JP2022056312A - Existing pipe regeneration position measurement system and method - Google Patents

Abstract

To efficiently measure a connection port position connected to a branch pipe of an existing pipe and a drilling position of a regeneration pipe when measuring them by using a laser.SOLUTION: An existing pipe regeneration position measurement system comprises a traveling body 11 which can travel in an existing pipe 1, a reflection body 15 installed at the traveling body 11, and a laser distance measurement device 20 installed at a fixed position such as a manhole 4. The laser distance measurement device 20 performs an automatic control mode by a command from a remote control device 30, changes an angle of an optical axis 25 along a scan trajectory which extends in, for example, a horizontal direction, and decides a distance up to the reflection body 15 by an average value of a set number or larger of distance measurement values which are accommodated within a prescribed allowable range out of a plurality of the distance measurement values which are obtained in a process of the angle change. A position of a connection port 2 of the existing pipe 1 is specified on the basis of the distance.SELECTED DRAWING: Figure 2

Description

The present invention relates to a position measurement system and method used for rehabilitation of an existing pipe, and more specifically, a position of a connection port for a branch pipe in the existing pipe or a perforation position in the rehabilitated pipe along the inner wall of the existing pipe. It relates to a system and a method of measuring using a laser.

A connection port is formed on the upper wall of an existing pipe such as a sewer pipe, and a branch pipe is connected to this connection port. It is known that when an existing pipe becomes old, it is rehabilitated by lining the existing pipe with a rehabilitation pipe. When the rehabilitation pipe is lined, the connection port of the existing pipe is blocked by the rehabilitation pipe, so it is necessary to form a communication port that matches the connection port in the rehabilitation pipe.
When forming a communication port from the inside of the rehabilitation pipe, the position of the connection port is specified before lining the rehabilitation pipe, and after the lining, a part corresponding to the above-mentioned specified position is perforated in the rehabilitation pipe to communicate. Form the mouth.

Patent Document 1 discloses a position measuring system using a laser rangefinder and a traveling body. Briefly, a laser rangefinder is installed at the end of an existing tube or in a manhole. The vehicle is equipped with a video camera and a reflector. The traveling body is moved along the existing pipe by remote control, and is stopped when the connection port is confirmed by the video camera. At this time, the laser rangefinder emits laser light toward the reflector, receives the return laser light from the reflector, measures the distance to the reflector, and identifies the position of the connection port based on this measured distance. ..

After the lining of the rehabilitation pipe is completed, when forming a communication port in the rehabilitation pipe, a traveling body equipped with a perforator and a reflector is used. The laser rangefinder is installed in the same manner as above. The traveling body is run along the rehabilitation pipe, and the traveling body is stopped at a position close to the connection port. At this time, the distance to the reflector is measured with a laser range finder, and the perforator moves the traveling body to a position facing the connection port based on the measured distance and the information on the position of the connection port measured in advance. Finally, the drilling machine is moved toward the connection port to drill the rehabilitation pipe and form a communication port that matches the connection port of the existing pipe.

Japanese Unexamined Patent Publication No. 2018-81015

In the position measurement system of Patent Document 1, when the distance between the laser rangefinder and the reflector is long, the laser beam deviates from the reflector and hits a traveling body or the like to accurately measure the position of the connection port and the perforation position of the communication port. There are things you can't do.

In order to solve the above problems, the present invention has a moving body that can move in an existing pipe or in a rehabilitated pipe along the inner wall of the existing pipe, and a fixed position in a pipe end of the existing pipe or a manhole connected to the pipe end. , A reflector installed on one of the moving bodies and having a flat reflecting surface orthogonal to the tube axis of the existing tube, and a reflecting body installed on the other of the fixed position and the moving body to emit laser light to the existing tube. A laser distance measuring means for measuring the distance to the reflecting surface by emitting the laser light emitted from the reflecting body along the tube axis of the reflecting body and receiving the laser light reflected by the reflecting surface of the reflecting body, and the laser distance. In a position measuring system for rehabilitation of an existing pipe, which is equipped with an arithmetic control means for processing distance measurement data of the measuring means.
The arithmetic control means changes the angle of the optical axis of the laser distance measuring means along a predetermined scanning locus, and among the plurality of distance measurement values obtained in the process of the angle change, a plurality of distance measurement values within a predetermined tolerance. It is characterized in that the distance to the reflection surface is determined based on the distance measurement value of.

According to the above configuration, the distance between the laser distance measuring means and the reflector can be accurately measured, and by extension, the position of the connection port of the existing pipe, the drilling position of the communication port of the rehabilitation pipe, and the like can be accurately specified.

Preferably, the plurality of distance measurement values within the predetermined tolerance are the distance measurement values continuously obtained in the process of changing the angle of the optical axis of the laser distance measurement means.
According to the above configuration, the distance between the laser distance measuring means and the reflector can be measured more reliably.

Preferably, the arithmetic control means takes the average value of a plurality of distance measurement values within the predetermined tolerance as the distance to the reflection surface.
According to the above configuration, the distance calculation can be simplified.

Preferably, the arithmetic control means has the reflection based on the set number or the set number or more of the distance measurement values, provided that the distance measurement value within the predetermined tolerance is the set number or the set number or more. Determine the distance to the surface.
According to the above configuration, the distance between the laser distance measuring means and the reflector can be measured more reliably.

Preferably, the shorter the measurement distance is, the larger the number is set, and the longer the measurement distance is, the smaller the number is.
This configuration takes into consideration the possibility that a flat surface (however, significantly narrower than the reflective surface) orthogonal to the tube axis of the existing pipe or rehabilitation pipe may exist in a place deviated from the reflective surface, for example, a moving body. .. If the measurement distance is short, in the process of changing the angle of the optical axis, a set number of distance measurement values that fall within a predetermined tolerance even on a flat surface other than the reflection surface may be acquired, and an erroneous measurement may occur. Therefore, when the measurement distance is short, this erroneous measurement can be avoided by increasing the number of settings. As the measurement distance becomes longer, the number of measurement points on the reflective surface is reduced and the number of measurement points on a flat surface other than the reflective surface is reduced. Therefore, when the measurement distance is long, the distance can be reliably measured on the reflective surface by reducing the number of settings.
For the same reason, the angle change width of the optical axis for each distance measurement may be wider as the measurement distance is shorter and narrower as the measurement distance is longer.

The predetermined tolerance may be increased as the measurement distance is longer, or may be determined by an absolute value regardless of the measurement distance.

Preferably, the arithmetic control means changes the angle of the optical axis along another scanning locus when the set number of measurement distance values within the predetermined tolerance cannot be obtained in the predetermined scanning locus.
According to the above configuration, the optical axis of the laser beam can be automatically aligned with the reflecting surface, and the distance measurement work can be efficiently performed.

In a more specific embodiment, in the arithmetic control means, a plurality of distance measurement values obtained in a process of changing the angle of the optical axis of the laser distance measuring means along a scanning locus extending in a first direction are the predetermined distance measurement values. If the distance measurement values exceeding the set number within the tolerance are not included, the angle of the optical axis of the laser distance measuring means is shifted by a predetermined angle in the second direction orthogonal to the first direction, and then again. The angle of the optical axis of the laser distance measuring means is changed along the other scanning locus extending in the first direction, and the distance measurement values obtained in the process of this angle change are within the predetermined tolerance. The distance to the reflective surface is determined based on the set number or the distance measurement value equal to or more than the set number.
According to the above configuration, even if the distance to the reflection surface cannot be measured in the process of first changing the angle of the optical axis of the laser distance measuring means along the scanning locus extending in the first direction, the optical axis in the second direction. After shifting the angle of, the distance to the reflecting surface can be measured in the process of changing the angle of the optical axis again along another scanning locus extending in the first direction.

In another specific embodiment, the arithmetic control means has a plurality of distance measurement values obtained in a process of changing the angle of the optical axis of the laser distance measuring means along a scanning locus extending in a first direction. When the distance measurement value more than the set number within the tolerance of is not included, the angle of the optical axis of the laser distance measuring means is set to another scanning locus extending in the second direction intersecting the first direction. The distance to the reflective surface is determined based on the set number or the set number or more of the distance measurement values obtained in the process of changing the angle along the set number or the set number within the predetermined tolerance. do.
According to the above configuration, even if the distance to the reflection surface cannot be measured in the process of first changing the angle of the optical axis of the laser distance measuring means along the scanning locus extending in the first direction, the angle of the optical axis is determined. The distance to the reflective surface can be measured in the process of changing along the other scanning trajectories extending in two directions.

The predetermined scanning locus may draw a spiral centered on the measurement start point. According to this, it is possible to surely obtain a distance measurement value of a set number or more within a predetermined tolerance.

The moving body is composed of a traveling body, and the traveling body is equipped with an image pickup means for imaging a connection port for connecting a branch pipe formed in the existing pipe, and travels along the existing pipe. This makes it possible to specify the position of the connection port based on the measurement distance to the reflector.

The moving body is composed of a traveling body, and the traveling body is equipped with a drilling means for forming a communication port corresponding to the connection port of the existing pipe in the rehabilitation pipe, and travels along the rehabilitation pipe. do. According to this, after the rehabilitation pipe is lined in the existing pipe, the position to be drilled in the rehabilitation pipe can be specified based on the measurement distance to the reflector, and the communication port can be accurately formed.

Another aspect of the present invention is a position measuring method for rehabilitation of an existing pipe, wherein a moving body that can move in the existing pipe or in the rehabilitation pipe along the inner wall of the existing pipe, and a pipe end of the existing pipe or the said. A fixed position in a manhole connected to the end of a pipe, a reflector installed on one of the moving bodies and having a flat reflecting surface orthogonal to the pipe axis of the existing pipe, and the fixed position and the other of the moving body. The distance to the reflective surface is measured by emitting laser light to the reflector along the tube axis of the existing tube and receiving the laser beam reflected by the reflective surface of the reflector. A laser distance measuring means and a laser distance measuring means are prepared, and the angle of the optical axis of the laser distance measuring means is changed along a predetermined scanning locus, and a predetermined allowable value among a plurality of distance measured values obtained in the process of this angle change is provided. It is characterized in that the distance to the reflection surface is determined based on a plurality of distance measurement values within the difference.

According to the present invention, the distance between the laser distance measuring means and the reflector can be accurately measured, and the position of the connection port of the existing pipe and the perforation position of the communication port of the rehabilitation pipe can be accurately specified.

It is a schematic vertical sectional view which shows the process of the first half of specifying the position of the connection port of an existing pipe using the 1st position measurement system which concerns on this invention. It is a schematic vertical sectional view which shows the process of the latter half of measuring the position of the connection port of an existing pipe. FIG. 3 is a schematic vertical sectional view showing a process of lining an existing pipe with a rehabilitation pipe and then specifying a drilling position for forming a communication port in the rehabilitation pipe by using the second position measurement system according to the present invention. It is a schematic vertical sectional view which shows the state which the formation of the communication port is completed. (A) to (D) are front views showing the first aspect of scanning by a laser beam in each case. It is a side view of the moving drilling apparatus. It is a front view which shows the 2nd mode of scanning by a laser beam. It is a front view which shows the 3rd mode of scanning by a laser beam. It is a front view which shows the 4th mode of scanning by a laser beam. It is a schematic vertical sectional view which shows the process of specifying the perforation position of the communication port in the rehabilitation pipe in the middle of pipe making using the 3rd position measurement system which concerns on this invention.

Hereinafter, an embodiment of the present invention will be described with reference to the drawings.
Outline of the rehabilitation process of existing pipes
As shown in FIGS. 1 and 2, the existing pipe 1 to be rehabilitated is, for example, an aged sewer pipe in the ground. The inner diameter of the existing pipe 1 is a size that cannot be directly inserted by a person, and is, for example, 800 mm or less. One or a plurality of connection ports 2 are formed in the middle of the existing pipe 1, and a branch pipe 3 is connected to each connection port 2. Both ends of the existing pipe 1 are connected to the manhole 4.

As shown in FIG. 3, the rehabilitation pipe 5 is lined on the inner wall of the existing pipe 1. The rehabilitation tube 5 is configured by, for example, spirally winding a band-shaped member made of synthetic resin and fitting the edges of adjacent wound portions to each other. The rehabilitation tube 5 can have various embodiments, and may be formed by connecting annular strips or may be a resin tube having shape memory. The connection port 2 of the existing pipe 1 is closed by lining the rehabilitation pipe 5.

After the lining of the rehabilitation pipe 5, the rehabilitation pipe 5 is perforated at a position corresponding to the connection port 2 of the existing pipe 1 to form a communication port 6 connected to the connection port 2 as shown in FIG. As a result, the branch pipe 3 communicates with the inside of the rehabilitation pipe 5.

Configuration of the first position measurement system Prior to the lining of the rehabilitation pipe 5, the position data of the connection port 2 is acquired by using the first position measurement system. As shown in FIG. 2, the first position measuring system includes a mobile imaging device 10, a laser distance measuring device 20 (laser distance measuring means), and a remote control device 30 including a personal computer or the like arranged on the ground or in a manhole 4. And, it has.

The mobile image pickup device 10 is mounted on the traveling body 11, the arm 12 rotatably supported around the axis extending in the tube axis direction of the existing tube 1 in the front portion of the traveling body 11, and the tip end portion of the arm 12. It has a video camera 13 (imaging means), an inclination sensor 14 provided on the video camera 13 or the arm 12, and a reflector 15 mounted on the rear portion of the traveling body 11. The reflector 15 is formed of, for example, a square plate, and has a flat reflecting surface 15a orthogonal to the tube axis of the existing tube 1. In addition to the rectangular shape, the shape of the reflector can be semi-circular, hood-shaped (horseshoe-shaped), or the like.

The laser distance measuring device 20 includes a main body 21, a light receiving / receiving unit 22 provided on the front surface of the main body 21, an angle adjusting mechanism 23 that adjusts the angle of the main body 21 around three axes orthogonal to each other, and a light receiving / receiving unit 22. It also has a calculation control unit 24 (calculation control means) that controls the angle adjustment mechanism 23 and performs distance calculation.

Step of measuring the position of the connection port by the first position measurement system The step of acquiring the position data of the connection port 2 by using the first position measurement system will be described in detail.
<First half process>
As shown in FIG. 1, after installing a flat reflector 9 at the tube end 1a of the existing tube 1, the operator operates the remote control device 30 to issue a measurement command to the arithmetic control unit 24 of the laser distance measuring device 20. The laser beam is emitted from the light receiving / receiving unit 22 toward the reflector 9. The reflector 9 is marked at a position corresponding to the tube axis of the existing tube 1, and the position of the laser distance measuring device 20 is finely adjusted or the light emitting / receiving unit 22 is provided so that the laser beam hits the mark. Fine-tune the direction of the optical axis 25. As a result, the optical axis 25 substantially coincides with the tube axis of the existing tube 1.
The laser light reflected from the reflector 9 is received by the light receiving / emitting unit 22, and the calculation control unit 24 calculates the distance from the laser distance measuring device 20 to the reflector 9. This distance measurement value is sent to the remote control device 30 and recorded.

<Second half process>
As shown in FIG. 2, the operator remotely controls the remote control device 30 to image the upper wall surface of the existing tube 1 with the video camera 13 while running the mobile imaging device 10 along the existing tube 1. The image of the existing pipe 1 is displayed on the monitor 31 of the remote control device 30 in real time. Eventually, the connection port 2 is projected on the monitor 31. When the video camera 13 reaches the position corresponding to the connection port 2, the mobile image pickup apparatus 10 is stopped. Further, the arm 12 is rotated so that the optical axis of the video camera 13 faces the connection port 2 (so that the image of the connection port 2 is located at the center of the screen of the monitor 31). The tilt angle detected by the tilt sensor 14 at this time indicates an angular position in the circumferential direction of the connection port 2. This tilt angle information is sent to the remote control device 30 and recorded.

With the mobile image pickup device 10 stopped, the distance from the laser distance measurement device 20 to the reflector 15 of the mobile image pickup device 10 is measured. By roughly adjusting the optical axis 25 as described above, when the distance between the laser distance measuring device 20 and the reflecting body 15 is short, the laser light from the laser distance measuring device 20 is transmitted to the reflecting surface 15a of the reflecting body 15. However, when the distance between the laser distance measuring device 20 and the reflecting body 15 becomes long, the laser light is applied to the reflecting surface 15a in the above rough adjustment. It cannot be hit, and it may hit the traveling body 11 or the like and erroneously measure the distance. Therefore, the operator causes the arithmetic control unit 24 of the laser distance measuring device 20 to execute the automatic measurement mode by a command from the remote control device 30.

Hereinafter, the automatic measurement mode executed by the arithmetic control unit 24 of the laser distance measuring device 20 will be described. The automatic measurement mode includes aligning the optical axis 25 with the reflecting surface 15a by rotating it along a predetermined scanning locus (auto alignment), and calculating the distance to the reflecting surface 15a.

In the first scanning mode shown in FIG. 5, the arithmetic control unit 24 controls the angle adjusting mechanism 23 to rotate the main body 21 about the vertical axis, thereby scanning the optical axis 25 horizontally (first direction). It is rotated along a line (scanning locus), and the distance is measured in this rotation process (scanning process). For example, the rotation speed is 1 degree / sec, and the number of measurements is 20 points per second (1 point for every 0.05 degrees when converted into an angle). That is, the angle width in which the optical axis 25 of the laser distance measuring device 20 changes for each measurement is constant. There is an upper limit to the rotation angle in one scan, and the maximum is 1 ° from the measurement start point (initial position) of the optical axis 25.

As shown in FIGS. 5A and 5B, when the horizontal scanning line L1 passes through the reflecting surface 15a of the reflector 15, the laser distance measuring device 20 measures the distance to the reflecting surface 15a. Can be done. Not only when the measurement start point S of the optical axis 25 is on the reflection surface 15a, but also the distance to the reflection surface 15a can be measured even if the measurement start point S is off the reflection surface 15a. The details will be described below.

As shown in FIG. 5A, when the measurement start point S of the optical axis 25 is off the left side of the reflection surface 15a, the initial distance measurement value is large, but the optical axis 25 moves to the right side. It hits the reflective surface 15a. In the process in which the optical axis 25 hits the reflecting surface 15a, the measured distance value is substantially constant, and when the optical axis 25 deviates from the reflecting surface 15a, the measured distance value increases again. When the arithmetic control unit 24 determines from the distance measurement value that the above-mentioned substantially constant distance measurement value, that is, the distance measurement value within a predetermined tolerance exists continuously in the set number (plural) or more, the calculation control unit 24 reflects the average value. Determined as the distance to the surface 15a.

As shown in FIG. 5B, when the measurement start point S of the optical axis 25 is off the right side of the reflection surface 15a, even if the optical axis 25 moves to the right side for the first time, the distance measurement value is obtained. It is too large to obtain a substantially constant distance measurement. If a distance measurement value equal to or greater than the set number cannot be obtained within the tolerance even after rotating to the maximum rotation angle (1 °), the optical axis 25 is returned to the measurement start point S and then moved to the left. As a result, the optical axis 25 hits the reflecting surface 15a, so that a substantially constant distance measurement value can be continuously obtained. In this way, the distance to the reflecting surface 15a can be determined based on a substantially constant distance measurement value of a set number or more.

The tolerance is, for example, 0.1% of the measurement distance. For example, when the measurement distance is 50 m, the tolerance is 50 mm, and when there are more than a set number of distance measurement values in the range of 50 mm, the average value is determined as the distance to the reflection surface 15a.
The tolerance may be set to an absolute value, for example, 20 mm (that is, ± 10 mm) regardless of the measurement distance. According to this, even if the measurement distance is long, the distance to the reflection surface 15a can be measured with high accuracy.

As described above, when the rotation angle width for each measurement is constant, the number of settings may be changed according to the measurement distance. That is, the shorter the measurement distance, the larger the amount, and the longer the measurement distance, the smaller the amount. For example, 2 points for 30 m or more, 3 points for 15 m or more and less than 30 m, and 6 points for less than 15 m.
There is a possibility that a flat surface orthogonal to the pipe axis of the existing pipe 1 exists at a place deviated from the reflection surface 15a, for example, the traveling body 11 or its accessories. However, this flat surface is remarkably narrower than the reflective surface 15a, for example, less than 50 mm. If the measurement distance is short, in the process of changing the angle of the optical axis 25, there is a possibility that a plurality of distance measurement values that fall within the tolerance even on a flat surface other than the reflection surface 15a may be acquired. However, when the measurement distance is short, this erroneous measurement can be avoided by increasing the number of settings. As the measurement distance becomes longer, the number of measurement points on the reflective surface 15a is reduced, and the number of measurement points on a flat surface other than the reflective surface 15a is also reduced. Therefore, when the measurement distance is long, the distance can be reliably measured on the reflective surface 15a by reducing the number of settings.

The longer the measurement distance, the smaller the rotation angle width for each measurement may be. For example, if it is less than 10 m, it is 0.28 °, if it is 10 to 20 m, it is 0.14 °, if it is 20 to 30 m, it is 0.09 °, if it is 30 to 40 m, it is 0.07 °, and if it is 40 to 50 m, it is 0.05 °. In this case, the set number may be constant, for example, 3, regardless of the measurement distance.
Further, as the measurement distance becomes longer, the rotation angle width for each measurement may be reduced and the number of settings may be reduced.
Further, the rotation angle width for each measurement may be constant and the set number may be constant regardless of the measurement distance.

As the average value, the distance measurement values within the above tolerance may be simply averaged, or when the number of distance measurement values is large, the distance measurement values in a range narrower than the tolerance may be averaged. good. Further, the distance to the reflection surface 15a may be calculated by using another known calculation method.

In the scanning of the optical axis 25, the scanning may be terminated when the distance measurement value within the tolerance reaches the set number. In this case, the distance to the reflection surface 15a is calculated based on the set number of distance measurement values. The same applies to the scanning described later.

When the scanning line L1 does not pass through the reflection surface 15a, it scans to the right by a maximum of 1 ° from the measurement start point S as described above, and further scans to the left by a maximum of 1 ° after returning to the measurement start point S. However, the distance measurement values vary, and a substantially constant distance measurement value cannot be continuously measured in excess of the set number. In this case, the arithmetic control unit 24 of the laser distance measuring device 20 determines that the scanning line L1 does not pass through the reflection surface 15a, and changes the scanning line to be scanned by the optical axis 25. The following is an example.

The arithmetic control unit 24 adjusts the angle of the optical axis 25 up and down. In the present embodiment, the optical axis 25 is first moved upward (angle adjusted) by a predetermined angle α. As a result, as shown in FIG. 5C, the scanning line L2 moves upward. When the first scanning line L1 is slightly deviated downward from the reflecting surface 15a, the upwardly displaced scanning line L2 passes through the reflecting surface 15a, and the distance to the reflecting surface 15a is increased in the same manner as described above. Can be measured.

The arithmetic control unit 24 widens the angle width of the scanning line of the optical axis 25 up and down until the scanning line of the laser beam passes through the reflection surface 15a, that is, until a substantially constant distance measurement value is continuously obtained in a set number or more. While changing. For example, in the example of FIG. 5D, the first scanning line L1 is displaced upward from the reflecting surface 15a. In this case, even if the optical axis 25 is adjusted upward by a predetermined angle α (for example, 0.14 °) in the same manner as described above, the second scanning line L2 does not pass through the reflecting surface 15a. Next, even if the optical axis 25 is adjusted downward by a predetermined angle α from the first angle position, the third scanning line L3 does not pass through the reflection surface 15a. Next, even if the optical axis 25 is adjusted upward by twice the predetermined angle α from the first angle position, the fourth scanning line L4 does not pass through the reflecting surface 15a. Next, when the optical axis 25 is angle-adjusted downward from the first angle position by twice a predetermined angle α, the fifth scanning line L5 passes through the reflection surface 15a. Based on the distance measurement value along the fifth scanning line L5, the distance to the reflection surface 15a is determined in the same manner as described above.
By adjusting the angle alternately up and down as described above and increasing the adjustment angle by a predetermined angle α, the angle of the optical axis 25 at which the laser beam reaches the reflection surface 15a is found.

As described above, the arithmetic control unit 24 of the laser distance measuring device 20 automatically controls the optical axis 25 to hit the reflecting surface 15a (auto alignment function), and measures the distance to the reflecting surface 15a. can. This distance information is sent to the remote control device 30 and recorded.

The remote control device 30 calculates the distance D1 from the tube end 1a of the existing tube 1 to the reflecting surface 15a by subtracting the distance to the reflecting plate 9 measured in the first half step from the measured distance to the reflecting surface 15a. For the position of the connection port 2, that is, the distance Da from the pipe end 1a of the existing pipe 1 to the center of the connection port 2, the distance D2 from the reflection surface 15a to the video camera 13 (that is, the connection port 2) is added to this calculated distance D1. By doing so, it can be decided.

Configuration of the Second Position Measurement System After the lining step of the rehabilitation pipe 5 is completed, the communication port 6 is drilled using the second position measurement system shown in FIG. In the present embodiment, the second position measuring system includes a laser measuring device 20 and a remote control device 30 which are common to the first position measuring system, and also includes a moving drilling device 50.

As shown in FIG. 6, the moving perforation device 50 is supported by the traveling body 51, the fixing jack 52 provided on the traveling body 51, the arm 53 supported by the front portion of the traveling body 51, and the arm 53. It includes a punching machine 54 (punching means) and a reflector 55 provided at the rear of the traveling body 51. The fixing jack 52 has an X shape and can be expanded and contracted up and down. The arm 53 can rotate about an axis extending in the pipe axis direction, and preferably expands and contracts in the front-rear direction. The arm 53 is provided with an inclination sensor 56. The drilling machine 54 can be expanded and contracted in the vertical direction. The reflector 55 has a flat reflecting surface 55a orthogonal to the tube axis of the existing tube 1 like the reflector 15 described above.

A step of measuring the drilling position by the second position measuring system The laser measuring device 20 is installed at the bottom of the manhole 4 in the same manner as the step of measuring the position of the connection port 2. When changing the installation position of the laser measuring device 20, the distance to the reflector 9 installed at the tube end 1a of the existing tube 1 is measured in the same manner as in the first half of the position measuring process of the connection port 2. ..

With the moving drilling device 50 placed in the rehabilitation pipe 5, the moving punching device 50 is driven by remote control of the remote control device 30. For example, based on the mileage of the moving piercing device 50 and the distance Da determined as described above, the moving piercing device 50 is run until the piercing machine 54 reaches a position close to the connection port 2.

After the moving drilling device 50 is stopped, the remote control device 30 is instructed to execute the automatic measurement mode to the arithmetic control unit 24 of the laser distance measuring device 20. That is, the arithmetic control unit 24 executes the distance measurement while rotationally scanning the optical axis 25. Since this automatic measurement mode is the same as described above, the description thereof will be omitted.

The distance from the measurement distance between the laser distance measuring device 20 obtained as described above and the reflecting surface 55a of the reflector 55 to the tube end 1a of the laser distance measuring device 20 and the existing tube 1 (up to the reflecting plate 9). The distance D3 between the tube end 1a and the reflecting surface 55a is calculated by subtracting the measured distance). Further, the distance D4 obtained by adding the distance D4 from the reflecting surface 55a to the drilling machine 54 to the calculated distance D3, that is, the distance (D3 + D4) from the pipe end 1a of the existing pipe 1 to the drilling machine 54 is obtained in advance. The drilling machine 54 is positioned so as to match the distance Da from 1a to the connection port 2. The positioning of the drilling machine 54 is performed by expanding / contracting the arm 53 in the front-rear direction or moving the moving drilling device 50. After moving the moving drilling device 50, the distance measurement may be performed again.

After the automatic measurement mode and the positioning of the drilling machine 54 are completed, the operator remotely controls the remote control means 30 to extend the fixing jack 52 and abut it against the top wall of the rehabilitation pipe 5, thereby performing the moving drilling device 50. The rehabilitation pipe 5 and thus the existing pipe 1 are fixed. Further, the arm 53 is rotationally controlled based on the tilt angle signal from the tilt sensor 56 so that the drilling machine 54 faces the previously determined circumferential angle position of the connection port 2. Finally, the drilling machine 54 is moved toward the rehabilitation pipe 5 and perforated to form a communication port 6 in the rehabilitation pipe 5. This perforation can be performed while viewing an image from a moving image pickup device (not shown) arranged in front of the mobile perforation device 50 or a video camera (not shown) provided on the arm 53 on the monitor 31.

Next, another aspect of the rotary scanning of the optical axis 25 will be described.
In the second aspect shown in FIG. 7, a plurality of distance measurement values obtained in the process of scanning the optical axis 25 along the scanning line L1 extending in the horizontal direction (first direction) are set to be within the tolerance. When the above continuous distance measurement values are not included, the optical axis 25 is returned to the measurement start point S and then scanned along the scanning line L2 extending in the vertical direction (second direction), which is obtained in the process of this scanning. The distance to the reflecting surface 15a is determined based on the set number or more of the distance measurement values that are within the permissible range.

In the third aspect shown in FIG. 8, two scanning lines L1 and L2 inclined by 45 ° with respect to the horizontal axis and the vertical axis are set. When the plurality of distance measurement values obtained in the process of scanning the optical axis 25 along the scanning line L1 do not include a set number of continuous distance measurement values within the tolerance, the measurement of the optical axis 25 is started. After returning to the point S, scanning is performed along the scanning line L2, and the distance to the reflecting surface 15a is determined based on the set number or more of the distance measured values obtained in the process of this scanning, which are within the allowable range. decide.
In the third aspect, the scanning lines L1 and L2 do not have to be orthogonal to each other. For example, the scanning lines L1 and L2 may have an angle of less than 45 ° with the horizontal axis.

As shown in FIG. 9, the optical axis may be scanned along a spiral scanning line centered on the measurement start point. According to this, the optical axis can be reliably aligned with the reflecting surface.

FIG. 10 shows a third position measurement system. This third position measurement system is used in the process of manufacturing the rehabilitation tube 5'after measuring the position of the connection port 2 of the existing pipe 1 with the above-mentioned first position measurement system, and is used for the first position measurement. It is equipped with the same laser distance measuring device 20 and remote control device 30 as the system (both are not shown in FIG. 10).

The rehabilitation tube 5'is manufactured in the manhole 4 on one side (left side). That is, the strip-shaped member is spirally wound using the pipe making machine 60, and the edges of the adjacent winding portions are fitted to each other to make a pipe. At the same time as this pipe making work, the tip portion 5a of the rehabilitation pipe 5'is towed through the wire 61 by a winch installed on the ground near the manhole 4 on the other side (right side) and moves toward the manhole 4 on the right side. ..

In the present embodiment, the tip portion 5a of the rehabilitation pipe 5'in the middle of pipe making is provided as a moving body of the third position measurement system. A reflector 65 is attached to the top of the tip 5a of the rehabilitation tube 5', and an inclination sensor 66 is attached to the bottom. The laser distance measuring device installed in the manhole 4 on the left side measures the distance to the reflecting surface of the reflector 65 in the same manner as the above-mentioned position measuring system.

Based on the distance between the pipe end on the left side of the existing pipe 1 and the connection port 2 and the total length of the existing pipe 1 obtained by the first position measurement system, the pipe end on the right side of the existing pipe 1 and the connection port 2 The distance is calculated in advance. This distance corresponds to the distance between the tip portion 5a of the rehabilitation pipe 5 and the planned drilling point of the communication port 6 in the rehabilitation pipe 5.

Based on the distance measured by the third position measurement system and the distance between the tip portion 5a calculated as described above and the planned drilling point of the communication port 6, the rehabilitation pipe 5'in the left manhole 4 The position of the hole to be drilled is determined, and the communication port 6 is formed. As a result, the communication port 6 can be matched with the connection port 2 in a state where the tip of the rehabilitation pipe 5'reaches the right end of the existing pipe 1 and the can making operation is completed.

The present invention is not limited to the above embodiment, and various modifications can be made without departing from the spirit of the present invention.
When an image pickup means such as a video camera is provided in the mobile drilling device of the second position measurement system, it can also be used as the mobile image pickup device of the first position measurement system by removing the punch.
In the above embodiment, the laser distance device is installed at the bottom of the manhole connected to the existing pipe to be rehabilitated as its fixed position, but it may be installed at the end of the existing pipe to be rehabilitated via a support device. Further, it may be installed at the pipe end of another existing pipe adjacent to the existing pipe to be rehabilitated with the manhole 4 interposed therebetween.

A video camera may be attached to the laser distance measuring device so that the optical axes of the laser distance measuring devices are parallel to each other. In this case, prior to the distance measurement, while watching the image from the video camera on the monitor, the angle of the optical axis of the video camera and eventually the optical axis of the laser distance measuring device so that the center of the existing tube is located at the center of the monitor screen. Can be roughly adjusted.
In the above embodiment, the laser distance device is installed at the fixed position and the reflector is installed on the traveling body. On the contrary, the reflector is installed at the fixed position and the laser distance device is installed on the traveling body. You may.
The remote control device may be responsible for at least a part of the functions of auto-alignment and distance calculation.
The existing pipe is not limited to the sewer pipe, but may be a water pipe, an agricultural water pipe, a gas pipe, or the like.

The present invention can be applied to, for example, rehabilitation work of an aged sewer pipe.

1 Existing pipe 2 Connection port 3 Branch pipe 5 Rehabilitation pipe 5'Rehabilitation pipe in the middle of pipe making 5a Tip of rehabilitation pipe in the middle of pipe making (moving body)
6 Communication port 11 Traveling object 12 Video camera (imaging means)
15 Reflector 15a Reflective surface 20 Laser distance measuring device (laser distance measuring means)
24 Operation control unit (operation control means)
51 Traveling body 54 Drilling machine 55, 65 Reflector 55a Reflective surface

Claims (15)

A moving body that can move in an existing pipe or in a rehabilitated pipe along the inner wall of the existing pipe.
A fixed position in the pipe end of the existing pipe or a manhole connected to the pipe end, and a reflector installed on either one of the moving bodies and having a flat reflecting surface orthogonal to the pipe axis of the existing pipe.
By being installed at the fixed position and the other side of the moving body, laser light is emitted to the reflector along the tube axis of the existing tube, and the laser light reflected by the reflective surface of the reflector is received. , A laser distance measuring means for measuring the distance to the reflecting surface, and
An arithmetic control means for processing the distance measurement data of the laser distance measuring means, and
In the position measurement system for rehabilitation of existing pipes equipped with
The arithmetic control means changes the angle of the optical axis of the laser distance measuring means along a predetermined scanning locus, and among the plurality of distance measurement values obtained in the process of the angle change, a plurality of distance measurement values within a predetermined tolerance. A position measurement system for rehabilitation of an existing pipe, characterized in that the distance to the reflection surface is determined based on the distance measurement value of. The first aspect of claim 1, wherein the plurality of distance measurement values within the predetermined tolerance are distance measurement values continuously obtained in the process of changing the angle of the optical axis of the laser distance measurement means. Position measurement system for rehabilitation of existing pipes. The existing pipe rehabilitation according to claim 1 or 2, wherein the arithmetic control means sets an average value of a plurality of distance measurement values within the predetermined tolerance as a distance to the reflection surface. Positioning system. The arithmetic control means reaches the reflection surface based on the set number or the distance measurement value equal to or more than the set number, provided that the distance measurement value within the predetermined tolerance is the set number or the set number or more. The position measuring system for rehabilitation of an existing pipe according to any one of claims 1 to 3, wherein the distance is determined. The position measurement system for rehabilitation of an existing pipe according to claim 4, wherein the set number is larger as the measurement distance is shorter and smaller as the measurement distance is longer. The position measurement system for rehabilitation of an existing pipe according to claim 4, wherein the angle change width of the optical axis for each distance measurement is wider as the measurement distance is shorter and narrower as the measurement distance is longer. The position measuring system for rehabilitation of an existing pipe according to any one of claims 4 to 6, wherein the predetermined tolerance becomes larger as the measuring distance becomes longer. The position measurement system for rehabilitation of an existing pipe according to any one of claims 4 to 6, wherein the predetermined tolerance is determined by an absolute value regardless of the measurement distance. The arithmetic control means is characterized in that when the set number of measurement distance values within the predetermined tolerance cannot be obtained in the predetermined scanning locus, the optical axis is changed in angle along another scanning locus. The position measurement system for rehabilitation of an existing pipe according to any one of claims 4 to 8. In the arithmetic control means, the plurality of distance measurement values obtained in the process of changing the angle of the optical axis of the laser distance measuring means along the scanning locus extending in the first direction are within the predetermined tolerance. When the distance measurement value of the set number or more is not included, the angle of the optical axis of the laser distance measuring means is shifted by a predetermined angle in the second direction orthogonal to the first direction, and then the laser distance measuring means is again used. The angle of the optical axis is changed along the other scanning locus extending in the first direction, and the set number or the set number within the predetermined tolerance among the plurality of distance measurement values obtained in the process of the angle change. The position measurement system for rehabilitation of an existing pipe according to claim 9, wherein the distance to the reflective surface is determined based on the above distance measurement values. In the arithmetic control means, the plurality of distance measurement values obtained in the process of changing the angle of the optical axis of the laser distance measuring means along the scanning locus extending in the first direction are within the predetermined tolerance. When the distance measurement value of the set number or more is not included, the angle of the optical axis of the laser distance measuring means is changed along another scanning locus extending in the second direction intersecting the first direction, and this angle is changed. A claim characterized in that the distance to the reflective surface is determined based on the set number or the distance measurement value equal to or more than the set number within the predetermined tolerance among the plurality of distance measurement values obtained in the process of change. Item 9. The position measuring system for rehabilitation of existing pipes. The position measurement system for rehabilitation of an existing pipe according to claim 1, wherein the predetermined scanning locus draws a swirl around a measurement start point. The moving body is composed of a traveling body, and the traveling body is equipped with an image pickup means for imaging a connection port for connecting a branch pipe formed in the existing pipe, and travels along the existing pipe. The position measuring system for rehabilitation of an existing pipe according to any one of claims 1 to 12. The moving body is composed of a traveling body, and the traveling body is equipped with a drilling means for forming a communication port corresponding to the connection port of the existing pipe in the rehabilitation pipe, and travels along the rehabilitation pipe. The position measuring system for rehabilitation of an existing pipe according to any one of claims 1 to 12, wherein the position measuring system is used. It is a position measurement method for rehabilitation of existing pipes.
A moving body that can move in the existing pipe or in the rehabilitation pipe along the inner wall of the existing pipe.
A fixed position in the pipe end of the existing pipe or a manhole connected to the pipe end, and a reflector installed on either one of the moving bodies and having a flat reflecting surface orthogonal to the pipe axis of the existing pipe.
By being installed at the fixed position and the other side of the moving body, laser light is emitted to the reflector along the tube axis of the existing tube, and the laser light reflected by the reflective surface of the reflector is received. , A laser distance measuring means for measuring the distance to the reflecting surface, and
Prepare,
The angle of the optical axis of the laser distance measuring means is changed along a predetermined scanning locus, and based on a plurality of distance measurement values within a predetermined tolerance among a plurality of distance measurement values obtained in the process of this angle change. , A position measuring method for rehabilitation of an existing pipe, characterized in that the distance to the reflecting surface is determined.

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