JP2021181201A - Method for renovation of existing pipes and marker installation device - Google Patents

Abstract

To install markers for detecting the location of openings in existing pipes covered by the renovated pipe regardless of the condition of the openings.SOLUTION: The method of renovating the existing pipe 1 includes: an opening position identifying process of identifying the location of an opening 1a formed on the inner surface of the existing pipe 1 at the connection point with the branch pipe 2; a marker installation process in which a marker 35 for location detection is installed on the inner surface of the existing pipe 1 at a location that is separated from the location of the identified opening 1a and has a known location relationship to the location of the opening 1a; a renovation pipe lining process of lining the renovation pipe 3 inside the existing pipe 1; a marker detection process of detecting the position of the marker 35 from inside the renovation pipe 3; and a drilling process of forming a connecting hole 3a that connects to the opening 1a in the renovation pipe 3 at a point that has the known positional relationship from the detection position of the marker 35.SELECTED DRAWING: Figure 3

Description

The present invention relates to a method of rehabilitating an old existing pipe by lining the rehabilitated pipe inside the existing pipe, and in particular, the rehabilitated pipe corresponding to an opening formed at a connection point with a branch pipe on the inner surface of the existing pipe. Regarding the improvement of the technique for forming communication holes.

A method of rehabilitating an existing pipe such as an aged sewage pipe by lining it with a rehabilitation pipe is known. Usually, a plurality of branch pipes are connected to the existing pipe, and an opening is formed at this connection point. Since this opening is closed by the rehabilitation pipe, it is necessary to form a communication hole in the rehabilitation pipe at a position corresponding to the opening and allow the branch pipe to communicate with the pipeline in the rehabilitation pipe after the lining of the rehabilitation pipe.

When forming a communication hole from the inside of the rehabilitation pipe, since the opening is covered with the rehabilitation pipe, a means for accurately detecting the position of the opening is required.
In Patent Document 1, prior to the lining of the rehabilitation pipe, a water stop valve is fitted into the opening of the existing pipe by using a robot. An antenna coil and a resonator are embedded in the center of the water stop valve as a marker for position detection.

After installing the position detection marker in the opening as described above, the rehabilitation pipe is lined inside the existing pipe. Then, another robot is used to form a communication hole in the rehabilitation tube. Specifically, this robot has a rotating head, and the rotating head is provided with an antenna and a perforation cutter 180 ° away from the antenna. When the position of the marker (that is, the position of the opening) is detected by transmitting and receiving radio waves from the antenna, the rotating head is rotated 180 °, and the perforation cutter forms a communication hole in the rehabilitation tube at the marker detection position and stops. Destroy the faucet. This allows the branch pipe to communicate with the pipeline of the rehabilitation pipe.

Special Fair 8-3351 Gazette

The method of Patent Document 1 has the following drawbacks. If the opening has collapsed or there is a lot of inflow water from the branch pipe to the existing pipe, the stopcock cannot be fitted. That is, the position detection marker cannot be installed. A water stopcock is required and the material cost is high. When the communication hole is formed in the rehabilitation pipe, the water stopcock is also destroyed, so that many crushed pieces fall into the pipe line.

In order to solve the above problems, the method for rehabilitating an existing pipe of the present invention includes an opening position specifying step for specifying the position of an opening formed at a connection point with a branch pipe on the inner surface of the existing pipe, and the existing pipe. A marker installation step of installing a marker for position detection at a position on the inner surface of the pipe, which is separated from the specified position of the opening and has a known positional relationship with respect to the position of the opening, and the existing pipe. A rehabilitation tube lining step of lining the rehabilitation tube inside, a marker detection step of detecting the position of the marker from the inside of the rehabilitation tube, and a portion of the rehabilitation tube having the known positional relationship from the detection position of the marker. It is characterized by comprising a drilling step of forming a communication hole connected to the opening.

According to the above method, since the marker is installed at a position away from the opening on the inner surface of the existing pipe, it is possible to install the marker regardless of the state of the opening. Further, since the water stop valve is not used, the material cost can be reduced, and the debris generated when forming the communication hole in the rehabilitation pipe can be reduced.

Preferably, the marker installation step includes a storage hole forming step of forming a storage hole on the inner surface of the existing pipe and a marker embedding step of embedding the marker in the storage hole.
According to the above method, the marker can be reliably installed.

Preferably, in the marker installation step, the marker is installed at a position known at a known angle in the circumferential direction of the existing pipe with respect to the position of the opening.
According to the above rehabilitation, a known positional relationship can be easily set, and the communication hole forming work after the marker position detection can be simplified.
The known angle may be a predetermined angle, or may be arbitrarily set for each opening depending on the situation.

Another aspect of the present invention is a device for installing a marker for position detection on the inner surface of an existing pipe at a position having a known positional relationship with respect to an opening formed at a connection point with a branch pipe. hand,
A device main body having a traveling means, a moving body rotatably provided about the device main body about a rotation axis extending in the pipe axis direction of the existing pipe, and a radial direction of the existing pipe with respect to the moving body. A holder that can be moved to the holder, an insert that is arranged on one side of the holder in the movement direction, and is inserted into the opening as the holder moves in the radial direction to specify the position of the opening, and the insert. A drill that is placed on the central axis of the holder and protrudes from the insert to form a housing hole on the inner surface of the existing pipe by rotational driving, and a marker that is placed on the other side of the holder and embeds the marker in the storage hole. It is characterized by having a built-in mechanism.
According to the above configuration, the work of identifying the position of the opening, forming the accommodating hole, and embedding the marker in the accommodating hole can be performed by one marker installation device having a relatively simple configuration.

Preferably, the marker embedding mechanism is an insertion that inserts a holding rack that holds a plurality of the markers in a row and the marker that is coaxial with the drill and is located at the tip of the holding rack into the accommodation hole. With a pin.
With the above configuration, the work of embedding the marker in the accommodating holes for each of the plurality of openings of the existing pipe can be efficiently performed.

According to the present invention, it is possible to install a marker on an existing pipe regardless of the state of the opening. In addition, the material cost can be reduced, and the debris generated when forming the communication hole in the rehabilitation pipe can be reduced.

It is a schematic diagram which shows the marker installation apparatus which forms one Embodiment of this invention. It is a schematic diagram which shows the marker embedding mechanism of the apparatus. It is a schematic diagram which explains the marker installation work by this apparatus step by step, (A) is the process of specifying the opening position of an existing pipe, (B) is the process to specify the opening position of an existing pipe 180 ° away from the existing pipe. The step of forming the accommodating hole, (C) shows the step of embedding a marker in the accommodating hole. It is an enlarged sectional view which shows the embedded marker. It is a schematic diagram which shows the drilling apparatus which forms one Embodiment of this invention, (A) shows the step of detecting the position of a marker, (B) shows the step of forming a communication hole in a rehabilitation tube. It is a bottom view which shows the magnetic sensor for marker detection of the same hole drilling device.

Hereinafter, an embodiment of the present invention will be described with reference to the drawings.
As shown in FIG. 1, an existing pipe 1 such as a sewage pipe is buried in the ground. A branch pipe 2 is connected to the existing pipe 1, so that the inflow water from the branch pipe 2 flows into the pipeline of the existing pipe 1. An opening 1a is formed at the connection point on the inner surface of the existing pipe 1.
The aged existing pipe 1 is rehabilitated by lining the resin-made rehabilitation pipe 3 (FIG. 5) inside.

Configuration of Marker Installation Device First, the marker installation device 10 used in the present embodiment will be described. As shown in FIG. 1, the marker installation device 10 has a device main body 11 having wheels 11a (traveling means) for traveling in the existing pipe 1, a moving body 12, a support mechanism 13, a holder 14, and rotation. A unit 15 is provided as a basic configuration.

The moving body 12 has a shaft 12a that protrudes horizontally from the device main body 11 along the pipe axis of the existing pipe 1 and a support plate 12b fixed to the tip of the shaft 12a. The shaft 12a can rotate about the axis L and can move along the axis L. A rotary drive unit for rotating the shaft 12a and a linear drive unit for moving the shaft 12a forward and backward in the axial direction (neither of them is shown) are housed in the apparatus main body 11. The rotation angle of the moving body 12 is detected by the rotary encoder 16 connected to the rotation driving unit, and the axial movement amount of the moving body 12 is detected by the linear encoder 17.

The holder 14 is supported by the support plate 12b of the moving body 12 via the support mechanism 13, and can move in the radial direction of the existing pipe 1. The support mechanism 13 constitutes, for example, a two-stage slide mechanism, and is formed on a linear guide formed on the front surface of the support plate 12b, a slider 13a slidably supported by the linear guide, and a front surface of the slider 13a. It has a linear guide. The two linear guides are parallel to each other and extend in the radial direction of the existing pipe 1. The holder 14 is slidably supported by the linear guide of the slider 13a. The slider 13a and the holder 14 are maintained at predetermined positions with respect to the support plate 12b of the moving body 12 by a driving means (not shown), and are moved in the radial direction of the existing pipe 1 as needed.

The rotating portion 15 is provided on one side surface 14a of the holder 14 and is rotationally driven by a motor (not shown) housed in the holder 14. The rotation axis of the rotating portion 15 extends in the radial direction of the existing pipe 1.
The tilt sensor 18 is provided on the moving body 12, for example.

The insert body 20 and the drill 21 are detachably attached to the rotating portion 15 of the marker installation device 10. The insert 20 has a cylindrical shape or a cylindrical shape, is coaxial with the drill 21, and surrounds the drill 21. The outer diameter of the insert 20 is slightly smaller than the inner diameter of the opening 1a of the existing pipe 1. The drill 21 protrudes from the insert 20.

A marker embedding mechanism 30 is arranged on the opposite side of the holder 14. The marker embedding mechanism 30 has a marker holder 31 and a marker inserter 32.
The marker holder 31 has a support 31a whose base end portion is detachably fixed to the slider 13a and extends in the radial direction of the existing pipe 1, and a direction connected to the tip end portion of the support 31a and orthogonal to the support 31a, that is, rotation. It has a holding rack 31b extending in the axis L direction.

As shown in FIG. 2, the holding rack 31b contains the position detection markers 35 arranged in a row along the longitudinal direction thereof. The detailed structure of the marker 35 will be described later. A spring 36 is housed in the inner part of the holding rack 31b, and the marker 35 aligned by the spring 36 is urged toward the front. The leading marker 35 is held in a state of being abutted against the tip wall 31c of the holding rack 31b. The holding rack 31b is formed with a pair of through holes 31x and 31y at locations adjacent to the tip wall 1c. These through holes 31x and 31y are formed on the axis of the insertion pin 32b, which will be described later.

The marker inserter 32 has a pin drive unit 32a made of a cylinder or the like, and an insertion pin 32b protruding from the pin drive unit 32a. The marker inserter 32 is detachably attached to the holder 14 by screwing the base end portion of the pin drive portion 32a into a screw hole formed in the other side surface 14b of the holder 14. The pin drive unit 32a and the insertion pin 32b extend in the radial direction of the existing pipe 1. The insertion pin 32b and the drill 21 are coaxial and orthogonal to the rotation axis L.

Opening position identification process (marker installation process)
Prior to the lining step of the rehabilitation pipe 3, the marker installation device 10 runs in the existing pipe 1 as shown in FIG. In this embodiment, a photographing robot (not shown) is driven in front of the marker installation device 10. While the photographing robot is running, the inner surface of the existing pipe 1 is monitored by the video camera, and when the opening 1a is found, the running is stopped and the work of the marker installation device 10 is monitored. The marker installation device 10 and the photographing robot are remotely controlled by an operator from outside the existing pipe 1.

The marker installation device 10 stops traveling when the insert body 20 substantially reaches the position corresponding to the opening 1a. The operator finely adjusts the position of the insert 20 so as to be coaxial with the opening 1a by expanding and contracting and rotating the shaft 12 while checking the image of the video camera. Then, as shown in FIG. 3A, the insert body 20 is inserted into the opening 1a by moving the holder 14 in the radial direction of the existing pipe 1. The inserter 20 may be inserted into the opening 1a while alternately moving the holder 14 and expanding / contracting / rotating the shaft 12. When the insert 20 is inserted, the drill 21 is located in the center of the opening 1a.

When the insertion of the opening 1a of the insertion body 20 is completed, the values of the rotary encoder 16 and the linear encoder 17 are initially set to zero. In this way, the position of the opening 1a is specified.

Storage hole formation process (marker installation process)
Next, after the holder 14 is moved so as to retract the insert body 20 from the opening 1a, the moving body 12 is rotated by a predetermined angle, for example, 180 °, based on the rotation information from the rotary encoder 16. After that, as shown in FIG. 3B, the holder 14 is moved toward the inner surface of the existing pipe 1 while rotating the drill 21 together with the rotating portion 15, so that the existing pipe 1 is shown in FIG. A storage hole 1b is drilled on the inner surface. The accommodation hole 1b has a known positional relationship with respect to the center of the opening 1a. That is, the positions of the existing pipes 1 in the axial direction are equal (the amount of displacement in the axial direction is zero), and they are separated by 180 ° in the circumferential direction. When the opening 1a is connected to the top of the existing pipe 1, the accommodating hole 1b is located at the bottom of the pipe.

Marker embedding process (marker installation process)
Next, after moving the holder 14 so that the drill 21 is retracted from the existing pipe 1, the moving body 12 is rotated by 180 ° again. Then, the accommodating hole 1b is located on the axis of the insertion pin 32b. When the insertion pin 32b is driven in the protruding direction in this state, the insertion pin 32b passes through the through holes 31x and 31y (see FIG. 2) formed in the holding rack 31b and is held by the holding rack 31b in the process. The leading marker 35 can be embedded in the accommodation hole 1b.

As shown in FIG. 4, the marker 35 is configured by embedding a permanent magnet 35a such as neodymium in an elastic holding member 35b made of a foamed urethane resin or the like. The outer diameter of the elastic holding member 35b is larger than that of the accommodating hole 1b, and when embedded in the accommodating hole 1b, the elastic holding member 35b is in an elastically compressed state, and the marker 35 is surely installed in the accommodating hole 1b. Can be done.

After the leading marker 35 is ejected from the holding rack 31b by the insertion pin 32b, the plurality of markers 35 are moved forward by the spring 36, so that the leading marker 35 is again arranged between the through holes 31x and 31y. In this way, the marker 35 can be efficiently installed even when a plurality of branch pipes 2 are connected to the existing pipe 1.

Rehabilitation pipe lining step Next, the rehabilitation pipe 3 is lined on the inner surface of the existing pipe 1. There are various methods for this lining. For example, the rehabilitation tube 3 may be formed by expanding the diameter of a long tube, or the rehabilitation tube 3 may be formed by spirally winding a strip-shaped member and fitting the edges of adjacent winding portions. The rehabilitation pipe 3 covers the opening 1a of the existing pipe 1 and the marker 35.

Configuration of Drilling Device After lining the rehabilitation tube 3, the drilling device 10A shown in FIG. 5 performs work in the rehabilitation tube 3. The drilling device 10A also serves as the basic configuration of the marker installation device 10 described above, that is, the device main body 11, the moving body 12, the support mechanism 13, the holder 14, and the rotating portion 15. The insertion body 20 and the drill 21 are removed from the rotating portion 15 of the marker installation device 10, and instead, the hole saw 40 is detachably connected to the rotating portion 15. In the present embodiment, the hole saw 40 has a drill portion 40a for centering at the center thereof, but the drill portion 40a may be omitted.

Further, the marker embedding mechanism 30 is removed from the marker installation device 10, and the base end portion of the cylindrical support 45 is screwed into the other mounting surface 14b of the holder 14. A magnetic sensor 46 (marker detector) is fixed to the tip of the support 45. As shown in FIG. 6, the magnetic sensor 46 has a large number of Hall elements 46a arranged vertically and horizontally. The center of the magnetic sensor 46 is located on the central axis of the hole saw 40 orthogonal to the rotation axis L.

Marker detection process As shown in FIG. 5A, the drilling device 10A detects the marker 35 while traveling in the rehabilitation tube 3. When the opening 1a is formed at the top of the existing pipe 1 and the marker 35 is embedded at a position 180 ° away from the opening 1a, that is, at the bottom of the existing pipe 1 as in this embodiment, the magnetic sensor. In the downward posture, 46 scans the bottom of the existing pipe 1 along the longitudinal direction of the existing pipe 1.

When the Hall element 46a of the magnetic sensor 46 detects the magnetism of the marker 35, the hole-drilling device 10A automatically stops traveling. Further, the position of the magnetic sensor 46 is finely adjusted by rotating the moving body 12 and moving in the axial direction so that the detected output of the Hall element 52a in the central portion has the highest output distribution. As a result, the position of the marker 35 can be accurately detected.

Step of drilling a hole in the rehabilitation pipe As described above, when the position of the marker 35 is detected, the hole saw 40 is located at a position facing the opening 1a of the existing pipe 1 covered with the rehabilitation pipe 3. More specifically, the hole saw 40 and the opening 1a are coaxial with each other. This is because the marker 35 is installed at a position 180 ° in the circumferential direction with respect to the opening 1a, and the center of the magnetic sensor 46 and the center of the hole saw 40 are on the same straight line and are separated by 180 ° in the circumferential direction.

As shown in FIG. 5B, by moving the holder 14 toward the opening 1a while rotating the hole saw 40, a communication hole 3a that coincides with the opening 1a of the existing pipe 1 is formed in the rehabilitation pipe 3. be able to.

In the marker detection step and the drilling step of the rehabilitation tube, the work may be monitored by the photographing robot in the vicinity of the drilling device 10A in the same manner as in the opening position specifying step and the marker embedding step described above.

In the above embodiment, the simplest method is illustrated. That is, on the premise that the branch pipe 2 is connected to the top of the existing pipe 1 (the opening 1a is formed), the marker 35 is located at a location 180 ° apart in the circumferential direction, that is, at the bottom of the existing pipe 1. Was installed. In this case, as described above, the drilling device 10A may scan the magnetic sensor 46 toward the bottom of the tube. Further, when the marker 35 is detected, the communication hole 3a can be formed in the rehabilitation tube 3 without rotating the moving body 12.

Even when the opening 1a is formed at a position deviating from the top of the existing pipe 1, the marker 35 may be installed at a position 180 ° apart in the circumferential direction, that is, at a position deviating from the bottom of the existing pipe 1. .. In this case, the tilt sensor 18 detects and records the tilt angle of the line connecting the axis of the existing pipe 1 and the installation location of the marker 35, and corresponds to the tilt angle recorded by the magnetic sensor 46 when detecting the marker 35. Scan in a tilted state. Even in this case, when the marker 35 is detected, the communication hole 3a can be formed in the rehabilitation tube 3 without rotating the moving body 12.

When the opening 1a is formed at a position away from the top of the existing pipe 1, the moving body 12 is rotated based on the information from the tilt sensor 18 and the rotary encoder 16 to position the marker 35 at a predetermined angle position, for example. It can also be installed at the bottom of the pipe. In this case, the angle of rotation Θ from the opening 1a to the marker 35 is recorded. In the marker detection step, the magnetic sensor 46 is scanned while facing the bottom of the tube. When the marker 35 is detected, the opening 1a is formed at a position separated by the rotation angle Θ recorded from the position of the marker 35. Therefore, the moving body 12 can be rotated by (180 ° −Θ) to make the hole saw 40 face the opening 1a.

When the position of the opening 1a is undefined and the positional relationship between the opening 1a and the marker installation position is undefined, the marker installation position is determined by the following procedure.
As described above, when the position of the opening 1a is specified by using the marker installation device 10, the rotation angle is set to 0 °. Next, it is determined whether or not the position where the marker 35 can be embedded and whether or not the inclination angle can be detected by the magnetic sensor 46, and the moving body 12 is rotated until both determinations are affirmative. When both judgments are affirmative, that is, at a position where the marker 35 can be embedded and when the tilt angle that can be detected by the magnetic sensor 46 is reached, the rotation of the moving body 12 is stopped, and the rotation at this time is stopped. The angle Θ is recorded as a known positional relationship between the opening 1a and the placement position of the marker 35. In addition, the tilt sensor 18 also records the tilt angle of the line connecting the tube axis of the existing pipe 1 and the marker 35 installation position. Instead of the above determination, a position suitable for marker installation may be set as the marker 35 installation position by monitoring the photographing robot, and the rotation angle Θ of the moving body 12 to this installation position may be recorded.

Next, the accommodating hole 1a is formed by the drill 21, the moving body 12 is rotated by 180 °, and the marker 35 is embedded in the accommodating hole 1a by the marker embedding mechanism 30.
Next, the drilling device 10A tilts and scans the magnetic sensor 46 according to the recorded tilt angle of the marker 35, and when the marker 35 is detected, the moving body 12 is rotated (180 ° −Θ). After moving the hole saw 40 to a position facing the opening 1a, the communication hole 3a is formed.

The present invention is not limited to the above-described embodiment, and various modifications can be made as long as it does not contradict the gist thereof.
The location where the marker 35 is installed may be displaced with respect to the opening 1a in the pipe axis direction of the existing pipe 1. In this case, the known positional relationship can be expressed by the amount of axial displacement of the linear encoder 17.
The location where the marker 35 is installed may be displaced with respect to the opening 1a in the circumferential direction and the pipe axis direction of the existing pipe 1. In this case, the known positional relationship can be represented by the information of both the rotary encoder 16 and the linear encoder 17.

In the above embodiment, the inserter 20 may also be used as the hole saw 40.
The means for detecting the marker is not particularly limited, and various non-contact sensors that can be detected via the rehabilitation tube, such as a proximity sensor and a sensor using radio waves, can be used.

The present invention can be applied to the rehabilitation of sewage pipes and the like buried in the ground.

1 Existing pipe 1a Opening 1b Storage hole 2 Branch pipe 3 Rehabilitation pipe 3a Communication hole 10 Marker installation device 10A Drilling device 11 Device body 11a Wheels (traveling means)
12 Moving body 14 Holder 15 Rotating part 20 Insertion body 21 Drill 30 Marker embedding mechanism 31b Holding rack 32b Insertion pin 35 Marker for position detection 40 Hole saw 46 Magnetic sensor (marker detection part)

Claims (5)

An opening position specifying step for specifying the position of an opening formed at a connection point with a branch pipe on the inner surface of an existing pipe,
A marker installation step of installing a marker for position detection on the inner surface of the existing pipe at a position separated from the specified position of the opening and having a known positional relationship with respect to the position of the opening.
The rehabilitation pipe lining process of lining the rehabilitation pipe inside the existing pipe,
A marker detection step for detecting the position of the marker from the inside of the rehabilitation tube,
A drilling step of forming a communication hole connected to the opening at a position having the known positional relationship from the detection position of the marker in the rehabilitation tube.
A method of rehabilitation of existing pipes, which is characterized by being equipped with. The existing marker according to claim 1, wherein the marker installation step includes a storage hole forming step of forming a storage hole on the inner surface of the existing pipe and a marker embedding step of embedding the marker in the storage hole. How to rehabilitate the tube. The existing pipe according to claim 1 or 2, wherein in the marker installation step, the marker is installed at a position known at a known angle in the circumferential direction of the existing pipe with respect to the position of the opening. Rehabilitation method. A device for installing a marker for position detection on the inner surface of an existing pipe at a position having a known positional relationship with respect to an opening formed at a connection point with a branch pipe.
The main body of the device having a traveling means and
A moving body rotatably provided about the rotation axis extending in the pipe axis direction of the existing pipe with respect to the apparatus main body, and
A holder that can move in the radial direction of the existing pipe with respect to the moving body,
An insert body that is arranged on one side of the holder in the moving direction and is inserted into the opening as the holder moves in the radial direction to specify the position of the opening.
A drill arranged on the central axis of the insert body, protruding from the insert body, and forming an accommodating hole on the inner surface of the existing pipe by rotational drive.
A marker embedding mechanism arranged on the other side of the holder and embedding the marker in the accommodating hole,
A marker installation device characterized by being equipped with. The marker embedding mechanism includes a holding rack that holds a plurality of the markers in a row, and an insertion pin that is coaxial with the drill and inserts the marker located at the tip of the holding rack into the accommodation hole. The marker installation device according to claim 4, wherein the marker is provided.

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