JP7377132B2 - Rehabilitation pipe communication port position measuring device and communication port position measurement method - Google Patents

Description

The present invention relates to a position measuring device and a position measuring method used for rehabilitation of an existing pipe, and more particularly to a device and method for measuring the position of a communication port with a branch pipe in a rehabilitated pipe lined on the inner circumference of an existing pipe.

It is known to rehabilitate existing pipes such as aged sewer pipes by lining them with rehabilitation pipes (see Patent Document 1, etc.). If a branch pipe such as a mounting pipe is connected to an existing pipe, check the position of the connection port such as the mounting pipe port in advance using a television camera vehicle or the like. After lining the rehabilitated pipe, put a drilling machine and a TV camera car into the rehabilitation pipe, and while checking with the TV camera car, use the drilling tool of the drilling machine to drill holes at the previously measured positions in the rehabilitated pipe, and then remove the branches. Forms a communication port with the pipe.

In Patent Document 1, a reflector is attached to a television camera vehicle that is introduced into an existing pipe before lining. The TV camera car is stopped at a position where the connection port is photographed, and the distance between the TV camera car and the laser rangefinder is measured by irradiating the reflector with a laser from a laser rangefinder installed in the manhole; Furthermore, the position of the connection port is determined by correcting the measured distance by taking into consideration the distance between the reflector of the TV camera car and the camera. In Patent Document 1, a similar reflecting plate is also attached to a perforator introduced into a rehabilitated pipe after lining. The distance between the drilling machine and the laser distance meter is measured by shining a laser beam onto the reflecting plate of the drilling machine from a laser rangefinder installed in the manhole. Furthermore, by correcting the measured distance by taking into consideration the distance between the reflector of the drilling machine and the drilling tool, the drilling machine is stopped so that the drilling tool is placed exactly at a position facing the connection port. After that, perforation is performed.

JP2018-081015A

In the construction method of Patent Document 1 mentioned above, it is not easy to irradiate a laser beam onto a small reflecting plate with a diameter of several tens of centimeters, which is located several tens of meters away from the manhole, and in some cases about 70 meters away. Even if the laser is irradiated not on the reflector but on the inner wall of an existing or rehabilitated pipe, the distance may be displayed on the laser rangefinder. For this reason, there is a possibility of erroneous measurements unless you check whether the light is hitting the reflector accurately. On the other hand, the above-mentioned confirmation work is not easy.
In view of such circumstances, the present invention, when measuring the formation position of a communication port with a branch pipe in a rehabilitated pipe lining an existing pipe using a laser rangefinder, detects whether the laser from the laser rangefinder is hitting the reflector or not. The purpose of the present invention is to accurately measure the formation position of a communication port by easily confirming it and eliminating erroneous measurements.

In order to solve the above problems, the present invention is a communication port position measuring device that measures the formation position of a communication port with a branch pipe in a rehabilitated pipe lined on the inner periphery of an existing pipe,
a running body that can be introduced into the interior of the existing pipe before lining or the interior of the rehabilitated pipe;
a laser distance meter that is provided on the traveling body and measures the distance between the traveling body and a reference position by laser irradiation;
a reflector placed at the reference position;
It is characterized by having the following.

For example, reflectors are installed in manholes connected to existing pipes. The placement position of the reflector is set as a reference position. The traveling body is introduced into the existing pipe or rehabilitated pipe and stopped at the position where the communication port is to be formed (the position corresponding to the installation pipe port, etc.). A laser is irradiated from a laser distance meter of the traveling body toward the reflecting plate. By placing the reflector in a place such as a manhole where workers can access or easily observe it, it is possible to visually confirm whether or not the reflector is irradiated with laser light. Therefore, it is possible to reduce the possibility of erroneously measuring the communication port formation position, and to form the communication port at an accurate position.

The communication port position measuring device further includes an auxiliary camera provided near the laser rangefinder of the traveling body, and a monitor that displays images shot by the auxiliary camera, and the shooting direction of the auxiliary camera is Preferably, the laser beam is directed in the same direction as the laser irradiation direction.
Preferably, the monitor is installed on the ground or in a manhole away from the vehicle. The auxiliary camera and the monitor are connected by wire or wirelessly, so that images shot by the auxiliary camera are displayed on the monitor in real time.
Since the line of sight of the auxiliary camera is in the same direction as the laser rangefinder, the operator can determine the direction of the laser rangefinder from the image on the monitor. By displaying a reflector on the monitor, the laser beam can be directed to the reflector.

It is preferable that the laser distance meter and the auxiliary camera are supported by the traveling body through a common angle adjustment mechanism.
Furthermore, it is preferable that the communication port position measuring device includes a remote control unit that remotely controls the angle adjustment mechanism.
Camera images taken from inside the existing pipe show that the side of the pipe that connects to the manhole is bright. Adjust the angle of the auxiliary camera to face the light. The operator can adjust the angle remotely while checking the monitor on the ground. In synchronization with the auxiliary camera, the laser rangefinder is pointed in the same direction as the auxiliary camera. This makes it easy to align the laser rangefinder so that it faces the reflector.
It is preferable that the laser distance meter and the auxiliary camera are adjustable in angle to the left and right and up and down of the vehicle. It is preferable that the laser rangefinder and the auxiliary camera are supported on a support stand whose angle can be changed horizontally and vertically of the traveling body.

The traveling body includes a mounting part on which a drilling tool is mounted so that the angle can be adjusted, a main camera that directs a photographing direction toward the drilling tool mounted on the mounting part or its surrounding area, and a main camera that measures the angle of the mounting part. It is preferable that a goniometer is provided.
According to the traveling body, it can be used both as a television camera vehicle and a drilling machine. A traveling object is introduced into the existing pipe before rehabilitation, the main camera is used to photograph the inside of the existing pipe, and the drilling tool of the mounting section is placed at the position of the connection port (mounting pipe port, etc.) with the branch pipe in the existing pipe. so that This position is measured and recorded by a laser rangefinder. Further, adjust the angle of the drilling tool so that it faces the connection port, and measure and record the angle with an angle meter.
After lining the rehabilitated pipe, the same traveling body is stopped at the recorded position and the mounting portion is oriented at the recorded angle. Since the running object is the same as when the record was taken, deviations are less likely to occur. The recorded values can be used as is, and there is no need for correction or conversion. Thereafter, by drilling the rehabilitated pipe with a drilling tool, a communication port communicating with the connection port can be reliably formed.
Since the drilling status can be photographed and confirmed using the main camera, there is no need for a separate television camera vehicle.

It is preferable that the traveling body is an electric traveling body having an electric motor and a traveling rotating body connected to the electric motor so as to be able to transmit torque, and capable of traveling within the existing pipe and the rehabilitated pipe by remote control. . It is preferable that the traveling body is electric. By using an electric type, the response is better than a hydraulic type, and the vehicle can be reliably stopped at an accurate position. Therefore, the communication port formation position can be accurately measured, and the communication port can be reliably communicated with the connection port.

The communication port position measuring device includes an irradiation angle adjustment mechanism that adjusts a laser irradiation angle of the laser distance meter;
It is preferable to include a search unit that searches for a laser irradiation angle at which the reflecting plate is irradiated based on a distance measurement value for each adjusted laser irradiation angle.
Thereby, the laser irradiation angle can be automatically directed toward the reflector, and the burden on the operator in adjusting the irradiation angle can be reduced.

The irradiation angle adjustment mechanism adjusts the laser irradiation angle with respect to the traveling body around a first axis,
It is preferable that the search unit determines whether at least three laser irradiation points are mutually arranged on one straight line when the laser irradiation angle is changed.
When the at least three laser irradiation points are arranged on one straight line, it can be presumed that these laser irradiation points are all arranged on a flat reflecting plate.

The irradiation angle adjustment mechanism adjusts the laser irradiation angle around a first axis and a second axis that are orthogonal to each other with respect to the traveling body,
When the searching unit changes the laser irradiation angle around the first axis, at least three laser irradiation points are arranged on one straight line, and the laser irradiation angle is changed around the second axis. It is preferable to determine whether at least three laser irradiation points are arranged on one straight line with respect to each other.
When three or more laser irradiation points in two orthogonal directions are arranged on a straight line, it is highly likely that these laser irradiation points are arranged on a flat reflector.

The method of the present invention is a method for measuring the formation position of a communication port with a branch pipe in a rehabilitated pipe lined on the inner circumference of an existing pipe,
Place the reflector at the reference position,
Introducing a running body into the existing pipe or the rehabilitated pipe before the lining,
The distance between the traveling body and the reference position is measured by irradiating a laser distance meter provided on the traveling body to the reflecting plate, and the position where the communication port is to be formed is determined.
According to this method, by setting the reference position at a place where people can enter or where it is easy to observe, such as a manhole, and placing a reflector there, it is easy to determine whether or not the laser beam is hitting the reflector. You can check.

An auxiliary camera provided near the laser rangefinder of the traveling body photographs the same direction as the laser irradiation direction,
Display the captured image on a monitor,
Preferably, the angles of the laser rangefinder and the auxiliary camera are adjusted together by remote control.
The angle of the auxiliary camera is adjusted by remote control so that the reflector is reflected on the monitor. This allows you to easily orient the laser rangefinder so that the laser beam hits the reflector.

adjusting the laser irradiation angle of the laser rangefinder;
It is preferable to search for the laser irradiation angle at which the reflecting plate is irradiated based on the distance measurement value for each adjusted laser irradiation angle.
This can omit or reduce the need for the operator to directly visually check whether or not the laser is hitting the reflector.

Preferably, the search is performed depending on whether at least three laser irradiation points are arranged on a straight line when the laser irradiation angle is changed around the first axis with respect to the traveling object.
This makes it possible to increase the accuracy of the search.

When the laser irradiation angle is changed around a first axis with respect to the traveling body, at least three laser irradiation points are arranged on one straight line, and around a second axis orthogonal to the first axis. Preferably, the search is performed depending on whether at least three laser irradiation points are arranged on one straight line when the laser irradiation angle is changed.
This makes it possible to further increase the accuracy of the search.

After the search, it is preferable that the laser irradiation angle is further finely adjusted by remote control so that the laser irradiation point is placed at a predetermined position on the reflection plate.
Thereby, the accuracy of distance measurement can be improved. Furthermore, the accuracy of identifying the communication port formation position can be improved.

According to the present invention, it is possible to easily check whether the laser from the laser rangefinder is hitting the reflector, it is possible to accurately measure the position of the communication port communicating with the branch pipe, and it is possible to reduce the possibility of erroneous measurements. .

FIG. 1 is a side sectional view showing how a pre-measurement step in rehabilitation work of an aging existing pipe is performed using a communication port position measuring device according to a first embodiment of the present invention. FIG. 2 is a side sectional view showing a state in which a drilling process is executed by a drilling machine constituted by a traveling body of the communication port position measuring device. FIG. 3 is a side view of the drilling machine in the drilling process. FIG. 4 is a front cross-sectional view of a manhole in which a reflector is installed, taken along line IV-IV in FIG. FIG. 5 is a plan cross-sectional view taken along line VV in FIG. FIG. 6 is a plan cross-sectional view of an existing pipe to be rehabilitated, showing the preliminary measurement process performed by the communication port position measuring device according to the second embodiment of the present invention. FIG. 7 is a side sectional view of the existing pipe to be rehabilitated, showing the preliminary measurement process of the second embodiment. FIG. 8 is an explanatory perspective view showing the angle adjustment structure of the laser distance meter in the communication port position measuring device according to the second embodiment.

Embodiments of the present invention will be described below with reference to the drawings.
<First embodiment>
FIG. 1 shows an aging existing pipe 1 to be rehabilitated. The existing pipe 1 is, for example, a sewer pipe. An attachment pipe port 2a (connection port) is provided on the outer periphery of the sewer pipe, and an attachment pipe 2 (branch pipe) is connected to the attachment pipe port 2a. A manhole 4 is connected to a pipe opening 1c at the end of the sewer pipe. Note that sewer pipes usually have a drainage slope, but in FIGS. 1 to 3, drainage slopes are not provided for convenience of drawing.
Existing pipes are not limited to sewer pipes, but may also be water supply pipes, agricultural water pipes, hydroelectric power supply pipes, gas pipes, tunnels, and the like. The tunnel may have a structure in which a hole is simply dug in the ground, or may have a structure in which the inner surface of the hole is reinforced with segments or mortar.

As shown in FIG. 2, the inner circumference of the existing pipe 1 after rehabilitation work is lined with a rehabilitation pipe 3. The rehabilitated pipe 3 may be a spiral pipe in which a strip member is spirally wound, a plurality of strips arranged in a ring shape, or a plurality of arc-shaped segments arranged in a tubular shape. It may be a resin tube having shape memory properties.

As shown by the two-dot chain line in FIG. 2, a communication port 3a with the branch pipe 2 is formed in the rehabilitated pipe 3. A communication port position measuring device 10, which also serves as a drilling device for forming the communication port 3a, is installed at the rehabilitation construction site. The communication port position measuring device 10 includes a traveling body 11, an operation panel 20, a reflector 35, and a generator 40.

As shown in FIG. 3, the traveling body 11 is an electric traveling body that includes a traveling body main body 12 and a drilling tool mounting portion 13, and also serves as a drilling machine.
The traveling body main body 12 has a vehicle body 12a, a wheel 14 (rotating body for traveling), and an electric motor 15, and can travel inside the existing pipe 1 and the rehabilitated pipe 3 by remote control. An electric motor 15 mounted on the vehicle body 12a is connected to the wheels 14 so as to be able to transmit torque.
A crawler may be used instead of the wheel 14 as the traveling rotating body.

A drilling tool mounting portion 13 is provided at the front of the traveling body body 12 (drilling machine body). A drilling tool 19 such as a drill is removably mounted on the mounting portion 13 and driven. The rehabilitated pipe 3 is cut by the drilling tool 19, and a communication port 3a is formed.

The traveling body main body 12 and the tool mounting portion 13 are connected via a connecting portion 16. The connecting portion 16 includes a rotation mechanism 16a and a translation mechanism 16b. These mechanisms 16a and 16b allow the tool attachment part 13 to be adjustable in angle around an axis along the vehicle length direction (the front-rear direction of the vehicle body 12) and to be able to move in parallel, such as up and down, with respect to the vehicle body 12. It has become.

A main camera 17 is provided in the connecting portion 16 . The main camera 17 includes an image sensor 17a such as a CCD, and a lighting 17b such as an LED light. The photographing direction and illumination direction of the main camera 17 are directed toward the drilling tool 19 and its surroundings, regardless of the rotation and parallel movement of the tool mounting portion 13 with respect to the traveling body body 12.
Note that the main camera 17 may be provided in the tool mounting section 13.

The tool mounting portion 13 is provided with an angle meter (inclinometer) 18. The angle meter 18 measures the angle of the tool mounting portion 13 with respect to the direction of gravity (vertical direction).
Note that the angle meter 18 may be provided at the connecting portion 16.

A distance measuring mechanism 30 is provided at the rear of the traveling body body 12. The distance measuring mechanism 30 includes a laser range finder 31, an auxiliary camera 32, and a support section 33.
The laser distance meter 31 includes an irradiating section 31a, a light receiving section 31b, and a distance calculating section 31c. The irradiation section 31a irradiates the laser beam 31d. The laser beam 31d is directed toward the rear of the traveling body 11. The light receiving section 31b receives the laser reflected light 31e. The distance calculating section 31c calculates the distance between the laser distance meter 31 and the reflection point based on the phase difference between the laser beam 31d and the laser reflected beam 31e.

An auxiliary camera 32 is provided near the laser range finder 31. The auxiliary camera 32 includes an imaging device such as a CCD. The photographing direction of the auxiliary camera 32 is directed in the same direction as the irradiation direction of the laser beam 31d (to the left in FIG. 3). Auxiliary camera 32 may further include lighting, such as an LED light.

The support section 33 includes a support base 33a and an angle adjustment mechanism 34. A laser rangefinder 31 and an auxiliary camera 32 are supported on the support stand 33a.
Although the laser range finder 31 and the auxiliary camera 32 are stacked vertically on the support base 33a, they may be arranged side by side.

An angle adjustment mechanism 34 is interposed between the support base 33a and the traveling body main body 12. A laser distance meter 31 and an auxiliary camera 32 are supported by the traveling body body 12 via a common angle adjustment mechanism 34. The angle adjustment mechanism 34 includes a stepping motor, a gear box, etc. (not shown), and can adjust the angle of the laser distance meter 31 and the auxiliary camera 32 with respect to the traveling body body 12 around two rotation axes that are orthogonal to each other. One of the two rotation axes is along the vehicle width direction (direction perpendicular to the paper plane of FIG. 1), and the other one is along the vehicle height direction (vertical direction). Therefore, the angle of the laser range finder 31 and the auxiliary camera 32 can be adjusted so that they can be tilted up and down (vertically swinging) and turned left and right (swinging horizontally). The laser irradiation direction of the laser distance meter 31 and the photographing direction of the auxiliary camera 32 are always directed in the same direction regardless of the adjustment angle.

As shown in FIGS. 1 and 2, the reference position P ₃₀ , which is the reflection point of the laser beam 31d, is set at a position far behind the traveling body 11. Preferably, the reference position P ₃₀ is set within a manhole 4 connected to the existing pipe 1. As shown in FIGS. 4 and 5, a reflecting plate 35 is installed in the manhole 4. The installation position of the reflection plate 35 becomes a reference position _P30 . The reflecting plate 35 is oriented perpendicularly to the extension line of the pipe axis of the existing pipe 1, and is supported by the invert 4b of the manhole 4 by a support 36.
The reflecting plate 35 is provided with a target mark 35a.

An operation panel 20 (remote control section) and a generator 40 (power source) are installed near the opening of the manhole 4 on the ground. The operation panel 20 and the generator 40 may be mounted on a vehicle (not shown). The generator 40 and the operation panel 20 are connected by a power cable 49.
A cable 29 is pulled out from the operation panel 20. The cable 29 extends from the manhole 4 into the existing pipe 1 and is connected to the traveling body 11.
Although detailed illustrations are omitted, the cable 29 accommodates power supply lines, various control signal lines, various detection signal lines, and the like. Electric power from the generator 40 is supplied to the traveling body 11 via the power cable 40 and the power supply line. As a result, the electric motor 15 and other electrical systems of the traveling body 11 are driven.
Note that the traveling body 11 may be equipped with a dedicated power source such as a battery.

The operation panel 20 houses a control section 21 such as a programmable controller, and is also provided with various operation knobs 22 to 24 and monitors 25 to 27 (display section) on the front surface of the panel.
By remotely controlling the electric motor 15 and the like using the travel control knob 22, the traveling body 11 can be moved forward, backward, stopped, etc.
The tool operation knob 23 allows operations such as angle adjustment and parallel movement of the tool mounting portion 13, and driving and stopping of the drilling tool 19 to be performed remotely.
Using the angle control knob 24, the angle of the support base 33a, as well as the angles of the laser rangefinder 31 and the auxiliary camera 32, can be remotely controlled.

The video monitor 25 displays images captured by the main camera 17, images captured by the auxiliary camera 32, measured distance data by the laser distance meter 31, measured angle data by the angle meter 18, and the like.
Within the screen of one video monitor 25, a display area for the image taken by the main camera 17 and a display area for the image taken by the auxiliary camera 32 may be separated. The image captured by the main camera 17 and the image captured by the auxiliary camera 32 may be selectively switched by an input operation. A monitor dedicated to the video captured by the main camera 17 and a monitor dedicated to the video captured by the auxiliary camera 32 may be provided separately.

The distance measured by the laser distance meter 31 is displayed on the distance display monitor 26.
On the angle display monitor 27, the angle measured by the angle meter 32 is displayed.

A method for rehabilitating an aging existing pipe 1 will be explained with a focus on how to use the communicating port position measuring device 10.
<Preliminary measurement process>
As shown in FIG. 1, a traveling body 11 is introduced into an existing pipe 1 before rehabilitation, and a preliminary measurement process is performed. Note that, as shown by the two-dot chain line in FIG. 1, the drilling tool 19 may be removed from the mounting portion 13 in the preliminary measurement step.
The inside of the existing pipe 1 is photographed with the main camera 17. The image taken by the main camera 17 is displayed in real time on the image monitor 25 on the ground. An operator (worker) remotely controls the traveling body 11 using the traveling operation knob 22 while watching the video monitor 25, and stops the traveling body 11 when the mounting portion 13 comes to a position facing the connection port 2a.
Since the traveling body 11 is electric, it has better responsiveness than a hydraulic type, and can be accurately stopped at a desired position.

A reflecting plate 35 is installed at a reference position P ₃₀ inside the manhole 4.
A laser beam 31d is emitted from the laser distance meter 31 to the rear of the traveling body 11. The auxiliary camera 32 also photographs the rear of the traveling body 11. The image taken by the auxiliary camera 32 is displayed on the image monitor 25 in real time.

In the camera image from inside the existing pipe 1, the pipe port 1c side is bright.
The operator adjusts the angle of the auxiliary camera 32 so that it faces the direction of the light by remote control using the angle control knob 24 while checking the video monitor 25. This allows the auxiliary camera 32 to be directed toward the tube port 1c. Then, the angle of the laser rangefinder 31 is also adjusted together with the auxiliary camera 32, and the laser rangefinder 31 is directed toward the reflector 35 of the manhole 4.

Since the line of sight of the auxiliary camera 32 is always facing the same direction as the laser rangefinder 31, the operator can grasp the direction of the laser rangefinder 31 from the image on the video monitor 25. This allows the laser range finder 31 to be easily directed toward the reflector plate 35. Then, preferably the target mark 35a of the reflection plate 35 can be reliably irradiated with the laser beam 31d. Laser reflected light 31e from the reflecting plate 35 is received by the laser distance meter 31. As a result, the distance between the reflector 35 at the reference position P ₃₀ and the laser distance meter 31 can be accurately measured.

By stopping the traveling body 11 at a position facing the connection port 2a and measuring the distance, the position of the connection port 2a can be accurately measured.
By placing the reflector 35 in the manhole 4, it is possible to easily visually confirm whether or not the reflector 35 is irradiated with the laser beam 31d. Therefore, the possibility of erroneous measurements can be eliminated.
Record the measured position data of the connection port 2a.

Further, while checking the image inside the existing pipe 1 on the image monitor 25, the operator uses remote control using the tool operation knob 24 to adjust the angle so that the mounting portion 13 faces the connection port 2a. The angle of the mounting portion 13 is measured by an angle meter 18. The measurement angle corresponds to the arrangement angle of the connection port 2a in the circumferential direction of the existing pipe 1. Record the arrangement angle.

<Rehabilitation pipe lining process>
As shown in FIG. 2, the rehabilitated pipe 3 is then lined along the inner circumference of the existing pipe 1. As a result, the connection port 2a is closed with the rehabilitation pipe 3.

<Drilling process>
Subsequently, the drilling machine/running body 11 equipped with the drilling tool 19 is introduced into the rehabilitated pipe 3. A reflecting plate 35 is installed at a reference position P ₃₀ inside the manhole 4.
Similar to the preliminary measurement step, the inside of the existing pipe 1 is photographed with the main camera 17, and the photographed image is displayed on the video monitor 25 in real time. At the same time, a laser beam 31d is emitted from the laser distance meter 31 to the rear of the traveling body 11. Moreover, the rear of the traveling body 11 is photographed by the auxiliary camera 32. The image taken by the auxiliary camera 32 is displayed on the image monitor 25 in real time.

The operator adjusts the angle of the auxiliary camera 32 toward the light on the pipe port 1c side by remote control using the angle control knob 24 while checking the captured image of the auxiliary camera 32 on the video monitor 25. The angle of the laser distance meter 31 is also adjusted together with the auxiliary camera 32. This allows the laser range finder 31 to be easily directed toward the reflector plate 35.

In this way, the laser beam 31d can be reliably irradiated onto the reflecting plate 35, and the distance between the reference position P ₃₀ and the laser distance meter 31 can be accurately measured.
By placing the reflector 35 in the manhole 4, it is possible to easily visually confirm whether or not the reflector 35 is irradiated with the laser beam 31d, thereby eliminating the possibility of erroneous measurements.

While checking the measured value of the laser rangefinder 31 on the distance display monitor 26, the operator uses remote control using the travel control knob 22 to move the traveling object 11 to the connection port measurement position that was measured and recorded in the preliminary measurement process. make it stop. Specifically, the traveling object 11 is stopped at a position where the measured value of the laser distance meter 31 matches the measured value in the preliminary measurement step. Since the traveling body 11 is the same as that used in the preliminary measurement process, deviations are unlikely to occur, and the measured values can be used as they are, without the need for correction or conversion. The electric traveling body 11 has good responsiveness and can be accurately stopped at a desired position.

Further, while checking the measured value of the angle meter 18 on the angle display monitor 27, the operator remotely controls the mounting portion 13 and, in turn, the drilling tool 19 using the tool operation knob 23, to set the mounting portion 13 and, in turn, the drilling tool 19 to the angle measured and recorded in the preliminary measurement process.
As a result, the drilling tool 19 is directed toward the connection port 2a with the rehabilitated pipe 3 interposed therebetween. Then, the rehabilitation pipe 3 is bored with the drilling tool 19 to form a communication port 3a that communicates with the connection port 2a and eventually with the branch pipe 2.

According to the communication port position measurement and drilling method using the device 10, the communication port 3a can be accurately communicated with the branch pipe 2 by preventing erroneous measurements during laser distance measurement.
The traveling body 11 can be used both as a drilling machine and as a television camera vehicle. The drilling work can be photographed with the main camera 17 and checked in real time on the video monitor 25, eliminating the need for a separate television camera vehicle.
After drilling, the device 10 is removed.

Next, other embodiments of the present invention will be described. In the following embodiments, the same reference numerals are attached to the drawings to simplify the explanation for the same components as those already described.
<Second embodiment (FIGS. 6 to 8)>
As shown in FIGS. 6 and 7, in the communication port position measuring device 10B of the second embodiment, the traveling body 11 is provided with an irradiation angle adjustment mechanism 37. As shown in FIG. 8, the irradiation angle adjustment mechanism 37 includes an adjustment power source such as a stepping motor 37a, and a force transmission mechanism such as a gear box 38. The irradiation angle adjustment mechanism 37 allows the laser rangefinder 31 to be angularly adjusted to the left and right (approximately horizontally) around the rotation axis La and vertically (approximately vertically) around the elevation axis Lb with respect to the traveling body main body 12. It is possible. Furthermore, the laser irradiation angle from the laser distance meter 31 can be adjusted horizontally and vertically.

The turning axis La is oriented vertically (substantially vertically) along the vehicle height direction of the traveling body 11. The elevation axis Lb is oriented left and right (substantially horizontally) along the vehicle width direction of the traveling body 11. The two axes La and Lb are orthogonal to each other, and are also orthogonal to the vehicle longitudinal axis Lc that extends along the vehicle length direction of the traveling body 11. These axes La, Lb, and Lc are tilted with respect to the horizontal and vertical directions according to the inclination of the traveling body 11.
As shown in FIG. 7, the vehicle length direction axis Lc is inclined in accordance with the drainage gradient of the existing pipe 1 or the rehabilitated pipe 3. Note that the drainage gradient in FIG. 7 is exaggerated.

As shown in FIG. 8, the laser irradiation angle is adjusted in fixed step angle units in both directions of rotation and elevation. The step angle is preferably about 0.5° to 2°, more preferably about 1°. If the step angle is too small, there is a risk that a small-area flat portion other than the reflecting plate 35 will be mistakenly determined to be the reflecting plate 35. If the step angle is too large, searching for the reflector 35 becomes difficult.
The range of turning movement around the turning axis La is preferably about 7.5° to 22.5° in each direction, about 15° to 45° in total, more preferably 15° to the left and right, centering on the vehicle longitudinal axis Lc. degree, and the total angle is about 30 degrees. If the turning range is too narrow, depending on the direction of the traveling body 11, the reflecting plate 35 may not be included in the turning range, making it impossible to search. If the turning range is too wide, flat parts other than the reflector may be included in the turning range, leading to a risk of erroneous determination.
The elevation movable range around the elevation axis Lb is preferably about 7.5° to 22.5° up and down, respectively, about 15° to 45° in total, more preferably 15° up and down, centering on the vehicle longitudinal axis Lc. degree, and the total angle is about 30 degrees. If the range of elevation and elevation is too narrow, depending on the direction of the traveling object 11, the reflection plate 35 may not be included in the range of elevation and elevation, making it impossible to search. If the range of elevation and elevation is too wide, flat parts other than the reflector may be included in the range of elevation and elevation, leading to a risk of erroneous determination.
Here, for the sake of simplicity, it is assumed that when the laser distance meter 31 is directed straight toward the vehicle longitudinal axis Lc, θp=0° and θq=0°.

An angle sensor 39 such as an encoder is connected to the laser distance meter 31. The angle sensor 39 measures the turning angle θp and the elevation angle θq of the laser range finder 31 with respect to the vehicle longitudinal axis Lc. The measurement angles θp and θq correspond to the laser irradiation angle adjusted by the irradiation angle adjustment mechanism 37. Information on the irradiation angles θp and θq is input to the control unit 21B together with the distance measurement values Lp and Lq by the laser distance meter 31.
In addition to controlling the irradiation angle adjustment mechanism 37 and the laser distance meter 31, the control unit 21B controls the laser irradiation applied to the reflection plate 35 based on the distance measurement values Lp and Lq for each of the adjusted angles θp and θq. It also functions as a search unit that searches for angles.
The control unit 21B may be provided on the operation panel 20 on the ground, or may be provided on the traveling body 11.

Furthermore, the communication port position measuring device 10B is equipped with a remote controller 28 (remote controller) for remotely controlling the irradiation angle adjustment mechanism 37. Preferably, the remote controller 28 can be carried by a worker and carried into the manhole 4. The connection between the remote controller 28 and the traveling body 11 may be a wired connection using a cable or a wireless connection.

<Preliminary measurement process>
In the second embodiment, during the preliminary measurement process of the existing pipe 1 before rehabilitation, the inner wall of the existing pipe 1 is observed with the main camera 17, and the traveling body 11 is stopped at a position corresponding to the connection port 2a. (FIG. 7), the following control operation and search operation are automatically executed by the control unit 21B.
As shown in FIG. 6, the turning angle θp of the laser range finder 31 is changed at regular step angles (for example, 1°). Perform laser distance measurement every time you change it. The elevation angle θq of the laser distance meter 31 is maintained at a constant value. Preferably, θq=0°.

By changing the turning angle θp, the laser irradiation point by the laser distance meter 31 is moved in the order of p ₁ , p ₂ , p ₃ , p ₄ . The measurement distance Lp and angle θp of each laser irradiation point p ₁ , p ₂ , p ₃ , p ₄ . Represents the coordinate position of a point.

The control unit 21B stores information on the acquired coordinate positions (Lp, θp) of each laser irradiation point in a built-in memory. Furthermore, based on the coordinate position (Lp, θp), the laser irradiation angle in the turning direction at which the reflection plate 35 is irradiated is searched.
Specifically, it is determined whether at least three laser irradiation points with different turning angles are arranged on one straight line. When it is determined that the laser irradiation points are located, it is estimated that the at least three laser irradiation points are on the reflection plate 35.

For example, as shown in FIG. 6, the first laser irradiation point p ₁ is located at a location away from the reflection plate 35 (for example, on the wall of the existing pipe 1), and the second to fourth laser irradiation points p ₂ , p ₃ and p ₄ are assumed to be located on the reflection plate 35.
At the stage where the control unit 21B (search unit) acquires information on the distance Lp and angle θp of the three laser irradiation points p ₁ , p ₂ , p ₃ , the control unit 21B (search unit) selects the three laser irradiation points p ₁ , p ₂ , p _{3 .} It is determined whether the coordinate position is located on one straight line in the substantially horizontal two-dimensional polar coordinate system. In the example of FIG. 6, no.
Continue measuring new laser irradiation points until it is determined that they have been placed.

After acquiring the information on the distance and angle of the fourth laser irradiation point p ₄ , sequentially select three undetermined points from the four laser irradiation points p ₁ to p ₄ , and connect the three laser irradiation points to one straight line. Determine whether it is placed above. In other words, excluding the already determined set (p ₁ , p ₂ , p ₃ ), the set of p ₂ , p ₃ , p ₄ , the set of p ₃ , p ₄ , p ₁ , and the set of p ₄ , p ₁ , p ₂ For each set, it is determined whether each set is arranged on one straight line.
In the example of FIG. 6, it is determined that the set of p ₂ , p ₃ , and p ₄ is arranged on one straight line. It is estimated that these three laser irradiation points p ₂ , p ₃ , and p ₄ are on the reflection plate 35 .

Preferably, based on the coordinate positions of the three laser irradiation points p ₂ , p ₃ , p ₄ , a laser irradiation point p ₅ on the first straight line with the minimum distance Lp is determined.
A line connecting the laser distance meter 31 and the laser irradiation point _p5 is perpendicular to the reflection plate 35 in plan view.

Subsequently, as shown in FIG. 7, the elevation angle θq of the laser range finder 31 is changed at regular step angles (for example, 1°). Perform laser distance measurement every time you change it. The turning angle θp of the laser distance meter 31 is maintained at a constant value. Preferably, the angle θp ₅ in the turning direction of the laser irradiation point p ₅ is maintained at the minimum distance.

By changing the elevation angle θq, the laser irradiation point by the laser distance meter 31 is moved in the order of q ₁ , q ₂ , q ₃ , q ₄ . _The measurement distance Lq and angle θq of each laser irradiation point q ₁ , q ₂ , q ₃ , q ₄ . represent.

The control unit 21B stores information on the acquired coordinate positions (Lq, θq) of each laser irradiation point in a built-in memory. Furthermore, based on the coordinate position (Lq, θq), the laser irradiation angle in the upward and downward direction with which the reflection plate 35 is irradiated is searched.

Specifically, it is determined whether or not at least three laser irradiation points having different elevation angles are arranged on one straight line using the same procedure as when searching by changing the rotation angle. When it is determined that the laser irradiation points are located, it is estimated that the at least three laser irradiation points are on the reflection plate 35. For example, in the example of FIG. 7, the second to fourth laser irradiation points q _{2 ,} q ₃ , and q ₄ excluding the first laser irradiation point q 1 are located on the reflection plate 35. Presumed.

Next, by operating the irradiation angle adjustment mechanism 37, the control unit 21B adjusts the turning angle θp and the elevation angle θq of the laser rangefinder 31 to any laser irradiation point estimated to be located on the reflector plate 35. Match. Preferably, the turning angle θp is adjusted to the angle θp ₅ of the laser irradiation point p ₅ that provides the minimum distance. The elevation angle θq may be adjusted to the vicinity of the drainage gradient of the existing pipe 1 obtained in advance.
Thereby, the laser irradiation angle can be automatically directed toward the reflector, and the burden on the operator in adjusting the irradiation angle can be reduced.

Thereafter, the operator of the manhole 4 operates the remote controller 28 while visually observing the laser irradiation point on the reflector 35, so that the laser irradiation point is placed at a predetermined position on the reflector 35. Fine-tune the angle. Preferably, the predetermined position is set at the target mark 35a (see FIG. 4) of the reflection plate 35. More preferably, it is set at the center of the target mark 35a.
When the laser irradiation point is placed at a predetermined position such as the target mark 35a, the distance between the traveling body 11 and the target mark 35a is measured by the laser distance meter 31.

Since the traveling body 11 faces the connection port 2a, the measured distance represents the position of the connection port 2a in the pipe axis direction of the existing pipe 1. Thereby, the accuracy of position measurement of the connection port 2a can be improved.
Separately, similarly to the first embodiment, the angle of the connection port 2a in the circumferential direction of the existing pipe 1 is measured using the inclinometer 18.
Information on the position and angle of the connection port 2a is recorded.

<Drilling process>
Although not shown, in the perforation process after lining the rehabilitated pipe 3 (see FIG. 2), a running body 11 that also serves as a perforator is introduced into the rehabilitated pipe 3. Then, based on the positional information of the connection port 2a acquired in the preliminary measurement step, the boring machine/traveling body 11 is positioned in the axial direction of the rehabilitated pipe 3. At this time, similarly to the preliminary measurement step, the control unit 21B automatically performs a search operation for the laser irradiation angle that hits the reflection plate 35. In the final step, the operator only needs to make fine adjustments so that the laser irradiation point is placed at a predetermined position such as the target mark 35a in the reflection plate 35. This can reduce the burden on the worker.
Positioning the drilling machine and traveling body 11 in the pipe axis direction and further oriented the drilling tool 19 at the angle obtained in the preliminary measurement step to form the communication port 3a (see FIG. 3) is the first implementation. It is similar to the form.

The present invention is not limited to the embodiments described above, and various modifications can be made without departing from the spirit thereof.
For example, the traveling body used in the pre-measurement process before rehabilitation pipe lining and the traveling body (boring machine) used in the drilling process may be different from each other. The traveling body used in the preliminary measurement step only needs to have a laser distance meter 31 and preferably a main camera 17, and the drilling tool mounting part 13 is not necessary.
In the second embodiment (FIGS. 8 to 7), an auxiliary camera 32 similar to that in the first embodiment (FIGS. 1 to 5) may be mounted on the traveling body 11. The irradiation angle adjustment mechanism 37 may adjust the angle of only the optical meter within the laser distance meter 31. The reflector 35 may be searched only by determining whether or not at least three irradiation points are in a straight line when the angle around any one of the rotational axes La and Lb is changed.
The traveling body 11 may be hydraulically driven. The traveling body is not limited to a self-propelled type powered by electric power or hydraulic pressure, but may be a non-self-propelled type driven by traction or the like.

The present invention can be applied, for example, to rehabilitation of aging sewer pipes.

1 Existing pipe 2 Branch pipe 2a Connection port 3 Rehabilitation pipe 3a Communication port 4 Manhole 10, 10B Communication port position measuring device 11 Traveling body 13 Mounting section 15 Electric motor 17 Main camera 18 Angle meter 19 Drilling tool 20 Operation panel (remote control section) )
21 Control unit 21B Control unit (search unit)
25 Video monitor (monitor)
26 Distance display monitor (monitor)
27 Angle display monitor (monitor)
28 Remote controller 31 Laser distance meter 32 Auxiliary camera 33 Support part 34 Angle adjustment mechanism 35 Reflector plate 35a Target mark 37 Irradiation angle adjustment mechanism 39 Angle sensor 40 Generator (power supply)
P ₃₀ Reference position La Turning axis Lb Elevation axis Lc Vehicle longitudinal axis Lp Distance measurement value Lq Distance measurement value p ₁ , p ₂ , p ₃ , p ₄ , p ₅ Laser irradiation point q ₁ , q ₂ , q ₃ , q ₄ Laser irradiation point θp Turning angle θq Elevation angle

Claims (12)

A communication port position measuring device for measuring the formation position of a communication port with a branch pipe in a rehabilitated pipe lined on the inner circumference of an existing pipe,
a running body that can be introduced into the interior of the existing pipe before lining or the interior of the rehabilitated pipe;
a laser distance meter that is provided on the traveling body and measures the distance between the traveling body and a reference position by laser irradiation;
a reflector placed at the reference position;
an auxiliary camera provided near the laser rangefinder of the traveling body;
a monitor that displays images captured by the auxiliary camera;
Equipped with
The photographing direction of the auxiliary camera is directed in the same direction as the direction of the laser irradiation, and when the reflector is reflected on the monitor, the laser light from the laser rangefinder hits the reflector. A device for measuring the position of communication ports in rehabilitation pipes. The laser rangefinder and the auxiliary camera are supported by the traveling body through a common angle adjustment mechanism,
The communication port position measuring device according to claim 1 , further comprising a remote control unit that remotely controls the angle adjustment mechanism. The traveling body includes a mounting part on which a drilling tool is mounted so that the angle can be adjusted, a main camera that directs a photographing direction toward the drilling tool mounted on the mounting part or its surrounding area, and a main camera that measures the angle of the mounting part. 3. The communication port position measuring device according to claim 1 , further comprising an angle meter that measures the communication port position. The traveling body is an electric traveling body having an electric motor and a traveling rotating body connected to the electric motor so as to be able to transmit torque, and capable of traveling within the existing pipe and the rehabilitated pipe by remote control. The communication port position measuring device according to any one of claims 1 to 3 . A communication port position measuring device for measuring the formation position of a communication port with a branch pipe in a rehabilitated pipe lined on the inner circumference of an existing pipe,
a running body that can be introduced into the interior of the existing pipe before lining or the interior of the rehabilitated pipe;
a laser distance meter that is provided on the traveling body and measures the distance between the traveling body and a reference position by laser irradiation;
a reflector placed at the reference position;
an irradiation angle adjustment mechanism that adjusts a laser irradiation angle of the laser rangefinder;
a search unit that searches for a laser irradiation angle at which the reflector is irradiated based on the distance measurement value for each adjusted laser irradiation angle;
A communication port position measuring device for a rehabilitated pipe, characterized by comprising: The irradiation angle adjustment mechanism adjusts the laser irradiation angle with respect to the traveling body around a first axis,
The communication port position according to claim 5 , wherein the search unit determines whether at least three laser irradiation points are arranged on one straight line when the laser irradiation angle is changed. measuring device. The irradiation angle adjustment mechanism adjusts the laser irradiation angle around a first axis and a second axis that are orthogonal to each other with respect to the traveling body,
When the searching unit changes the laser irradiation angle around the first axis, at least three laser irradiation points are arranged on one straight line, and the laser irradiation angle is changed around the second axis. 7. The communication port position measuring device according to claim 6 , further comprising: determining whether at least three laser irradiation points are arranged on one straight line with respect to each other. A method for measuring the formation position of a communication port with a branch pipe in a rehabilitated pipe lined on the inner circumference of an existing pipe, the method comprising:
A reflecting plate is placed at a reference position of a manhole where the pipe opening of the existing pipe opens ,
Introducing a running body into the existing pipe or the rehabilitated pipe before the lining,
measuring the distance between the traveling body and the reference position by irradiating the reflector with a laser from a laser distance meter provided on the traveling body, and determining the position where the communication port is to be formed ;
When irradiating the laser to the reflecting plate, an auxiliary camera provided near the laser rangefinder of the traveling body photographs the same direction as the laser irradiation direction,
Display the captured image on a monitor,
Directing the laser rangefinder toward the reflector by adjusting the angle of the laser rangefinder and the auxiliary camera integrally with each other by remote control so that the auxiliary camera faces a bright direction on the pipe opening side. A method for measuring the position of a communication port in a rehabilitated pipe. A method for measuring the formation position of a communication port with a branch pipe in a rehabilitated pipe lined on the inner circumference of an existing pipe, the method comprising:
Place the reflector at the reference position,
Introducing a running body into the existing pipe or the rehabilitated pipe before the lining,
measuring the distance between the traveling body and the reference position by irradiating the reflector with a laser from a laser distance meter provided on the traveling body, and determining the position where the communication port is to be formed;
When irradiating the laser, adjust the laser irradiation angle of the laser rangefinder,
A method for measuring a communication port position of a rehabilitated pipe , comprising searching for a laser irradiation angle at which the reflector is irradiated based on a distance measurement value for each adjusted laser irradiation angle. The search is performed depending on whether at least three laser irradiation points are arranged on one straight line when the laser irradiation angle is changed around the first axis with respect to the traveling object. The communication port position measuring method according to claim 9 . When the laser irradiation angle is changed around a first axis with respect to the traveling body, at least three laser irradiation points are arranged on one straight line, and around a second axis orthogonal to the first axis. 11. The communication port according to claim 10 , wherein the search is performed depending on whether at least three laser irradiation points are arranged on another straight line when the laser irradiation angle is changed. Position measurement method. 12. After the search, the laser irradiation angle is further finely adjusted by remote control so that the laser irradiation point is placed at a predetermined position on the reflection plate. How to measure the position of the communication port.

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