JP6709108B2 - Rehabilitation pipe drilling method and drilling device - Google Patents

Description

The present invention relates to a method and a drilling device for drilling a communication port in a rehabilitating pipe when rehabilitating an existing pipe.

It is known to rehabilitate an existing pipe such as an aged sewer pipe by lining it with a rehabilitation pipe (see Patent Document 1, etc.). Normally, branch pipes such as an attachment pipe and an inflow pipe are branched from the existing pipe. The existing pipe is provided with a connection port to these branch pipes. When the rehabilitation pipe is installed, the connection port is hidden by the rehabilitation pipe. After that, the rehabilitation pipe is drilled for a communication port with the connection port.

Conventionally, the upstream side of the construction target span is stopped with a packer to stop the sewage from flowing down, and then a TV camera is also inserted into the existing pipe together with the hole drilling machine, and the position is confirmed by the image taken by the TV camera. However, it was drilling.

In the case of the inversion method and the forming method, a recess may be formed in a portion of the rehabilitation pipe covering the connection port. I searched for this dent with a TV camera and drilled it. In the case where no depression could be made, the position of the connection port was confirmed by irradiating light from the branch pipe side and observing the transmitted light with a television camera in the rehabilitation pipe.
Further, in the pipe manufacturing method and the like, since it is often impossible to form a recess and it is not possible to adopt transmitted light, external drilling was performed from the branch pipe side by a dedicated external drilling machine.

[Patent Document 1] JP-A-4-66892

In the method of confirming the depression or the like with a television camera, the position of the depression is difficult to see, and since it is viewed obliquely, a hole-drilling defect is likely to occur. For example, a hole different from the connection port may be drilled, a hole larger than the connection port may be drilled, or the drilled communication port may be unsightly.
In addition, the method of observing the transmitted light from the branch pipe side with a television camera is difficult to determine when the thickness of the rehabilitation pipe is large. Therefore, in the trial, a small hole was opened and checked, and if it seems to be connected to the connection port, the hole was enlarged and it took a very long time.
Furthermore, external drilling requires a dedicated machine, which increases the cost. Moreover, if the mass of the branch pipe is unknown, it cannot be adopted.
In view of the above circumstances, the present invention provides a drilling method and a drilling device capable of preventing defective drilling of a communication port when rehabilitating an existing pipe with a rehabilitating pipe, improving quality, shortening a construction period, and reducing cost. The purpose is to provide.

In order to solve the above problems, the present invention is a method of drilling a communication port with the connection port in the rehabilitation pipe when rehabilitating an existing pipe having a connection port with a branch pipe by a rehabilitation pipe,
Obtaining a reference separation distance between the connection port and the reference position,
Installing a rehabilitation pipe in the existing pipe,
In the rehabilitation pipe, positioning the drilling machine at a drilling position separated from the reference position by the reference separation distance,
Drilling the rehabilitation pipe at the drilling position by the drilling machine,
In the acquisition step, an image of the inside of the existing pipe and thus the connection port is captured by a moving imager that moves inside the existing pipe,
Irradiating the moving image pickup device with laser light from a laser rangefinder installed at the reference position or a predetermined distance away from the reference position, and reflecting the laser light by a reflector provided in the moving image pickup device. Thus, the distance between the laser range finder and the moving image pickup device that is picking up the image of the connection port is measured, and the reference separation distance is acquired.

According to the method of the present invention, the reference separation distance between the connection port and the reference position is acquired in advance. The reference distance can be accurately measured in a short time by using the laser range finder and the moving image pickup device. By positioning the boring machine and boring the communication port based on the reference separation distance, the communication port can be reliably connected to the connection port. Therefore, it is possible to prevent defective drilling of the communication port and improve the quality of construction. The construction period can be shortened because it does not take time to judge the drilling position. The number of machines used can be reduced and the construction cost can be reduced.

In the positioning step, the laser beam is emitted from the laser rangefinder installed at the reference position or at a predetermined position away from the reference position by a predetermined distance, and the laser beam is applied to the drilling machine by the reflector provided in the drilling machine. By reflecting a laser beam, a drilling distance between the reference position and the drilling machine is measured, and the drilling machine is positioned so that the drilling distance matches the reference separation distance. preferable.
Thereby, the boring machine can be more accurately positioned at a position corresponding to the connection port. Therefore, the communication port can be drilled so as to surely communicate with the connection port, and the drilling failure can be more reliably prevented.

In the acquisition step, also acquires the connection angle of the connection port,
In the boring step, it is preferable that the boring angle of the boring machine is adjusted to the connection angle based on a detection angle of an inclinometer provided in the boring machine.
As a result, the communication port can be drilled in the angle direction of the connection port. Therefore, it is possible to avoid an error in the drilling angle and to more reliably prevent the drilling failure. The connection angle of the connection port to be acquired preferably includes a circumferential connection angle in the circumferential direction of the existing pipe, and more preferably further includes a pipe axial direction connection angle in the pipe axial direction of the existing pipe.

In the boring step, it is preferable that the boring part of the boring machine is imaged by a boring image pickup device mounted on the boring machine or provided separately from the boring machine.
As a result, it is possible to drill while confirming the drilling status of the drilling machine on a monitor or the like. Therefore, it is possible to more surely prevent the defective drilling of the communication port. You can clean the finish of the communication port.

It is preferable to set the reference position in a manhole connected to the existing pipe.
Accordingly, the laser rangefinder can be installed in the manhole and the laser light can be emitted from the manhole into the existing pipe. With the reference position in the manhole as a reference, it is possible to perform the step of obtaining the reference separation distance, the step of positioning the drilling machine, and the like.

The device of the present invention is a drilling device for drilling a communication port with a connection port to a rehabilitation pipe installed in an existing pipe having a connection port with a branch pipe,
A laser rangefinder installed at a reference position or a predetermined position with respect to the reference position,
A drilling machine having a drilling portion for drilling the rehabilitating pipe, which is movable in the rehabilitating pipe,
A reflector provided on the hole drilling machine, which reflects the laser light from the laser rangefinder,
It is characterized by having.
The reference separation distance between the connection port and the reference position is acquired in advance. After the rehabilitation pipe is installed in the existing pipe, the boring machine is housed in the rehabilitation pipe. The drilling machine is positioned at a drilling position separated from the reference position by the reference separation distance. At this time, the distance between the drilling machine and the laser distance meter can be accurately measured by the laser distance meter. As a result, the drilling machine can be accurately positioned so that the distance between the reference position and the drilling machine matches the reference separation distance. At this position, the rehabilitation pipe is drilled to form a communication port. Thereby, the communication port can be surely connected to the connection port. Therefore, it is possible to prevent defective drilling of the communication port and improve the quality of construction. The construction period can be shortened because it does not take time to judge the drilling position. The construction cost can be reduced.

The reflector is rotatably provided around an axis intersecting the advancing/retreating direction of the drilling machine,
Further, it is preferable that a biasing means for biasing the reflector to a neutral position orthogonal to the advancing/retreating direction is provided.
Thereby, when the reflector comes into contact with some obstacle, the reflector can fall over and pass through the obstacle. After passing, the reflector can be returned to the original neutral position by the biasing means.

ADVANTAGE OF THE INVENTION According to this invention, the drilling defect of a communication port can be prevented and the quality of existing pipe rehabilitation construction can be improved.

FIG. 1 is a front cross-sectional view showing a state of an acquisition process using a reference separation distance acquisition device in an existing pipe rehabilitation method according to a first embodiment of the present invention. FIG. 2 is a flowchart showing an outline of the rehabilitation method. FIG. 3 is a perspective view of a gantry (laser range finder supporting means) of the reference separation distance acquisition device. FIG. 4 is an exploded perspective view of the gantry. FIG. 5 is a front view showing a state where the moving image pickup device of the reference separation distance acquisition device is arranged at a hole drilling position of an existing pipe. FIG. 6 is a side view taken along the line VI-VI of FIG. FIG. 7 is a front cross-sectional view showing a state of a positioning step by a hole drilling device in the rehabilitation method together with an enlarged view of a state after the hole drilling step of a circular portion. FIG. 8 is a front view of a drilling machine of the drilling device. FIG. 9 is a side view of the boring machine taken along line IX-XI in FIG. 8. FIG. 10 is a perspective view showing a modification of the laser rangefinder supporting means. FIG. 11 is a cross-sectional view showing a modified mode of the laser range finder supporting means in a state in which the laser range finder supporting means is installed in a communicating portion between a manhole and an existing pipe. FIG. 12 is a side view of the laser rangefinder supporting means taken along the line XII-XII in FIG. 11. FIG. 13 is a side view showing a modified example of the method of using the laser range finder supporting means of FIG.

Embodiments of the present invention will be described below with reference to the drawings.
1 to 9 show a first embodiment of the present invention. As shown in FIG. 1, the existing pipe 1 to be rehabilitated in this embodiment is an underground sewer pipe. Manholes 3 are connected to both ends of the existing pipe 1. A connection port 2a (mounting pipe port) is provided in the middle of the existing pipe 1, and the branch pipe 2 (mounting pipe) is connected thereto.

<Outline of rehabilitation method>
As shown in the flowchart of FIG. 2, the existing pipe 1 is rehabilitated as follows.
First, the reference separation distance L0 between the connection port 2a and the reference position P0 (FIG. 1) is acquired (step 101). Then, after the rehabilitation pipe 4 (FIG. 7) is installed along the inner wall of the existing pipe 1 (step 102), it is drilled in the rehabilitation pipe 4 at a drilling position separated from the reference position P0 by the reference separation distance L0. The punch 40 (FIG. 8) is positioned (step 103). The rehabilitation pipe 4 is drilled by the drilling machine 40 at this drilling position (step 104). As a result, the rehabilitation pipe 4 is formed with a communication port 4a (FIG. 7) with the connection port 2a.

<Reference position P0>
As shown in FIG. 1, the reference position P0 is preferably set in the manhole 3. More preferably, it is set on the inner wall of the manhole 3 opposite to the existing pipe 1 to be rehabilitated. When another existing pipe 1A is opened in the inner wall, it is set in the opening 1e. More preferably, the intersection of the inner wall (or opening 1e) on the opposite side of the manhole 3 and the extension line of the central axis of the existing pipe 1 to be rehabilitated is set as the reference position P0.

<Reference separation distance acquisition device 5>
As shown in FIG. 1, the acquisition step (step 101) is performed using the reference separation distance acquisition device 5. The reference separation distance acquisition device 5 includes a laser range finder 10, a mount 20 (laser range finder support means), and a moving imager 30.
The laser range finder 10 is installed at the reference position P0. The laser range finder 10 emits a laser beam 13, receives reflected light, and measures the distance to the reflection point. The optical axis of the laser light 13 is directed from the reference position P0 to the existing pipe 1 to be rehabilitated. Specifically, the back surface of the laser range finder 10 is arranged on the reference position P0, and the tip end surface (laser emission surface) is directed to the existing pipe 1. Preferably, the optical axis of the laser light 13 is along the central axis of the existing pipe 1.
The laser range finder 10 and the processing control means 8 including a personal computer on the ground are connected by a cable (not shown).
The processing control means 8 and the laser range finder 10 may be capable of wireless communication. The operator may read the measurement result by the laser range finder 10, and the operator may input the measurement result to the processing control means 8.

As shown in FIG. 3, the laser range finder 10 is supported by a pedestal 20. The gantry 20 includes a gantry body 21 and a plurality of (here, four) legs 22. The gantry body 21 has an annular plate shape. The outer diameter of the gantry body 21 is substantially equal to the inner diameter of the manhole 3 (FIG. 1) from the bottom portion to the middle portion. As shown in FIG. 4, the gantry body 21 is divided into a plurality of (four in this case) divided bodies 21a in the circumferential direction. Each divided body 21 has an arc-shaped plate shape. Adjacent divided bodies 21a are connected to each other via a connecting piece 24 to be assembled in an annular shape. The leg portion 22 is expandable and contractible. The upper ends of the legs 22 are connected to the gantry body 21. A suspended column-shaped distance meter support portion 23 hangs from one divided body 21a. As shown in FIG. 3, a clamp member 25 is detachably attached to the distance meter support portion 23. The laser range finder 10 is provided on the clamp member 25.

As shown in FIG. 1, a pedestal 20 is installed in the manhole 3. The laser rangefinder 10 is positioned and arranged at the reference position P0 by the gantry 20.
The components 21 to 24 of the gantry 20 can be disassembled and assembled by being connected to each other by screw fastening or the like.
By disassembling the gantry 20 when the gantry 20 is housed in the manhole 3, the housing work can be easily performed. The gantry 20 can be assembled inside the manhole 3. Since the gantry body 21 is in contact with the inner peripheral surface of the manhole 3 over substantially the entire circumference, the gantry 20 and thus the laser rangefinder 10 can be stabilized. By expanding and contracting each leg 22, the level of the gantry body 21 can be adjusted and the height of the laser rangefinder 10 can be adjusted.

As shown in FIG. 1, a mobile imaging device 30 is arranged in the existing pipe 1. As shown in FIGS. 5 and 6, the mobile imaging device 30 includes an image development camera 31 (imaging means), a traveling body 32, and a reflector 35. The image development camera 31 has an ultra wide-angle lens (details not shown), and can take an image of almost the entire circumference (all directions) of the existing pipe 1 at one time. The image pickup signal is sent to the processing control means 8 (FIG. 1) in real time and developed as a moving image on the screen of the monitor 8m into a panoramic image. The processing control unit 8 and the mobile imaging device 30 are connected by a wired cable (not shown),
The processing control unit 8 and the mobile imaging device 30 may be capable of wireless communication.

As shown in FIG. 5, the image development camera 31 is mounted on the traveling body 32.
The traveling body 32 has a self-propelled function. As a result, the mobile imaging device 30 can run by itself. The movement of the mobile imaging device 30 can be remotely controlled by the processing control means 8.
The mobile imaging device 30 may be able to travel by towing or the like instead of traveling by itself.

The camera support arm 33 extends from the front part (right side in FIG. 5) of the traveling body 32. The camera support arm 33 is capable of raising and lowering (rotating) forward and backward around an axis along the vehicle width direction (direction orthogonal to the paper surface of FIG. 5) with respect to the traveling body 32. The image development camera 31 is provided at the tip of the camera support arm 33. The camera support arm 33 includes two links 33a and 33b, and cooperates with the image development camera 31 and the traveling body 32 to form a parallel link. The image development camera 31 is always directed forward (constant direction) regardless of the elevation angle of the camera support arm 33.

As shown in FIGS. 5 and 6, a reflector 35 is provided on the rear portion (left side in FIG. 5) of the traveling body 32. The reflector 35 has a substantially semicircular plate shape. It is preferable that the size (radius) of the reflector 35 be within the existing pipe 1 and be as large as possible. The material of the reflector 35 is, for example, resin, and polyvinyl chloride is preferable from the viewpoint of workability and weight reduction. The color of the reflector 35 is preferably white from the viewpoint of easy visibility of the laser light 13. The surface of the reflector 35 is preferably as smooth as possible, and it is preferable that warpage is not generated as much as possible.

As shown by the solid line in FIG. 5, the reflector 35 is erected vertically so as to be orthogonal to the moving direction of the moving image pickup device 30. Moreover, the reflector 35 can be tilted back and forth and can be automatically returned to the vertical neutral position. Specifically, the linear lower end portion of the reflector 35 is rotatably connected to the traveling body 32 about an axis line along the vehicle width direction (an axis line that intersects the advancing/retreating direction of the mobile imaging device 30). A biasing means 36 is provided at the rotary connection portion of the reflector 35. The reflector 35 is urged by the urging means 36 so as to be vertical (neutral position). The biasing means 36 includes a forward tilting action spring 36a and a rearward tilting action spring 36b. When the reflector 35 is in the forward tilted posture (two-dot chain line in FIG. 5), the forward tilting action spring 36a rotationally biases the reflector 35 so as to raise the reflector 35 toward the vertical neutral position. The backward tilting action spring 36b rotationally urges the reflector 35 to rise toward the vertical neutral position when the reflector 35 is in the backward tilted posture (three-dot chain line in FIG. 5).
Therefore, even if the reflector 35 comes into contact with some obstacle in the existing pipe 1, it can pass through the obstacle by falling, and after returning, it can return to the original vertical posture.
The action springs 36a and 36b are formed of torsion coil springs, but may be formed of leaf springs or the like.

<Acquisition process>
In the acquisition step (step 101), the reference separation distance acquisition device 5 operates or is used as follows.
As shown in FIG. 1, the moving image pickup device 30 is housed in the existing pipe 1 so that the reflector 35 of the moving image pickup device 30 faces the laser rangefinder 10. The moving imager 30 is run (moved) along the tube axis of the existing tube 1. Moreover, the inside of the existing pipe 1 is imaged by the image development camera 31. The image pickup screen is confirmed on the monitor 8m of the processing control means 8. Then, when the connection port 2a is imaged at the center of the monitor 8m, the mobile imaging device 30 is stopped at that position. Preferably, the moving imager 30 is stopped so that the image development camera 31 is located immediately below the connection port 2a (the same position in the tube axis direction of the existing tube 1). Since the connection port 2a at this time is not covered with the rehabilitation pipe 4, it can be easily and clearly confirmed from the imaging screen.

In parallel, the laser rangefinder 10 irradiates the moving imager 30 with the laser light 13 and reflects it at the reflector 35 to measure the distance L2 from the laser rangefinder 10 to the reflector 35. The measurement data of the distance L2 is sent to the processing control means 8. Further, the processing control means 8 sums up the distance L1 from the reference position P0 to the tip of the laser rangefinder 10, the measurement distance L2, and the distance L3 from the reflector 35 to the image development camera 31 to obtain the reference position P0. From the reference position P0 to the connection port 2a (=L1+L2+L3). The values of the distances L1 and L3 are stored in the processing control means 8 in advance.
Since the laser distance measurement is performed, accurate position information of the connection port 2a can be acquired in a short time. No complicated device configuration is required and construction costs can be reduced.

More preferably, as shown in FIGS. 5 and 6, the connection angles φ _2a and θ _2a of the connection port _2a are also acquired from the image captured by the image development camera 31. As shown in FIG. 5, the pipe axis direction connection angle φ _2a is the angle of the connection port 2a along the pipe axis direction of the existing pipe 1, and more specifically, the central axis Lc of the attachment pipe 2 at the connection port 2a is the existing pipe. 6 shows the tilt angle with respect to the vertical when projected in the width direction of 1 (on the paper surface of FIG. 5). As shown in FIG. 6, the circumferential connection angle θ _2a is the angle of the connection port 2a along the circumferential direction of the existing pipe 1, and more specifically, the central axis Lc of the mounting pipe 2 at the connection port 2a is the same as that of the existing pipe 1. The inclination angle with respect to the vertical when projected in the tube axis direction (on the paper surface of FIG. 6) is shown. It is preferable that a scale indicating the position (angle) of the existing pipe 1 in the pipe axis direction and the circumferential direction is displayed in the image captured by the image development camera 31.

<Installation process>
After the acquisition step, as shown in FIG. 7, the step of installing the rehabilitation pipe 4 (step 102) is performed. Here, for example, a pipe manufacturing method is adopted. The rehabilitation pipe 4 is installed along the inner peripheral surface of the existing pipe 1 by the pipe manufacturing method. Then, as shown in the enlarged view of the circle in FIG. 7, the backfill material 7 is backfilled between the existing pipe 1 and the rehabilitation pipe 4.

<Drilling device 6>
After the installation process of the rehabilitation pipe 4, the positioning process and the drilling process are performed using the drilling device 6. As shown in FIG. 7, the drilling device 6 includes a laser range finder 10, a mount 20, and a drilling machine 40. As the laser range finder 10 and the gantry 20, the same ones used in the acquisition process can be reused.
Even if the end portion of the rehabilitation pipe 4 is projected into the manhole 3, the laser distance can be set by setting the reference position P0 and the installation position of the laser distance meter 10 on the opposite side of the manhole 3 from the rehabilitation target existing pipe 1. It is possible to prevent the total 10 from interfering with the rehabilitation pipe 4.

As shown in FIGS. 8 and 9, the boring machine 40 includes a boring portion 41, a traveling body 42, and a reflector 45. The traveling body 42 can travel by, for example, towing. The traveling body 42 may have a self-propelled function. X-shaped support braces 47 are provided on both left and right sides of the traveling body 42 so as to be vertically expandable and contractible. A pressing portion 47e is provided at the upper end of the support brace 47. The boring machine 40 is waterproof, and can boring even when water is flowing to some extent.

As shown in FIG. 8, a holed portion 41 is provided upright on the front portion (right side in FIG. 8) of the traveling body 42. The drilled portion 41 has an expandable and contractible shaft shape. A hole-drilling tool 41a such as a hole saw is rotatably attached to the tip (upper end) of the hole-drilling portion 41.
Further, the drilled portion 41 can be adjusted in two directions by an angle adjusting mechanism (not shown). That is, the hole-drilling portion 41 can adjust the angle φ (FIG. 8) about the axis of the traveling body 42 along the vehicle width direction and the angle θ (FIG. 9) about the axis of the traveling body 42 along the vehicle length direction. Is. An inclinometer 44 is provided on the side of the drilled portion 41. The inclinometer 44 measures the inclination angle of the drilled portion 41 with respect to the vertical by being interlocked with the angle adjustment of the drilled portion 41. The measurement data of the tilt angle is transmitted to the processing control means 8 on the ground by wire or wirelessly.

As shown in FIG. 8, a video camera 43 (drilling image pickup means) is provided near the drilled portion 41 of the traveling body 42. The video camera 43 is directed upward. At least the tip of the drilled portion 41 and the upper portion of the drilled portion 41 are within the field of view of the video camera 43. The image pickup signal of the video camera 43 is sent to the processing control means 8 (FIG. 7) in real time and displayed on the monitor 8 as an image. The processing control unit 8 and the video camera 43 are connected by a cable (not shown).
The processing control unit 8 and the video camera 43 may be capable of wireless communication. The video camera 43 may be an omnidirectional camera that can image in all directions. A wiper or a gas injection device for cleaning the lens of the video camera 43 may be provided on the traveling body 42.

As shown in FIGS. 8 and 9, a reflector 45 is provided on the rear portion (left side in FIG. 8) of the traveling body 42. The reflector 45 has a substantially semicircular plate shape. The size (radius) of the reflector 45 preferably enters the rehabilitation tube 4 and is as large as possible. The material of the reflector 45 is, for example, resin, and is preferably polyvinyl chloride from the viewpoint of weight reduction and the like. The color of the reflector 45 is preferably white from the viewpoint of easy visibility of the laser light 13.

As shown by the solid line in FIG. 8, the reflector 45 is vertically erected so as to be orthogonal to the advancing/retreating direction (vehicle length direction) of the boring machine 40. Moreover, the reflector 45 can be tilted back and forth and can be automatically returned to the vertical neutral position. Specifically, the linear lower end portion of the reflector 45 is rotatably connected to the traveling body 42 around an axis line along the vehicle width direction (an axis line intersecting the advancing/retreating direction of the boring machine 40). A biasing means 46 is provided at the rotary connection portion of the reflector 45. The reflector 45 is urged by the urging means 46 so as to be vertical (neutral position). The biasing means 46 includes a forward tilting action spring 46a and a rearward tilting action spring 46b. The forward tilting action spring 46a rotationally biases the reflector 45 toward the vertical neutral position when the reflector 45 is in the forward tilted posture (two-dot chain line in FIG. 8). The backward tilting action spring 46b rotationally biases the reflector 45 toward the vertical neutral position when the reflector 45 is in the backward tilted posture (three-dot chain line in FIG. 8).
Therefore, even if the reflector 45 comes into contact with some obstacle in the rehabilitation tube 4, it can pass through the obstacle by falling and can return to the original vertical posture after passing.

In the positioning process and the drilling process (steps 103 to 104), the drilling device 6 operates or is used as follows.
<Positioning process>
As shown in FIG. 7, the boring machine 40 is housed in the rehabilitation pipe 4 with the reflector 45 at the rear part of the boring machine 40 facing the laser rangefinder 10. The drilling machine 40 is moved in the pipe axis direction of the rehabilitation pipe 4 to the vicinity of the connection port 2a. Although not shown in FIG. 7, the self-propelled mobile imaging device 30 (FIG. 5) may be used to pull and move the boring machine 40.

At the same time, the laser beam 13 is emitted from the laser rangefinder 10 to the drilling machine 40 and reflected by the reflector 45 to measure the distance L2′ from the laser rangefinder 10 to the reflector 45. The measurement data of the distance L2′ is sent to the processing control means 8. Further, the processing control means 8 adds up the distance L1 from the reference position P0 to the tip of the laser distance meter 10, the measurement distance L2′, and the distance L3′ from the reflector 45 to the drilled portion 41 to obtain the reference. The drilling distance L0′ (=L1+L2′+L3′) from the position P0 to the drilling portion 41 is calculated. The values of the distances L1 and L3' are stored in the processing control means 8 in advance.
Then, the drilling machine 40 is positioned so that the drilling distance L0′ matches the reference separation distance L0 (L0′=L0). In short, the boring portion 41 of the boring machine 40 is positioned in the rehabilitating pipe 4 at the boring position separated from the reference position P0 by the reference separation distance L0.

After positioning, the support brace 47 is raised and the pressing portion 47e is abutted against the ceiling portion of the rehabilitation pipe 4, whereby the traveling body 42 is fixed.
More preferably, the angles φ and θ (drilling angles) of the drilled portion 41 are the connection angles φ _2a and θ _2a (FIG. 5) based on the detection angle of the inclinometer 44 by remote control by the processing control means 8. , FIG. 6).

<Drilling process>
Then, the drilling part 41 is extended and the drilling tool 41a is rotated to drill the rehabilitation pipe 4. As a result, the portion of the rehabilitation pipe 4 corresponding to the connection port 2a can be accurately drilled. At this time, the video camera 43 captures an image of the peripheral portion of the drilled portion 41 in the front end direction, and the captured image signal is transmitted to the processing control means 8. As a result, the drilling status can be confirmed on the monitor 8m of the processing control means 8. By mounting the video camera 43 on the drilling machine 40, it is not necessary to provide the video camera 43 separately from the drilling machine 40.
As shown in the enlarged view of the circled portion in FIG. 7, the communication port 4a is formed in the rehabilitation pipe 4 by drilling. By passing through the above steps 101 to 104, the communication port 4a can be surely connected to the attachment pipe 2.
As described above, according to the existing pipe rehabilitation method of the present invention, it is possible to prevent defective drilling of the communication port 4a and improve the quality of construction. The construction period can be shortened because it does not take time to judge the drilling position. The number of machines used can be reduced and the construction cost can be reduced. There is no need to use a special machine such as an external drilling machine.

Next, another embodiment of the present invention will be described. In the following embodiments, the same components as those described above are designated by the same reference numerals and the description thereof will be omitted.
FIG. 10 shows a modification of the laser rangefinder support means. The gantry 50 (laser rangefinder support means) includes a beam 51 and a pair of legs 52 and 52. The leg portion 52 has a vertical member 52a and an inclined member 52b, and has an inverted V shape. A beam 51 is horizontally bridged between the pair of legs 52. A suspended column-shaped distance meter support portion 53 hangs from an intermediate portion of the beam 51. The laser range finder 10 is supported on the lower end of the range finder supporting portion 53.
The gantry 50 may be a folding/expanding type or a disassembling/assembling type.

11 and 12 show another modification of the laser range finder supporting means. As shown in FIG. 11, the telescopic laser rangefinder support means 60 is arranged in the opening 1e to the manhole 3 in the existing pipe 1A on the opposite side of the existing pipe 1 to be rehabilitated with the manhole 3 interposed therebetween.

The laser rangefinder support means 60 includes a telescopic rod 61 and a support arm 62 (rangefinder support part). The telescopic rod 61 extends linearly and is adjustable in length. The longitudinal direction of the telescopic rod 61 is oriented vertically (in the radial direction of 1 of the existing pipe 1). As shown in FIG. 12, a fixing screw 64 is provided at an intermediate portion of the telescopic rod 61. By loosening the fixing screw 64, the telescopic rod 61 can expand and contract, and by tightening the fixing screw 64, the length of the telescopic rod 61 can be fixed.

As shown in FIG. 11, a support arm 62 is provided on the telescopic rod 61. The support arm 62 extends horizontally so as to be orthogonal to the telescopic rod 61, and projects into the manhole 3. The laser rangefinder 10 is supported on the tip of the support arm 62.

Abutting members 63 are provided on both ends of the telescopic rod 61. The abutting member 63 has an abutting portion 63a and a locking portion 63b, and has an L-shaped cross section. The abutting portion 63a is abutted against the inner peripheral surface of the existing pipe 1A. As shown in FIG. 12, the abutting portion 63a is curved in an arc shape along the circumferential direction of the existing pipe 1A. As shown in FIG. 11, the locking portion 63b is applied to the end surface of the existing pipe 1A and locked.
Since the laser rangefinder support means 60 is more compact than the gantry 20 (FIG. 3), it can be easily put in and taken out of the manhole 3 and installed.

As shown in FIG. 13, when the sewage is flowing through the existing pipes 1 and 1A and the manhole 3, the telescopic rod 61 may be oriented horizontally. As a result, sewage can pass through the opening 1e below the telescopic rod 61, and the laser rangefinder support means 60 can be prevented from receiving the fluid pressure of the sewage. As a result, the laser rangefinder 10 can be more stably arranged at the reference position P0. It should be noted that the laser rangefinder support means 60 may be provided with a level. This allows the telescopic rod 61 to be accurately oriented horizontally.

The present invention is not limited to the above embodiment, and various modifications can be made without departing from the spirit of the invention.
For example, the laser range finder 10 may be installed at a predetermined position separated from the reference position P0 by a predetermined distance. When calculating the acquisition distance and the measurement distance, the distance between the reference position P0 and the predetermined position may be added or subtracted. The predetermined position where the laser range finder 10 is placed in the acquisition step may be different from the predetermined position where the laser range finder 10 is placed in the positioning step. You may convert the measured distance in the predetermined position in each process into the distance from the reference position P0.
The reference position P0 may be set on a scribing line drawn on the bottom surface of the manhole 3, may be set on the central axis of the manhole 3, or may be set on the inner wall of the lid of the manhole 3 whose lower surface is open. Good.
The reference position P0 is not limited to the manhole 3 and may be set in the existing pipe 1 to be rehabilitated or in the existing pipe 1A different from the rehabilitation target.
The reference separation distance L0 may be indexed (acquired) based on the survey data at the time of new installation.
The reference distance L0 may be measured (obtained) using a distance measuring device (for example, a tape measure) other than the laser distance meter 10.
The drilling step may be performed before filling the backfill material 7. In this case, after drilling, the communication port 4a is sealed using a robot or the like and then the backfill material 7 is filled, and then the seal of the communication port 4a is removed.
The step of installing the rehabilitation pipe 4 may be performed by a reversing method, a forming method, or the like.
The drilling image pickup means such as the video camera 43 may be provided separately from the drilling machine 40 in addition to the drilling machine 40. The moving image pickup device 30 for acquiring the reference separation distance may also be used as the hole drilling image pickup means 43. A normal camera may be used instead of the image development camera 31 as the image pickup means. In this case, it is preferable that the camera can be rotated up and down, left and right by an operation to photograph a wide area.
The existing pipe 1 is not limited to the sewer pipe, and may be an agricultural water pipe or the like.
The branch pipe from the existing pipe 1 is not limited to the attachment pipe 2 and may be an inflow pipe or the like.

INDUSTRIAL APPLICABILITY The present invention is applicable to rehabilitation of existing pipes such as sewer pipes.

P0 Reference position L0 Reference separation distance L0' Drilling distance φ _2a Pipe axis direction connection angle (connection angle)
θ _2a Circumferential connection angle (connection angle)
1 Existing pipe 2 Mounting pipe (branch pipe)
2a Connection port 3 Manhole 4 Rehabilitation pipe 4a Communication port 5 Reference distance acquisition device 6 Drilling device 10 Laser distance meter 13 Laser light 30 Moving imager 31 Image development camera (imager)
32 traveling body 40 drilling machine 41 drilling section 42 traveling body 43 video camera (drilling imaging means)
44 inclinometer 45 reflector 46 biasing means

Claims (7)

When rehabilitating an existing pipe having a connection port with a branch pipe by a rehabilitation pipe, a method of drilling a communication port with the connection port in the rehabilitation pipe,
Obtaining a reference separation distance between the connection port and the reference position,
Installing a rehabilitation pipe in the existing pipe,
In the rehabilitation pipe, positioning the drilling machine at a drilling position separated from the reference position by the reference separation distance,
Drilling the rehabilitation pipe at the drilling position by the drilling machine,
In the acquisition step, a reference position is set on the inner surface of the manhole connected to the existing tube on the side opposite to the existing tube or on the opening portion of the inner surface, and a laser rangefinder is installed by a mount installed in the manhole or in the opening portion. By detachably supporting the laser range finder, the laser range finder is positioned at a predetermined position near the reference position in the reference position or the portion on the opposite side in the manhole, and by a moving imager moving in the existing pipe. Imaging the inside of the existing pipe and then the connection port,
A moving imager is irradiating the moving imager with laser light from the laser rangefinder, and the laser light is reflected by a reflector provided in the moving imager, whereby the moving imager is imaging the laser rangefinder and the connection port. A method for drilling a rehabilitating pipe, characterized by measuring the distance between the rehabilitation pipe and the reference distance. In the positioning step, the laser beam from the laser distance meter installed on the reference position or the predetermined position by the cradle irradiated to the drilling machine, reflecting the laser beam by the reflector provided on the drilling machine By measuring the hole drilling distance between the reference position and the hole drilling machine, the hole drilling machine is positioned so that the hole drilling distance matches the reference separation distance. The drilling method described in 1. In the acquisition step, also acquires the connection angle of the connection port,
3. In the boring step, the boring angle of the boring machine is adjusted to be the connection angle based on a detection angle of an inclinometer provided in the boring machine. Drilling method described in. 4. The drilling step of the drilling machine, wherein, in the drilling step, the drilling part of the drilling machine is imaged by a drilling image pickup means mounted on the drilling machine or provided separately from the drilling machine. The drilling method according to any one of claims. A drilling device for drilling a communication port with the connection port in a rehabilitation pipe installed in an existing pipe having a connection port with a branch pipe,
Laser rangefinder,
A drilling machine having a drilling portion for drilling the rehabilitating pipe, which is movable in the rehabilitating pipe,
A reflector provided on the hole drilling machine, which reflects the laser light from the laser rangefinder,
A mount installed in the manhole so as to be positioned with respect to a reference position set on the inner surface of the manhole connected to the existing pipe on the side opposite to the existing pipe or on the opening of the inner surface,
Wherein the gantry includes a gantry body supported by legs, and a range finder support section that is provided on the gantry body and detachably supports the laser range finder. A drilling device, wherein a laser range finder is positioned at the reference position or a predetermined position near the reference position on the opposite side in the manhole. A drilling device for drilling a communication port with the connection port in a rehabilitation pipe installed in an existing pipe having a connection port with a branch pipe,
A laser rangefinder installed at a reference position or a predetermined position with respect to the reference position,
A drilling machine having a drilling portion for drilling the rehabilitating pipe, which is movable in the rehabilitating pipe,
A reflector provided on the hole drilling machine, which reflects the laser light from the laser rangefinder,
Laser rangefinder support means arranged at the opening to the manhole in the existing pipe on the opposite side across the manhole connected to the existing pipe,
The laser rangefinder support means includes a telescopic rod whose length can be adjusted in the longitudinal direction facing the radial direction of the opening, and a rangefinder support part provided on the telescopic rod. A hole drilling device , wherein the laser rangefinder is supported by a section . A drilling device for drilling a communication port with the connection port in a rehabilitation pipe installed in an existing pipe having a connection port with a branch pipe,
A laser rangefinder installed at a reference position or a predetermined position with respect to the reference position,
A drilling machine having a drilling portion for drilling the rehabilitating pipe, which is movable in the rehabilitating pipe,
A reflector provided on the hole drilling machine, which reflects the laser light from the laser rangefinder,
The reflector is provided rotatably around an axis intersecting the advancing/retreating direction of the boring machine,
Further, the boring device comprising a biasing means for biasing the reflector to a neutral position orthogonal to the advancing/retreating direction.

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