JP6947388B2 - Small-diameter pipe propulsion device and small-diameter pipe propulsion method - Google Patents

Description

The present invention relates to a small-diameter pipe propulsion device and a small-diameter pipe propulsion method using a technique for measuring the situation of a section where the line of sight is not visible, such as a bent pipe that an operator cannot enter.

As shown in Pat. By connecting the imaging unit 3 provided with the rail 6a on which the imaging unit 2 travels and imaging the target 2c with the cameras 2a and 2b, the position and direction of the excavator 200 with respect to the starting shaft 300 are measured. In the small-diameter pipe propulsion device that propels the curve of the small-diameter pipe 100 based on the measurement result, the pull-out rigid rod 7 having the male screw 6 on the outer peripheral surface and the female screw 8 loosely fitting with the male screw 6 are provided on the inner peripheral surface. A coupler 9 for connecting the drawn steel rods 7 in a loosely fitted state is provided, and the drawn steel rods 7 are loosely fitted with the couplers 9 to arrange the drawn steel rods 7 from the starting shaft 300 to the excavator 200 in a curved shape. A small-diameter pipe propulsion device has been proposed, characterized in that a position-changing attachment 10 for changing the position of the drawn steel rod 7 from the upper part to the lower part is provided behind the excavator 200 (Patent Document 1). That is, in this small-diameter pipe propulsion, when the accuracy is adjusted during propulsion construction or when the construction becomes impossible due to obstacles, etc., the high height used when retreating the propulsion equipment including the excavator at the head. Inventions have been proposed for installing strong drawn steel rods.

According to Patent Document 1, by installing the imaging type surveying system in a small-diameter pipe (for example, Φ250 mm to Φ350 mm), it is possible to carry out curve propulsion.

Japanese Unexamined Patent Publication No. 2012-1448887

However, in the curve propulsion method shown in Patent Document 1, when the diameter of the slurry pipe in the muddy water method or the muddy soil pressure method is increased, for example, when the diameter of two 2-inch pipes is increased in the muddy water method, or the muddy soil pressure method. There is a limit to the internal space due to the dimensions and structure of the drawn steel rod 7, the coupler 9, and the position change attachment 10, such as when increasing the diameter of one 3-inch pipe. In addition, in the method of installing the imaging unit in this small-diameter pipe, in the mud pressure type small-diameter pipe propulsion method, the slurry pipe and the imaging unit for soil removal are housed in a small space, for example, a pipe having an inner diameter of Φ250 mm to Φ350 mm. Was difficult to implement due to the limited internal space mentioned above.

An object of the present invention is to eliminate the drawn steel rod, the coupler and the conversion attachment in the curve propulsion method, secure the internal space of the small diameter pipe, and cope with the increase in the diameter of the slurry pipe.

Therefore, the present invention basically has a structure in which instead of these members such as drawn steel rods, a thick skeleton is used as a substitute, and a member for giving strength to the skeleton and retracting a small-diameter pipe is provided. Is. Conventionally, since members such as drawn steel rods take up space, the application was limited to slurry pipes with a diameter of, for example, 1.5 to 2 inches, but for example, slurry pipes with a large size of 3 inches or more. It is made to be able to accommodate.

That is, in the present invention, a slurry tube housed in a small-diameter tube, an imaging unit in which a camera and a target are installed and equipped with wheels, an imaging unit connecting member for connecting the imaging units at predetermined intervals, and a small-diameter comprising a tube equipment for driving and controlling the shield machine connected to the leading portion of the tube, by imaging the target with the camera, an imaging surveying system for measuring the position and orientation of the excavator, and the imaging equation In the small-diameter tube propulsion device that propels the curve of the small-diameter tube based on the measurement result of the survey system, the imaging unit is moved when the imaging unit is inserted into the small-diameter tube having an inner diameter of 250 mm to 350 mm and when it is collected. The rail casing and the rail casing installed in the small-diameter pipe, which have a thick casing in the shape of a girdle that opens upward while connecting the rail to the upper part, and the rail casing are mutually connected. and a rail casing connecting member for connecting to said casing of said rail casing, excavator, and is composed of a thick material having a predetermined strength required when retracting the small-diameter pipe, the casing The small-diameter pipe is characterized in that the slurry pipe and the in-pipe equipment are accommodated in the casing, and the imaging unit runs on the upper part of the rail in the upper part of the slurry pipe and the in-pipe equipment, and is applied to the mud pressure method. It is a propulsion device.

The "thick body" referred to here is 6 to 15 mm in thickness, whereas it is 1.6 to 3.2 mm in a normal size configuration, so the expression "thickness" is used. ing. This is because the equipment handled in the work of small-diameter pipes is placed in a narrow work environment and generally tends to demand weight reduction.

The “predetermined strength” here refers to the pull-out strength (guaranteed strength or yield strength) when pulling out the excavator and the small-diameter pipe, for example, from the guaranteed strength of 11.4 tons to the yield strength of 70.81 KN × 2 = 14. When it reaches .5 tons, it is considered to be destroyed. The small-diameter pipe propulsion device must have at least a guaranteed strength, and if a force higher than the yield strength is applied, one of the members, particularly the bolt portion, may be damaged, so that the strength must be ensured.

It is preferable that the rail and the casing of the rail casing have an integral structure by welding.

The shape of the casing is preferably the shape of a gutter. It may be round or square.

It is preferable that the casing has a thickness of 6 to 15 mm, an axial length of 500 to 1200 mm, and an inner diameter of 188 to 206 mm. If the thickness is 6 mm or less, it has no meaning in terms of strength. This is because if the thickness is 15 mm or more, the space-saving effect cannot be obtained, and it is not realistic in terms of manufacturing (processing) cost. As a result, the rails are made stronger, the installation of conventional high-strength drawn steel rods is omitted, and all the in-pipe equipment for propulsion while increasing the diameter of the slurry pipe is installed in the small-diameter pipe in the effective space for that amount. Can be stored in.

The small-diameter pipe propulsion method of the present invention is a rail that is installed in a small-diameter pipe with an inner diameter of 250 mm to 350 mm, and has a thick casing in the shape of a gir that opens above while connecting the rails to the upper part. Small-diameter pipe straight that linearly propels the excavator and small-diameter pipe by the propulsion drive device without an imaging unit while connecting the casings to each other with rail-casing connecting members and connecting the small-diameter pipe and the equipment inside the pipe. The propulsion step, the imaging unit installation step in which the camera and the target are installed in the small-diameter tube are inserted along the rail while being connected by the imaging unit connecting member, and the imaging unit is installed at a predetermined position, and the target. The position and direction of the excavator are measured by taking an image with the camera, and based on this measurement result, a propulsion drive device is used while connecting a small-diameter pipe, in-pipe equipment, a rail casing, and an imaging unit. The small-diameter pipe curve propulsion step for propelling the excavator and the small-diameter pipe in a curve, and the imaging unit in which the camera and the target are installed and the imaging unit connecting member are retracted along the rail from the inside of the small-diameter pipe. The casing of the rail casing has a wall thickness of a predetermined strength required when the excavator and the small-diameter pipe are retracted, and the casing is provided with the slurry. It accommodates a pipe and in-pipe equipment, and is characterized in that the imaging unit runs on the upper part of the rail in the upper part of the slurry pipe and the in-pipe equipment, and is applied to a mud pressure method .

According to the present invention, it is possible to eliminate the drawn steel rod, the coupler and the conversion attachment in the curve propulsion method, secure the internal space of the small diameter pipe, and cope with the increase in the diameter of the slurry pipe.

Further, according to the present invention, since many imaging surveying systems are expensive, the imaging surveying system inside the small diameter tube is retracted to the outside of the small diameter tube in order to avoid the risk of an unexpected situation due to a large torque applied when reversing. When the curve propulsion is restarted, the accuracy of reproducibility of installing the imaging type surveying system in the pipe is required again, and it is possible to have a function of clearing this condition.

It is a front view which shows the inside of the head part of the small-diameter pipe propulsion device of embodiment of this invention. It is a top view which shows the inside of the head part (excluding the excavator) of the small diameter pipe of this apparatus. FIG. 1 is a cross-sectional view taken along the line AA (left side view) of FIG. It is a top view of the image pickup unit and the rail casing of the apparatus. (A) is a front view of the image pickup unit and the rail casing of the device, and (b) is a bottom view of the same. (A) is a left side view of the image pickup unit and the rail casing of the device, and (b) is a right side view of the same. (A) is a plan view of the rail casing connecting member, (b) is a front view of the rail casing, and (c) is a left side view. (A) is a cross-sectional view of the foot spacer, (b) is a front view of the foot spacer, and (c) is a left side view. It is a construction plan view of a small diameter pipe propulsion method. It is a construction sectional view of a small diameter pipe propulsion method.

Hereinafter, the small-diameter pipe propulsion device 1 which is a preferred embodiment of the present invention will be described with reference to the drawings. The embodiments described below do not limit the content of the present invention described in the claims.

This embodiment is an example applied to the Ramsus S method (registered trademark), and is adapted to a small diameter tube 100 having a nominal diameter of Φ250 mm, and this imaging type surveying system is adapted to a minimum diameter of Φ250 mm. Is the Ramsus S250.

This embodiment basically has a structure in which instead of these members such as drawn steel rods, a thick skeleton is used as a substitute, and a member for giving strength to the skeleton and retracting the small-diameter pipe 100 is provided. Is. Conventionally, since members such as drawn steel rods take up space, the application is limited to, for example, a slurry pipe (also referred to as a mud pressure pipe) having a diameter of 1.5 to 2 inches, for example, 3 inches. This is a device that can accommodate a slurry tube with the above-mentioned large diameter.

That is, in the present embodiment, the small-diameter pipe propulsion device 1 includes a slurry pipe 2 housed in the small-diameter pipe 100, cameras 3a and 3b, a target 3c, and a carriage 3j having wheels 3i. A camera is used for the image pickup unit 3, the image pickup unit connecting member 4 for connecting the image pickup unit 3 at a predetermined interval, the in-pipe equipment 5 for driving and controlling the excavator 200 connected to the leading portion of the small diameter tube 100, and the target 3c. An imaging type surveying system for measuring the position and direction of the excavator 200 by taking images with 3a and 3b is provided, and the curve propulsion of the small diameter pipe 100 is performed based on the measurement result of this system. Further, in the small-diameter tube propulsion device 1, the rail 6a for moving the image pickup unit 3 and the rail 6a are connected to the upper part and integrated when the image pickup unit 3 is inserted into the small-diameter tube 100 and when the image pickup unit 3 is collected. A rail casing 6 installed in a small diameter pipe 100 having a thick casing 6b through which the rail casing 6 opens, a rail casing connecting member 7 for connecting the rail casings 6 to each other, and a foot spacer 8 are provided. I have. The casing 6b of the rail casing 6 is a thick body having a predetermined strength (guaranteed strength of 11.4 tons or more and yield strength of 14.5 tons or less) required for retracting the excavator 200 and the small diameter pipe 100. It is characterized by being composed of. The rail / casing 6 is a rail / casing connecting member 7 having a strength that can withstand the retreat of the leading excavator 200 (a slight retreat when the direction is corrected during propulsion, etc.) and the recovery of the in-pipe equipment 5, the rail / casing 6, and the like. It is connected by.

It includes an imaging type surveying system including an imaging unit 3 for mud pressure type propulsion (the entire system is not shown), and a slurry pipe 2 is arranged inside the small diameter pipe 100 and further connected to the leading portion of the pipe. It is a device that can accommodate one or more imaging units 3 on top of the equipment 5 in the pipe such as an electric cable for driving and controlling the excavator 200.

Hereinafter, the configuration of the small-diameter pipe propulsion device 1 of the present embodiment will be described in detail with reference to FIGS. 1 to 10.

Here, the small-diameter pipe 100 is a small-diameter pipe 100 having an inner diameter of Φ250 to 350 mm (for example, a concrete pipe (Hume pipe), a resin concrete pipe, a steel pipe, etc.). Examples of the small diameter tube 100 are Φ250 mm (shown by the solid line in FIG. 3) and Φ300 mm (shown by the alternate long and short dash line in FIG. 3). Basically, two types of pipes can be used, but other diameters can also be used. In general, the small diameter pipe 100 refers to a range of inner diameter (nominal diameter) of φ200 to φ700 mm.

The excavator 200 has a well-known configuration. Further, the starting shaft 300, the reaching shaft 400, and the main pushing device 500 shown in FIGS. 9 and 10 are also known. For details, refer to Japanese Patent No. 3930156.

The slurry pipe 2 is a pipe for discharging soil equivalent to 75 A (3 inches). The member connecting the slurry pipe 2 and the slurry pipe 2 is a strab coupling 2a tightened with a screw to prevent muddy water from leaking to the outside.

As shown in FIGS. 1, 2, 4, and 5, the small-diameter tube propulsion device 1 has a structure in which a plurality of imaging units 3 are connected to each other in the axial direction.

The imaging unit 3 is an electrical connection between a front camera 3a that images the front, a rear camera 3b that images the rear, a pair of targets 3c projecting from both left and right sides, and the cameras 3a, 3b and the target 3c. It is provided with a control box 3d for relaying the above and abutments 3e and 3f, and is configured to be able to travel on a rail 6a laid behind the excavator 200.

The optical axis of the front camera 3a and the optical axis of the rear camera 3b are set so as to be on the same straight line in the front-rear direction, that is, to be regarded as coaxial. Further, the target 3c is arranged at a symmetrical position when viewed from the optical axis direction of the front camera 3a. More specifically, when the midpoint of the line segment connecting the targets 3c is set as the center point, the line segment connecting the targets 3c is connected to the center of the objective lens of the front camera 3a and the center of the objective lens of the rear camera 3b. The line segment is set at a position that bisects each other vertically at the center point.

The cameras 3a and 3b that function as one are installed, for example, every 4 to 5 cameras of the imaging unit 3, and the number of cameras 3a and 3b installed is changed depending on the viewing angle of the curve.

In the starting shaft 300, a total station 10 for transmitting and receiving signals to and from the image pickup unit 3 is installed. The accurate position and angle (direction) of the first imaging unit 3 in the pipe are measured by the target 3g installed near the total station 10, and the accurate position and angle of the imaging unit 3 are sequentially measured, and the excavator 200 Measure the exact position and angle of. The total station 10 may be replaced with a camera to further reduce the size.

For a detailed example of the measurement method by the image pickup unit 3 and the total station 10 shown in FIG. 9, refer to Japanese Patent Application Laid-Open No. 2009-25264 and the like.

A light source (LED) is built in the cameras 3a and 3b (optical camera surveying sensor) of the image pickup unit 3, and a light emitting source (LED) is attached to the attachment portion of the image pickup unit 3. The cameras 3a and 3b are arranged in an appropriate number such as every other camera.

The cameras 3a and 3b can serve not only as a measurement sensor but also as a monitor in the pipe, and since it is necessary to take an image suitable for surveying, a light emitting source is provided in the pipe, and a light emitting source is also provided in the starting shaft 300. It is provided.

The excavator 200 is provided with a target 3h for the imaging unit 3. The cameras 3a and 3b mutually project the target 3c to calculate the deviation from each other, and the position of the target 3h, which is the end point of the small-diameter curve propulsion, is measured to measure the propulsion distance, horizontal deviation, and verticality of the excavator 200. The deviation can be measured.

The image pickup unit 3 includes a carriage 3j formed in an inverted U-shaped cross section or a trapezoidal shape. Depending on the conditions such as the propulsion distance and the curved wire diameter, the number of image pickup units 3 equipped with the cameras 3a and 3b differs for each span, and the distance between the image pickup units 3 equipped with the cameras 3a and 3b also differs for each span. .. The image pickup unit 3 is equipped with the cameras 3a and 3b, and the image pickup unit 3 without the cameras 3a and 3b is mixed on the rail 6a.

The image pickup unit 3 is very small because it is composed of the cameras 3a and 3b and the target 3c. Since it has a simple structure and no moving parts, it is hard to break down and easy to handle. Since the survey is completed only by taking pictures with the cameras 3a and 3b, the measurement does not take time and the process can be shortened.

One imaging unit 3 is installed in each small-diameter tube 100. The image pickup unit 3 has a mechanism that allows it to move on a dedicated rail 6a, and the carriages 3j are fixed to each other by an image pickup unit connecting member 4 described later, and the distance between the image pickup units 3 is kept constant. In addition, the image pickup unit 3 can cope with a defect of the image pickup unit 3 during construction. A communication line (LAN) and a power line are connected between the image pickup units 3.

The image pickup unit connecting member 4 has a function of connecting the image pickup unit 3 and the image pickup unit 3 at regular intervals. The image pickup unit connecting member 4 maintains a pitch between the image pickup units 3 moving on the rail 6a.

The imaging units 3 are connected to each other by an imaging unit connecting member 4 having a known length and rigidity (see FIGS. 1 and 2). This is because the play of the connection interval of the image pickup unit connecting member 4 affects the measurement data between the cameras 3a and 3b. This problem is solved by the spring structure. Even in the case of curve propulsion, there is no problem as long as it is within the normal expected range. When a plurality of imaging units 3 are installed in the small-diameter tube 100, they can be easily installed by sequentially pushing each imaging unit 3 with the imaging unit connecting member 4.

As shown in FIG. 3, the in-pipe equipment 5 is composed of an air pipe 5a, a mud agent pipe 5b, an operation line 5c, a lubricant pipe 5d, a mud agent pipe 5e, a pinch air pipe 5f, and a power line 5g.

Although the rail casing 6 has an integral structure, the rail 6a on which the imaging unit 3 travels and the pull-out strength when the excavator 200 is slightly retracted (conditions that the pull-out strength is 11.4 tons or more and 14.5 tons or less). ), And a rail guard 6c.

The rail guard 6c is a pair of members having a U-shaped cross section and the openings are arranged so as to face each other, and surrounds the pair of rails 6a on which the wheels 3i travel.

The casing 6b is a thick casing in the shape of a gutter that opens upward. It has a polygonal shape to reduce production costs.

The rail 6a, the rail guard 6c, and the casing 6b of the rail casing 6 have an integral structure by welding. If the rail casing 6 having a predetermined strength satisfies certain conditions (for example, under the condition that the peripheral surface resistance is reduced, the pull-out strength is 11.4 tons or more and 14.5 tons or less), the head The excavator 200 can be retracted with respect to the propulsion direction.

The rail casing 6 has a thickness of 6 to 15 mm, an axial length of 500 to 1200 mm, and an inner diameter of 188 to 206 mm. If the thickness is 6 mm or less, it has no meaning in terms of strength. This is because if the thickness is 15 mm or more, the space-saving effect cannot be obtained, and it is not realistic in terms of manufacturing (processing) cost. As a result, the rail casing 6 is made stronger, the installation of the conventional high-strength drawn steel rods is omitted, and all the in-pipe equipment 5 such as hoses and electric cables that are propelled in the effective space for that amount are small. It can be stored in the caliber tube 100. Further, the structural feature of the present embodiment is that the skeleton itself has a thickness of 6 to 15 mm so that it can withstand the thrust of pulling out the whole body at the time of retreat. The in-pipe equipment 5 can be accommodated in this area.

The rail casing 6 further includes a round tube-shaped rail 6a, and the rail guard 6c surrounds the rail 6a to prevent the wheels 3i from coming off. Even if an impact force is applied to the rail casing 6, the rail guard 6c does not cause the image pickup unit 3 to derail. Strictly speaking, the rail guard 6c is a rail cover, and a pair of rails 6a are fixed to the inner side wall of the lower portion. The rail 6a, which has a function as a rail for smoothly moving the image pickup unit 3, and the rail guard 6c are connected by a welded structure to form an integral structure. Further, in order to reduce the weight, a penetration hole 6d, which is a portion removed in the space, is provided.

The rail / casing connecting member 7 is a pair of parallel square connecting rods provided on the left and right sides, and has a connecting portion at an end portion. When the rail casing 6 and the rail casing 6 are connected to each other and the pipe equipment 5 and the rail casing 6 are collected on the starting shaft 300 side after reaching the reaching shaft 400 side, or when the excavator 200 is being constructed. It has a predetermined strength (guaranteed strength of 11.4 tons or more and yield strength of 14.5 tons or less) that can be pulled out when it becomes necessary to retract it slightly. The rail / casing connecting member 7 includes a connecting rod main body 7a and a screw head (cap screw or hexagon bolt) 7b that detachably connects the connecting rod main body 7a.

The foot spacer 8 is a resin positioning block fixed to the outer peripheral surface of the rail casing 6 and does not damage the small diameter pipe 100 when the rail casing 6 is collected from the inside of the small diameter pipe 100. It is also one of the desired functions. By adding a spacer block of a standard value from the state of the minimum diameter of Φ250 mm, it is possible to correspond to a large pipe diameter of Φ300 mm (see the two-dot chain line in FIG. 3).

As described above, in the present embodiment, in order to make it compact, the drawn steel rod, the coupler and the conversion attachment described in Patent Document 1 are eliminated (however, the conversion attachment is a connection between the excavator and the small diameter pipe). By replacing it with the skeleton of the rail casing 6 that has the function of running the imaging unit 3 and has strength, a space is created inside and the diameter of the slurry tube 2 is increased (3 inches). It can be made to correspond to, so that the whole can be established. Further, this embodiment can be adapted to each construction method by using a muddy water construction method equipment, a mud pressure construction method equipment, or the like as the pipe in-pipe equipment 5 in the curve propulsion construction method and the apparatus.

Next, the small-diameter pipe propulsion method of the present embodiment will be described (see FIGS. 9 and 10). For details, refer to Patent Document 1. For detailed examples of curve propulsion, refer to JP-A-2009-25264, JP-A-2007-212222, JP-A-2008-116384, and the like.

The small-diameter pipe propulsion method of the present embodiment will be described as an example by giving an example of a composite curve in which a straight line propulsion of 90 m is performed, a curve propulsion of 21 m is performed, and finally a straight line propulsion of 9 m is performed. ..

(1) Installation work A main pusher 500 is installed in the starting shaft, and a small-diameter pipe propulsion device 1 is prepared. Each of the rail casing 6 is set in advance in the small diameter pipe 100.

(2) 90m linear propulsion of the small-diameter pipe 100 The excavator 200 and the small-diameter pipe 100 are linearly propelled by the main pusher 500. In the absence of the imaging unit 3, the small-diameter pipe 100, the slurry pipe 2, and the equipment 5 in the pipe are connected to each other and extended to the excavator 200, and the rail casing 6 is connected by the rail casing connecting member 7. Work together while connecting to each other.

(3) 21 m curve propulsion of small-diameter tube 100 When converting from small-diameter tube linear propulsion to small-diameter tube curve propulsion, an imaging unit 3 in which cameras 3a and 3b and a target 3c are installed is mounted on a rail. Along 6a, the imaging unit is inserted while being connected by the imaging unit connecting member 4, the leading imaging unit 3 is sent to the leading small-diameter tube 100, and an imaging unit installation step of installing the leading imaging unit 3 at a predetermined position is performed. The positions and directions of the excavator 200 are measured by photographing the targets 3c, 3g, and 3h with the cameras 3a and 3b, and based on the measurement results, the small diameter pipe 100, the pipe equipment 5, the rail casing 6, and the target 3c, 3g, and 3h are photographed. , While connecting the image pickup unit 3, the curve propulsion of the small-diameter tube 100 is performed. After the curve propulsion is completed, the imaging unit recovery step of retracting the imaging unit 3 connected and installed in the small-diameter pipe 100 by the imaging unit connecting member 4 along the rail 6a and collecting the imaging unit 3 at a predetermined position of the starting shaft 300 is performed. conduct. Straight line propulsion without the image pickup unit 3 is faster than curve propulsion using the image pickup unit 3.

The surveying principle is that the cameras 3a and 3b photograph the target 3c attached to the adjacent cameras 3a and 3b, the target 3g attached to the total station 10 and the target 3h attached to the excavator 200, and move from the central axis of the cameras 3a and 3b. The positional relationship is obtained by measuring the quantity in pixel units of the captured image. The positional relationship of all the cameras 3a and 3b installed in the pipe is obtained by this image capture, and the position and direction of the excavator 200 are calculated by analyzing the data with a personal computer.

The basic surveying principle is to install a reference total station 10 (general-purpose surveying instrument) in the starting shaft 300, measure the position (distance) and angle of the first imaging unit 3 in the pipe, and then sequentially adjacent to that point. The survey value is calculated by photographing the target 3c of the imaging unit 3 and the target 3h of the excavator 200 and analyzing the amount of movement of the cameras 3a and 3b from the central axis with a personal computer. The distance between the imaging units 3 is fixed.

(4) 9m straight line propulsion of small diameter pipe 100 The explanation of (2) above is used.

(5) Trouble shooting work When there is some construction trouble and the small diameter pipe 100 and the excavator 200 must be retracted (pulled out) with a very large force applied, the main push is the most important point. When a plurality of imaging units 3 connected to each other by the imaging unit connecting member 4 are pulled together in the starting shaft 300 by pulling the imaging unit connecting member 4 close to the device 500, the wheels 3i move along the rail 6a, which is expensive. The cameras 3a and 3b can be retracted without being damaged. The connected image pickup unit 3 is collected and retracted to the starting shaft 300 side to prevent damage to the expensive image pickup unit 3. In the retracted state of the cameras 3a and 3b, the main push device 500 can apply a large torque to the small diameter pipe 100. That is, a mechanism capable of retracting and resetting the imaging unit 3 is configured. Further, when the small diameter pipe 100 and the excavator 200 are retracted, the influence of damage to the equipment 5 in the pipe can be avoided due to the structural features of the rail casing 6. Here, at the time of the recovery, it is necessary that the rail casing 6 has the wall thickness of the predetermined strength when the excavator 200, the rail casing 6 and the small diameter pipe 100 are retracted.

When inspecting the camera, correcting the trajectory, etc., only the image pickup unit 3 may be retracted and the setting may be performed again.

(6) Recovery work When the excavator 200 finally reaches the reaching shaft 400, the propulsion work is completed and the recovery work is performed. The excavator 200 is removed from the reaching shaft 400 and recovered. Since the in-pipe equipment 5 and the rail casing 6 remain in the small-diameter pipe 100, when the rail-casing connecting member 7 is pulled out from the main pusher 500 side together with the in-pipe equipment 5, the whole is connected. , Can be recovered to the outside from the small diameter tube 100.

From the embodiment described above, the same effect as described above is produced.

Further, according to the above-mentioned curve propulsion method, since the imaging unit 3 is often expensive, the inside of the small-diameter pipe 100 is used in order to avoid the risk of an unexpected situation due to a large torque applied when the excavator 200 and the small-diameter pipe 100 are retracted. It is possible to deal with the procedure of retracting the image pickup unit 3 to the outside of the small diameter tube 100, and when the curve propulsion is restarted again, the accuracy of reproducibility of installing the image pickup unit 3 inside the small diameter tube 100 is also required. It can also have a function of clearing this condition.

The above-mentioned examples are representative examples of the techniques adopted by the present inventor in carrying out the aspects of the present invention. These techniques are exemplary of preferred examples for carrying out the present invention. Further, in view of the disclosure of the present invention, a person belonging to the present technical field can make a large number of modifications and additions without departing from the spirit and intended gist of the present invention. The present invention Ru der applied to a mud-pressure method.

1 Small-diameter pipe propulsion device 2 Slurry pipe 2a Straub coupling 3 Imaging unit 3a, 3b Camera 3c Target 3d Control box 3e, 3f Butt 3g Target 3h Target 3i Wheel 3j Casing 4 Imaging unit connecting member 5 In-pipe equipment 5a Air tube 5b Mudder pipe 5c Operation line 5d Lubricant pipe 5e Mudder pipe 5f Pinch air pipe 5g Power line 6 Rail casing 6a Rail 6b Casing 6c Rail guard 6d Penetration hole 7 Rail casing connecting member 7a Connection Rod body 7b Screw head (cap screw or hexagon bolt)
8 Foot spacer 10 Total station 100 Small diameter pipe 200 Excavator 300 Starting shaft 400 Reaching shaft 500 Main pusher

Claims (4)

Slurry pipes housed in small diameter pipes and
An imaging unit with a camera and target installed and wheels,
An imaging unit connecting member that connects the imaging units at predetermined intervals,
In-pipe equipment for driving and controlling the excavator connected to the head of the small-diameter pipe,
An imaging surveying system that measures the position and direction of the excavator by imaging the target with a camera.
With
In the small diameter pipe propulsion apparatus for performing the curve promote small diameter tube based on the measurement result of the imaging surveying system,
When the imaging unit is inserted into a small-diameter tube having an inner diameter of 250 mm to 350 mm and when the imaging unit is collected, the rail for moving the imaging unit and the rail are connected to the upper part to be integrated, and the shape of a trough that opens upward. A rail casing having a thick casing and installed in the small diameter pipe,
A rail-casing connecting member that connects the rail-casing to each other,
With
The casing of the rail casing is composed of a digger and a thick body having a predetermined strength required for retracting a small diameter pipe .
The slurry pipe and the equipment in the pipe are housed in the casing, and the imaging unit runs on the upper part of the rail in the upper part of the slurry pipe and the equipment in the pipe .
A small-diameter pipe propulsion device characterized by being applied to the mud pressure method. The small-diameter pipe propulsion device according to claim 1, wherein the rail and the casing of the rail casing have an integral structure based on a welded joint. The small-diameter pipe propulsion device according to claim 1, wherein the casing has a thickness of 6 to 15 mm, an axial length of 500 to 1200 mm, and an inner diameter of 188 to 206 mm. Rail casings, which are installed in small-diameter pipes with an inner diameter of 250 mm to 350 mm, have rails connected to the upper part to be integrated, and have a gutter-shaped thick casing that opens upward, are connected to each other by rail casing connecting members. A small-diameter pipe linear propulsion step that linearly propels the gutter and the small-diameter pipe by the propulsion drive device without an imaging unit while connecting the small-diameter pipe and the equipment inside the pipe.
An imaging unit installation step in which an imaging unit in which a camera and a target are installed in the small-diameter tube is inserted along the rail while being connected by an imaging unit connecting member and installed at a predetermined position.
By imaging the target with the camera, the position and direction of the excavator are measured, and based on the measurement result, the propulsion drive device is connected while connecting the small diameter pipe, the in-pipe equipment, the rail casing, and the imaging unit. With the small-diameter pipe curve propulsion step to propel the excavator and the small-diameter pipe in a curve,
An image pickup unit recovery step in which the image pickup unit on which the camera and the target are installed and the image pickup unit connecting member are retracted along the rail and collected at a predetermined position from the inside of the small-diameter tube is provided.
The casing of the rail casing has a wall thickness of a predetermined strength required when the excavator and the small diameter pipe are retracted.
The slurry pipe and the equipment in the pipe are housed in the casing, and the imaging unit runs on the upper part of the rail in the upper part of the slurry pipe and the equipment in the pipe .
A small-diameter pipe propulsion method characterized by being applied to the mud pressure method.

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