JP2023018514A - Control device and investigation method - Google Patents

Abstract

To make it possible to investigate the inside of protective members of a communication facility buried in the ground without excavation.SOLUTION: A control device 10 includes a control unit 11 that obtains a captured image from a camera 25 of an endoscope device 20 positioned outside a conduit 70 and inside a protective member 80, passing through a whole 72 penetrating a wall surface of the conduit 70 disposed inside the protective member 80 buried in the ground, and investigates at least one of the shape and deterioration situation of the inner surface of the protective member 80 based on the captured image.SELECTED DRAWING: Figure 2

Description

The present disclosure relates to a control device and an investigation method.

When laying communication facilities such as communication cables underground, the communication cables are housed in conduits connecting manholes. In soft ground and special sections, etc., in order to protect the communication cables and conduits, there are cases where the conduits containing the communication cables are laid inside the Hume pipe. A Hume pipe is a clay pipe made of concrete that protects a pipeline. After burying the Hume pipe in the ground and laying the pipe inside the Hume pipe, for precise calculation of the amount of filling the inside of the Hume pipe, or deterioration of the pipe end of the Hume pipe due to aging In order to grasp the situation efficiently, the inside of the Hume tube may be investigated. For such investigations, in the conventional method, the vicinity of the Hume pipe was excavated and the investigation and inspection were conducted with the Hume pipe exposed.

Patent Literature 1 describes a drilling machine for drilling a through hole penetrating the wall surface of a pipeline. Non-Patent Document 1 describes an industrial endoscope.

JP 2021-25539 A

Olympus Corporation, "Industrial Endoscope (Fiberscope) IPLEX GAir", [Searched June 28, 2021], Internet <URL: https://www.olympus-ims.com/ja/rvi-products/ iplex-gair/〉

However, when there is an obstruction such as a building or structure directly above the investigation range, it has not been possible to excavate and investigate the vicinity of a protective member such as a Hume pipe.

An object of the present disclosure is to provide a control device and an investigation method that enable investigation of the inside of protective members of communication equipment buried in the ground without excavation.

The control device according to one embodiment passes through a hole penetrating the wall surface of a pipeline disposed inside a protective member buried in the ground, and is located outside the pipeline and is located inside the protective member. A control unit is provided which acquires a photographed image from a camera of an endoscope device positioned inside and investigates at least one of the shape and deterioration state of the inner surface of the protective member based on the photographed image.

An investigation method according to one embodiment includes the steps of forming a hole through a wall surface of a pipeline disposed inside a protective member buried in the ground with a drilling machine; a step of inserting a guide tube having a hollow shape for guiding an insertion portion of an endoscope device through the guide tube; a step of positioning the distal end of the insertion portion inside the insertion portion; a step of acquiring a photographed image of a camera provided at the distal end of the insertion portion; and examining at least one of them.

According to an embodiment of the present disclosure, it is possible to investigate the inside of a protection member of communication equipment buried in the ground without excavation.

It is a figure which shows typically the land where an obstruction exists in the upper part of the investigation range of an underground. FIG. 4 is a diagram schematically showing how an investigation is conducted using an investigation method according to an embodiment; 3 is a block diagram schematically showing the configuration of the control device in FIG. 2; FIG. FIG. 3 shows a drilling machine; FIG. 4 is a diagram schematically showing how an investigation is conducted using an investigation method according to an embodiment; It is a flowchart which shows the procedure of the investigation method which concerns on one Embodiment. FIG. 4 is a diagram schematically showing how an investigation is conducted using an investigation method according to an embodiment; 8 is a diagram schematically showing an example of a photographed image photographed by the camera of FIG. 7; FIG. It is a flowchart which shows the procedure of the investigation method which concerns on one Embodiment. FIG. 4 is a diagram schematically showing how an investigation is conducted using an investigation method according to an embodiment; 11 is a diagram schematically showing an example of a photographed image photographed by the camera of FIG. 10; FIG. It is a flowchart which shows the procedure of the investigation method which concerns on one Embodiment. FIG. 4 is a diagram schematically showing how an investigation is conducted using an investigation method according to an embodiment; 14 is a diagram schematically showing an example of a photographed image photographed by the camera of FIG. 13; FIG. 14 is a diagram schematically showing an example of a photographed image photographed by the camera of FIG. 13; FIG. It is a flowchart which shows the procedure of the investigation method which concerns on one Embodiment. FIG. 4 is a diagram schematically showing how an investigation is conducted using an investigation method according to an embodiment; It is a figure which shows typically the endoscope apparatus of water surface vicinity. FIG. 17 is a diagram schematically showing an example of a photographed image photographed by the camera of FIG. 16; FIG. 17 is a diagram schematically showing an example of a photographed image photographed by the camera of FIG. 16; It is a flowchart which shows the procedure of the investigation method which concerns on one Embodiment.

An embodiment of the present disclosure will be described below with reference to the drawings. In each drawing, parts having the same configuration or function are given the same reference numerals. In the description of the present embodiment, overlapping descriptions of the same parts may be appropriately omitted or simplified.

FIG. 1 is a diagram schematically showing land where an obstacle 90 exists above an underground investigation range 98. As shown in FIG. In FIG. 1, a manhole 60 (60a, 60b) is formed under the ground surface G. As shown in FIG. Between the manholes 60a and 60b, a conduit 70 for accommodating communication cables and the like is buried. Hume pipes 80 are buried as protective members for protecting the pipeline 70 in soft ground, special sections, and the like. The Hume pipe 80 is a hollow cylindrical clay pipe made of concrete. An example in which the Hume pipe 80 is used as a protective member for protecting the underground pipeline 70 will be described below, but other members or instruments may be used as the protective member. Both end faces of the Hume tube 80 are closed by tube end closures 82 (82a, 82b). The tube end blockages 82 (82a, 82b) are made of, for example, mortar, bricks, or the like. The Hume tube 80 may be configured by connecting a plurality of unit tubes that are Hume tubes having a certain length (for example, 2.43 m). In such a case, the tube end closures 82 (82a, 82b) are provided only at both ends of the Hume tube 80 constructed by connecting a plurality of unit tubes.

After the pipeline 70 and the Hume pipe 80 are buried in the ground, the length and diameter of the Hume pipe 80 may be investigated. In addition, since the tube end closure 82 is likely to deteriorate after being buried, there are cases where the state of deterioration of the tube end closure 82 is investigated and inspected. In order to conduct such investigations and inspections, according to the conventional method, the vicinity of the Hume pipe 80 is excavated and investigations and inspections are conducted with the Hume pipe 80 exposed. However, as shown in FIG. 1, when there is an obstacle 90 such as a building or structure directly above the survey range 98, it has been impossible to excavate and survey the vicinity of the Hume tube 80. FIG.

FIG. 2 is a diagram schematically showing a state of investigation by the investigation method according to one embodiment. In FIG. 2, there is an obstruction range 99 directly above the Hume tube 80 where excavation cannot be performed due to a building, structure, or the like. The endoscope device 20 includes a control device 10 , a camera 25 and an insertion section 21 . The control device 10 controls the operation of each component of the endoscope device 20 . The camera 25 converts the input light into an electrical signal to generate a captured image. A camera 25 is provided at the distal end of the insertion section 21 . The insertion section 21 has an elongated shape and is inserted into the subject. A light may be provided at the distal end of the insertion portion 21 . The insertion section 21 has a bending section 23 that can bend under the control of the control device 10 . The bending portion 23 has a plurality of wires arranged in the longitudinal direction of the bending portion 23 around the bending portion 23 , and is bent by applying tension to the wires under the control of the control section 11 . The insertion portion 21 includes a cable for transmitting the captured image generated by the camera 25 to the control device 10 . Note that the endoscope apparatus 20 may include an objective lens at the distal end of the insertion section 21 instead of the camera 25 . In this case, the light incident on the objective lens is transmitted to the control device 10 through the optical fiber in the insertion section 21, converted into an electrical signal by the photodiode provided in the control device 10, and a photographed image is obtained. The captured image is displayed on the output section 15 of the control device 10 . The operator can operate the control device 10 to control the photographing of the camera 25 and the bending of the bending section 23 .

In this embodiment, the drilling machine 30 drills the pipe line 70 connecting the manholes 60a and 60b to form an inspection hole 72. As shown in FIG. In this embodiment, the conduit 70 is an empty tube with a hollow interior. In this embodiment, the camera 25 of the endoscope device 20 is inserted into the inspection hole 72 . The camera 25 may be inserted by first inserting the hollow guide tube 26 into the hole 72 and then inserting the camera 25 into the guide tube 26 . This allows the camera 25 to reach inside the Hume tube 80 outside the pipeline 70 . The guide tube 26 is made of a material such as polyethylene, for example. In this embodiment, the control device 10 or an operator checks the end surface of the Hume tube 80 with the photographed image of the camera 25, measures the tube length L and the tube diameter D of the Hume tube 80, and The state of deterioration of the blockage 82 is investigated. In the present embodiment, the tip bending function of the camera 25 of the endoscope device 20 is utilized, and the camera 25 is directed remotely toward the end surface side of the Hume tube 80, and investigation and inspection are performed while confirming the image. Thus, according to the configuration of the present embodiment, it is possible to conduct surveys and inspections without being affected by the presence or absence of obstacles 90 on the ground. Note that although the camera 25 is schematically illustrated in a large size in the accompanying parts of this specification, the camera 25 has a size that allows it to pass through the inside of the guide tube 26 .

FIG. 3 is a block diagram schematically showing the configuration of the control device 10 of FIG. 2. As shown in FIG. As shown in FIG. 3 , the control device 10 includes a control section 11 , a storage section 12 , a communication section 13 , an input section 14 , an output section 15 and a bus 16 .

The control unit 11 is communicably connected to each constituent unit of the control device 10 via a bus 16 and controls the operation of the control device 10 as a whole. Control unit 11 includes one or more processors. In one embodiment, a "processor" is a general-purpose processor or a dedicated processor specialized for a particular process, but is not limited to these. The processor may be, for example, a CPU (Central Processing Unit), a GPU (Graphics Processing Unit), a DSP (Digital Signal Processor), an ASIC (Application Specific Integrated Circuit), or a combination thereof.

The storage unit 12 stores arbitrary information used for the operation of the control device 10 . For example, the storage unit 12 may store system programs, application programs, and various information such as captured images received by the communication unit 13 . The storage unit 12 includes an HDD (Hard Disk Drive), SSD (Solid State Drive), RAM (Random Access Memory), ROM (Read-Only Memory), EEPROM (Electrically Erasable Programmable ROM), or any combination thereof. Contains a storage module. The storage unit 12 may function, for example, as a main memory device, an auxiliary memory device, or a cache memory. The storage unit 12 is not limited to one built in the control device 10, and may be an external database or an external storage module connected via a digital input/output port such as a USB (Universal Serial Bus). may

The communication unit 13 functions as an interface for communicating with other devices such as the camera 25 . The communication unit 13 includes any communication module that can be communicatively connected to another device by any communication technology including wired LAN (Local Area Network), wireless LAN, and the like. The communication unit 13 may further include a communication control module for controlling communication with other devices, and a storage module for storing communication data such as identification information required for communication with other devices.

The input unit 14 includes one or more input interfaces that receive user's input operations and acquire input information based on the user's operations. For example, the input unit 14 is a physical key, a capacitive key, a pointing device, a touch screen provided integrally with the display of the output unit 15, or a microphone that accepts voice input, but is not limited to these.

The output unit 15 includes one or more output interfaces for outputting information to the user and notifying the user. For example, the output unit 15 is a display that outputs information as an image, but is not limited to this, and may include a speaker or the like that outputs information as sound. At least one of the input unit 14 and the output unit 15 described above may be configured integrally with the control device 10 or may be provided separately.

Functions of the control device 10 are realized by executing a program according to the present embodiment by a processor included in the control unit 11 . That is, the functions of the control device 10 are realized by software. The program causes the computer to execute the processing of steps included in the operation of the control device 10, thereby causing the computer to realize the functions corresponding to the processing of each step. That is, the program is a program for causing a computer to function as the control device 10 according to this embodiment. The program instructions may be program code, code segments, or the like, for performing the required tasks.

A part or all of the functions of the control device 10 may be implemented by a dedicated circuit included in the control section 11 . That is, part or all of the functions of the control device 10 may be realized by hardware. Also, the control device 10 may be realized by a single information processing device, or may be realized by cooperation of a plurality of information processing devices.

FIG. 4 is a diagram showing the drilling machine 30. As shown in FIG. The drilling machine 30 is inserted into the pipeline 70 and drills a hole 72 that penetrates the wall surface of the pipeline 70 . The drilling machine 30 includes a drilling machine body 31 , a drill 32 , a push rod 33 , a compressor 34 and an air hose 35 . The drilling machine main body 31 extends along the direction in which the drilling machine 30 is inserted into the pipeline 70 . The drill 32 is installed on one surface of the drill body 31 . The push rod 33 is used to push the drill body 31 to the desired position within the pipeline 70 for drilling a hole. The compressor 34 supplies air for driving the drilling machine body 31 through an air hose 35 . The drilling machine main body 31 is driven by air supplied from the compressor 34 , and presses the drill 32 against the wall surface of the pipeline 70 while rotating it to drill the hole 72 .

FIG. 5 is a diagram schematically showing a state of investigation by the investigation method according to one embodiment. FIG. 5 explains a technique for investigating the tube length L of the Hume tube 80. As shown in FIG. In the example of FIG. 5, a pipe line 70 connected via a joint 75 is arranged inside a Hume pipe 80 . An example in which the thicknesses L ₁ and L ₅ of the tube end closures 82 (82a, 82b) are known will be described below.

The operator checks the drawing, inserts the drilling machine main body 31 into the pipeline 70 , and drills an inspection hole 72 a at a position assumed to be inside the Hume pipe 80 . After drilling, the operator removes the drilling machine main body 31 from the conduit 70 and pushes the guide tube 26 into the inspection hole 72a. The operator inserts the camera 25 and the insertion portion 21 into the guide tube 26 and puts the camera 25 inside the Hume tube 80 . By inserting the guide tube 26 first into the hole 72 a in this manner, the camera 25 can be operated inside the Hume tube 80 .

The operator operates the control device 10 to correct the direction of the camera 25 so as to photograph both end surfaces of the Hume tube 80 . A light for illuminating the imaging direction may be provided at the distal end of the insertion portion 21 . Further, the correction of the direction of the camera 25 may be automatically performed by the control device 10 by analyzing the captured image of the camera 25 . The distance range that the camera 25 can capture within the Hume tube 80 is limited. Therefore, in the example of FIG. 5, the camera 25 inserted through the hole 72a can photograph only one tube end blockage 82a. When the camera 25 images the tube end closure 82a, the distance _L2 between the hole 72a and the tube end closure 82a is measured. The measurement of the distance _L2 may be performed, for example, by the control device 10 analyzing the photographed image of the tube end blockage 82a, or by the operator estimating a rough value based on the photographed image. . The measurement of the distance _L2 based on the photographed image may be performed, for example, by comparing the known thickness of the duct 70 and the depth of the pipe end blockage 82a in the photographed image. When the controller 10 analyzes the photographed image of the tube end blockage 82a and measures the distance _L2 , the relationship between the photographed image and the distance is machine-learned in advance, and the learning result is used to determine the distance _L2 . may be measured. Further, a distance measuring sensor using an infrared ray, a laser, or the like may be provided at the distal end of the insertion portion 21, and the distance _L2 may be measured using the distance measuring sensor. Even when a distance measuring sensor is used, it is possible to perform distance measurement with higher accuracy by displaying the object in the photographed image and automatically or by the operator confirming the object of distance measurement before measuring the distance. . When the operator estimates the distance L ₂ , that value is entered into the controller 10 .

At this point, the distance between hole 72a and tube end closure 82b has not been measured. Therefore, after measuring the distance L ₂ between the hole 72 a and the tube end closure 82 a , the operator removes the insertion portion 21 and the guide tube 26 of the endoscope device 20 from the pipeline 70 . The operator inserts the drilling machine main body 31 into the pipeline 70 again and drills a hole 72b next to the hole 72a. The hole 72b is provided at a position separated from the hole 72a by a distance that is approximately the same as the maximum distance that the camera 25 can photograph. After drilling, the operator removes the drilling machine main body 31 from the conduit 70 and pushes the guide tube 26 into the inspection hole 72b again. The operator inserts the camera 25 and the insertion portion 21 into the guide tube 26 and puts the camera 25 inside the Hume tube 80 . The operator operates the control device 10 to correct the direction of the camera 25 so as to photograph both end surfaces of the Hume tube 80 or the hole 72 . In the example of FIG. 5, the camera 25 inserted through the hole 72b can photograph only the hole 72b, and cannot photograph the tube end closures 82a and 82b. Therefore, the control device 10 measures the distance a ₁ between the holes 72b and 72a by the same method as for measuring the distance L ₂ from the hole 72a to the tube end block 82a. In this manner, the operator repeats a series of processes of drilling, inserting the camera 25, photographing, and ranging until the pipe end blockage 82b is displayed in the photographed image of the camera 25. FIG. By totaling the distances a ₁ . . . a _N obtained by such processing, the distance L ₃ (=a ₁ + . . . +a _N ) from the hole 72a to the hole 72c is obtained.

In the example of FIG. 5, the tube end blockage 82b is displayed in the captured image of the camera 25 from the position of the hole 72c. Therefore, the control device ₁₀ obtains the distance L4 between the hole 72c and the tube end blockage 82b based _on the photographed image by the same method as that for obtaining the distance L2.

The controller 10 sums L ₂ to L ₄ thus obtained and known L ₁ and L ₅ to obtain the tube length L (=L ₁ + . . . +L ₆ ) of the Hume tube 80 . Thus, in this embodiment, the camera 25 of the endoscope device 20 is operated, and drilling, insertion of the camera 25, photographing, and distance measurement are performed until the tube end blockages 82 (82a, 82b) at both ends can be confirmed. A series of processes are repeated until the tube end blockage 82b is displayed in the captured image of the camera 25. FIG. Therefore, the pipe length L of the Hume pipe 80 can be measured without excavating the vicinity of the protective member such as the Hume pipe 80 . Note that if it is known that the Hume tube 80 is configured by connecting a plurality of unit tubes having a certain length Lu (for example, _2.43 m), this information can be used. good. For example, the pipe length L _* obtained by repeating a series of processes of drilling, inserting the camera 25, photographing, and _ranging is divided by the length Lu of the unit pipe, and the value after the decimal point is rounded off to calculate n. , L _u multiplied by N (L _u ×n) may be obtained as the tube length L of the Hume tube 80 . Thereby, it is possible to measure the pipe length L with high accuracy. Alternatively, the camera 25 or the drilling machine main body 31 may be provided with a sensor for measuring the movement distance in the pipeline 70, and the distance L3 from the hole 72a to the hole 72c may be obtained based _on the movement distance measured by the sensor. good.

FIG. 6 is a flow chart showing the procedure of the investigation method according to one embodiment. Processing of each step is executed by the control device 10, the drilling machine 30, or an operator.

In step S<b>1 , the drilling machine 30 drills a hole 72 in the pipeline 70 . In step S<b>1 , the operator inserts the drilling machine 30 into the pipeline 70 and causes the drilling machine 30 to drill the hole 72 . After drilling, the operator takes out the drilling machine 30 from the pipeline 70 .

In step S2, the operator inserts the guide tube 26 through the hole 72 drilled in step S1.

In step S<b>3 , the operator inserts the camera 25 and the insertion portion 21 through the guide tube 26 . This positions the camera 25 inside the Hume tube 80 outside the conduit 70 .

In step S<b>4 , the control unit 11 of the control device 10 acquires an image captured by the camera 25 . The control section 11 of the control device 10 or the operator controls the bending section 23 of the endoscope device 20 so as to acquire an image of the tube end blockage 82 (82a, 82b) or the adjacent hole 72. FIG.

In step S5, the control unit 11 of the control device 10 acquires the distance from the position of the camera 25 to the tube end blockage 82 (82a, 82b) or the adjacent hole 72. FIG. A specific method for obtaining the distance is as described above.

In step S6, the control unit 11 of the control device 10 determines whether or not the tube end blockages 82 (82a, 82b) at both ends of the Hume tube 80 have been imaged. If photographing has been completed (YES in step S6), the controller 11 proceeds to step S7, otherwise (NO in step S6), returns to step S1 and drills the adjacent hole 72. FIG.

In step S7, the control unit 11 of the control device 10 calculates the tube length L of the Hume tube 80 by totaling the lengths acquired in step S5. Then the process ends.

As described above, the control unit 11 of the control device 10 passes through the hole 72 penetrating the wall surface of the pipeline 70 disposed inside the protection member buried in the ground, and is operated outside the pipeline 70. A photographed image is obtained from the camera 25 of the endoscope apparatus 20 positioned inside the protective member. The control unit 11 investigates at least one of the shape and deterioration state of the inner surface of the protective member based on the photographed image. Therefore, it is possible to investigate the inside of the protective member of communication equipment buried in the ground without excavation. That is, since the existing pipeline 70 is used, it is possible to investigate and inspect the inside of the protective member at a lower cost than the open-cut method. Moreover, by using the pipeline 70 buried horizontally, even if there is an obstacle 90 on the ground, the inside of the protective member can be searched.

In addition, the control unit 11 detects the pipe ends of the protective member or other holes photographed by the camera 25 passing through a plurality of holes 72 drilled in the pipe line 70 at intervals corresponding to the photographable distance of the camera 25. 72 are obtained as a plurality of captured images. For each of the plurality of photographed images, the control unit 11 determines the distance between the hole 72 through which the camera 25 passed when the photographed image was photographed and the tube end of the protective member or another hole 72 based on the photographed image. to get The control unit 11 acquires the pipe length L of the protective member based on the distance acquired for each of the multiple captured images. In this way, the control unit 11 analyzes a plurality of captured images captured by the camera 25 passing through the holes 72 drilled at intervals corresponding to the imaging distance of the camera 25, and determines the pipe length L of the protective member. get. Therefore, it is possible to measure the pipe length over a long distance.

Further, in the investigation method of this embodiment, a hole 72 penetrating the wall surface of a pipeline 70 disposed inside a protective member buried in the ground is formed by the drilling machine 30, and the inside of the pipeline 70 and the A guide tube 26 having a hollow shape for guiding the insertion portion 21 of the endoscope device 20 is inserted through the hole 72 . The investigation method is to insert the insertion section 21 into the guide tube 26, position the tip of the insertion section 21 outside the conduit 70 and inside the protective member, and An image captured by the camera 25 is acquired. According to the investigation method, at least one of the shape and deterioration state of the inner surface of the protective member is investigated based on the photographed image. By inserting the guide tube 26 into the inspection hole 72 in advance, the camera 25 can be operated in any direction within the protective member.

FIG. 7 is a diagram schematically showing a state of investigation by the investigation method according to one embodiment. FIG. 7 explains a method of investigating the tube diameter D of the Hume tube 80. As shown in FIG. FIG. 7 shows a cross-sectional view of Hume tube 80 and conduit 70 through a plane orthogonal to the longitudinal direction of Hume tube 80 and conduit 70 . In the example of FIG. 7, 9 (=3×3) pipelines 70 are provided inside the Hume tube 80 in three rows in the horizontal direction and three rows in the vertical direction. The distance D2 between the upper surface of the pipeline 70a in the upper row and the lower surface of the pipeline 70c in the lower _row is known.

An operator inserts the drilling machine main body 31 into the pipeline 70a, which is one of the pipelines 70 existing in the upper row, and drills a hole 72a for inspection at a position assumed to be inside the Hume pipe 80. do. After drilling, the operator removes the drilling machine main body 31 from the conduit 70 and pushes the guide tube 26 into the inspection hole 72a. The operator inserts the camera 25 and the insertion portion 21 into the guide tube 26 and puts the camera 25 outside the pipeline 70 and inside the Hume tube 80 .

The operator operates the control device 10 to correct the direction of the camera 25 so as to photograph the inner wall surface of the Hume tube 80 , the tube end blockage 82 and the tube line 70 . A light for illuminating the imaging direction may be provided at the distal end of the insertion portion 21 . Further, the correction of the direction of the camera 25 may be automatically performed by the control device 10 by analyzing the captured image of the camera 25 . When the camera 25 photographs the inner wall surface of the Hume tube 80 and the pipe line ₇₀ , the distance D1 between the pipe line 70a and the inner wall surface of the Hume pipe 80 is measured. The distance D ₁ may be measured, for example, by the control device 10 analyzing a photographed image of the inner wall surface of the Hume tube 80 and the conduit 70, or by an operator estimating a rough value based on the photographed image. It may be done by FIG. 8 is a diagram schematically showing an example of a photographed image photographed by the camera 25 of FIG. 7. As shown in FIG. The measurement of the distance D ₁ based on the photographed image is, for example, the known pipe diameter b of the pipe 70 and the distance E ₁ from the pipe 70 in the photographed image to the boundary between the inner wall surface of the Hume pipe 80 and the pipe end blockage 82. may be performed by comparing When the control device 10 analyzes a photographed image of the inner wall surface of the Hume tube 80 or the like to measure the distance D ₁ , the relationship between the photographed image and the distance is machine-learned in advance, and the learning result is used to determine the distance. D ₁ may be measured. Further, _a distance measuring sensor using an infrared ray, a laser, or the like may be provided at the distal end of the insertion portion 21, and the distance D1 may be measured using the distance measuring sensor. Even when a distance measuring sensor is used, it is possible to perform distance measurement with higher accuracy by displaying the object in the photographed image and automatically or by the operator confirming the object of distance measurement before measuring the distance. . If the operator estimates the distance D ₁ , that value is entered into the controller 10 .

After completing the photographing from the pipeline 70a, the operator inserts the drilling machine main body 31 into the pipeline 70c, which is one of the pipelines 70 existing in the lower row, and the inside of the Hume pipe 80 is assumed. A test hole 72 is drilled at the location. After drilling, the operator removes the drilling machine body 31 from the conduit 70 and pushes the guide tube 26 into the inspection hole 72 . The operator inserts the camera 25 and the insertion portion 21 into the guide tube 26 and puts the camera 25 outside the pipeline 70 and inside the Hume tube 80 . Then _, the distance _D3 between the conduit 70c and the inner wall surface of the Hume tube 80 is measured by the same method as that for measuring the distance D1.

The controller 10 sums D ₁ and D ₃ thus obtained and the known D ₂ to obtain the tube diameter D (=D ₁ +D ₂ +D ₃ ) of the Hume tube 80 . As described above, in this embodiment, by drilling holes 72 in the pipeline 70 and inserting the camera 25 to take an image, the distance between the pipeline 70 existing in the upper row and the inner wall surface of the Hume pipe 80 Obtain D ₁ and the distance D ₃ between the conduit 70 in the lower row and the inner wall surface of the Hume tube 80 . These values are summed with the known distance D ₂ to obtain the tube diameter D of the Hume tube 80 . Therefore, the pipe diameter D of the Hume pipe 80 can be measured without excavating the vicinity of the protective member such as the Hume pipe 80 . It should be noted that although it is known that the Hume tube 80 is one of a plurality of standard candidates that have been identified in advance, this information may be used when it is not known which candidate corresponds. For example, each of the candidate pipe diameters for the standard may be compared with the measured value of the pipe diameter, and the pipe diameter D of the Hume pipe 80 that is closest to the measured value among the candidate pipe diameters for the standard may be obtained. . Thereby, it is possible to measure the pipe diameter D with high accuracy.

FIG. 9 is a flow chart showing the procedure of the investigation method according to one embodiment. Processing of each step is executed by the control device 10, the drilling machine 30, or an operator.

In step S11, the drilling machine 30 drills holes 72a in the pipelines 70a in the upper row. In step S11, the operator inserts the drilling machine 30 into the pipeline 70a and causes the drilling machine 30 to drill the hole 72a. After drilling, the operator takes out the drilling machine 30 from the pipeline 70a.

At step S12, the operator inserts the guide tube 26 through the hole 72a drilled at step S11.

At step S<b>13 , the operator inserts the camera 25 and the insertion portion 21 through the guide tube 26 . Thereby, the camera 25 is positioned inside the Hume tube 80 outside the conduit 70a.

In step S<b>14 , the control unit 11 of the control device 10 acquires an image captured by the camera 25 . The controller 11 of the controller 10 or the operator controls the bending section 23 of the endoscope device 20 so as to acquire images of the inner wall surface of the Hume tube 80 , the tube end blockage 82 , and the duct 70 .

In step S<b>15 , the control unit 11 of the control device 10 acquires the distance from the pipe line 70 a to the inner wall surface of the Hume pipe 80 . A specific method for obtaining the distance is as described above.

In step S16, the control unit 11 of the control device 10 determines whether or not both inner surfaces of the Hume tube 80 have been photographed. If photographing has already been performed (YES in step S16), the control unit 11 proceeds to step S17. If not (NO in step S16), the control unit 11 returns to step S11 to perform the processing of steps S11 to S15 for the pipeline 70b in the lower row. to do

_In step S17, the control unit 11 of the control device ₁₀ adds the known D2 to D1 and D3 obtained in step S15 to obtain the tube diameter D ₍ =D1 ₊ D2 _{+ D3} ) of the Hume tube 80. do. Then the process ends.

As described above, the control unit 11 of the control device 10 acquires an image of the inner wall surface of the protective member and the pipeline 70 captured by the camera 25 passing through the hole 72 drilled in the pipeline 70 as a captured image. do. Based on the captured image, the control unit 11 acquires the distance between the inner wall surface of the protective member and the conduit 70 through which the camera 25 passed when the captured image was captured, and based on the distance, determines the pipe diameter of the protective member. Get D. In this way, since the control unit 11 obtains the pipe diameter D of the protective member based on the photographed image of the inner wall surface of the protective member and the pipe 70, the pipe diameter D of the protective member can be obtained without excavation. It is possible.

In addition, the control unit 11 determines the inside of the protective member based on the thickness of the duct 70 in the photographed image for which the pipe diameter b has been acquired in advance and the distance between the duct 70 and the inner wall surface of the protective member in the photographed image. obtains the distance between the pipe line 70 and the inner wall surface of the protective member. Therefore, it is possible to measure the diameter of the pipe with high accuracy by the ratio of the image sizes of the known diameter (such as pipe diameter) and the unknown diameter.

FIG. 10 is a diagram schematically showing a state of investigation by the investigation method according to one embodiment.
FIG. 10 describes a technique for investigating a tube end blockage 82 (82a, 82b) of a Hume tube 80. As shown in FIG.

The operator checks the drawing, inserts the drilling machine main body 31 into the pipeline 70 , and drills an inspection hole 72 a at a position assumed to be inside the Hume pipe 80 . After drilling, the operator removes the drilling machine main body 31 from the conduit 70 and pushes the guide tube 26 into the inspection hole 72a. The operator inserts the camera 25 and the insertion portion 21 into the guide tube 26 and puts the camera 25 inside the Hume tube 80 . The operator operates the control device 10 to correct the direction of the camera 25 so as to photograph the tube end blockage 82 (82a, 82b) of the Hume tube 80. FIG. A light for illuminating the imaging direction may be provided at the distal end of the insertion portion 21 . Further, the correction of the direction of the camera 25 may be automatically performed by the control device 10 by analyzing the captured image of the camera 25 .

The control device 10 or the operator determines whether deterioration has occurred in the tube end blockage 82 (82a, 82b) based on the photographed image. FIG. 11 is a diagram schematically showing an example of a photographed image photographed by the camera 25 of FIG. 10. As shown in FIG. In the example of FIG. 11, the tube end closure 82 has cracks 93 , through holes 94 and surface breaks 95 . Also, deposits 96 such as soil are present inside the fume tube 80 . The control device 10 or the operator detects deterioration such as cracks 93, through-holes 94, surface damage 95, and deposits 96 from the photographed images. When the control device 10 detects deterioration, machine learning may be performed on the image of deterioration in advance, and deterioration may be detected using the learning result. The control device 10 or the operator operates the bending section 23 of the endoscope device 20 to acquire a photographed image of the entire range of the tube end blockage 82, thereby checking the presence or absence of deterioration in the entire area of the tube end blockage 82. can be confirmed. By performing such work for each of the tube end closures 82a and 82b at both ends of the Hume tube 80, deterioration of both the tube end closures 82a and 82b can be detected.

FIG. 12 is a flow chart showing the procedure of the investigation method according to one embodiment. Processing of each step is executed by the control device 10, the drilling machine 30, or an operator.

In step S<b>21 , the drilling machine 30 drills a hole 72 in the pipeline 70 . In step S<b>21 , the operator inserts the drilling machine 30 into the pipeline 70 and causes the drilling machine 30 to drill the hole 72 . After drilling, the operator takes out the drilling machine 30 from the pipeline 70 .

At step S22, the operator inserts the guide tube 26 through the hole 72 drilled at step S21.

At step S<b>23 , the operator inserts the camera 25 and the insertion portion 21 through the guide tube 26 . This positions the camera 25 inside the Hume tube 80 outside the conduit 70 .

In step S<b>24 , the control unit 11 of the control device 10 acquires an image captured by the camera 25 . The control section 11 of the control device 10 or the operator controls the bending section 23 of the endoscope device 20 so as to acquire the photographed image of the tube end blockage 82 (82a, 82b).

In step S25, the control unit 11 of the control device 10 or the operator confirms from the photographed image whether deterioration has occurred in the tube end blockage 82 (82a, 82b). The specific procedure of deterioration detection is as described above.

In step S26, the control unit 11 of the control device 10 determines whether or not the tube end blockages 82 (82a, 82b) at both ends of the Hume tube 80 have been photographed. If imaging has already been performed (YES in step S26), the control unit 11 ends the process. process.

In this way, the control unit 11 acquires, as a photographed image, the image of the tube end blockage 82 existing on the end face of the protective member, which is photographed by the camera 25 passing through the hole 72 drilled in the pipe line 70, and photographed. The image is analyzed to detect deterioration in the tube end blockage 82 . Therefore, it is possible to detect deterioration in the tube end closure 82 without excavation.

Further, in this embodiment, the guide tube 26 is first inserted into the inspection hole 72, and the guide tube 26, the insertion portion 21, the bending portion 23, and the camera 25 are operated inside the protective member, so that the tube end surface is inspected. It is possible to check the entire tube end blockage 82.

FIG. 13 is a diagram schematically showing a state of investigation by the investigation method according to one embodiment. FIG. 13 illustrates a method of investigating tube end blockage 82 (82a, 82b) of Hume tube 80 in a situation where water is flowing into Hume tube 80. As shown in FIG. In FIG. 13, light source holes 72c and 72c are provided separately from the inspection holes 72a and 72b, and illumination is performed from a position different from the camera 25. In FIG.

When photographing underwater, if a light near the camera 25 illuminates the photographing direction, the light reflects off the water, blurring the entire image, and it has been found that the photographing distance from the camera 25 cannot be sufficiently long. ing. 14A and 14B are diagrams schematically showing an example of a photographed image photographed by the camera 25 of FIG. 13. FIG. FIG. 14A is an example of a photographed image when the photographing direction is illuminated by a light near the camera 25 . In the photographed image of FIG. 14A, only the image of the conduit 70 is shown. FIG. 14B is an example of a photographed image of the same photographing location when the photographing direction is illuminated from the light source 40 provided at a position away from the camera 25 . In the photographed image of FIG. 14B, in addition to the duct 70, an image of the light source 40 and the tube end blockage 82 is shown. 14A and 14B, by illuminating the photographing direction from the light source 40 provided at a position away from the camera 25, the visibility from the camera 25 can be improved, and the photographed image can be It is possible to see distant objects. Although FIG. 13 shows an example in which the light source 40 illuminates from behind the camera 25 , the position of the light source 40 is not limited to behind the camera 25 as long as it is away from the camera 25 .

FIG. 15 is a flow chart showing the procedure of the investigation method according to one embodiment. Processing of each step is executed by the control device 10, the drilling machine 30, or an operator.

In step S<b>31 , the drilling machine 30 drills a first hole 72 a and a second hole 72 b in the pipeline 70 . In step S31, the operator inserts the drilling machine 30 into the pipeline 70 and causes the drilling machine 30 to drill the first hole 72a. Further, the operator causes the drilling machine 30 to drill the second hole 72b at another position of the pipeline 70 . After drilling, the operator takes out the drilling machine 30 from the pipeline 70 .

At step S32, the operator inserts the guide tube 26 through the first hole 72a drilled at step S21.

In step S<b>33 , the operator inserts the camera 25 and the insertion portion 21 through the guide tube 26 . This positions the camera 25 inside the Hume tube 80 outside the conduit 70 .

At step S34, the operator inserts the guide tube 26 through the second hole 72b drilled at step S21.

In step S<b>35 , the control unit 11 of the control device 10 acquires an image captured by the camera 25 . The control unit 11 of the control device 10 or the operator controls the irradiation direction of the light source 40 and the bending portion 23 of the endoscope device 20 so as to acquire the photographed image of the tube end blockage 82 (82a, 82b).

In step S36, the control unit 11 of the control device 10 or the operator confirms from the photographed image whether deterioration has occurred in the tube end blockage 82 (82a, 82b). The specific procedure of deterioration detection is as described above with reference to FIG.

In step S37, the control unit 11 of the control device 10 determines whether or not the tube end blockages 82 (82a, 82b) at both ends of the Hume tube 80 have been imaged. If imaging has already been performed (YES in step S37), the control unit 11 ends the process. process.

As described above, the control unit 11 acquires an image of the tube end blockage 82 captured while receiving light from the light source 40 located at a position different from the camera 25 as a captured image. In this way, by irradiating another light source 40 underwater from a position different from that of the camera 25, it is possible to check the deterioration state of the tube end blockage 82 at a farther tube end.

FIG. 16 is a diagram schematically showing a state of investigation by the investigation method according to one embodiment. FIG. 16 explains a method for confirming whether or not water such as groundwater exists inside the Hume tube 80 and whether or not water is inflowing. In the example of FIG. 16, the conduit 70a is a conduit for confirming the presence or absence of water in the Hume tube 80, and the like. Stopcocks 51 and 52 are provided at both ends of the pipeline 70a. The stop cock 51 has a hole for inserting the insertion portion 21 of the endoscope. In contrast, the stop cock 52 does not have a hole.

The operator checks the drawing, inserts the drilling machine main body 31 into the pipeline 70 , and drills an inspection hole 72 a at a position assumed to be inside the Hume pipe 80 . After drilling, the operator removes the drilling machine main body 31 from the pipe line 70 and pushes out the pipe 27 with the guide tube 26 inserted into the inspection hole 72a. Pipe 27 is a transparent coating to protect guide tube 26 and insert 21 from water. The operator inserts the camera 25 and the insertion portion 21 into the guide tube 26 and puts the camera 25 inside the Hume tube 80 . The operator operates the control device 10 to correct the direction of the camera 25 so as to photograph various heights within the Hume tube 80 . A light for illuminating the imaging direction may be provided at the distal end of the insertion portion 21 . Further, the correction of the direction of the camera 25 may be automatically performed by the control device 10 by analyzing the captured image of the camera 25 .

FIG. 17 is a diagram schematically showing the endoscope device 20 near the water surface. In the example of FIG. 17, camera 25 is in water 85 and is positioned below water surface 86, which is the boundary between air 87 and water 85. In FIG.

18A and 18B are diagrams schematically showing an example of a photographed image photographed by the camera 25 of FIG. 16. FIG. The upper diagram in FIG. 18A is an example of a photographed image in a state where the water surface 86 is not near the camera 25. FIG. The lower diagram in FIG. 18A is an example of an image captured when the water surface 86 is in the vicinity of the camera 25 . As shown in the lower diagram of FIG. 18A, when the water surface 86 exists in the vicinity of the camera 25, the captured image is disturbed. Therefore, the control device 10 or the operator may determine the presence or absence of the water surface 86 based on such disturbance in the captured image. When the control device 10 analyzes the photographed image and determines the water surface 86, the relationship between the photographed image and the presence or absence of the water surface 86 is machine-learned in advance, and the presence or absence of the water surface 86 is determined using the learning result. may

FIG. 18B is an example of a captured image showing how the position of the water surface 86 is rising. A water surface 86 exists between air 87 and water 85 in the left image of FIG. 18B. The image on the right in FIG. 18B is a photographed image of the same place after a certain period of time has passed since the photographing time of the image on the left. In the right image of FIG. 18B, the water level 86 is higher than the water level 86 in the left image of FIG. 18B. Therefore, the control device 10 or the operator may determine the inflow of water based on the change in the position of the water surface 86 in such a captured image. When the control device 10 analyzes the photographed image to determine the inflow of water, the relationship between the photographed image and the position change of the water surface 86 is machine-learned in advance, and the learning result is used to determine the inflow of water. You may If the controller 10 or the operator can confirm that the water level 86 has dropped and the water level 86 has not risen, it may be determined that there is no groundwater inflow from the end of the Hume tube 80 (tube end blockage 82). On the other hand, the controller 10 or the operator may determine that groundwater is flowing in when the water level 86 does not drop or when the water level 86 rises.

FIG. 19 is a flow chart showing the procedure of the investigation method according to one embodiment. Processing of each step is executed by the control device 10, the drilling machine 30, or an operator.

In step S<b>41 , the drilling machine 30 drills a hole 72 in the pipeline 70 . In step S<b>41 , the operator inserts the drilling machine 30 into the pipeline 70 to drill the hole 72 with the drilling machine 30 . After drilling, the operator takes out the drilling machine 30 from the pipeline 70 .

In step S42, the operator inserts the guide tube 26 into the pipe 27 through the hole 72 drilled in step S41.

In step S<b>43 , the operator inserts the camera 25 and the insertion portion 21 through the guide tube 26 . This positions the camera 25 inside the Hume tube 80 outside the conduit 70 .

In step S<b>44 , the control unit 11 of the control device 10 acquires an image captured by the camera 25 . The control unit 11 of the control device 10 or the operator controls the bending unit 23 of the endoscope device 20 so as to acquire an image of the water surface, if any.

In step S45, the control unit 11 of the control device 10 detects the presence or absence of water or the rise of the water surface 86 based on the captured image. Then the process ends.

As described above, the control unit 11 analyzes the captured image and detects the inflow of water into the protective member. That is, it is possible to confirm whether the water level inside the protective member has decreased or increased (inflow of groundwater) by visual confirmation or automatic determination by image analysis of disturbances in the photographed image of the camera 25 and changes in the position of the water surface 86 .

For example, multiple blocks shown in the block diagrams may be combined, or a single block may be divided. Instead of being performed in chronological order according to the description, multiple steps described in the flowcharts may be performed in parallel or in different orders, depending on the processing power of the device performing each step or as required. . Other modifications are possible without departing from the scope of the present disclosure.

10 Control device 11 Control unit 12 Storage unit 13 Communication unit 14 Input unit 15 Output unit 20 Endoscope device 21 Insertion unit 23 Bending unit 25 Camera 26 Guide pipe 27 Pipe 30 Drilling machine 31 Drilling machine body 32 Drill 33 Push rod 34 Compressor 35 Air hose 40 Light source 41 Cable 51, 52 Water stop valve 60 Manhole 70 Pipeline 72 Hole 75 Joint 80 Hume pipe 82 Tube end blockage 85 Water 86 Water surface 87 Air 90 Obstruction 93 Crack 94 Through hole 95 Surface damage 96 Deposits 98 Investigation range 99 Obstacle range G Ground surface

Claims (8)

An endoscope that passes through a hole penetrating a wall surface of a pipeline disposed inside a protective member buried in the ground and positioned outside the pipeline and inside the protective member. Acquire the captured image from the camera of the device,
investigating at least one of the shape and deterioration of the inner surface of the protective member based on the photographed image;
A controller comprising a controller. The control unit
A plurality of images of the tube end portion of the protective member or other holes taken by the camera passing through the plurality of holes drilled in the pipeline at intervals corresponding to the photographable distance of the camera. Acquired as the captured image,
For each of the plurality of photographed images, the distance between the hole through which the camera passed when the photographed image was taken and the pipe end of the protective member or the other hole is acquired based on the photographed image. ,
acquiring the pipe length of the protective member based on the distance acquired for each of the plurality of captured images;
A control device according to claim 1 . The control unit
acquiring an image of the inner wall surface of the protective member and the pipeline as the captured image, which is captured by the camera passing through the hole drilled in the pipeline;
Based on the photographed image, obtaining the distance between the conduit through which the camera passed when the photographed image was photographed and the inner wall surface of the protective member,
obtaining a pipe diameter of the protective member based on the distance;
A control device according to claim 1 . The control unit determines the thickness of the protective member based on the thickness in the photographed image of the pipe for which the pipe diameter has been acquired in advance and the distance between the pipe in the photographed image and the inner wall surface of the protective member. 4. The control device according to claim 3, which acquires the distance between the pipe line and the inner wall surface of the protection member inside. The control unit
acquiring an image of the tube end blockage existing on the end face of the protective member taken by the camera passing through the hole drilled in the pipeline as the taken image;
analyzing the captured image to detect deterioration in the tube end blockage;
A control device according to claim 1 . 6. The control device according to claim 5, wherein the control unit obtains, as the captured image, an image of the tube end blockage captured while receiving light from a light source located at a position different from that of the camera. . 2. The control device according to claim 1, wherein said control unit analyzes said photographed image and detects inflow of water into said protective member. A step of forming a hole penetrating the wall surface of a pipeline arranged inside a protective member buried in the ground with a drilling machine;
a step of inserting a guide tube having a hollow shape for guiding an insertion portion of an endoscope device through the inside of the channel and the hole;
a step of inserting the insertion section into the guide tube and positioning the distal end of the insertion section outside the conduit and inside the protective member;
a step of obtaining an image captured by a camera provided at the distal end of the insertion portion;
a step of investigating at least one of the shape and deterioration state of the inner surface of the protective member based on the photographed image;
survey methods, including;

Images