JP2017203530A - Method for drilling regeneration pipe and drilling device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To prevent a failure in drilling a communication port to improve quality and the like, in regenerating an existing pipe using a regeneration pipe.SOLUTION: A method for drilling a regeneration pipe includes: acquiring a reference alienation distance L0 between a connection port 2a and a reference position P0; installing a regeneration pipe 4 along an inner wall of an existing pipe 1 and then positioning a drilling machine 40 in a drilling position separated from the reference position P0 by the reference alienation distance L0 inside the regeneration pipe 4; and drilling the regeneration pipe 4 by the drilling machine 40 in the drilling position to form a communication port 4a.SELECTED DRAWING: Figure 7

Description

  The present invention relates to a method and a drilling apparatus for drilling a communication port in a rehabilitated pipe when rehabilitating an existing pipe.

  It is known to rehabilitate existing pipes such as aged sewer pipes by lining them with rehabilitation pipes (see Patent Document 1). Usually, branch pipes such as attachment pipes and inflow pipes are branched from existing pipes. The existing pipe is provided with a connection port with these branch pipes. When the rehabilitation pipe is installed, the connection port is hidden by the rehabilitation pipe. After that, the communication port with the connection port is drilled in the rehabilitation pipe.

  Conventionally, after stopping the flow of sewage with a packer on the upstream side of the construction target span, a TV camera was also inserted into the existing pipe together with the drilling machine, and the position was confirmed with the video taken by the TV camera. While drilling.

In the case of the reversal method and the forming method, a recess may be formed in the portion of the rehabilitation pipe that covers the connection port. I looked for this pit with a TV camera and drilled it. When the dent was not possible, the position of the connection port was confirmed by irradiating light from the branch tube side and observing the transmitted light with a television camera in the rehabilitation tube.
Furthermore, in the pipe manufacturing method or the like, since there is often no depression and transmitted light cannot be employed, external drilling has been performed from the branch pipe side by a dedicated external drilling machine.

Japanese Patent Laid-Open No. 4-66892

In the method of confirming a dent or the like with a TV camera, the position of the dent is difficult to understand, and since it is viewed from an oblique direction, poor drilling is likely to occur. For example, a hole different from the connection port is drilled, the hole is drilled larger than the connection port, or the appearance of the drilled communication port is likely to deteriorate.
Moreover, the method of observing the transmitted light from the branch pipe side with a television camera becomes difficult to determine if the thickness of the rehabilitation pipe is large. For this reason, if a small hole was made in the trial and confirmed, and it seemed to lead to the connection port, the hole was enlarged and it took a very long time.
Furthermore, the external drilling requires a dedicated machine, which increases the cost. Moreover, when the mass of the branch pipe is unknown, it cannot be adopted.
In view of such circumstances, the present invention provides a drilling method and a drilling device that can prevent a drilling defect in a communication port when rehabilitating an existing pipe with a rehabilitation pipe, improve quality, shorten a construction period, reduce costs, and the like. The purpose is to provide.

In order to solve the above problems, the present invention is a method of drilling a communication port with the connection port in the rehabilitation pipe when rehabilitating an existing pipe having a connection port with a branch pipe by a rehabilitation pipe,
Obtaining a reference separation distance between the connection port and a reference position;
Installing a rehabilitation pipe in the existing pipe;
Positioning a drilling machine at a drilling position separated from the reference position by the reference separation distance in the rehabilitation pipe;
Drilling the renovated pipe with the drilling machine at the drilling position,
In the acquisition step, the moving image pickup device that moves in the existing pipe captures an image of the existing pipe and thus the connection port,
Laser light is applied to the mobile imaging device from the reference position or a laser distance meter installed at a predetermined distance from the reference position, and the laser light is reflected by a reflector provided on the mobile imaging device. Thus, the distance between the laser distance meter and the moving image pickup device that is imaging the connection port is measured, and the reference separation distance is acquired.

  According to the method of the present invention, the reference separation distance between the connection port and the reference position is acquired in advance. By using the laser distance meter and the moving imager, the reference separation distance can be measured accurately and in a short time. By positioning the hole drilling machine and drilling the communication port based on this reference separation distance, the communication port can be surely connected to the connection port. Therefore, it is possible to prevent a drilling defect at the communication port and improve the quality of construction. No time is required for determining the drilling position, and the construction period can be shortened. The number of machines used is also reduced, and construction costs can be reduced.

In the positioning step, the drilling machine is irradiated with a laser beam from the reference position or a laser rangefinder installed at a predetermined distance away from the reference position, and the reflector is provided on the drilling machine. Measuring a drilling distance between the reference position and the drilling machine by reflecting a laser beam, and positioning the drilling machine so that the drilling distance matches the reference separation distance; preferable.
Thereby, the hole drilling machine can be positioned more accurately at a position corresponding to the connection port. Therefore, a hole can be drilled so that the communication port communicates with the connection port with certainty, and a drilling defect can be prevented more reliably.

In the acquisition step, the connection angle of the connection port is also acquired,
In the drilling step, it is preferable that the drilling angle of the drilling machine is adjusted to be the connection angle based on a detection angle of an inclinometer provided in the drilling machine.
Thus, the communication port can be drilled in the angular direction of the connection port. Therefore, an error in the drilling angle can be avoided, and defective drilling can be prevented more reliably. The connection angle of the connection port to be acquired preferably includes a circumferential connection angle in the circumferential direction of the existing pipe, and more preferably further includes a pipe axis direction connection angle in the pipe axis direction of the existing pipe.

In the drilling step, it is preferable that the drilling part of the drilling machine is imaged by a drilling imaging means mounted on the drilling machine or provided separately from the drilling machine.
Thereby, it is possible to perform drilling while displaying the status of drilling by the drilling machine on a monitor or the like. Accordingly, it is possible to more reliably prevent the drilling failure at the communication port. The finish of the communication port can be cleaned.

It is preferable to set the reference position in a manhole connected to the existing pipe.
Thus, a laser distance meter can be installed in the manhole, and laser light can be irradiated from the manhole into the existing pipe. With reference to the reference position in the manhole, it is possible to perform a reference separation distance acquisition process, a drilling machine positioning process, and the like.

The device of the present invention is a drilling device for drilling a communication port with the connection port in a rehabilitation pipe installed in an existing pipe having a connection port with a branch pipe,
A laser distance meter installed at a predetermined position with respect to a reference position or the reference position;
A drilling machine having a drilling section for drilling the renovated pipe, and movable within the renovated pipe;
A reflector that is provided in the drilling machine and reflects the laser light from the laser distance meter;
It is provided with.
A reference separation distance between the connection port and the reference position is acquired in advance. After the rehabilitation pipe is installed in the existing pipe, the drilling machine is accommodated in the rehabilitation pipe. This drilling machine is positioned at a drilling position that is separated from the reference position by the reference separation distance. At this time, the distance between the drilling machine and the laser distance meter can be accurately measured by the laser distance meter. As a result, the drilling machine can be accurately positioned so that the distance between the reference position and the drilling machine matches the reference separation distance. At this position, the rehabilitation pipe is drilled to form a communication port. Thus, the communication port can be surely connected to the connection port. Therefore, it is possible to prevent a drilling defect at the communication port and improve the quality of construction. No time is required for determining the drilling position, and the construction period can be shortened. Construction cost can be reduced.

The reflector is provided so as to be rotatable around an axis intersecting the advancing / retreating direction of the drilling machine;
Furthermore, it is preferable that an urging means for urging the reflector to a neutral position orthogonal to the advance / retreat direction is provided.
Thus, when the reflector comes into contact with any obstacle, the reflector can pass through the obstacle by falling down. After passing, the reflector can be returned to the original neutral position by the biasing means.

  ADVANTAGE OF THE INVENTION According to this invention, the drilling defect of a communicating port can be prevented and the quality of existing pipe renovation construction can be improved.

FIG. 1 is a front cross-sectional view illustrating an acquisition process using a reference separation distance acquisition device in an existing pipe rehabilitation method according to a first embodiment of the present invention. FIG. 2 is a flowchart showing an outline of the rehabilitation method. FIG. 3 is a perspective view of a frame (laser distance meter support means) of the reference separation distance acquisition device. FIG. 4 is an exploded perspective view of the gantry. FIG. 5 is a front view showing a state in which the moving image pickup device of the reference separation distance acquisition device is arranged at a drilling position of an existing pipe. 6 is a side view taken along line VI-VI in FIG. FIG. 7 is a front sectional view showing a state of the positioning process by the drilling device in the rehabilitation method together with an enlarged view of a state after the drilling process of the circular portion. FIG. 8 is a front view of a drilling machine of the drilling device. FIG. 9 is a side view of the drilling machine taken along line IX-XI in FIG. FIG. 10 is a perspective view showing a modification of the laser distance meter support means. FIG. 11 is a cross-sectional view showing a modification of the laser distance meter support means in a state where the laser distance meter support means is installed at the communication portion between the manhole and the existing pipe. FIG. 12 is a side view of the laser distance meter support means taken along line XII-XII in FIG. FIG. 13 is a side view showing a modification of the method of using the laser distance meter support means of FIG.

Hereinafter, embodiments of the present invention will be described with reference to the drawings.
1 to 9 show a first embodiment of the present invention. As shown in FIG. 1, the existing pipe 1 to be rehabilitated in this embodiment is an underground sewer pipe. Manholes 3 are connected to both ends of the existing pipe 1. A connection port 2a (attachment tube port) is provided in the middle of the existing tube 1, and a branch tube 2 (attachment tube) is connected thereto.

<Outline of rehabilitation method>
As shown in the flowchart of FIG. 2, the existing pipe 1 is renewed as follows.
First, the reference separation distance L0 between the connection port 2a and the reference position P0 (FIG. 1) is acquired (step 101). Subsequently, after the rehabilitation pipe 4 (FIG. 7) is installed along the inner wall of the existing pipe 1 (step 102), the rehabilitation pipe 4 is cut to a drilling position separated from the reference position P0 by the reference separation distance L0. The punch 40 (FIG. 8) is positioned (step 103). In this drilling position, the rehabilitated tube 4 is drilled by the drilling machine 40 (step 104). As a result, a communication port 4a (FIG. 7) with the connection port 2a is formed in the rehabilitation pipe 4.

<Reference position P0>
As shown in FIG. 1, the reference position P <b> 0 is preferably set in the manhole 3. More preferably, it sets to the inner wall on the opposite side to the rehabilitation object existing pipe 1 in the manhole 3. When another existing pipe 1A is opened in the inner wall, it is set in the opening 1e. More preferably, the intersection between the opposite inner wall (or opening 1e) of the manhole 3 and the extension line of the central axis of the rehabilitation target existing pipe 1 is set as the reference position P0.

<Reference separation distance acquisition device 5>
As shown in FIG. 1, the acquisition step (step 101) is performed using a reference separation distance acquisition device 5. The reference separation distance acquisition device 5 includes a laser distance meter 10, a gantry 20 (laser distance meter support means), and a moving imager 30.
A laser rangefinder 10 is installed at the reference position P0. The laser distance meter 10 irradiates the laser beam 13, receives the reflected light, and measures the distance from the reflection point. The optical axis of the laser beam 13 is directed from the reference position P0 to the existing pipe 1 to be rehabilitated. Specifically, the back surface of the laser distance meter 10 is disposed on the reference position P0, and the tip surface (laser emission surface) is directed to the existing pipe 1. Preferably, the optical axis of the laser beam 13 is along the central axis of the existing tube 1.
The laser distance meter 10 and the processing control means 8 including a ground personal computer are connected by a wired cable (not shown).
Note that the processing control means 8 and the laser distance meter 10 may be capable of wireless communication. An operator may read a measurement result obtained by the laser distance meter 10, and the operator may input the measurement result to the processing control unit 8.

  As shown in FIG. 3, the laser rangefinder 10 is supported by a gantry 20. The gantry 20 includes a gantry body 21 and a plurality of (here, four) leg portions 22. The gantry body 21 has an annular plate shape. The outer diameter of the gantry body 21 is substantially equal to the inner diameter at the bottom to the middle of the manhole 3 (FIG. 1). As shown in FIG. 4, the gantry body 21 is divided into a plurality of (here, four) divided bodies 21 a in the circumferential direction. Each divided body 21 has an arc-shaped plate shape. Adjacent divided bodies 21 a are connected to each other via a connecting piece 24, and are assembled in an annular shape. The leg part 22 can be extended and contracted. An upper end portion of the leg portion 22 is connected to the gantry body 21. A suspended pillar-shaped distance meter support portion 23 is suspended from one divided body 21a. As shown in FIG. 3, a clamp member 25 is detachably attached to the distance meter support portion 23. The laser distance meter 10 is provided on the clamp member 25.

As shown in FIG. 1, a gantry 20 is installed in the manhole 3. The laser rangefinder 10 is positioned at the reference position P0 by the gantry 20.
The components 21 to 24 of the gantry 20 are connected to each other by screw fastening or the like, so that they can be disassembled and assembled.
When the gantry 20 is accommodated in the manhole 3, the gantry 20 can be easily disassembled by disassembling the gantry 20. The gantry 20 can be assembled inside the manhole 3. When the gantry body 21 is in contact with the inner peripheral surface of the manhole 3 over substantially the entire circumference, the gantry 20 and thus the laser distance meter 10 can be stabilized. By extending and contracting each leg portion 22, the level of the gantry body 21 can be adjusted, and the height of the laser distance meter 10 can be adjusted.

As shown in FIG. 1, a moving imaging device 30 is arranged in the existing pipe 1. As shown in FIGS. 5 and 6, the mobile imaging device 30 includes an image expansion camera 31 (imaging means), a traveling body 32, and a reflector 35. The image development camera 31 has a super-wide-angle lens (detailed illustration is omitted) and can capture almost the entire circumference (omnidirectional) in the existing pipe 1 at a time. The imaging signal is sent to the processing control means 8 (FIG. 1) in real time, and is developed into a panoramic image as a moving image on the screen of the monitor 8m. The processing control means 8 and the mobile imaging device 30 are connected by a wired cable (not shown).
Note that the processing control unit 8 and the mobile imaging device 30 may be capable of wireless communication.

As shown in FIG. 5, the image development camera 31 is mounted on the traveling body 32.
The traveling body 32 has a self-running function. As a result, the mobile imaging device 30 can run by self-running. The movement of the mobile imaging device 30 can be remotely operated by the processing control means 8.
Note that the mobile imaging device 30 may be capable of traveling by towing or the like without being self-propelled.

  A camera support arm 33 extends from the front portion (right side in FIG. 5) of the traveling body 32. The camera support arm 33 can be lifted back and forth (rotated) around an axis along the vehicle width direction (the direction orthogonal to the plane of FIG. 5) with respect to the traveling body 32. An image expansion camera 31 is provided at the tip of the camera support arm 33. The camera support arm 33 includes two links 33 a and 33 b and forms a parallel link in cooperation with the image development camera 31 and the traveling body 32. Regardless of the elevation angle of the camera support arm 33, the image development camera 31 is always directed forward (a certain direction).

  As shown in FIGS. 5 and 6, a reflector 35 is provided at the rear part (left side in FIG. 5) of the traveling body 32. The reflector 35 has a substantially semicircular plate shape. The size (radius) of the reflector 35 is preferably within the existing pipe 1 and as large as possible. The material of the reflector 35 is, for example, resin, and polyvinyl chloride is preferable from the viewpoint of ease of processing, weight reduction, and the like. The color of the reflector 35 is preferably white from the viewpoint of easy visibility of the laser beam 13. It is preferable that the surface of the reflector 35 be as smooth as possible, and it is preferable that warp is not generated as much as possible.

As shown by a solid line in FIG. 5, the reflector 35 is set up vertically so as to be orthogonal to the advancing / retreating direction of the mobile imaging device 30. Moreover, the reflector 35 can tilt back and forth and can automatically return to a vertical neutral position. Specifically, the linear lower end portion of the reflector 35 is coupled to the traveling body 32 so as to be rotatable about an axis along the vehicle width direction (an axis that intersects the advancing / retreating direction of the mobile imaging device 30). An urging means 36 is provided at the rotary connecting portion of the reflector 35. The urging means 36 urges the reflector 35 to be vertical (neutral position). The biasing means 36 includes a forward tilting action spring 36a and a backward tilting action spring 36b. When the reflector 35 is in the forward tilt posture (two-dot chain line in FIG. 5), the forward tilting action spring 36a urges the reflector 35 to wake up toward the vertical neutral position. When the reflector 35 is in the backward-tilting posture (a three-dot chain line in FIG. 5), the backward tilting action spring 36b urges the reflector 35 to wake up toward the vertical neutral position.
Therefore, even if the reflector 35 comes into contact with any obstacle in the existing pipe 1, the reflector 35 can fall through the obstacle and return to the original vertical posture after passing.
The action springs 36a and 36b are constituted by torsion coil springs, but may be constituted by leaf springs or the like.

<Acquisition process>
In the acquisition process (step 101), the reference separation distance acquisition device 5 operates or is used as follows.
As shown in FIG. 1, the moving image pickup device 30 is accommodated in the existing pipe 1 so that the reflector 35 of the moving image pickup device 30 faces the laser distance meter 10. The moving image pickup device 30 is run (moved) along the tube axis of the existing tube 1. And the inside of the existing pipe | tube 1 is imaged with the image expansion | deployment camera 31. FIG. The imaging screen is confirmed on the monitor 8m of the processing control means 8. When the connection port 2a is imaged at the center of the monitor 8m, the moving image pickup device 30 is stopped at that position. Preferably, the mobile imaging device 30 is stopped so that the image development camera 31 is located directly below the connection port 2a (the same position in the tube axis direction of the existing tube 1). Since the connection port 2a at this time is not covered with the rehabilitation pipe 4, it can be easily and clearly confirmed from the imaging screen.

In parallel, the distance L2 from the laser distance meter 10 to the reflector 35 is measured by irradiating the moving image pickup device 30 with the laser beam 13 from the laser distance meter 10 and reflecting it on the reflector 35. The measurement data of the distance L2 is sent to the process control means 8. Further, the processing control means 8 adds up the distance L1 from the reference position P0 to the tip of the laser rangefinder 10, the measurement distance L2, and the distance L3 from the reflector 35 to the image development camera 31, thereby calculating the reference position P0. From the reference position P0 to the connection port 2a, and the reference separation distance L0 (= L1 + L2 + L3) is acquired. The values of the distances L1 and L3 are stored in the processing control unit 8 in advance.
Since it is laser ranging, accurate position information of the connection port 2a can be acquired in a short time. A complicated apparatus configuration is unnecessary, and construction costs can be reduced.

More preferably, as shown in FIGS. 5 and 6, the connection angles φ _2a and θ _2a of the connection port _2a are also acquired from the image taken by the image development camera 31. As shown in FIG. 5, the tube axis direction connection angle φ _2a is an angle of the connection port 2a along the tube axis direction of the existing tube 1, and more specifically, the central axis Lc of the attachment tube 2 at the connection port 2a 1 shows an inclination angle with respect to the vertical when projected in the width direction 1 (on the paper surface of FIG. 5). As shown in FIG. 6, the circumferential connection angle θ _2a is an angle of the connection port 2a along the circumferential direction of the existing tube 1, and more specifically, the central axis Lc of the attachment tube 2 in the connection port 2a is The inclination angle with respect to the vertical when projected in the tube axis direction (on the paper surface of FIG. 6) is shown. It is preferable that a scale indicating the position (angle) in the tube axis direction and the circumferential direction of the existing tube 1 is displayed on the image taken by the image development camera 31.

<Installation process>
After the acquisition process, as shown in FIG. 7, an installation process (step 102) of the rehabilitation pipe 4 is performed. Here, for example, a pipe manufacturing method is adopted. The rehabilitated pipe 4 is installed along the inner peripheral surface of the existing pipe 1 by the pipe making method. Thereafter, as shown in the enlarged view of the circular portion in FIG. 7, the backfilling material 7 is backfilled between the existing pipe 1 and the renovated pipe 4.

<Drilling device 6>
After the installation process of the rehabilitation pipe 4, a positioning process and a drilling process are performed using the drilling device 6. As shown in FIG. 7, the hole drilling device 6 includes a laser distance meter 10, a gantry 20, and a hole driller 40. As the laser distance meter 10 and the gantry 20, those used in the acquisition process can be reused.
Even if the end of the rehabilitation pipe 4 protrudes into the manhole 3 by setting the reference position P0 and the installation place of the laser rangefinder 10 on the opposite side of the rehabilitation target existing pipe 1 in the manhole 3, the laser distance The total 10 can be prevented from interfering with the rehabilitation pipe 4.

  As shown in FIGS. 8 and 9, the drilling machine 40 includes a drilling section 41, a traveling body 42, and a reflector 45. The traveling body 42 can travel, for example, by towing. The traveling body 42 may have a self-propelled function. An X-shaped support brace 47 is provided on both the left and right sides of the traveling body 42 so as to be vertically extendable. At the upper end of the support brace 47, a pressing portion 47e is provided. The hole drilling machine 40 is waterproof, and can drill holes even when water flows to some extent.

As shown in FIG. 8, a hole drilling portion 41 is erected on the front portion (right side in FIG. 8) of the traveling body 42. The hole drilling portion 41 has a shaft shape that can be expanded and contracted. A drilling tool 41a such as a hole saw is attached to the tip (upper end) of the drilling part 41 so as to be rotationally driven.
Further, the hole drilling portion 41 can be adjusted in two directions by an angle adjusting mechanism (not shown). That is, the drilling portion 41 can adjust the angle φ (FIG. 8) around the axis of the traveling body 42 along the vehicle width direction and the angle θ (FIG. 9) around the axis of the traveling body 42 along the vehicle length direction. It is. An inclinometer 44 is provided on the side of the hole drilling portion 41. The inclinometer 44 measures the inclination angle of the drilling portion 41 with respect to the vertical by interlocking with the angle adjustment of the drilling portion 41. The measurement data of the inclination angle is transmitted to the ground processing control means 8 by wire or wireless.

As shown in FIG. 8, a video camera 43 (a drilling imaging unit) is provided near the drilling portion 41 in the traveling body 42. The video camera 43 is directed upward. At least the tip of the hole drilling part 41 and the upper part of the hole drilling part 41 are within the imaging field of view of the video camera 43. The imaging signal of the video camera 43 is sent to the processing control means 8 (FIG. 7) in real time and displayed on the monitor 8 as an image. The processing control means 8 and the video camera 43 are connected by a wired cable (not shown).
Note that the processing control unit 8 and the video camera 43 may be capable of wireless communication. The video camera 43 may be an omnidirectional camera capable of capturing an omnidirectional image. A wiper or a gas injection device for cleaning the lens of the video camera 43 may be provided in the traveling body 42.

  As shown in FIGS. 8 and 9, a reflector 45 is provided at the rear portion (left side in FIG. 8) of the traveling body 42. The reflector 45 has a substantially semicircular plate shape. The size (radius) of the reflector 45 is preferably within the rehabilitation tube 4 and as large as possible. The material of the reflector 45 is, for example, a resin, and is preferably polyvinyl chloride from the viewpoint of weight reduction. The color of the reflector 45 is preferably white from the viewpoint of easy visibility of the laser beam 13.

As shown by a solid line in FIG. 8, the reflector 45 is erected vertically so as to be orthogonal to the advancing / retreating direction (vehicle length direction) of the hole drilling machine 40. Moreover, the reflector 45 can be tilted back and forth and can be automatically returned to a vertical neutral position. Specifically, the linear lower end portion of the reflector 45 is connected to the traveling body 42 so as to be rotatable about an axis line (an axis line intersecting the advancing / retreating direction of the hole drilling machine 40) along the vehicle width direction. An urging means 46 is provided at the rotary connecting portion of the reflector 45. The urging means 46 urges the reflector 45 to be vertical (neutral position). The biasing means 46 includes a forward tilting action spring 46a and a backward tilting action spring 46b. When the reflector 45 is in the forward tilt posture (two-dot chain line in FIG. 8), the forward tilting action spring 46a urges the reflector 45 to rotate toward the vertical neutral position. The action spring 46b at the time of backward tilting urges the reflector 45 to rotate toward the vertical neutral position when the reflector 45 is in the backward tilted posture (three-dot chain line in FIG. 8).
Therefore, even if the reflector 45 comes into contact with any obstacle in the rehabilitation pipe 4, it can pass through the obstacle by falling down, and can return to the original vertical posture after passing.

In the positioning process and the drilling process (steps 103 to 104), the drilling device 6 operates or is used as follows.
<Positioning process>
As shown in FIG. 7, the hole drilling machine 40 is accommodated in the renovated pipe 4 with the reflector 45 at the rear of the hole drilling machine 40 facing the laser distance meter 10. This hole drilling machine 40 is moved to the vicinity of the connection port 2a in the tube axis direction of the rehabilitation tube 4. Although not shown in FIG. 7, the hole drilling machine 40 may be pulled and moved using a self-propelled mobile imaging device 30 (FIG. 5).

At the same time, the laser beam 13 is irradiated from the laser distance meter 10 to the hole drilling machine 40 and reflected by the reflector 45, thereby measuring the distance L2 ′ from the laser distance meter 10 to the reflector 45. The measurement data of the distance L2 ′ is sent to the processing control means 8. Further, the processing control means 8 adds up the distance L1 from the reference position P0 to the tip of the laser rangefinder 10, the measurement distance L2 ′, and the distance L3 ′ from the reflector 45 to the drilled portion 41, thereby obtaining the reference. A drilling distance L0 ′ (= L1 + L2 ′ + L3 ′) from the position P0 to the drilling part 41 is calculated. The values of the distances L1 and L3 ′ are stored in the processing control unit 8 in advance.
Then, the drilling machine 40 is positioned so that the drilling distance L0 ′ matches the reference separation distance L0 (L0 ′ = L0). In short, the hole drilling portion 41 of the hole drilling machine 40 is positioned at a hole drilling position within the rehabilitation pipe 4 that is separated from the reference position P0 by the reference separation distance L0.

After positioning, the support brace 47 is raised, and the pressing part 47e is abutted against the ceiling part of the rehabilitation pipe 4, thereby fixing the traveling body 42.
More preferably, the remote control by the processing control means 8 is based on the detected angle of the inclinometer 44 and the angles φ and θ (hole angles) of the hole drilling portion 41 are the connection angles φ _2a and θ _2a (FIG. 5). , FIG. 6) and adjust so as to match each other.

<Drilling process>
Subsequently, the hole drilling part 41 is extended and the hole drilling tool 41a is rotated to drill the rehabilitated pipe 4. Thereby, the location corresponding to the connection port 2a in the rehabilitation pipe 4 can be drilled accurately. At this time, the video camera 43 images the peripheral portion in the distal direction of the hole drilling portion 41 and transmits the imaging signal to the processing control means 8. Thereby, the state of drilling can be confirmed on the monitor 8m of the processing control means 8. By mounting the video camera 43 on the hole drilling machine 40, it is not necessary to provide the video camera 43 separately from the hole drilling machine 40.
As shown in the enlarged view of the circular portion in FIG. 7, a communication port 4 a is formed in the rehabilitated pipe 4 by drilling. Through the above-described steps 101 to 104, the communication port 4a can be reliably connected to the attachment pipe 2.
Thus, according to the existing pipe rehabilitation method of the embodiment of the present invention, it is possible to prevent the drilling failure of the communication port 4a and improve the construction quality. No time is required for determining the drilling position, and the construction period can be shortened. The number of machines used is also reduced, and construction costs can be reduced. There is no need to use a special machine such as an external drilling machine.

Next, another embodiment of the present invention will be described. In the following embodiments, the same reference numerals are attached to the drawings for the same configurations as those already described, and the description thereof is omitted.
FIG. 10 shows a modification of the laser distance meter support means. The gantry 50 (laser distance meter support means) includes a beam 51 and a pair of legs 52 and 52. The leg portion 52 includes a vertical member 52a and an inclined member 52b, and has an inverted V shape. A beam 51 is stretched horizontally between the pair of leg portions 52, 52. A suspension column-shaped distance meter support portion 53 is suspended from the middle portion of the beam 51. The laser distance meter 10 is supported at the lower end portion of the distance meter support portion 53.
The gantry 50 may be a folding / expanding type or a disassembling / assembling type.

  11 and 12 show another modification of the laser distance meter support means. As shown in FIG. 11, the telescopic laser distance meter support means 60 is disposed in the opening 1e to the manhole 3 in the existing pipe 1A opposite to the existing pipe 1 to be rehabilitated with the manhole 3 in between.

  The laser distance meter support means 60 includes a telescopic rod 61 and a support arm 62 (distance meter support portion). The telescopic rod 61 extends linearly and can be adjusted in length. The longitudinal direction of the telescopic rod 61 is oriented vertically (1 radial direction of the existing pipe 1). As shown in FIG. 12, a fixing screw 64 is provided at an intermediate portion of the telescopic rod 61. By loosening the fixing screw 64, the telescopic rod 61 can be expanded and contracted, and by tightening the fixing screw 64, the length of the telescopic rod 61 can be fixed.

  As shown in FIG. 11, the telescopic rod 61 is provided with a support arm 62. The support arm 62 extends horizontally so as to be orthogonal to the telescopic rod 61 and protrudes into the manhole 3. The laser rangefinder 10 is supported at the tip of the support arm 62.

Abutting members 63 are provided at both ends of the telescopic rod 61. The abutting member 63 has an abutting portion 63a and a locking portion 63b, and has an L-shaped cross section. The abutting portion 63a is abutted against the inner peripheral surface of the existing pipe 1A. As shown in FIG. 12, the abutting portion 63a is curved in an arc shape along the circumferential direction of the existing pipe 1A. As shown in FIG. 11, the locking portion 63 b is addressed and locked to the end surface of the existing pipe 1 </ b> A.
Since the laser distance meter support means 60 is more compact than the gantry 20 (FIG. 3), it can be easily put into and out of the manhole 3 and installed.

  As shown in FIG. 13, when the sewage is flowing through the existing pipes 1 and 1A and the manhole 3, the telescopic rod 61 may be directed horizontally. Accordingly, sewage can pass through the opening 1e below the telescopic rod 61, and the laser distance meter support means 60 can be prevented from receiving the sewage fluid pressure. As a result, the laser distance meter 10 can be arranged more stably at the reference position P0. The laser distance meter support means 60 may be provided with a level. Thereby, the telescopic rod 61 can be accurately oriented horizontally.

The present invention is not limited to the embodiment described above, and various modifications can be made without departing from the spirit of the invention.
For example, the laser distance meter 10 may be installed at a predetermined position that is a predetermined distance away from the reference position P0. When calculating the acquisition distance and the measurement distance, the distance between the reference position P0 and the predetermined position may be added or subtracted. The predetermined position where the laser distance meter 10 is arranged in the acquisition step may be different from the predetermined position where the laser distance meter 10 is arranged in the positioning step. The measurement distance at a predetermined position in each step may be converted into a distance from the reference position P0.
The reference position P0 may be set to a marking line drawn on the bottom surface of the manhole 3, may be set to the central axis of the manhole 3, or may be set to the inner wall of the lid of the manhole 3 with the bottom surface opened. Good.
The reference position P0 is not limited to the manhole 3, but may be set in the existing pipe 1 to be rehabilitated, or may be set in the existing pipe 1A different from the rehabilitation target.
The reference separation distance L0 may be calculated (acquired) based on survey data at the time of new installation.
The reference separation distance L0 may be measured (acquired) using a distance measuring device (for example, a tape measure) other than the laser distance meter 10.
The drilling step may be performed before the backfill material 7 is filled. In this case, after drilling, the communication port 4a is sealed using a robot or the like, the backfill material 7 is filled, and then the communication port 4a is removed.
The installation process of the rehabilitation pipe 4 may be performed by a reversal method or a forming method.
The drilling imaging means such as the video camera 43 may be provided separately from the drilling machine 40 separately from the drilling machine 40. The moving image pickup device 30 for acquiring the reference separation distance may also be used as the drilling image pickup means 43. A normal camera may be used instead of the image development camera 31 as the imaging means. In this case, it is preferable that the camera can be rotated up, down, left, and right by the operation to capture a wide area.
The existing pipe 1 is not limited to a sewer pipe, and may be an agricultural water pipe or the like.
The branch pipe from the existing pipe 1 is not limited to the attachment pipe 2 but may be an inflow pipe or the like.

  The present invention is applicable to rehabilitation of existing pipes such as sewer pipes.

P0 Reference position L0 Reference separation distance L0 ′ Drilling distance φ _2a Pipe axis direction connection angle (connection angle)
θ _2a circumferential connection angle (connection angle)
1 Existing pipe 2 Mounting pipe (branch pipe)
2a Connection port 3 Manhole 4 Rehabilitation pipe 4a Communication port 5 Reference separation distance acquisition device 6 Drilling device 10 Laser distance meter 13 Laser light 30 Moving image pickup device 31 Image development camera (imaging means)
32 traveling body 40 drilling machine 41 drilling section 42 traveling body 43 video camera (drilling imaging means)
44 Inclinometer 45 Reflector 46 Biasing means

Claims (7)

When rehabilitating an existing pipe having a connection port with a branch pipe by a rehabilitation pipe, a method of drilling a communication port with the connection port in the rehabilitation pipe,
Obtaining a reference separation distance between the connection port and a reference position;
Installing a rehabilitation pipe in the existing pipe;
Positioning a drilling machine at a drilling position separated from the reference position by the reference separation distance in the rehabilitation pipe;
Drilling the renovated pipe with the drilling machine at the drilling position,
In the acquisition step, the moving image pickup device that moves in the existing pipe captures an image of the existing pipe and thus the connection port,
Laser light is applied to the mobile imaging device from the reference position or a laser distance meter installed at a predetermined distance from the reference position, and the laser light is reflected by a reflector provided on the mobile imaging device. Thus, the distance between the laser distance meter and the moving image pickup device that is imaging the connection port is measured, and the reference separation distance is acquired, and the reclaimed tube drilling method is characterized by the above.   In the positioning step, the drilling machine is irradiated with a laser beam from the reference position or a laser rangefinder installed at a predetermined distance away from the reference position, and the reflector is provided on the drilling machine. Measuring a drilling distance between the reference position and the drilling machine by reflecting a laser beam, and positioning the drilling machine so that the drilling distance matches the reference separation distance; The drilling method according to claim 1, wherein In the acquisition step, the connection angle of the connection port is also acquired,
3. The drilling step, wherein the drilling angle of the drilling machine is adjusted to be the connection angle based on a detection angle of an inclinometer provided in the drilling machine. Drilling method as described in 4.   4. The drilling step of claim 1, wherein a drilling portion of the drilling machine is imaged by a drilling imaging means mounted on the drilling machine or provided separately from the drilling machine. The hole drilling method according to any one of the above.   The drilling method according to claim 1, wherein the reference position is set in a manhole that is continuous with the existing pipe. A drilling device for drilling a communication port with the connection port in a rehabilitation pipe installed in an existing pipe having a connection port with a branch pipe,
A laser distance meter installed at a predetermined position with respect to a reference position or the reference position;
A drilling machine having a drilling section for drilling the renovated pipe, and movable within the renovated pipe;
A reflector that is provided in the drilling machine and reflects the laser light from the laser distance meter;
A hole drilling device comprising: The reflector is provided so as to be rotatable around an axis intersecting the advancing / retreating direction of the drilling machine;
The drilling device according to claim 6, further comprising biasing means for biasing the reflector to a neutral position orthogonal to the advance / retreat direction.

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