JP2024055770A - Repair method and equipment for external water infiltration parts of sewer pipes - Google Patents

Abstract

[Problem] To fill an external water intrusion part of a sewer pipe with a water-stopping material to obtain an elastically sealed state, and also to obtain an elastically sealed state for the periphery of the external water intrusion part on the inner surface of the pipe. [Solution] An investigation and confirmation step S1 is performed in which a mobile robot travels inside the sewer main pipe and a camera is used to investigate and confirm the existence, condition, location, etc. of external water intrusion parts in the main pipe, the lateral pipe currently in use, and the disposal lateral pipe, and if an external water intrusion part is found, a water-stopping material filling step S4 is performed in which the water-stopping material is filled into the external water intrusion part using a water-stopping material filling device provided on the mobile robot, and the filling of the external water intrusion part with the water-stopping material is not only filled into cracks and broken holes in the main pipe and the disposal lateral pipe, but also filled so as to cover the periphery of cracks and broken holes on the inner surface of the pipe. [Selected Figure] Figure 1

Description

The present invention relates to a method and device for repairing external water infiltration sections of sewer pipes, for example, and in particular to a method and device for repairing external water infiltration sections of sewer pipes to eliminate the infiltration of rainwater, groundwater, subsurface water, etc. through cracks or damaged holes in the main pipe, junction pipe, or waste junction pipe of the sewer pipe.

Rainwater, groundwater, spring water, subsurface water, etc. that does not require sewage treatment (hereinafter referred to as external water) can be discharged directly into rivers, lakes, and the sea. If external water is allowed to infiltrate through cracks or broken holes (hereinafter referred to as external water infiltration parts) in the main sewer pipe, lateral pipe, or waste lateral pipe of the sewer pipe, the treatment capacity of the sewage treatment plant will become larger than necessary, sewage treatment costs will increase, and there is a risk that soil and sand around the sewer pipe will flow into the sewer pipe, causing road collapses and pipe blockages.

For this reason, sewer pipes must be regularly monitored to see if there are any external water intrusion areas, and if any are present, appropriate repair work must be carried out to eliminate the external water intrusion areas.

In other words, external water intrusion occurs unidentified as cracks or broken holes in the main sewer pipe, lateral pipe, or waste lateral pipe, so when it is observed that the water volume in the main pipe close to the sewage treatment plant is higher than usual, a mobile robot equipped with a camera is operated inside the upstream main pipe, and a camera is also inserted into the lateral pipe to monitor the presence and condition of external water intrusion, and if an external water intrusion is found, appropriate repair work is carried out.

If the external water intrusion is a crack in the main pipe, the crack must be filled with water-stopping material. If the hole is damaged and the pipe wall has disappeared, the hole must be closed, including rebuilding the pipe wall, and water-stopping material must be filled in.

If the external water intrusion is due to a crack or a broken hole in the junction pipe rather than the main pipe, the junction pipe can be repaired by sealing the crack or the broken hole with a water-stopping material, but the repair method will differ depending on whether the junction pipe is currently in use or is a discarded junction pipe.

If an external water intrusion area has occurred in an attachment pipe currently in use, it is necessary to fill the area with water-stopping material so as to block the surrounding area without closing the pipe opening of the attachment pipe. Furthermore, if the external water intrusion area has occurred above the pipe opening of the attachment pipe, it is necessary to fill the area with water-stopping material so as to line the inside of the external water intrusion area.

If an external water intrusion occurs in the waste attachment pipe, it is necessary to fill the surrounding area, including the mouth of the waste attachment pipe, with water-stopping material to block it. The water-stopping effect achieved by the water-stopping material must be permanent. Furthermore, if an external water intrusion occurs in the main pipe while the waste attachment pipe is protruding inward from the main pipe, it is necessary to perform cylindrical cutting to restore the main pipe wall and the protruding part of the attachment pipe to their original diameter before blocking the surrounding area, including the mouth of the waste attachment pipe.

Patent document 1 discloses a method for repairing an access pipe, including the connection point with the sewer main pipe.

This repair method involves a process in which a television camera is sent upward from the sewer main through the opening of the connecting pipe to capture the upper part, and the current image is then displayed on a monitor around the opening of the connecting pipe currently in use and on the ground side away from the opening to determine whether there is any external water intrusion.

In addition, this repair method includes a process for determining the situation by photographing the collapsed area with a television camera sent into the sewer main pipe when the faucet pipe has collapsed into the main pipe, and a process for cutting off the end of the faucet pipe that protrudes into the main pipe.

Furthermore, this repair method includes a process for capturing images of the sunken area with a television camera to grasp the situation when a damaged area is found in the upper part of the attachment pipe currently in use, and a lining removal process for inserting a lining material impregnated with epoxy resin as a thermosetting resin into a resin absorbent material formed in a cylindrical shape on the attachment pipe to close the damaged area, and then removing the protruding portion of the lining material inside the main pipe.

This repair method includes a closing process in which a bag is inserted into the opening of the attachment pipe and expanded to temporarily close it, a formwork installation process in which a formwork is placed around the opening of the attachment pipe to be in close contact with the inner surface of the sewer main pipe, a resin material injection process in which a repair resin material such as resin mortar is injected into the formwork, and a polishing process in which the formwork and bag are removed and the inner surface of the sewer main pipe is polished.

Patent document 2 discloses a method for repairing abandoned sewage pipes connected to a sewer main.

According to this repair method, when an abandoned attachment pipe collapses into a main pipe and the external water intrusion area around the abandoned attachment pipe is blocked, the repair method includes a process of assessing the situation using a television camera sent from the sewer main pipe side, a process of installing a filling formwork to seal the formwork against the inner surface of the main pipe and block the external water intrusion area around the abandoned attachment pipe, including the pipe mouth, a space blocking process of filling the external water intrusion area with a soil stabilizer such as silica cement and hardening it, and a process of removing the filling formwork.

In addition, according to this repair method, when the abandoned attachment pipe collapses into the main pipe and the external water infiltration area around the abandoned attachment pipe is blocked, the repair method includes a cutting process for cutting out the protruding part, a space blocking process for filling the abandoned attachment pipe with a soil stabilizer such as silica cement and hardening it, an injection form installation process for sealing the external water infiltration area around the abandoned attachment pipe, including the pipe mouth, by fitting the form to the inner surface of the main pipe, a corrosion-resistant treatment process for injecting a corrosion-resistant injection material and hardening it, a process for removing the injection form, and a finishing process for performing surface treatment on the corrosion-resistant injection material.

Patent document 3 discloses a method for repairing an access pipe, including the connection to the sewer main pipe.

This repair method includes an investigation and confirmation process for investigating the condition of external water infiltration parts in the sewer main pipe and/or lateral pipe, an lateral pipe repair process for repairing the inside of the lateral pipe according to the condition identified in the investigation and confirmation process, an lateral pipe cleaning process for cleaning the soil and sand accumulated in the lateral pipe from inside the main pipe, a special formwork process for installing a balloon-shaped special formwork in the main pipe or lateral pipe to limit the filling gap, a foam mortar injection/gas exhaust process for injecting foam mortar to fill the filling gap and exhausting the gas in the lateral pipe, and an lateral pipe mouth closing process for closing the pipe mouth of the lateral pipe with a resin-based closing material after the foam mortar injection. If an external water infiltration part exists in the waste lateral pipe, the waste lateral pipe is filled with foam mortar and the surrounding area including the pipe mouth of the waste lateral pipe is closed with a resin-based closing material. If there is an external water intrusion area around the mouth of an attachment pipe currently in use, secure the attachment pipe's pipeline and seal the formwork against the inner surface of the main pipe to block the external water intrusion area and fill it with foam mortar.

Japanese Patent No. 3626720 Patent No. 4782757 Patent No. 4652471

According to Patent Document 1, when a damaged portion is located away from the mouth of an attachment pipe currently in use, a lining material impregnated with a thermosetting resin is inserted inverted and the damaged portion is not sealed, so it is not possible to completely prevent external water from entering through the gap between the lining material and the attachment pipe.

Patent documents 1 to 3 have similar problems. That is, the formwork is installed so that it adheres closely to the inner surface of the main pipe and blocks the periphery of the mouth of the waste attachment pipe, and resin mortar is used as the water-stopping material in Patent document 1, a corrosion-resistant injection material in Patent document 2, and foam mortar in Patent document 3. Therefore, the foam mortar is filled and hardened in a state where it is in contact only with the end face of the hole where external water has entered the main pipe, and a tiny gap is created between the repair resin material and the inner wall of the attachment pipe, and it is not possible to completely prevent external water from entering through this gap.

Furthermore, according to Patent Document 2, it takes a long time for the silica cement filled into the waste attachment pipe to harden, and the next step cannot be started until the silica cement has hardened, which impedes work efficiency. In addition, silica cement has low initial strength and takes time to exert its strength. Also, when it is desired to finally remove the attachment pipe that is no longer needed, the removal of the silica cement is very difficult.

The present invention was made with the aim of solving the problems in the conventional technology described above, and aims to provide a repair method and repair device for external water intrusion parts of sewer pipes that not only fills and seals the end face of the external water intrusion part (the fracture surface of the main pipe) with a water-stopping material, but also adds an innovation that overlaps and blocks the external water intrusion part from the inside and outside of the pipe, and unlike conventional water-stopping materials, has an elastic sealing function that can completely block the external water intrusion part, thereby shortening the repair time.

In order to solve the above problem, the repair method for an external water intrusion part of a sewer pipe according to the first aspect of the present invention includes an investigation and confirmation step of running a traveling body inside the sewer main pipe, capturing current images including the location of the external water intrusion part, which is a crack or a broken hole in at least one of the sewer main pipe, the junction pipe, and the waste junction pipe, using an imaging mechanism provided on the traveling body, and confirming the presence or absence of the external water intrusion part on a monitor on the ground side; and a water stop material filling step of, if the external water intrusion part is found, using a water stop material filling device provided on the traveling body or another traveling body to fill the external water intrusion part from the inside surface of the pipe with water stop material not only to occupy and fill the external water intrusion part to a full state, but also to fill it so that it spreads along the outside surface of the pipe and to cover the periphery of the external water intrusion part on the inside surface of the pipe.

The method for repairing an external water intrusion portion of a sewer pipe according to the second aspect of the present invention is configured to include, in addition to the configuration of the first aspect of the invention, a waterstop material flow hole forming step, prior to the waterstop material filling step, in which a drill provided on the traveling body is used to drill a waterstop material flow hole in the external water intrusion portion from the inner surface of the pipe to reach the outer surface of the pipe, if the external water intrusion portion is a crack that may cause the filling of the waterstop material into the external water intrusion portion to not reach the outer surface of the main pipe.

The method for repairing an external water intrusion portion of a sewer pipe according to the third aspect of the present invention has the same configuration as the second aspect of the invention, but also includes a step of forming a water-stopping material flow hole using a drill configured so that cooling water flows through the center hole of the drill and out of the tip.

The repair method for external water intrusion parts of sewer pipes according to the fourth aspect of the invention of the present application includes, in addition to the configuration of the first aspect of the invention, an algorithm is used in the investigation and confirmation step to determine whether or not there are external water intrusion parts to be repaired in the main pipe, the junction pipe, and the waste junction pipe. The monitor displays the current image captured by the imaging mechanism and past images stored in a database so that the current image can be compared with the current image side by side, and the current image is used to determine whether or not repair is necessary based on the similarity between the two current images, and the current image determines whether or not repair is necessary by determining the amount of water intrusion (large, medium, small, or none) and the scale and method of repair are selected by determining the location, size, and shape of the external water intrusion part from the current image.

The repair method for external water intrusion parts of sewer pipes according to the fifth aspect of the invention of the present application, in addition to the configuration of the first aspect of the invention, in the investigation and confirmation step, AI is used to determine whether there are external water intrusion parts to be repaired in the main pipe, the attachment pipe, and the disposal attachment pipe, and the monitor displays the current image captured by the imaging mechanism and past images stored in a database so that the current image can be compared with the past image, and a calculation unit provided in the monitor quantitatively compares the similarity of the water flow and water volume in the current image with the water flow and water volume in the past image, and determines whether repair is necessary or not based on the understanding of the amount of water intrusion of external water, whether it is large, medium, small, or none.

The method for repairing an external water intrusion portion of a sewer pipe according to the sixth aspect of the present invention is configured in such a way that, in addition to the configuration of the first aspect of the invention, the water-stopping material filling step, if the external water intrusion portion is located away from the pipe opening of the attachment pipe or the waste attachment pipe, a rubber balloon having a rigidity capable of resisting the water-stopping material filling pressure is inserted in an inflated state into the upper part of the attachment pipe or the waste attachment pipe to block it, and the water-stopping material is filled into the space from the pipe opening of the attachment pipe or the waste attachment pipe to the balloon.

The repair method for an external water intrusion section of a sewer pipe according to the seventh aspect of the present invention has the same configuration as the first aspect of the invention, and further includes a cleaning step in which, if there is any adhesion impediment, including accumulated soil or slime, on the pipe surface at the point where the water-stopping material is filled, the adhesion impediment is removed by a jet of water prior to the water-stopping material filling step.

The method for repairing an external water intrusion portion of a sewer pipe according to the eighth aspect of the present invention has the same configuration as the first aspect of the invention, but includes a formwork installation step prior to the water-stopping material filling step, in which a formwork is installed for filling and forming the water-stopping material so that the surrounding area, including the external water intrusion portion on the inner surface of the pipe, is sealed with the water-stopping material of a required thickness.

The repair method for an external water infiltration portion of a sewer pipe according to the ninth aspect of the present invention has the same configuration as the ninth aspect of the invention, but includes a pipe inner surface cutting step that cuts the portion of the pipe inner surface where the formwork is to be installed to the required depth using a cutter provided on the running body, prior to the formwork installation step.

The repair method for an external water infiltration section of a sewer pipe according to the tenth aspect of the present invention has the same configuration as the eighth or ninth aspect of the invention, but also includes a formwork removal step in which the formwork is removed after the shape of the water-stopping material filled in the formwork has stabilized.

The repair method for an external water infiltration section of a sewer pipe according to the eleventh aspect of the present invention has the same configuration as the tenth aspect of the invention, but also includes a water-stop material peripheral shape forming step for forming the peripheral shape of the water-stop material after removing the formwork.

The repair method for an external water intrusion section of a sewer pipe according to the twelfth aspect of the present invention is configured to include, in addition to the configuration of the tenth aspect of the invention, a post-filling confirmation step in which, after the water-stopping material filling step, a current image of the external water intrusion section after repair is captured by an imaging mechanism provided on the traveling body, and the current image on a monitor on the ground is observed to confirm whether the water-stopping material has been sufficiently filled into the external water intrusion section.

The method for repairing external water infiltration parts of sewer pipes according to the thirteenth aspect of the present invention includes, in addition to the configuration of the twelfth aspect of the invention, in the post-filling confirmation step, a determination is made by AI as to whether or not an external water infiltration part exists after repair, and a current image after repair captured by the imaging mechanism is displayed on the monitor, and a calculation unit provided on the monitor determines whether or not external water has infiltrated in the current image after repair based on the presence or absence of pixel changes.

The repair method for an external water intrusion section of a sewer pipe according to the 14th aspect of the present invention has the same configuration as the 12th or 13th aspect of the invention, and in addition, if there are any areas in which the water-stopping material is not sufficiently filled in the external water intrusion section during the post-filling confirmation step, the water-stopping material is refilled in the areas in which the water-stopping material is not sufficiently filled in the external water intrusion section.

The repair method for an external water infiltration section of a sewer pipe according to the fifteenth aspect of the present invention has the same configuration as the first aspect of the invention, but in the water-stopping material filling step, the water-stopping material supplied to the water-stopping material filling device is a hardening or non-hardening resin that occupies the filled space and fixes its shape.

The repair method for an external water infiltration section of a sewer pipe according to the 16th aspect of the present invention has the same configuration as the 15th aspect of the invention, but uses a thermosetting resin or a time-curing resin as the curing resin.

The repair method for an external water intrusion portion of a sewer pipe according to the seventeenth aspect of the present invention has the same configuration as the first aspect of the invention, and in the water-stopping material filling step, the water-stopping material supplied to the water-stopping material filling device is a resin that has thermal fluidity that changes from a solid state to a liquid state that easily flows when heated to a required temperature higher than room temperature, and that occupies the filled space, fixes its shape, does not harden semi-permanently, and has elastic shielding properties when cooled to underground temperature, and is heated to a fluid state.

The repair method for an external water infiltration portion of a sewer pipe according to an 18th aspect of the present invention has, in addition to the configuration of the first aspect of the invention, a configuration in which the water-stopping material supplied to the water-stopping material filling device in the water-stopping material filling step is selected from one or a combination of the amorphous water-stopping materials listed in (1)-(22) below.
(1) Polybutene resin waterproofing material,
(2) epoxy resin waterproofing material,
(3) ultra-fast hardening cement,
(4) Alofix (product name: ultrafine particle injection agent),
(5) Jet Cement (product name: ultra-fast hardening mortar),
(6) Water-stopping cement (product name: ultra-fast-hardening adhesive),
(7) A liquid, hydrophobic, two-component curing polyurethane-based water-stopping material;
(8) A liquid, hydrophilic, two-component curing polyurethane-based waterproofing material;
(9) A hydrophilic polyurethane-based water-stopping material that is liquid or paste-like, has water swelling properties, and is one-component curing type;
(10) A paste-like, water-swellable, one-component curing type rubber/highly water-absorbent polymer composite water-stopping material;
(11) A modified silicone water-stopping material that is paste-like, has non-deposition expansion properties, and is a one-component curing type;
(12) A silicone/epoxy composite water-stopping material that is paste-like, has non-deposition expansion properties, and is a one-component curing type;
(13) A paste-like, non-depositional, one-component curing fluorosilicone water-stopping material;
(14) A liquid or paste-like, non-curing, highly water-absorbent acrylic polymer water-stopping material having deposition expansion properties;
(15) A liquid, non-depositional, two-component curing acrylic emulsion water-stopping material;
(16) A non-solvent-based water-stopping material that is paste-like, has non-deposition expansion properties, and is non-hardening;
(17) A fluorine-based water-stopping material that is in a paste form, has non-deposition expansion properties, and is a one-component curing type;
(18) A polyolefin-based water-stopping material that is paste-like, has non-deposition expansion properties, and is non-hardening;
(19) A paste-like, non-deposit, non-expanding, non-hardening olefin/acrylic composite water-stop material;
(20) A paste-like asphalt emulsion water-stopping material,
(21) A paste-like, one-component curing type bentonite-based water-stopping material;
(22) A paste-like, two-component curing sodium silicate-based water-stopping material;

The repair device for an external water intrusion part of a sewer pipe according to the 19th aspect of the present invention comprises a running part capable of running inside the sewer main pipe, an imaging part capable of imaging the inner surfaces of the sewer main pipe, the attachment pipe, and the waste attachment pipe in order to investigate or confirm the condition including the presence and location of the external water intrusion part, which is a crack part or a broken hole in the sewer main pipe, the attachment pipe, and the waste attachment pipe, and a water-stopping material filling device provided on the running body or another running body and supplied with the water-stopping material according to the 17th or 18th aspect of the invention. When the external water intrusion part is present, the water-stopping material filling device is configured to fill the water-stopping material from the inner surface of the pipe to occupy and fill the external water intrusion part to a full state, as well as to fill it so that it spreads along the outer surface of the pipe and to fill it so as to cover the periphery of the external water intrusion part on the inner surface of the pipe.

According to the present invention, the water-stopping material not only fills and seals the end face of the external water intrusion part, but also overlaps and blocks the external water intrusion part from inside and outside the pipe, and unlike conventional water-stopping materials, it has an elastic sealing function and can completely block the external water intrusion part, thereby providing a repair method and repair device for the external water intrusion part of a sewer pipe that can shorten the repair time.

2 is a flowchart showing a repair method for an external water intrusion portion of a sewer pipe according to an embodiment of the present invention. 1 is a schematic diagram of an overall construction method for repairing an external water intrusion portion of a sewer pipe according to a first embodiment of the present invention; 1 shows another example of a water-stopping material used in a repair method and repair device for an external water intrusion portion of a sewer pipe according to one embodiment of the present invention. 1 shows another example of a water-stopping material used in a repair method and repair device for an external water intrusion portion of a sewer pipe according to one embodiment of the present invention. 1 shows another example of a water-stopping material used in a repair method and repair device for an external water intrusion portion of a sewer pipe according to one embodiment of the present invention. 1 shows another example of a water-stopping material used in a repair method and repair device for an external water intrusion portion of a sewer pipe according to one embodiment of the present invention. 1 shows another example of a water-stopping material used in a repair method and repair device for an external water intrusion portion of a sewer pipe according to one embodiment of the present invention. 1 shows another example of a water-stopping material used in a repair method and repair device for an external water intrusion portion of a sewer pipe according to one embodiment of the present invention. 11A to 11C are diagrams showing a repair method for an external water intrusion portion of a sewer pipe according to a second embodiment of the present invention. 13 shows a repair method for an external water intrusion portion of a sewer pipe according to a third embodiment of the present invention. 13 shows a repair method for an external water intrusion portion of a sewer pipe according to a third embodiment of the present invention. 13 shows a repair method for an external water intrusion portion of a sewer pipe according to a fourth embodiment of the present invention. 13 shows a repair method for an external water intrusion portion of a sewer pipe according to a fourth embodiment of the present invention. 13 shows a repair method for an external water intrusion portion of a sewer pipe according to a fifth embodiment of the present invention. 13 shows a repair method for an external water intrusion portion of a sewer pipe according to a fifth embodiment of the present invention. 1 shows an example of a water-stopping material used in a repair method and repair device for an external water infiltration portion of a sewer pipe according to one embodiment of the present invention. 1 shows another example of a water-stopping material used in a repair method and repair device for an external water intrusion portion of a sewer pipe according to one embodiment of the present invention. 1 shows another example of a water-stopping material used in a repair method and repair device for an external water intrusion portion of a sewer pipe according to one embodiment of the present invention. 1 shows another example of a water-stopping material used in a repair method and repair device for an external water intrusion portion of a sewer pipe according to one embodiment of the present invention. 1 shows another example of a water-stopping material used in a repair method and repair device for an external water intrusion portion of a sewer pipe according to one embodiment of the present invention. 1 shows another example of a water-stopping material used in a repair method and repair device for an external water intrusion portion of a sewer pipe according to one embodiment of the present invention. 1 shows another example of a water-stopping material used in a repair method and repair device for an external water intrusion portion of a sewer pipe according to one embodiment of the present invention. 1 shows another example of a water-stopping material used in a repair method and repair device for an external water intrusion portion of a sewer pipe according to one embodiment of the present invention. 1 shows an example of an image showing no infiltrated water, which is used for the algorithm and AI judgment in a repair method for an external water infiltrated portion of a sewer pipe according to one embodiment of the present invention. 1 shows an example of an image of infiltrated water used in an algorithm and AI judgment in a repair method for an external water infiltration portion of a sewer pipe according to one embodiment of the present invention. 1 shows an example of an image of low water infiltration used in an algorithm and AI judgment in a repair method for an external water infiltration section of a sewer pipe in one embodiment of the present invention.

The following describes a method for repairing external water intrusion in a sewer pipe according to an embodiment of the present invention, with reference to the drawings.

Figure 1 is a flowchart of a repair method for an external water intrusion section of a sewer pipe according to an embodiment of the present invention. As can be seen from this flowchart, in this repair method, the investigation and confirmation step S1, the waterstop material preheating step S3, the waterstop material filling step S4, and the post-construction confirmation step S6 are essential components, while the pre-treatment step S2 and the post-treatment step S5 are optional (optional).

The parts that correspond to the essential constituent elements of the repair method of the present invention are the investigation and confirmation step S1 and the water-stopping material filling step S4.

That is, the repair method for an external water intrusion part of a sewer pipe according to the present invention includes an investigation and confirmation step S1 and a water-stopping material filling step S4. In the investigation and confirmation step S1, a traveling body is made to travel in the sewer main pipe, and a current image including the position of the external water intrusion part, which is a crack part or a broken hole in at least one of the sewer main pipe, the junction pipe, and the waste junction pipe, is captured by an imaging mechanism provided on the traveling body, and the presence or absence of the external water intrusion part is confirmed by a monitor on the ground. In the water-stopping material filling step S4, if the external water intrusion part is present, a water-stopping material is supplied to a water-stopping material filling device provided on the traveling body or another traveling body, and the water-stopping material is used to fill the external water intrusion part from the inner surface side of the pipe with the water-stopping material, not only filling the external water intrusion part to a full state by occupying it from the inner surface side of the pipe, but also filling it so as to spread along the outer surface of the pipe and to cover the periphery of the external water intrusion part on the inner surface of the pipe. Details of the water-stopping material that has fluidity when heated and the water-stopping material that does not require heating will be described later.

[Investigation and confirmation step S1]
External water infiltration parts occur as cracks, broken holes, etc. (the cause may not always be clear) in the sewer pipe main pipe 1, the lateral pipe 2 currently in use, and the discarded lateral pipe 3 shown in Figure 2. Therefore, the investigation and confirmation step S1 is performed periodically or when the amount of water in the main pipe near the sewage treatment plant is observed to be higher than usual and the occurrence of an external water infiltration part is expected.

In the investigation and confirmation step S1, a traveling robot 11 equipped with a camera 12 is driven inside the main pipe 1 to photograph the inner surfaces of the main pipe 1, the annex pipe 2 currently in use, and the discarded annex pipe 3 with the camera 12, and the presence or absence of an external water intrusion point and the situation are monitored with a monitor 15 mounted on a ground-based vehicle 14 connected by a cable 13, and when the presence of an external water intrusion point is confirmed, the process proceeds to the pre-treatment step S2 and the waterstop material pre-heating step S3. As mentioned above, the waterstop material pre-heating step S3 is applied only when a waterstop material that becomes fluid when heated is used.

In the investigation and confirmation step S1, confirmation is made via the camera 12 and monitor 15 as to where and under what circumstances the external water intrusion has occurred in the main pipe 1, the attachment pipe 2 currently in use, and the disposal attachment pipe 3. Specifically, confirmation is made of the location of the crack or broken hole, the pipe diameter, the length and gap of the crack, or the size and shape of the broken hole, etc.

In addition, we will investigate and confirm whether the inner end of the attachment pipe 2 currently in use or the discarded attachment pipe 3 is submerged within the main pipe, whether there is soil, slime, other deposits or adhesions on the inner surface of the pipe corresponding to the external water intrusion part, whether the gap in the crack is small enough that water-stopping material will not easily reach the outer surface of the pipe even if it is filled from the inner surface of the pipe, and whether it is appropriate to define a filling space by setting up a formwork to conceal the crack and/or broken hole.

The above-mentioned confirmation/inspection is typically performed by a checker in the vehicle 14 visually checking/inspecting the captured image, but is not limited to this. Alternatively, the image may be visually checked/inspected by a checker in a destination (such as a remote workshop/center) to which the image is sent via a network, or the vehicle 14 or a remote location may use an image analysis program (a publicly known program can be used, so a detailed description will not be given) to recognize disturbances in the image, thereby identifying the location of the crack or broken hole, the pipe diameter, the length and gap of the crack, or the size and shape of the broken hole, etc.

[Pre-treatment step S2]
Depending on the contents of the investigation and confirmation, the pre-treatment step S2 can be divided into (1) a case in which pre-treatment work such as cutting, drilling, and removal of slime and deposits is performed, (2) a case in which formwork is installed to conceal the external water intrusion area without performing pre-treatment work, (3) a case in which pre-treatment work is performed and then formwork is installed, or (4) a case in which neither pre-treatment work nor formwork installation work is performed.

The above pre-treatment process (1) is described in more detail below. (1a) When the waste faucet is recessed into the main pipe, the pipe mouth of the waste faucet that protrudes inward from the inner surface of the main pipe is cut until it is recessed from the inner surface of the main pipe; (1b) When the crack is narrow and there is a risk that the water-stopping material will not reach the outer surface of the pipe even if it is applied (filled) from the inner surface of the pipe, one or more through holes are made along the crack with a concrete drill; (1c) When slime, deposits, or earth and sand are present on the inner surface of the pipe, they are removed with a jet of water and/or a brush roll; and (1d) A special balloon is inserted and inflated to define a limited sealed space in the waste faucet to fill with the water-stopping material. In the following explanation, the (mobile) robot is the actor, but this indicates that the robot can perform the work in place of humans even if the sewer pipe is in an environment that is not suitable for humans to work in, either in terms of the working environment or physically. It is also acceptable for the (mobile) robot to be operated by a worker who performs the work through the (mobile) robot, or for the (mobile) robot to perform the work autonomously based on a publicly known program.

When drilling through holes, the mobile robot goes ahead and sprays water on the drill using a drill machine held by a robotic hand attached to the mobile robot.

When a mobile robot removes slime, deposits, or soil, it does so using a water jet nozzle held by the robot hand attached to the mobile robot, or a motorized brush roll rotation device.

The special balloon is attached to a holding frame that is held by a robot hand attached to the traveling robot, and the traveling robot inserts the special balloon into a position above the mouth of the waste attachment pipe. At that position, an air supply pump attached to the traveling robot supplies compressed air through the connecting tube to inflate the special balloon and close the inner surface of the waste attachment pipe, and the holding frame is retrieved into the main pipe.

The formwork installation work involves pressing and fixing one or more divided formwork pieces held by a robot hand attached to a traveling robot so that they are in close contact with the inner surface of the pipe, and installing the formwork so that it conceals the external water intrusion area. The formwork conceals the external water intrusion area by leaving a gap of several to several dozen mm between the cracks and the periphery of the inner surface of the pipe, including the cracks and broken holes. If the external water intrusion area is a crack that has occurred to divide the main pipe, the formwork is set up to go around the inner circumference of the main pipe. If the waste attachment pipe is divided in a staggered manner above the pipe mouth, the formwork is set up to block the periphery, including the pipe mouth, of the waste attachment pipe.

The traveling robot used in the pre-processing step S2 is the traveling robot used in the investigation and confirmation step S1 or another traveling robot, and is equipped with a camera as well as the above-mentioned drill machine, jet water nozzle, or motorized brush roll rotation device, etc.

[Waterstop material pre-heating step S3]
In the water-stopping material pre-heating step S3, a resin material having an elastic sealing function such as silicone rubber (e.g., synthetic polyolefin compound; product name "Aquastop") is preferably used as the water-stopping material, which becomes fluid when heated to a required temperature higher than room temperature and hardens in a short time when cooled to underground temperature, but does not harden completely and maintains a slightly hard state. The water-stopping material pre-heating step S3 is to heat the water-stopping material to a fluid state and prepare it so that it can be supplied to the water-stopping material filling device used in the water-stopping material filling step.

When using a water-stopping material that has fluidity (filling ability) when heated, the water-stopping material pre-heating step S3 is necessary, but when using a water-stopping material that has fluidity (filling ability) that does not require heating, the water-stopping material pre-heating step S3 is not necessary.

In the water-stopping material preheating step S3, the water-stopping material, which has fluidity at a temperature of, for example, 60°C and semi-permanently has elasticity without completely hardening at room temperature or lower, is preheated to 60°C. The water-stopping material is then supplied to the plunger of the water-stopping material filling device held by the robot hand attached to the traveling robot at the repair position. The water-stopping material filling device is heated in a heating tank installed on the ground side, and is pressure-fed to the water-stopping material filling device through a hose by a viscous fluid pressure pump. The water-stopping material filling device used is a device equivalent to a filling machine or filling gun (for example, a nozzle type) used to fill viscous joint filling material that is filled into the joints between wall panels (for example, lightweight concrete panels) on the wall of a building.

[Water-stopping material filling step S4]
In the water-stopping material filling step S4, the water-stopping material is filled into the cracks and broken holes in the main pipe 1, the attachment pipe 2 currently in use, or the discarded attachment pipe 3 shown in Figure 2 to fill them up, not only to seal the cracks and broken holes, but also to fill and seal the cracks and broken holes on the inner and outer surfaces of the pipe so as to cover the surrounding areas.

In the water-stopping material filling step S4, the water-stopping material filling device, for example a filling gun, held by the robot hand provided on the traveling robot is positioned facing the external water intrusion area, which is a crack or a broken hole, and the traveling robot fills the water-stopping material from the filling gun.

[Post-processing step S5]
In the post-processing step S5, when the formwork is installed, the traveling robot can remove the formwork and retrieve it on the ground (by a retrieval mechanism not shown). This pattern is captured by a camera, and the image data is displayed on the monitor 15 via the cable 13, and the worker 14 or a worker at a remote location visually checks the construction status, or, as described above, the image is processed through an image processing algorithm and a known image recognition algorithm is used to detect discordant parts, and if there are insufficiently filled or unfilled parts in the external water intrusion part, the traveling robot fills the water-stopping material. If there are unevenness on the surface of the water-stopping material, plastering is performed to smooth the surface. The traveling robot performs plastering using a plastering trowel held by the robot hand provided on the traveling robot.

[Post-construction confirmation step S6]
In the post-construction confirmation step S6, after the traveling robot removes the formwork, a final confirmation of the construction status is performed by a camera. This final confirmation may also be performed by a worker through visual confirmation or an algorithm including image recognition or the like, as described below, or by AI, as described above.

[First embodiment]
[When the external water intrusion part is a crack and/or a broken hole in the main pipe 1]
In this case, even if the traveling robot moves the filling gun (thin tube) of the water-stopping material filling device along the cracked area while filling the cracked area, it is difficult to fill the cracked area with the water-stopping material. For this reason, it is preferable to adopt the following work procedure.

3A, 3B, 3C, 3D, 3E, and 3F are conceptual diagrams showing a repair method for an external water intrusion part of a sewer pipe according to a first embodiment of the present invention. First, as shown in FIG. 3A, the traveling robot removes slime and other deposits adhering to the periphery including the external water intrusion part X on the inner surface of the pipe with a concrete cutting end mill or brush roll 17 held by a robot hand 16 provided on the traveling robot 11. Next, if the external water intrusion part X is a cracked part, as shown in FIG. 3B, the traveling robot applies a water injection nozzle 18 provided on the traveling robot 11 to the inside of the cracked part X to remove slime and deposits present in the cracked part X. Next, if the external water intrusion part X is a cracked part and the gap of the cracked part is narrow, as shown in FIG. 3C, the traveling robot drills one or more through holes 20 in accordance with the cracked part so that the inside and outside of the pipe are penetrated with a drill 19 held by a robot hand 16C provided on the traveling robot 11. Next, regardless of whether the external water intrusion portion X is a crack or a broken hole, as shown in FIG. 3D, the traveling robot presses the form 21 held by the robot hand 16D1 of the traveling robot 11D against the inner surface of the pipe so as to conceal the crack X, and then the water-stopping material M is piled up along the crack using the discharge gun 22a of the water-stopping material filling device 22 held by the robot hand 16D2. The water-stopping material M spreads along the inner and outer surfaces of the pipe at the crack X and the through hole 20 and hardens. Next, as shown in FIG. 3E, the traveling robot uses the forming trowel 23 held by the robot hand 16F1 of the traveling robot 11E to smoothly form the inner surface side of the water-stopping material M and form the slope of the contour.

As a limited method when the external water intrusion portion X is a cracked portion and not a broken hole, the process shown in FIG. 3F can be carried out instead of the process shown in FIG. 3D. In the process shown in FIG. 3F, the traveling robot presses the plaster 24 held by the robot hand 16F1 provided on the traveling robot 11F against the inner surface of the pipe so as to conceal the cracked portion X. The discharge gun 22a of the water-stopping material filling device 22 held by the robot hand 16F2 is fitted into the central hole of the plaster 24 held by the robot hand 16F1. Next, the traveling robot applies pressure to the water-stopping material M with the plaster 24 while discharging the water-stopping material M from the discharge gun 22a in line with the cracked portion X, and applies the water-stopping material M to the cracked portion X and the through hole 20.

As a result, the water-stopping material M, which is heated and in a fluid state inside the water-stopping material filling device, is discharged from the discharge gun and applied to the cracked area X and through-hole 20 in a filling state. When it spreads to the surrounding area along the inner and outer surfaces of the pipe to conceal the cracked area X, it exchanges heat with the surrounding cold heat and loses its fluidity in a short time, and is cooled to underground temperature, becoming in a state where it has an elastic sealing function like silicone rubber semi-permanently. As a result, the water-stopping material not only fills the cracked area X to stop water, but also closes off the cracked area X up to the periphery of the inner and outer surfaces of the pipe due to the water-stopping material's loss of fluidity, effectively preventing water seepage.

The drill for drilling the through holes is preferably hollowed from the base end to a position close to the tip, and a water outlet hole is provided from the inner end of the hollow portion to the side portion near the tip of the drill, so that cooling water is supplied when drilling the through holes. When cutting or grinding the inner surface of the pipe with an end mill or brush roll, cooling water is preferably supplied (by a cooling water supply mechanism not shown). In addition, it is preferable that the filling gun of the water-stopping material filling device is inserted and fixed in the through hole provided in the center of the trowel having the required area for the trowel held by the robot hand. It is preferable that the traveling robot repeatedly moves such a trowel around the periphery including the cracked part of the inner surface of the pipe in a random movement path, and moves the water-stopping material with the trowel to forcibly push it into the cracked part.

[Second embodiment]
[When the external water intrusion part is a crack that has occurred in the mounting pipe 2 currently in use]
As shown in FIG. 4, in this case, the repair method is the same as that for the cracks that have occurred in the main pipe.

First, the traveling robot cuts the periphery of the cracked portion X on the inner surface of the attachment pipe 2 currently in use with an end mill held by the robot hand 16 provided on the traveling robot 11 (not shown). Next, the traveling robot presses the formwork 21 against the inner surface of the pipe to conceal the cracked portion X, and then piles water-stopping material M along the cracked portion using the discharge gun 22a of the water-stopping material filling device 22 held by the robot hand 16. By cutting, the water-stopping material is applied thickly so that it adheres closely to the inner surface of the pipe.

[Third embodiment]
[When the external water intrusion portion occurs above the pipe opening of the waste attachment pipe 3]
In this case, the following procedure is performed.

5A and 5B show a repair method for an external water intrusion part of a sewer pipe according to a third embodiment of the present invention. First, as shown in FIG. 5A, the traveling robot removes slime and other deposits adhering to the periphery including the external water intrusion part X (including both cracks and broken holes) on the inner surface of the pipe by using a water injection nozzle 18 (or a brush roll) held by a robot hand 16A provided on the traveling robot 11, and further removes slime and other deposits around the pipe mouth of the disposal attachment pipe 3 on the inner surface of the main pipe 1. Next, as shown in FIG. 5B, in order to form a limited sealed space for filling the water-stopping material of the disposal attachment pipe 3, the traveling robot inserts a special balloon 25 into an upper position from the pipe mouth of the disposal attachment pipe 3 and inflates it at the upper position prior to filling the water-stopping material, and then inserts an air vent tube (not shown) from the pipe mouth of the disposal attachment pipe 3 to the vicinity of the inflated special balloon 25. Next, the traveling robot installs the formwork 21 held by the robot hand 16B of the traveling robot 11 on the inner surface of the main pipe 1 so as to close the periphery including the pipe mouth of the waste attachment pipe 3. This formwork 21 forms a closed space with a gap of several millimeters between the inner surface of the main pipe and the periphery of the pipe mouth of the waste attachment pipe 3. Next, the traveling robot inserts the filling gun 22a of the water-stopping material filling device 22 into the insertion hole provided in the center of the formwork 21 and sprays the water-stopping material M, filling the space from the pipe mouth of the waste attachment pipe 3 to the inside where slime and deposits have been removed, and the water-stopping material M so as to cover the periphery of the pipe mouth of the waste attachment pipe 3 on the inner surface of the main pipe in a flange-like shape. The traveling robot removes the air vent tube just before the filling is completed. When the air vent tube is removed, the special balloon 25 is maintained in an inflated state by the action of the check valve, and the special balloon 25 may be left as it is. Through the above process, the water-stopping material M becomes semi-permanently in a state where it has an elastic sealing function like silicone rubber, blocking the external water intrusion part X and also doubly blocking the area around the mouth of the waste attachment pipe 3, preventing external water from entering through the external water intrusion part X. After that, the traveling robot removes the formwork 21 and performs plastering finishing if necessary.

[Fourth embodiment]
[When an external water intrusion occurs between the waste lateral pipe 3 and the main pipe 1 due to the waste lateral pipe 3 collapsing into the main pipe]
In this case, the following procedure is performed.

6A and 6B show a repair method for an external water intrusion part of a sewer pipe according to a fourth embodiment of the present invention. First, as shown in FIG. 6A, the traveling robot cuts the periphery of the broken hole X on the inner surface of the main pipe 1 by a few millimeters with an end mill 17 held by a robot hand 16A provided on the traveling robot 11, and cuts the end face of the pipe mouth of the waste attachment pipe 3 to match this cutting surface. In addition, the traveling robot removes slime and deposits around the broken hole X on the inner surface of the waste attachment pipe 3 by water injection and brush roll. During cutting, the traveling robot sprays water toward the cutting position with a water injection nozzle 18 held by the robot hand 16B. Furthermore, the traveling robot uses the water injection nozzle 18 to wash the inside of the waste attachment pipe 3 with water to remove slime and other deposits. Next, as shown in FIG. 6B, the traveling robot inserts a special balloon 25 and an air vent tube (not shown) prior to filling the water stop material in order to form a limited sealed space for filling the water stop material in the waste attachment pipe 3. Next, the traveling robot installs the formwork 21 held by the robot hand 16C provided on the traveling robot 11 on the inner surface of the main pipe 1 so as to close the periphery including the broken hole X around the pipe mouth of the waste attachment pipe 3. This formwork 21 forms a closed space with a gap of several millimeters between the inner surface of the main pipe and the periphery of the pipe mouth of the waste attachment pipe 3. Next, the traveling robot inserts the filling gun 22a of the water-stopping material filling device 22 held by the robot hand 16D into the insertion hole provided in the center of the formwork 21, and sprays the water-stopping material M from the filling gun 22a into the closed space, thereby filling the water-stopping material M into the inside of the waste attachment pipe 3 and the space sealed by the formwork 21 around the pipe mouth of the waste attachment pipe 3 on the inner surface of the main pipe. At this time, the traveling robot removes the air vent tube just before the completion of the filling, and the special balloon 25 may be left as it is. As a result, the water-stopping material M not only fills the waste attachment pipe 3, but also penetrates into the broken hole X of the waste attachment pipe 3, spreading along the inner and outer surfaces of the main pipe 1 around the surrounding area including the mouth of the waste attachment pipe 3, and cooling to underground temperature results in a semi-permanent elastic sealing function like silicone rubber, preventing the intrusion of external water through the broken hole X. The traveling robot then removes the formwork 21.

[Fifth embodiment]
[When external water intrusion occurs around the mouth of the attachment pipe 2 currently in use]
In this case, follow the procedure below.

7A and 7B show a repair method for an external water intrusion part of a sewer pipe according to a fifth embodiment of the present invention. First, as shown in FIG. 7A, the traveling robot removes slime and deposits from the further periphery of the broken hole X around the attachment pipe 2 on the inner surface of the main pipe 1 by spraying water from the water spray nozzle 18 held by the robot hand 16B (and/or a brush roll (not shown)), and then cuts a few millimeters with the end mill 17 held by the robot hand 16A provided on the traveling robot 11. During this cutting, the traveling robot sprays water toward the cutting position. Next, the traveling robot inserts a special balloon 25 into the pipe mouth of the attachment pipe 2 and inflates it to close it. Next, as shown in FIG. 7B, the traveling robot closes the further periphery of the broken hole X around the attachment pipe 2 on the inner surface of the main pipe 1 with a form 21 held by the robot hand 16C provided on the traveling robot 11. This form 21 forms a closed space with a gap of several millimeters between the inner surface of the main pipe and the periphery of the pipe mouth of the attachment pipe 2. Next, the traveling robot inserts the filling gun 22a of the water-stopping material filling device 22 held by the robot hand 16D into the insertion hole provided in the center of the formwork 21, and fills the water-stopping material M from the filling gun 22a. This causes the water-stopping material M to fill the broken hole X around the attachment pipe 2, spreading along the inner and outer surfaces of the main pipe 1 around the mouth of the attachment pipe 2, and cooling to underground temperature to become semi-permanently in a state of having an elastic sealing function like silicone rubber, preventing the intrusion of external water from the broken hole X. The traveling robot then removes the formwork 21 and the special balloon 25.

[Algorithm for determining whether or not an external water ingress exists]
In the investigation and confirmation step S1 shown in Figure 1, an algorithm is used to determine whether there are any external water intrusion areas in the main pipe, lateral pipe, and waste lateral pipe that need to be repaired, and whether the external water intrusion areas need to be repaired urgently. A monitor displays current images captured by an imaging mechanism along with past images (e.g., Figures 11 (A), (B), and (C)) of external water intrusion areas that occurred in the past at the same location in either the main pipe, lateral pipe, or waste lateral pipe and that are stored in a database so that the current image can be compared with the current image. Based on the similarity between the two current images, the current image determines whether repair is necessary or not and the degree of urgency by determining the amount of external water intrusion (large, medium, small, or none), and the current image determines the location, size, and shape of the external water intrusion area to select the scale and method of repair.

[AI to determine whether external water ingress exists]
In the investigation and confirmation step S1 shown in Figure 1, AI is used to determine whether there are any external water intrusion areas in the main pipe, junction pipe, and waste junction pipe that need to be repaired, and whether the external water intrusion areas need to be repaired urgently. The monitor displays current images captured by the imaging mechanism along with past images of external water intrusion areas that have occurred in the past at the same location in either the main pipe, junction pipe, or waste junction pipe and are stored in a database so that the current images can be compared with the current images. A calculation unit provided on the monitor quantitatively compares the water flow and volume in the current images with the water flow and volume in past images (for example, Figures 11 (A), (B), and (C)), and determines whether repair is necessary and the degree of urgency by determining whether the amount of external water intrusion is large, medium, small, or none.

[Water-stopping material according to the present invention]
In the above first to fifth embodiments, the water-stopping material applied in the water-stopping material filling step is a resin that has thermal fluidity that changes from a solid state to a liquid state that easily flows when heated to a required temperature higher than room temperature, and that occupies the filled space, fixes its shape, does not harden semi-permanently, and has physical properties that provide an elastic shielding function like silicone rubber when cooled to underground temperature, and is heated to a fluid state and supplied to the water-stopping material filling device when in use.

However, the water-stopping material used in the repair method and repair device for external water infiltration parts of sewer pipes according to the present invention may be any material that uses a hardening or non-hardening resin that occupies the filled space and fixes its shape. Hardening resins include thermosetting resins and time-hardening resins.

However, the water-stopping material applied in the repair method and repair device for an external water infiltration portion of a sewer pipe according to the present invention is not limited to one having heat fluidity, and may be applied by filling one of the following amorphous water-stopping materials which are liquid or paste-like at room temperature and do not require heating, or by filling a mixture of multiple types, or by two-stage filling without mixing.
(1) Polybutene resin water-stopping material (product name); Figure 8 (A)
Polybutene resin is a long-chain synthetic hydrocarbon compound consisting of a copolymer mainly composed of isobutylene and partially reacted with normal butene. It is a transparent liquid polymer with a viscosity of about 20 to 200,000 2/s at 40°C depending on the conditions of the synthesis reaction, and has good chemical stability, water resistance, and chemical resistance. For example, Viewlon (product name) manufactured by Mitsui Chemicals, Inc.
(2) Epoxy resin water-stopping material (product name); Figure 8 (B)
(Product numbers 011135 and 011136 manufactured by Ishikawa Ink Co., Ltd.), and other examples include a water leakage prevention agent (product name: Joiner W) manufactured by Toei Kanki Co., Ltd.
(3) G-Lock One (product name); Figure 8 (C)
Ultra-fast hardening cement (4) Alofix (product name) manufactured by Nisso Kozai Co., Ltd.; FIG. 9 (A)
An ultrafine particle injection agent made by combining ultrafine particle cement manufactured by Pacific Materials Co., Ltd. and a hardener (Allofix SS).
(5) Jet Cement (product name); FIG. 9(B)
Sumitomo Osaka Cement ultra-fast hardening mortar)
(6) Water-stopping cement (product name); Figure 9 (C)
Sunhome Industries ultra-fast-hardening adhesive)
(7) Cisido (product name); FIG. 10(A)
Sanyu Rec Co., Ltd.'s liquid, hydrophobic, two-component curing polyurethane waterproofing material.
(8) Mixed grout (product name); Fig. 10(B)
A liquid, hydrophilic, two-component curing polyurethane-based waterproofing material that combines a special water-based emulsion manufactured by Masuda Corporation with hydrophilic polyurethane resin.

It is not limited to those that have heat flowability, but can be applied by filling one of the following amorphous water-stopping materials that are liquid or paste-like at room temperature without the need for heating, or by filling multiple types together, or by filling them in two stages without mixing them.

In addition to the above water-stopping materials (1) to (8), the following water-stopping materials (9) to (22) that have fluidity without heating and have ultra-fast hardening properties can be used.
(9) Highcell OH-1AX
A liquid or paste-like, water-swellable, one-component curing hydrophilic polyurethane water-stopping material manufactured by Elehon Kasei Co., Ltd.
(10) A water-swellable rubber/highly water-absorbent polymer composite water-stopping material in a paste form, for example:
One-component and two-component curing Pilelock NS-V (product name); manufactured by Nippon Kagaku Toryo Co., Ltd.
Sunstopper (product name); manufactured by Dainichi Kasei Co., Ltd.
(11) A modified silicone water-stopping material in a paste form having non-deposition expansion properties;
One-component and two-component curing sealants whose main component is modified silicone (organic polymers with organosiloxane),
(12) A silicone/epoxy composite water-stopping material that is paste-like, has non-deposition expansion properties, and is a one-component curing type;
Elastic adhesive and sealant TB3950 made by ThreeBond Co., Ltd.
(13) A paste-like, non-depositional, one-component curing fluorosilicone water-stopping material;
RTV fluorosilicone rubber (product name) manufactured by Shin-Etsu Chemical Co., Ltd.
(14) A liquid or paste-like, non-curing, highly water-absorbent acrylic polymer water-stopping material having deposition expansion properties;
Fast-drying waterproofing material, Vairoc (product name), manufactured by Nippon Chemical Coating Co., Ltd.
Chemicacoat (product name), a quick-drying waterproofing material manufactured by Nippon Chemical Coating Co., Ltd.
(15) A liquid, non-depositional, two-component curing acrylic emulsion water-stopping material;
Paste mortar (product name) manufactured by Toyo Materan Co., Ltd.
(16) A non-solvent-based water-stopping material that is paste-like, has non-deposition expansion properties, and is non-hardening;
Two-component acrylic quick-drying adhesive HT-Bond 777 (product name) manufactured by Helmetic Co., Ltd.
(17) A fluorine-based water-stopping material that is in a paste form, has non-deposition expansion properties, and is a one-component curing type;
Concrete crack repair material TSE-050 (product name) manufactured by Helmetic Co., Ltd.
(18) A polyolefin-based water-stopping material that is paste-like, has non-deposition expansion properties, and is non-hardening;
Stoppable putty (product name) manufactured by Helmetic Co., Ltd.
2100 Aquastop (product name) manufactured by Tateki Co., Ltd.
(19) A paste-like, non-deposit, non-expanding, non-hardening olefin/acrylic composite water-stop material;
KB Flex 200 (product name) manufactured by Custard PN Japan Co., Ltd.
(20) A paste-like asphalt emulsion water-stopping material,
Narustop (product name) manufactured by Naruse Chemical Co., Ltd.
(21) A paste-like, one-component curing type bentonite-based water-stopping material;
Kuniseal Putty XL (product name) manufactured by Kunimine Industries Co., Ltd.
(22) A paste-like, two-component curing sodium silicate-based water-stopping material (manufactured by Toso Sangyo Co., Ltd.)

As explained above, according to each embodiment of the present invention, the water-stopping material not only fills and seals the end face (fracture surface of the main pipe) of the external water intrusion part of the sewer pipe, but also piles up the water-stopping material so as to extend along the inner and outer surfaces of the pipe to block the external water intrusion part as a device for overlapping and blocking the external water intrusion part from at least the inner surface of the pipe, and moreover, unlike conventional cement-based water-stopping materials, a resin that has elasticity and sealing properties without hardening semi-permanently is used as the water-stopping material, so the water-stopping material does not fall off from the external water intrusion part and can completely block the external water intrusion part, and a repair method for the external water intrusion part of a sewer pipe that can shorten the time from filling to hardening of the water-stopping material can be provided.

In the above, a repair method for external water intrusion sections of sewer pipes has been mainly described as one embodiment of the present invention, but the technical concept of the present invention can also be realized as a repair device for sewer pipes (mainly, but not limited to, external water intrusion sections).

As explained above, according to the above-mentioned embodiment and/or each aspect of the present invention, the water-stopping material is not only filled into the external water intrusion portion, but also covers the cracks and the periphery of the broken hole on the inner surface of the main pipe, or fills the external water intrusion portion of the main pipe and spreads along the inner and outer surfaces of the main pipe to seal off the external water intrusion portion. This allows the external water intrusion portion to be completely sealed off and the repair time to be shortened. Furthermore, unlike conventional water-stopping materials, it has an elastic sealing function, so it can completely seal off the external water intrusion portion, and has great applicability in various industries including the building and construction industries.

1...Main pipe 2...Attachment pipe currently in use 3...Discarded attachment pipe 11...Mobile robot 12...Camera 13...Cable 14...Vehicle 15...Monitor 16, 16A, 16B, 16C, 16D1, 16D2, 16E...Robot hand 17...End mill or brush roll 18...Water injection nozzle 19...Drill 20...Through hole 21...Formwork 22...Waterstop material filling device 22a...Discharge gun 23...Molding trowel 24...Painting trowel 25...Special balloon 26...End mill X...External water intrusion part (damaged hole, cracked part)
M: Water-stopping material

Claims (19)

an investigation and confirmation step of causing a traveling body to travel within the sewer main pipe, capturing current images including the location of external water intrusion areas, which are cracks or broken holes in at least one of the sewer main pipe, lateral pipe, and waste lateral pipe, using an imaging mechanism provided on the traveling body, and confirming the presence or absence of external water intrusion areas on a monitor on the ground;
a water-stopping material filling step in which, when there is an external water intrusion portion, a water-stopping material filling device provided on the running body or another running body is used to fill the external water intrusion portion from the inner surface of the pipe with water-stopping material not only to occupy and fill the external water intrusion portion to a full state, but also to fill the water-stopping material so as to spread along the outer surface of the pipe and to cover the peripheral portion of the external water intrusion portion on the inner surface of the pipe. A repair method for an external water intrusion portion of a sewer pipe as described in claim 1, characterized in that, in the water-stopping material filling step, if the external water intrusion portion is a crack where there is a risk that the filling of the water-stopping material into the external water intrusion portion will not reach the outer surface of the main pipe, a water-stopping material flow hole forming step is provided prior to the water-stopping material filling step, in which a water-stopping material flow hole is drilled in the external water intrusion portion from the inner surface of the pipe to reach the outer surface of the pipe using a drill provided on the running body. 3. A repair method for an external water infiltration portion of a sewer pipe as described in claim 2, characterized in that the water-stopping material flow hole forming step is carried out using the drill configured so that cooling water passes through the drill's central hole and flows out from the tip. In the step of investigating and confirming, a determination is made by an algorithm as to whether or not there is an external water intrusion part to be repaired in the main pipe, the lateral pipe, and the waste lateral pipe,
A repair method for an external water infiltration part of a sewer pipe as described in claim 1, characterized in that the monitor displays current image captured by the imaging mechanism and past image stored in a database so that the current image can be compared side by side with the current image, and based on the similarity between the two current images, the current image determines the amount of water infiltration from outside, whether it is large, medium, small or none, to determine whether repair is necessary, and the current image determines the location, size and shape of the external water infiltration part to select the scale and method of repair. In the investigation and confirmation step, a determination is made by AI as to whether or not there is an external water intrusion part to be repaired in the main pipe, the lateral pipe, and the waste lateral pipe,
A repair method for an external water infiltration section of a sewer pipe as described in claim 1, characterized in that the monitor displays current image captured by the imaging mechanism and past image stored in a database so that the current image can be compared with the past image, and a calculation unit provided in the monitor quantitatively compares the similarity of the water flow and water volume in the current image with the water flow and water volume in the past image, and determines whether repair is necessary or not by determining the amount of water infiltration from outside, whether it is large, medium, small, or none. 2. The method for repairing an external water intrusion portion of a sewer pipe as described in claim 1, characterized in that, in the water-stopping material filling step, when the external water intrusion portion is located away from the pipe mouth of the attachment pipe or the waste attachment pipe, an abandoned balloon made of rubber having rigidity capable of withstanding the water-stopping material filling pressure is inflated and inserted into the upper part of the attachment pipe or the waste attachment pipe to block it, and the water-stopping material is filled in the space from the pipe mouth of the attachment pipe or the waste attachment pipe to the abandoned balloon. A repair method for an external water infiltration portion of a sewer pipe as described in claim 1, characterized in that if there are adhesion inhibitors including accumulated soil and slime on the pipe surface at the filling point of the water-stopping material, a cleaning step of removing the adhesion inhibitors with a jet water flow is performed prior to the water-stopping material filling step. A repair method for an external water intrusion portion of a sewer pipe as described in claim 1, characterized in that a formwork installation step for installing a formwork for filling and forming the water-stopping material so as to seal off the surrounding area including the external water intrusion portion on the inner surface of the pipe with the water-stopping material of a required thickness is provided prior to the water-stopping material filling step. The repair method for an external water infiltration portion of a sewer pipe as described in claim 8, characterized in that a pipe inner surface cutting step is provided prior to the form installation step, in which the portion of the pipe inner surface where the form is to be installed is cut to a required depth by a cutter provided on the running body. The repair method for an external water infiltration portion of a sewer pipe according to claim 8 or 9, further comprising a formwork removal step of removing the formwork after the shape of the water-stopping material filled in the formwork has stabilized. The repair method for an external water infiltration portion of a sewer pipe according to claim 10, further comprising a step of forming a peripheral shape of the waterstop material after removing the formwork, the peripheral shape of the waterstop material being formed. A repair method for an external water intrusion portion of a sewer pipe as described in claim 10, characterized in that after the water-stopping material filling step, a post-filling confirmation step is provided in which an imaging mechanism provided on the running body is used to capture current images of the external water intrusion portion after repair, and the current images are observed on a monitor on the ground to confirm whether the water-stopping material has been sufficiently filled into the external water intrusion portion. In the post-filling confirmation step, a determination as to whether or not there is an external water intrusion portion after repair is made by AI,
The repair method for an external water intrusion portion of a sewer pipe as described in claim 12, characterized in that a current image after repair captured by the imaging mechanism is displayed on the monitor, and the presence or absence of external water intrusion in the current image after repair is determined by a calculation unit provided on the monitor based on the presence or absence of pixel changes. A repair method for an external water intrusion portion of a sewer pipe as described in claim 12 or 13, characterized in that if there are any areas in which the water-stopping material is not sufficiently filled in the external water intrusion portion in the post-filling confirmation step, the water-stopping material is re-filled in the areas in which the water-stopping material is not sufficiently filled in the external water intrusion portion. The repair method for an external water infiltration part of a sewer pipe as described in claim 1, characterized in that the water-stopping material supplied to the water-stopping material filling device in the water-stopping material filling step uses a hardening resin or a non-hardening resin that occupies the filled space and fixes its shape. The repair method for an external water infiltration portion of a sewer pipe according to claim 15, characterized in that the curable resin is a thermosetting resin or a time-curable resin. The water-stopping material supplied to the water-stopping material filling device in the water-stopping material filling step is a resin that has thermal fluidity such that when heated to a required temperature higher than room temperature it changes from a solid state to a liquid state that easily flows, and when cooled to underground temperature it occupies the filled space, fixes its shape, does not harden semi-permanently, and has physical properties that provide an elastic shielding function, and is heated to a fluid state. The repair method for an external water infiltration portion of a sewer pipe as described in claim 1, characterized in that the water-stopping material supplied to the water-stopping material filling device in the water-stopping material filling step is selected and applied from one or a combination of amorphous water-stopping materials listed in the following (1)-(22).
(1) Polybutene resin waterproofing material,
(2) epoxy resin waterproofing material,
(3) ultra-fast hardening cement,
(4) Alofix (product name: ultrafine particle injection agent),
(5) Jet Cement (product name: ultra-fast hardening mortar),
(6) Water-stopping cement (product name: ultra-fast-hardening adhesive),
(7) A liquid, hydrophobic, two-component curing polyurethane-based water-stopping material;
(8) A liquid, hydrophilic, two-component curing polyurethane-based waterproofing material;
(9) A hydrophilic polyurethane-based water-stopping material that is liquid or paste-like, has water swelling properties, and is one-component curing type;
(10) A paste-like, water-swellable, one-component curing type rubber/highly water-absorbent polymer composite water-stopping material;
(11) A modified silicone water-stopping material that is paste-like, has non-deposition expansion properties, and is a one-component curing type;
(12) A silicone/epoxy composite water-stopping material that is paste-like, has non-deposition expansion properties, and is a one-component curing type;
(13) A paste-like, non-depositional, one-component curing fluorosilicone water-stopping material;
(14) A liquid or paste-like, non-curing, highly water-absorbent acrylic polymer water-stopping material having deposition expansion properties;
(15) A liquid, non-depositional, two-component curing acrylic emulsion water-stopping material;
(16) A non-solvent-based water-stopping material that is paste-like, has non-deposition expansion properties, and is non-hardening;
(17) A fluorine-based water-stopping material that is in a paste form, has non-deposition expansion properties, and is a one-component curing type;
(18) A polyolefin-based water-stopping material that is paste-like, has non-deposition expansion properties, and is non-hardening;
(19) A paste-like, non-deposit, non-expanding, non-hardening olefin/acrylic composite water-stop material;
(20) A paste-like asphalt emulsion water-stopping material,
(21) A paste-like, one-component curing type bentonite-based water-stopping material;
(22) A paste-like, two-component curing sodium silicate-based water-stopping material; A running section that can run inside the sewer main pipe;
an imaging unit capable of imaging the inner surfaces of the sewer main pipe, the lateral pipe, and the waste lateral pipe in order to investigate or confirm the condition of the sewer main pipe, the lateral pipe, and the waste lateral pipe, including the presence and location of external water intrusion portions, which are cracks or broken holes;
a water-stopping material filling device provided on the traveling body or another traveling body and supplied with the water-stopping material according to claim 17 or 18;
A repair device for an external water intrusion portion of a sewer pipe, characterized in that when there is an external water intrusion portion, the water-stopping material filling device is configured not only to fill the external water intrusion portion from the inner surface of the pipe to a full state, but also to fill the water-stopping material so that it spreads along the outer surface of the pipe and to fill so as to cover the peripheral portion of the external water intrusion portion on the inner surface of the pipe.