzle (at the bottom of the automatic mobile robot for sucking and removing waste liquid, earth and sand, sludge, excavated materials, etc.) Install a vacuum nozzle.

  Suction material such as waste liquid, earth and sand, sludge, and excavated material by this negative pressure suction nozzle is discharged after suction to the back side of the automatic traveling robot, or moved to the outside of the manhole by a soft vacuum hose pipe connected from the outside. Whether to discharge afterwards is selected according to the work. In the case of a small amount, it may be discharged after being sucked behind the automatic traveling robot, and in the case of a large amount, it may be discharged after moving to the outside of the manhole by a soft vacuum hose pipe. As the negative pressure for the suction force, the principle of the decompression ejector (venturi effect) generated by the high-pressure fluid at the time of jetting the high-pressure cleaning liquid can be used.

  By carrying out the present invention, not only large-diameter to medium-small-diameter buried pipes but also sludge, sludge, earth and sand, pebbles, waste liquid, and living things in fine branched buried pipes are deposited on the accumulation state and the inner wall of the buried pipe. The high-pressure spray nozzle for cleaning water or cleaning liquid can be cleaned while accurately grasping the condition etc. visually with the image, greatly reducing loss of materials such as cleaning liquid and cleaning water, work loss, and loss of work expectation. It can be reduced, and the efficiency of the dredging cleaning work in the buried pipe is greatly improved. In addition, safety against construction accidents caused by humans entering buried pipes such as oxygen deficiency can be greatly secured.

  Since the present invention can be switched to high-pressure cleaning liquid spray cleaning, dragon jet nozzle cleaning, and dry ice cleaning simply by changing the specifications of the spray nozzles attached to the automatic traveling mobile robot, The automatic traveling mobile robot can handle the above three types of cleaning methods, leading to a significant improvement in equipment and operating costs.

  The present invention attaches a cutting bit, excavator or epoxy resin injection nozzle, soft push rod small satellite camera, ultrasonic camera, etc. to an automatic traveling mobile robot, so that cutting polishing work, excavation work, crack epoxy resin filling work Small satellite camera video shooting, ultrasonic camera video shooting, etc. can be handled by a single mobile robot, which will greatly improve the equipment and work costs.

  The present invention facilitates the movement of an automatic traveling mobile robot by attaching a negative pressure suction nozzle (vacuum nozzle) for sucking and removing waste liquid, earth and sand, sludge, excavated material, etc. Since it can handle processing, it leads to a significant improvement in work costs.

It is a figure for demonstrating the outline of the automatic traveling type mobile robot (four-wheel drive type) concerning one Example of this invention. It is a figure for demonstrating the outline | summary of the buried pipe cleaning by the automatic traveling mobile robot shown in FIG. It is a figure for demonstrating the outline | summary in which a soft pushrod small satellite camera image | photographs the image | video in a branch buried pipe. It is a figure for demonstrating the outline | summary which attaches a cutting bit or an excavator to an automatic traveling type mobile robot, and carries out the cutting work in a buried pipe. It is a figure for demonstrating the outline | summary of four types according to the kind, magnitude | size, and wheel type of an automatic traveling mobile robot. It is a figure for demonstrating the shield machine excavator which is an example of the excavator with which an automatic traveling type mobile robot is equipped.

  Hereinafter, a robot-embedded buried dredge apparatus according to the present invention will be described with reference to the drawings.

  FIG. 1 is a diagram for explaining the outline of an automatic traveling mobile robot according to an embodiment of the present invention. This figure is a four-wheel drive type automatic traveling robot. The tip head portion is equipped with a 360-degree freely rotating video imaging camera 1 mounted and housed in the embedded pipe according to the instruction control from the worker outside the manhole to take a picture of the necessary part in the pipe and capture the external worker's Send to the video receiving device.

  Similarly, a high-pressure cleaning liquid spray nozzle 2 for cleaning water or cleaning liquid high-pressure cleaning is mounted in the vicinity of the camera of the automatic traveling mobile robot, and the automatic traveling mobile robot 4 moves forward while cleaning the buried pipe 3 with a high-pressure spray scissor. An outline of this is shown in FIG. When the instruction control to the automatic mobile robot is wired, connect the connection wiring, and the connecting hose 5 for transporting the high pressure cleaning liquid or high pressure cleaning water from the high pressure pump device to the high pressure injection nozzle of the automatic mobile robot, An outline of the manhole 6 that connects the outside and the buried pipe and the external high-pressure pump device 7 is shown in FIG.

  An operator outside the manhole advances the cleaning water or cleaning liquid high-pressure spray cleaning by the automatic traveling mobile robot 4 while visually confirming the state of the embedded pipe 3 sent from the automatic traveling mobile robot 4 with a video. Since the high-pressure spray nozzle 2 is rotatable 360 degrees, while rotating and cleaning, it stays against hard sludge and moves forward with high-pressure cleaning for a long time. Video shooting data sent from an automated mobile robot is recorded, and video for pre-examination for repair work in pipes after dredging cleaning work, filling with cracked epoxy resin, cutting bit cutting work, excavation work, etc. Diverted as

  The high pressure spray nozzle is replaced in advance with a nozzle for high pressure spray cleaning when performing high pressure spray cleaning. Similarly, when performing the dragon jet nozzle spray cleaning, the dragon jet nozzle is replaced with a dragon jet nozzle, and when performing the dry ice cleaning, the dragon jet nozzle is replaced with a dry ice spray nozzle. By the instruction control of the worker outside the manhole, the operation by the automatic traveling robot using these spray nozzles can be carried out in substantially the same manner as the above-described dredging cleaning work.

  Depending on the accumulation state of sludge, sludge, sediment and other sediments in the buried pipe, the condition of the inner wall of the buried pipe, and the diameter of the buried pipe, the automatic traveling mobile robot can be selected from four types according to the large and small drive mechanism. Is done. An outline of the four types of automatic traveling mobile robots is shown in FIG.

  FIG. 3 is a diagram for explaining the outline of the video shooting of the branch buried pipe by the soft push rod small satellite camera. A small satellite camera 8 mounted in the vicinity of the video camera (main camera) 1 at the tip of the automatic traveling robot 4 has a soft push rod 9 branched and finely embedded tube 10 by a video confirmation instruction control by an operator outside the manhole 6. The state of the inner wall surface of the branched fine buried pipe is photographed by a small satellite camera 8 which is stretched into the interior and attached to the tip thereof. This video data makes it possible to prepare for branching fine buried pipes in advance, such as cleaning and construction.

  In addition to the small satellite camera 8 shown in FIG. 3, the video camera 1 shown in FIG. An ultrasonic camera called an acoustic camera is most suitable for mid- and long-distance shooting underwater suitable for ultrasonic transmission. If the capability of the video camera cannot be fully demonstrated in muddy flow, muddy water, etc., switch to an ultrasonic camera and take a video. Can communicate to workers. Underwater photography with an ultrasonic camera is an effective means for enabling underwater viewing in the dark when halation is caused by an underwater light. Ultrasonic cameras that shoot two types of mixed ultrasound images of about 1.8MHz and 1.1MHz perform their functions.

  FIG. 4 is a view for explaining an outline of cutting work in the embedded pipe 3 by attaching the cutting bit 11 to the automatic traveling mobile robot 4. The type of cutting bit 11 such as a special bit is selected according to the state of construction such as cutting, polishing, and repair in the buried pipe, and the construction is performed by attaching the cutting bit 11 to the automatic traveling robot head. Like the cutting bit 11, excavator 12 can be attached to perform excavation work. Under the instruction control of the worker outside the manhole, operations such as cutting, polishing, repair, excavation, etc. by these automatic traveling mobile robots can be carried out in substantially the same manner as the above-described dredging washing work while confirming the sent images.

  The negative pressure suction nozzle 13 is located at the bottom of the automatic traveling mobile robot 4 and sucks and removes waste liquid, earth and sand, sludge, excavated material, and the like. Suctioned matter such as waste liquid, earth and sand, sludge, excavated material, etc. by the negative pressure suction nozzle 13 may be discharged after being sucked to the back side of the automatic traveling robot 4, or a soft vacuum hose pipe connected from the outside of the manhole. May be discharged after the suction movement to the outside of the manhole. The negative pressure for the suction force is generated in the suction hose or in the negative pressure suction nozzle by using a pressure reduction ejector (venturi effect) principle generated by the high pressure fluid at the time of jetting the high pressure cleaning liquid. The decompression ejector mechanism may be set in the vicinity of the high-pressure washing water injection nozzle mounted on the automatic traveling robot, or may be installed in a high-pressure washing water supply facility outside the manhole.

  By projecting the negative pressure suction nozzle 13 to the front of the bottom of the automatic traveling mobile robot 4, dirt and the like can be efficiently sucked and removed. In particular, negative pressure can be efficiently sucked into sediments, sludge, and excavated materials with high fluidity due to excessive moisture in the buried pipe. Of course, the suction negative pressure tank having a partition or backflow prevention valve that can be opened and closed so as not to mix the suction material into the high-pressure cleaning liquid spray nozzle is arranged at the rear of the negative pressure suction nozzle, the rear of the automatic traveling mobile robot, the suction hose, or the manhole. Installed in an external high pressure washing water supply facility. The suction negative pressure tank is a decompression chamber for maintaining a negative pressure. Each time the high-pressure cleaning liquid is injected, the suction negative pressure tank is decompressed and maintained in a reduced pressure state by the ejector method, so that the suction and discharge work by the negative pressure suction nozzle 13 can be sequentially performed only by opening and closing the partition wall under the control of the operator. . The details of the ejector mechanism are omitted since it is a well-known and commonly used technique.

  The construction method using the robotic buried pipe construction device and the robotic buried pipe construction device according to the present invention is not limited to the construction of the buried pipe, but in a pipe pipe or tunnel buried in the ground, underwater, or sea. Demonstrates great power in construction. Because these constructions have inherent costs and dangers for difficult construction, if a construction device is developed that uses an image-visual control operation of an automatic traveling mobile robot from the outside, the demand will be great and its introduction It is expected that the technical effect and cost reduction effect will be great. The industrial applicability of the present invention is great.

DESCRIPTION OF SYMBOLS 1 Video camera 2 High pressure injection nozzle 3 Buried pipe 4 Automatic traveling mobile robot 5 Connecting hose 6 Manhole 7 High pressure pump equipment 8 Small satellite camera 9 Soft push rod 10 Branched fine buried pipe 11 Cutting bit 12 Shield machine excavator 13 Negative Nozzle for pressure suction 14 Cutter head 15 Telescopic cutter 16 Cutter

Claims (10)

An automatic traveling mobile robot equipped with a video shooting and transmission camera that can freely set the shooting direction;
An injection nozzle that is attached to the automatic traveling mobile robot and can freely set the direction of the injection port;
A receiving unit for receiving a remote operation signal from the outside of the buried pipe, and injecting high-pressure washing water from the jet nozzle while moving in the buried pipe according to the remote operation signal received by the receiving unit. A robot-based buried pipe dredging device that performs dredging washing on the inner wall surface of a buried pipe. An automatic traveling mobile robot equipped with a video shooting and transmission camera that can freely set the shooting direction;
An injection nozzle that is mounted on the automatic traveling mobile robot, can freely set the injection port direction, and injects the ejected matter at a high pressure,
A receiving unit for receiving a remote operation signal from the outside of the buried pipe, and the jetted product set at a high pressure while moving in the buried pipe according to the remote control signal received by the receiving unit A robot-embedded pipe dredger that cleans the inner wall surface of the buried pipe by spraying nozzles with the amount, jet pressure, jet direction, and jet time. The ejected matter is at least one of washing water, washing liquid, dry ice pellets, dry ice powder,
The robot-embedded buried pipe dredge device according to claim 2, wherein the washing of the inner wall surface of the buried pipe is dredging washing or dry ice washing. In place of the spray nozzle or in combination with the spray nozzle, a cutting bit attached to the automatic traveling mobile robot is provided.
4. The robot-based embedded pipe dredge device according to claim 1, wherein at least one of cutting, polishing, and repair is performed while moving in the embedded pipe according to the remote operation signal received by the receiving unit. 5. In place of the spray nozzle or in combination with the spray nozzle, an epoxy resin injection nozzle to be attached to the automatic traveling mobile robot is provided.
The robot-based buried pipe dredging apparatus according to any one of claims 1 to 4, wherein filling work for a damaged portion or an opening is performed while moving in the buried pipe according to the remote operation signal received by the receiving unit.   The tip of the mobile robot is a soft push rod, and has a small satellite camera at the tip of the soft push rod. The soft push rod enters the branch pipe according to the remote control signal received by the receiver. The robot-embedded buried dredge apparatus according to any one of claims 1 to 5, which performs video image transmission of an inner inner wall.   A robot-based buried pipe construction method using the robot-embedded buried pipe device according to claim 1. In the robotic buried pipe dredge device according to claim 1 to claim 7,
A vacuum nozzle for negatively sucking at least one of cuttings, dust, mud, and water trapped by the ejected matter;
A robot-based buried pipe dredging device, further comprising a connecting hose for discharging the vacuum sucked by the vacuum nozzle to the outside. An automatic traveling mobile robot equipped with a video shooting and transmission camera that can freely set the shooting direction;
A propulsion excavator equipped with an excavation mechanism that can be freely set in the excavation direction, which can be mounted on the automatic traveling mobile robot;
A receiving unit for receiving a remote operation signal from the outside of the buried pipe, and operating the excavation mechanism while moving in the soil or the sea according to the remote operation signal received by the receiving unit, A robotic underground excavator that automatically performs excavation. The robot using underground excavation device according to claim 9,
Vacuum for suctioning at least one of earth, sand, dirt, mud and water excavated by the excavation mechanism;
A robotic underground excavation device, further comprising: a connecting hose for discharging the vacuum suctioned to the outside.

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