JP2018112536A - Sewer deformation measurement method and device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To measure sagging, meandering or deflection of a sewer with less time and labor and at low cost without being influenced by flowing water, foreign matter or damage, even without flowing water cutoff or cleaning in the sewer.SOLUTION: With a flying object 2 flown inside a sewer 20, and with a front wheel 11 and a rear wheel 12, which are provided in the flying body 2, rolled on a ceiling of the sewer 20, deflection and meandering of the sewer 20 are measured by an acceleration sensor 13 provided in the flying body 2, and deflection of the sewer 20 is measured by a distance sensor 14. The flying body 2 is configured to fly at a fixed speed with automatic steering. When the sewer 20 is sewerage, the flying object 2 starts flying after being installed on a ceiling of a sewer port opened to a manhole 25.SELECTED DRAWING: Figure 4

Description

  The present invention relates to a method and an apparatus for measuring deformation (for example, various deformations such as sagging, meandering, deflection, etc.) of pipes (for example, various pipes such as sewer pipes, water pipes, chemical plant pipes, cable pipes, etc.). It is.

  Cracks, breakage, joint misalignment, corrosion, adhesion of oils and fats, sediment accumulation, tree root intrusion, etc. occur in the pipe dredging. In addition, due to external forces, liquefaction due to earthquakes, uneven settlement, etc., the pipe rod is slack (the pipe rod is slack in the vertical direction of the pipe long axis), meandering (meandering in the horizontal direction of the pipe long axis), deflection ( Deformation such as vertical deflection (flattening) of the cross-sectional shape of the pipe rod also occurs.

  Therefore, these investigations are necessary for the maintenance of pipes. At present, the survey of pipes is conducted by running a self-propelled or towed vehicle on the bottom of the pipe, photographing the state of the pipe with a TV camera mounted on the vehicle, and displaying it on the monitor. The method in which an operator visually observes is the mainstream (Patent Document 1).

  Further, in Patent Document 2, if the operator does not recognize a region of interest in the mainstream method, the direction detection device or the traveling vehicle is assumed to be lost because the opportunity to stop and pan, tilt, and zoom is lost. Disclosed is a method of digitizing and displaying a forward-view image and an image developed about 360 degrees on a pipeline wall surface by providing a probe including a position detection device and a distance measurement device and processing data of an image, a direction, and a moving distance. Has been. The direction detection device is preferably a gyroscope or a gyro sensor.

  Further, in Patent Document 3, it is possible to visually observe the internal state of the pipe rod by the above mainstream method, but it cannot be recorded as numerical data. A system is disclosed in which a tube core measuring instrument is set and a laser light receiving plate is provided on the traveling vehicle to investigate slack, meandering, and reverse gradient of the tube rod.

  In addition, there is also an apparatus that evaluates the strength and deterioration degree of pipe rods using elastic waves.

JP-A-5-164698 JP 2004-509321 A JP 2002-90146 A

The above mainstream method (Patent Document 1) is visual, so it is easy to grasp cracks, breakage, joint misalignment, corrosion, oil and fat deposits, sediment accumulation, tree root intrusion, etc. However, such as slack, meandering, deflection, etc. Deformation is difficult to grasp.
In the method of Patent Document 2, it is possible to eliminate the necessity of stopping, panning, tilting, and zooming in a region of interest. There is no disclosure until it is realized.
Further, in the method of Patent Document 3, the slack, meandering, and reverse gradient of the pipe rod can be quantified. However, since it is necessary to set the laser emitting device and the tube core measuring instrument in two tube mouths, the investigation It takes time, effort and cost.

Further, any of the methods disclosed in Patent Documents 1 to 3 have the following major problems because the traveling vehicle travels on the bottom surface of the pipe rod.
(A) Since there is always flowing water (sewage) in the pipe such as a sewage pipe, it is very difficult or impossible to run the traveling vehicle on the bottom of the pipe as it is. Therefore, basically, it is necessary to shut down the flowing water in the pipe and clean it to remove foreign substances such as fats and oils, earth and sand, and tree roots. there were.
(B) Even after running water is shut off and cleaned, foreign matter may remain on the bottom surface of the tube or damage may occur. Therefore, the self-propelled vehicle may not run smoothly or the posture may tilt. Cheap.

  Therefore, the object of the present invention is to reduce deformation, such as slack, meandering, deflection, etc. of pipe dredging without being affected by running water, foreign matter, damage, etc. without shutting off or cleaning the pipe dredging. It is to be able to measure at cost.

(1) The kite deformation measuring device includes a flying object that flies inside the kite, a front wheel and a rear wheel that are provided on the flying object and rolls on the ceiling of the kite, And a sensor for measuring deformation.

  Although at least one sensor may be provided, an aspect in which one or both of an acceleration sensor and a distance sensor can be exemplified.

(2) The pipe deformation measurement method is a sensor provided on the flying object while causing the flying object to fly inside the pipe and rolling the front wheel and rear wheel provided on the flying object to the ceiling of the pipe. By measuring the deformation of the tube.

  The flying object is preferably autopilot and flies at a constant speed.

  The pipe tub is a sewer, and a mode in which the flying object is set on the ceiling of the pipe pier opened to the manhole and the flight is started can be exemplified.

Although it does not specifically limit as an aspect which measures a deformation | transformation of a tube fistula with a sensor, The following preferable aspect can be illustrated.
(A) By detecting the acceleration in the longitudinal direction by an acceleration sensor and converting it into an inclination angle, the slack of the tube is measured.
(B) The meander of the tube is measured by detecting lateral acceleration by an acceleration sensor and converting it into displacement.
(C) The deflection of the pipe rod is measured by detecting the distance to the ceiling of the pipe rod with a distance sensor.

(Function)
The advantage of the flying object is that, unlike a traveling vehicle that runs on the bottom surface of the pipe rod, it is possible to fly away from the bottom surface of the pipe rod and to fly in the space inside the tube rod. Therefore, measurement can be performed without running water blocking or cleaning. Then, by rolling the front and rear wheels to the ceiling of the duct with relatively little damage during the flight (that is, flight with ceiling traveling), the attitude of the flying object is imitated by the ceiling, The positional relationship with the ceiling is determined. As a result, deformations such as slack, meandering, and deflection of the pipe rod can be measured with less time, effort, and cost by sensors such as an acceleration sensor and a distance sensor provided on the flying object.

  The present invention can measure deformation, such as sagging, meandering, and bending of pipe rods with less time, effort, and cost without being affected by running water, foreign matter, damage, etc. without shutting off or cleaning the pipe rod. There is an excellent effect.

It is a perspective view of the pipe deformation measuring device of an example. It is a block diagram of the same apparatus. It is explanatory drawing of the acceleration sensor of the same apparatus. The deformation measuring method of pipe dredging (sewer) by the apparatus will be described, (a) is a schematic diagram, (b) is a graph showing an image of an inclination angle and a displacement amount in slack measurement. In the deflection measurement, (a) is a cross-sectional view before deformation and (b) is a cross-sectional view after deformation. It is sectional drawing explaining the automatic recoverability of the attitude | position of the apparatus. It is sectional drawing which shows the example of a change of an Example.

1. Aircraft A flying object is a drone that is small and unmanned (a drone in a broad sense) that can fly inside a tube. The flight principle and structure of the flying object are not particularly limited, but a multi-copter (a rotary wing aircraft equipped with three or more rotors, a drone in a narrow sense) can be exemplified as a preferable one.

2. Front wheel and rear wheel The front wheel and the rear wheel are not particularly limited, and examples thereof include a wheel rotatably mounted on a member extending upward from the flying object.
The front and rear wheels may be non-drive wheels.
The front wheels and the rear wheels are preferably fixed wheels that roll only in the front-rear direction of the aircraft, but may be free-wheeling wheels that can be turned.
The number of front wheels and rear wheels is not particularly limited, and examples include a combination of two front wheels and two rear wheels, a combination of one front wheel and two rear wheels, a combination of two front wheels and one rear wheel, and the like.

3. Autopilot Autopilot may be performed by a control device using a CPU or the like provided in the flying object, or may be performed by a signal sent from a location away from the flying object.
Note that the flying of the flying object is not limited to automatic piloting, but may be manual steering performed by a signal sent from a location away from the flying object.

4). Sensor It is preferable to measure the slack and meandering of the tube by means of an acceleration sensor.
It is preferable to measure the deflection of the pipe rod using a distance sensor.

5. Pipe pipes As pipe pipes to be measured, various pipe pipes such as sewer pipes, water pipes, chemical plant pipes, cable pipes and the like can be exemplified.

(Pipe deformation measuring device)
1 to 3 includes a flying body 2 that flies inside the tubular casing, and a predetermined inter-axis distance that is provided on the flying body 2 and rolls on the ceiling of the tubular casing. Front wheels 11 and rear wheels 12, and sensors 13 and 14 provided on the flying body 2 for measuring deformation of the pipe rod.

  As shown in FIG. 1, the flying object 2 is substantially the same as a general multi-copter, and includes a central main body 3 extending in the front-rear direction, four arms 4 extending radially from the main body 3 in a lateral direction, The four rotors 5 provided in the middle part of the arm 4 and its motor 6 are provided. For example, a TV camera 7 is attached to the front of the main body 3 so as to face forward, and the TV camera 7 includes a lens, an image sensor (CCD, CMOS, etc.) and the like.

  As shown in FIG. 2, the main body 3 includes a wireless module 8 and a control CPU 9 as in a general multicopter. The wireless module 8 receives a signal transmitted from the remote remote controller 17, and the control CPU 9 controls the number of rotations of the four motors 6 based on the signal, whereby the flying object 2 is raised, lowered, moved forward, and moved backward.・ Left and right turn maneuvers are performed. In addition, the wireless module 8 transmits a signal of an image captured by the television camera 7.

  In a general multicopter, four arms 4 ending at the positions of the motors 6 are extended beyond the positions of the motors 6 in this embodiment. The legs 10 are provided so as to extend upward from the extended end portions of the arms 4, two front wheels 11 are rotatably mounted on the upper end portions of the two front legs 10, and the upper ends of the two rear legs 10 are mounted. Two rear wheels 12 are rotatably attached to the part. Accordingly, the four legs 10 are located outside the outer edges of the rotation paths of the four rotors 5 and do not interfere with the rotation of the rotor 5. Further, the front wheel 11 and the rear wheel 12 are located above the four rotors 5 and do not interfere with the rotation of the rotor 5. In addition, how to provide the front wheel 11 and the rear wheel 12 can be appropriately changed. For example, the front wheel 11 and the rear wheel 12 may be attached to a member extending from the main body 3 separately from the arm 4.

  The front wheel 11 and the rear wheel 12 are non-driving wheels and are fixed wheels that roll only in the front-rear direction of the flying object 2. Further, in order to increase the distance between the axes of the front wheels 11 and the rear wheels 12, the two front legs 10 are inclined forward and the two rear legs 10 are inclined rearward. You may stand.

  Unlike a general multi-copter, an acceleration sensor 13 and a distance sensor 14 as the sensors are attached to, for example, an upper portion of the main body 3. As shown in FIG. 2, a measurement CPU 15 and a memory card 16 are additionally incorporated in the main body 3. The measurement CPU 15 performs calculations and the like to be described later, and the wireless module 8 transmits the results to the remote personal computer 18 and records them in the memory card 16. Instead of adding a control CPU as in this example, the control CPU 9 can also have the function of a control CPU.

  The acceleration sensor 13 measures static acceleration and converts it into an angle. In this embodiment, a three-axis acceleration sensor that can measure acceleration in three directions of the XYZ axes with one device is used. With the acceleration sensor 13, the following measurement is possible.

(A) Inclination angle (displacement in the longitudinal direction)
As shown in FIG. 3, when the gravitational acceleration is 1 G, the static acceleration output from the acceleration sensor 13 can be expressed by the following equation.
Axout [G] = 1G × sin (θ)
When the acceleration sensor is rotated along the gravitational acceleration axis, the acceleration output follows a sine wave relationship. Therefore, the conversion from the static acceleration to the tilt angle θ is performed using the following equation (inverse sine function).
θ = sin ⁻¹ (Axout [g] / 1 g)
The unit of θ is radians, and when converting to degrees (°), the result of the above formula is multiplied by (180 / π).
When the acceleration sensor is used with one axis, the tilt sensitivity decreases as the angle between the horizontal axis and the sensor axis increases, and the sensitivity approaches zero when the angle approaches ± 90 °. Conversely, the highest resolution is obtained near 0 °. Therefore, the sensor shaft used is a sensor shaft that is nearly horizontal in the tube axis direction.
Note that the resolution of the analog MEMS sensor can be expected to be about 16 bits, and the resolution of the tilt angle can be measured to about 0.01 degrees. The gradient is about 0.02% (10 mm at 50 m).

(B) Flight speed (available for speed control)
The acceleration sensor 13 measures the acceleration of the Y axis (traveling walk). The measurement CPU 15 sends the flight speed calculated by integrating the acceleration to the control CPU 9, and the control CPU 9 controls the flight speed to a constant speed (this enables automatic steering). The calculated flight speed is transmitted from the wireless module 8 to the personal computer 18.

(C) Cross-sectional direction (available for posture control)
The acceleration sensor 13 measures the static acceleration in the X axis (cross-sectional direction). The measurement CPU 15 gives the inclination angle in the cross-sectional direction calculated from the static acceleration to the control CPU 9, and the control CPU 9 controls the attitude of the flying object 2 so as not to incline in the cross-sectional direction (this enables automatic steering). Become). Note that the attitude of the flying object 2 is naturally controlled by a restoring force generated by a reaction force of the thrust, as will be described later (FIG. 6).

Next, an infrared distance sensor is used as the distance sensor 14. As shown in FIG. 5, the distance between the points where the two front wheels 11 contact the upper part of the inner surface of the pipe 21 is L, the height from the distance sensor 14 to this point is h, and the top of the ceiling of the pipe 21 measured by the distance sensor 14. Is D, D−h = d, and the tube thickness is t, the radius of the tube thickness center of the perfect circle before deformation shown in FIG. 5A is r, whereas FIG. The radius of curvature r ′ at the center of the tube thickness after deformation shown in FIG. In the present embodiment, the measurement CPU 15 measures the deflection by applying this principle.

<Measurement example 1: Measurement of slack in pipelines using reinforced concrete pipes>
Now, let us say that the tube rod 20 shown in FIG. The pipe tub 20 is a sewer, and is configured by connecting a plurality of pipe materials 21 by a joint portion 22 whose end portions overlap inside and outside between two manholes 25 and 26 that are spaced apart from each other. Reference numeral 23 denotes running water of the pipe 20. There are various types of pipe materials 21, and reinforced concrete pipes and hard vinyl chloride pipes are often used. Therefore, in this example, the pipe material 21 is a reinforced concrete pipe having an inner diameter of 300 mm and an effective pipe length of 2000 mm. Fifteen pipes 21 are connected between two manholes 25 and 26 (one span), and a pipe span length of one span is obtained. Suppose that it is 30000 mm (30 m).

  Due to external forces, liquefaction due to earthquakes, uneven settlement, etc., the adjacent pipe material 21 and the pipe material 21 are displaced at the joint portion 22 and are relatively inclined, and slack or meandering occurs in the pipe long axis of the pipe rod. If groundwater or a tree root enters through a gap generated in the joint portion 22 due to sagging, the flow capacity of sewage decreases.

The slack of the tube rod 20 can be measured by the following method using the tube rod deformation measuring apparatus 1 configured as described above. The running water 23 of the pipe rod 20 does not need to be blocked basically.
(I) In the manhole 25 on the left side of FIG. 4A, for example, the operator points the pipe deformation measuring device 1 in the traveling direction on the ceiling of the pipe opening of the pipe rod 20 that opens to the manhole 25 Set to the right in the example). In the right manhole 26, another worker stands by with the personal computer 18 as a receiver.

(Ii) The flight of the hoist deformation measuring apparatus 1 is started, and during the flight, the front wheel 11 and the rear wheel 12 roll (run on the ceiling) to the ceiling of the hoist 20, so that the attitude of the flying object 2 is changed to the hoist 20 Imitate the ceiling. There are relatively few deposits on the ceiling, and there are few obstacles to running and gradient measurement. In addition, the pipe ridge deformation measuring device 1 does not touch the running water 23. The flight speed is constant, for example 50 mm / second. The investigation time for one pipe member 21 is 40 seconds, and the investigation time for one span of the pipe rod 20 is 600 seconds (10 minutes). The flight may be manually operated from the remote controller 17, but it is preferable that the flight be automatically operated by the measurement CPU 15 and the control CPU 9 described above.

As shown in FIG. 6, when the attitude of the flying object 2 is tilted in the cross-sectional direction during flight, the attitude of the flying object 2 is naturally controlled in a direction that reduces the inclination by the component of horizontal component force generated in the reaction force of the thrust. The Further, as described above, the measurement CPU 15 and the control CPU 9 perform posture control so that the posture of the flying object 2 does not tilt in the cross-sectional direction.
Then, the acceleration during flight is measured by the acceleration sensor 13, and the flight speed and the moving distance are calculated from the acceleration.

(Iii) While flying with the above-described overhead traveling, the static acceleration is sampled at 800 Hz by the acceleration sensor 13 for each of the passing pipe materials 21, and converted into the inclination angle according to the principle described above. The sampling number of one pipe material 21 is 40 seconds × 800 Hz = 32000 samples. The end of the tube 21 is determined by detecting vibration when the front wheel 11 passes through the joint of the joint portion 22. In FIG. 4B, noise appears at the joint of the joint portion 22 as an image of the measured inclination angle. FIG. 4B also shows an image of the amount of sagging displacement calculated from the tilt angle and the flight speed.

  Then, the measurement CPU 15 calculates an average inclination angle of one pipe member 21, and the calculated average inclination angle is transmitted from the wireless module 8 to the personal computer 18 and recorded in the memory card 16.

  In addition, since dynamic acceleration occurs at the time of acceleration / deceleration of the pipe rod deformation measuring device 1, the acceleration acquired at the time of acceleration / deceleration cannot be used for the calculation of the tilt angle. In order to solve this problem, stop acceleration during acceleration / deceleration and measure static acceleration, or acquire only data during constant speed driving (no influence of dynamic acceleration), or time when acceleration changes You can take either way to eliminate the data.

<Measurement example 2: Measurement of meandering of pipe line by reinforced concrete pipe>
Simultaneously with the measurement of the sag, the amount of meander can be measured by converting the lateral acceleration obtained from the acceleration sensor 13 into displacement by the measurement CPU 15. It is preferable to correct the meandering amount so that the lateral displacement of the flying object 2 with respect to the side portion of the pipe 21 is detected by a distance sensor (not shown) separately provided horizontally, and the lateral displacement is excluded.

<Measurement Example 3: Method for Measuring Deflection of Pipe Line Using Rigid Vinyl Chloride Pipe>
Since the pipe rod made of the reinforced concrete pipe is not substantially bent, it is not necessary to measure the deflection. However, pipe rods made of hard vinyl chloride pipes are allowed to have a deflection of about 5% from the beginning, and the deflection increases due to secular change, road load, seismic stress, etc., so it is necessary to measure the deflection.

Therefore, in the case of pipes made of hard polyvinyl chloride pipes, the distance D to the top of the pipe 21 is measured by the distance sensor 14 as shown in FIG. Then, the deflection of the tube material 21 is calculated by the measurement CPU 15.
For example, when the inner diameter of the tube material 21 before the deformation is 300 mm and the distance D is 123.6 mm, the upper and lower inner diameters (short diameter) after the deformation is 285 mm, and the distance D is 119 mm, the flatness of the tube material 21 95%, change rate of distance D is 96%, change amount is 4.6 mm.

  According to the embodiment described in detail above, it is possible to reduce the slack, meandering and deflection of the pipe rod 20 without being affected by the flowing water, foreign matter, damage, etc., without shutting off or cleaning the pipe rod 20. It can be measured with effort and cost.

In addition, this invention is not limited to the said Example, For example, as follows, it can change suitably in the range which does not deviate from the meaning of invention, and can be embodied.
(1) As shown in FIG. 7, the left and right legs 10 are inclined so that the distance between the upper and lower legs 10 is increased, the distance between the left and right front wheels 11 is increased, and the front wheels 11 are brought into contact with the pipe material 21 as close to a right angle as possible. . The same applies to the rear wheel 12.

DESCRIPTION OF SYMBOLS 1 Pipe deformation measuring device 2 Flying body 3 Main body body 4 Arm 5 Rotor 6 Motor 7 Television camera 8 Wireless module 9 CPU for control
10 leg 11 front wheel 12 rear wheel 13 acceleration sensor 14 distance sensor 15 CPU for measurement
16 memory card 17 remote control 18 personal computer 20 pipe 21 pipe material 22 joint part 23 running water 25 manhole 26 manhole

Claims (8)

  A flying object that flies inside the pipe, a front wheel and a rear wheel that are provided on the flying object and roll on the ceiling of the pipe, and a sensor that is provided on the flying object and measures deformation of the pipe. A tube deformation measuring device characterized.   2. The tube deformation measuring device according to claim 1, wherein the sensor is one or both of an acceleration sensor and a distance sensor.   While flying the flying object inside the pipe, and measuring the deformation of the pipe with the sensor provided on the flying object while rolling the front and rear wheels provided on the flying object to the ceiling of the pipe. A characteristic method of measuring tube deformation.   4. The method of measuring tube deformation according to claim 3, wherein the flying object is automatically piloted and flies at a constant speed.   5. The pipe deformation measuring method according to claim 3 or 4, wherein the pipe is a sewer, and a flying object is set on a ceiling of the pipe hole opened in the manhole to start flight.   6. The tubular hook deformation measuring method according to claim 3, wherein the slack of the tubular pipe is measured by detecting a static acceleration with an acceleration sensor and converting the detected acceleration into an inclination angle.   7. A method for measuring deformation of a tube fist according to any one of claims 3 to 6, wherein the meander of the tube is measured by detecting a lateral acceleration with an acceleration sensor and converting it into a displacement.   8. The method for measuring deformation of a pipe fist according to any one of claims 3 to 7, wherein the deflection of the pipe is measured by detecting a distance to the ceiling of the pipe with a distance sensor.

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