JPH0788914B2 - Drilling method for branch pipe openings after pipe lining - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION (Industrial field of application) The present invention relates to an opening of a branch pipe after lining an aged sewer pipe, water pipe, gas pipe, etc. piped underground or in a building with a new pipe. The present invention relates to a perforation method for perforating.

(Prior Art) Recently, for example, a lining construction method called a rehabilitation pipe construction method is used to regenerate an aged sewer pipe and lay a new pipe.

This rehabilitating pipe construction method is a method in which a synthetic resin strip is spirally wound to form a renewal pipe into an existing pipe and lining it, and a backing agent is injected into the gap between the renewal pipe and the existing pipe. When such a rehabilitating pipe construction method is adopted for an existing pipe that uses a mounting pipe (branch pipe), a through hole for a branch pipe must be drilled after injecting the backing agent.

Conventionally, when the existing pipe is made of a magnetic material such as iron, a method has been proposed in which a magnetic sensor is used to detect the opening of the branch pipe and a through hole for the branch pipe is drilled from within the renewal pipe. (See, for example, JP-A-56-127420).

(Problems to be Solved by the Invention) However, if the existing pipe is made of a non-magnetic material made of a concrete material such as a so-called fume pipe, the above-described drilling method using the magnetic sensor cannot be applied.

On the other hand, it is possible to insert a perforator into the branch pipe and perforate from the side of the branch pipe, but in the construction of the sewer rehabilitation pipe, it may be difficult to insert the perforator depending on the pipe condition of the branch pipe. .

(Means for Solving the Problems) A method for piercing a branch pipe opening after in-pipe lining of the present invention is
When lining the inside of a main pipe having a branch pipe and rehabilitating the main pipe, a method of perforating the opening of the branch pipe closed by the lining from the main pipe side, which comprises an antenna coil and a resonator. A marker for position detection that vibrates by an excitation signal that excites the resonator and that emits the resonance signal remaining in the resonator from the antenna coil after the excitation signal is stopped is substantially the branch pipe axis. A water stopcock arranged in a concentric position is inserted into the branch pipe opening before lining, and after lining, the loop surface is orthogonal to the axis of the antenna coil of the position detection marker and the resonance occurs. An antenna truck having a first loop antenna that detects a maximum value of a signal and a second loop antenna that has a loop surface parallel to the axis and that detects a minimum value of the resonance signal is run inside the main pipe, and the minimum After detecting the position of the position detecting marker in the main pipe axial direction based on the detection result, the position of the position detecting marker in the main pipe circumferential direction based on the maximum value detection result is detected, This is a method of driving the piercing means by targeting the position of the marker to pierce the branch pipe opening from the main pipe side.

In the case where the antenna carriage running in the main pipe has a function not only as a transmitting antenna that sends an excitation signal to the marker resonator but also as a receiving antenna that receives a resonance signal based on the resonance vibration of the resonator. In addition, when the excitation means for the resonator is provided on the marker side, the antenna carriage need only have a function as a receiving antenna.

(Operation) A case will be described in which the antenna cart operates not only for transmission but also for reception.

That is, when the antenna truck is run in the main pipe after lining and the excitation signal is first transmitted from the second loop antenna of the two loop antennas, it is installed on the water stopper inserted into the branch pipe opening before lining. The resonator of the position detection marker vibrates. Since the resonance signal of this resonator is transmitted from the antenna coil, it is received by the second loop antenna of the antenna carriage. Here, since the loop surface of the second loop antenna is parallel to the axis of the antenna coil of the resonator, the signal level of the received resonance signal is the second level as shown in FIG. 6 (a). As the loop antenna approaches the position detection marker, the loop antenna becomes smaller, and the position where the signal level becomes the minimum indicates the position of the position detection marker. Since the change in the signal level is extremely steep, the minimum position of the signal level can be easily known, and the position of the position detection marker in the axial direction of the main pipe can be very accurately determined by the second loop antenna. It becomes possible to detect.

Next, following this, an excitation signal is transmitted from the first loop antenna or the second loop antenna, the resonator of the position detecting marker is vibrated again, and the resonance signal from this resonator is received by the first loop antenna. . Here, since the first loop antenna has a marp surface orthogonal to the axis of the antenna coil of the position detection marker, the signal level of the received resonance signal is as shown in FIG. 6 (b). As the one-loop antenna approaches the position-finding marker, it becomes larger, and the position where this signal level becomes maximum indicates the position where the position-finding marker is present.

In other words, the loop face of the second loop antenna is always parallel to the axis of the antenna coil of the resonator, regardless of the position of the water stopper in the circumferential direction of the main pipe. Although the position of the marker in the axial direction of the pipe can be detected, but the position of the marker in the circumferential direction of the main pipe cannot be detected, the position of the marker in the axial direction of the main pipe is detected by the second loop antenna. After that, the first loop antenna is slowly rotated along the circumferential direction of the main pipe, and the position where the reception level of the first loop antenna is maximized is detected to detect the position of the marker in the circumferential direction of the main pipe. . Then, the perforation means is driven by targeting the marker position to perforate the branch pipe opening from the main pipe side.

(Example) Hereinafter, the Example of this invention is described with reference to drawings.

In the perforation method of the present invention, a step of inserting the water stopcock 1 in which the position detecting marker 14 is arranged in the opening of the branch pipe A before the lining, and a step of newly lining the inner peripheral surface of the existing pipe 2 Then, the step of detecting the marker position after lining and punching the branch pipe opening from the main pipe B side is included.

First, the step of inserting the water stopcock 1 will be described with reference to FIG.

In FIG. 1, a water stop cock setting robot 3 used in this inserting step has a robot main body 4 equipped with an automatic traveling means and a drive unit 5 rotatable about a horizontal axis as a central axis. It is a thing. The drive unit 5 is provided with a cylinder 6, and the cylinder head 7 of the cylinder 6 can press the inner peripheral surface of the existing pipe 2 in the radial direction at the position where the rotation of the drive unit 5 is stopped. Is.

As shown in the enlarged view of FIG. 2, the water stopcock 1 is made of a foam material such as styrene and urethane, and in this example, it is a disc-shaped stopper having the same shape as the inner peripheral shape of the branch pipe A. Water body 8
And a leg piece 9 hanging down from the periphery of the water blocking body 8 and a collar portion 10 formed at the tip of the leg piece 9 in a hat shape. Here, the recess 11 surrounded by the leg pieces 9 is a portion into which the cylinder head 7 is inserted.

Since the water stopcock 1 used in the present invention is perforated and destroyed together with the renewal pipe 16, an inexpensive one made of a solid foam having closed cells is preferable. It may be a hollow, solid or arm-shaped one made of non-foaming resin.

A position detecting marker at a central portion of the water stop main body 8 at a position substantially concentric with the pipe axis of the branch pipe A when the water stop main body 8 is inserted into the opening of the branch pipe A. 14 is embedded. The position detecting marker 14 is composed of an antenna coil and a resonator, and is arranged at a position substantially concentric with the tube axis, that is, the axis of the antenna coil is aligned with the tube axis. A piezoelectric vibrating body such as a crystal oscillator is used as the resonator. In this way, when a piezoelectric vibrating body is used as the resonator, the amount of energy stored in it is large, so a large resonance signal can be obtained with respect to the excitation signal, and the number of turns of the antenna coil can be at most several times. The marker 14 itself can be downsized. The position detecting marker 14 may be composed of a general LC resonance circuit. By the way, the position detecting marker 14 as described above does not necessarily have to be embedded in the central portion of the water blocking main body 8, and if it is in a position substantially concentric with the pipe axis of the branch pipe A, It may be attached to the head of the water body 8 or may be attached to the bottom.

Further, in this example, the water stopper set robot 3 is connected to the television camera car 15 through the index wire 3a, and the image of the opening of the branch pipe A is taken by the television camera car 15 to the ground. Sent. Then, the operator on the ground controls the traveling drive of the water stop cock setting robot 3 and the drive of the cylinder 6 while checking this image.

Then, the cylinder head 7 of the robot 3 for setting the water stopper
Insert the recess 11 of the water stopcock 1 into the
Along with the branch pipe A by running in the existing pipe 2 before lining with
Take a picture of the opening of the car with the TV camera car 15. The worker detects the opening of the branch pipe A based on the image taken by the TV camera car 15. The drive unit 5 of the water stopcock setting robot 3 is moved to the detection position of the opening, and the cylinder head 7 is extended by the operation of the cylinder 6 to set the water stopcock 1. At this time, since the opening of the branch pipe A may not be located at the top of the pipe, the drive unit 5 is run while appropriately turning the drive unit remotely. The water stopcock 1 may be inserted from the side of the branch pipe A by hanging it with a rope or the like. In this case, the water stopcock 1 needs to be of an inflatable type, and is in a reduced diameter state. After reaching a predetermined position of a certain water stopcock 1, it is necessary to feed a fluid such as air to increase the diameter or to inject the water-stoppable resin forming the water stop main body 8 to increase the diameter.

FIG. 3 shows a state after lining by the rehabilitating pipe construction method, reference numeral 16 indicates a renewal pipe, and 17 indicates a backing agent without mortar or the like injected between the existing pipe 2 and the renewal pipe 16. . When this rehabilitating pipe construction method is used, the backing agent 17 is injected into the gap between the openings of the branch pipe A, and the backing agent 17 pushes up the water stopcock 1 to the side of the branch pipe A. The faucet 1 tightly seals the opening of the branch pipe A to prevent water leakage, and
The backing agent 17 does not leak to the side of the branch pipe A.

FIG. 4 is a diagram for explaining the process of detecting the position of the marker 14 and piercing the opening of the branch pipe A after lining. Position detection / drilling robot used in this process 18
Like the robot 3 for setting the water stopcock, is composed of a robot main body 19 equipped with automatic traveling means and a drive unit 20. The drive unit 20 includes a rotary head 22, a first loop antenna 23 is provided above the rotary head 22, and a second loop antenna 25 and a television camera 35 are provided at a head portion 24 of the rotary head 22, respectively. In addition to being attached, a perforated cutter 26 made of a cone-shaped super steel blade is attached to the upper part of the rotary head 22. The first loop antenna 23
Is provided so that its loop surface is orthogonal to the axis of the antenna coil of the position detecting marker 14, in other words, the loop surface is parallel to the tube axis of the main pipe B. Further, the second loop antenna 25 has its loop surface aligned with the axis of the antenna coil of the position detecting marker 14,
That is, it is provided so as to be orthogonal to the pipe axis of the main pipe B.
The first loop antenna 23 and the second loop antenna 25 are configured so that the transmission mode and the reception mode can be appropriately switched at a set cycle, and are connected to a signal processing circuit (not shown) corresponding to each mode. Has been done. In addition, the first loop antenna 23 and the second loop antenna 25 are not limited to the arrangement in which the first loop antenna 23 and the second loop antenna 25 are talked with each other as shown in the illustrated example. For example, as shown in FIG. 8 and FIG. May be orthogonal to each other and may be integrally combined so that the centers of both loop surfaces coincide with each other. In the figure, reference numeral 27 indicates a support shaft that supports these loop antennas 23 and 25 so as to be rotatable around the central axis of the second loop antenna.

The television camera 35 is for monitoring the drilling process and is aimed at the drilling cutter 26. The measuring device 13 arranged on the ground displays the reception characteristics of the first and second loop antennas 23 and 25 as a graph. The punching cutter 26 may be another punching device such as a water jet device.

Then, in the transmission mode, the second loop antenna 23 transmits an excitation signal for exciting the resonator constituting the position-finding marker 14, and the first loop antenna 23
And the second loop antenna 25 moves as the position detecting / piercing robot 18 moves. When the second loop antenna 25 approaches the area where the mounting position of the position detection marker 14 (the insertion position of the water stopcock 1) exists, the resonator of the position detection marker 14 vibrates at a constant resonance frequency, A resonance signal corresponding to this vibration level is transmitted from the antenna coil. At this time, the second loop antenna 25 is switched to the reception mode, and the position where the reception level of the second loop antenna 25 becomes the minimum [see FIG. 6 (a)] is detected, and the position detection / drilling robot is detected at this position. Stop 18 Subsequently, the position detecting / piercing robot 18 is retracted by the distance between the second loop antenna and the first loop antenna in the tube axis direction,
An excitation signal is transmitted from the first loop antenna 23 for a fixed time. As a result, the position detecting marker 14 vibrates again at a constant resonance frequency, and a resonance signal corresponding to this vibration level is transmitted from the antenna coil.This time, this resonance signal is slowly rotated by the rotary head 22 ( (See FIG. 5) The first loop antenna 23 receives the signal, detects the position where the received level is maximum [see FIG. 6 (b)], and stops the rotary head 22 at this position. In this example, since the axis of the first loop antenna is aligned with the axis of the punch cutter 26, the punch cutter 26 is started in the above state to start punching (see FIG. 7). During this drilling process,
The water stopcock 1 is destroyed and poured into the renewal pipe 16. The first loop antenna may not be installed directly below the perforated cutter 26, but may be installed on the side of the rotary head 22 as shown by the chain double-dashed line in FIG. 7. In this case, the first loop antenna 2
After detecting the position of the position detecting marker 14 in the circumferential direction of the main pipe by 3 ', the rotary head 22 is rotated by 90 degrees in the direction from the drilling cutter 26 toward the first loop antenna 23' at this position, and the drilling cutter 26 The location of the position-finding marker 14,
That is, it is necessary to directly face the water stopcock 1.

Moreover, the second loop antenna 25 is used to detect the position.
When detecting the position of 14 in the axial direction of the main pipe, the marker 14
Position detection of the resonance signal transmitted from the antenna coil of
While the robot 18 for boring is advanced and the rotary head 22 is slowly rotated, it is received by the first loop antenna 23, and the position at which the reception level is maximized is detected to detect the approximate existence region of the marker 14. After that, this resonance signal may be received by the second loop antenna 25 while the position detection / drilling robot 18 is slowly moving backward or forward, and the position where the reception level becomes minimum may be detected. Then, the punch cutter 26 is started to start punching (see FIG. 7). During this perforation step, the water stopcock 1 is destroyed and poured into the renewal pipe 16.

FIG. 10 shows another embodiment of the water stopcock 1, in which a cylindrical projecting portion 29 having a small diameter is formed in the central upper portion of a cylindrical waterstop body 28, and the projecting portion 29 is used for position detection. The antenna coil of the marker 30 is inserted. Further, in this case, the inner peripheral surface of the branch pipe A is enhanced in the water stopping effect by the water stopping rings 31 provided on the outer peripheral surface of the water stopping plug main body 28 at intervals in the height direction. In addition to this, the water stop main body 29 may be formed of a bellows body.

In this example, the case of the rehabilitating pipe construction method is illustrated as the lining method, but the present invention is not limited to this, and the manhole 32
It can also be applied to the lining method in which the opening part of the new is further opened and the new pipe is lowered straight into the ground, and the new pipe is sequentially traversed, or the so-called reversal method (see, for example, JP-A-55-15852). . Further, the positional relationship between the first and second loop antennas 23, 25 attached to the position detecting / drilling robot 18 and the hole cutting cutter 26 is not limited to the above-described embodiment, and the front and rear of the position detecting / drilling robot 18 can be used. They may be provided separately from each other, and may be composed of two robots, a position detecting robot and a punching robot.

(Effect of the invention) As described above, according to the method of the present invention, the opening of the branch pipe after lining can be detected extremely accurately from the main pipe side, and the opening of the branch pipe closed by the lining can be detected. To
It is possible to pierce reliably without damaging other parts.

[Brief description of drawings]

FIG. 1 is a cross-sectional view of an existing pipe showing a robot or the like used in the step of setting a water stopcock in the method for boring a branch pipe opening after pipe lining according to the present invention, and FIG. FIG. 3 is a partially enlarged sectional view showing a state, FIG. 3 is an inside sectional view showing a state after lining, and FIG. 4 is an inside sectional view showing a robot or the like used in a step of detecting an opening of a branch pipe and a boring process,
FIG. 5 is a cross-sectional view showing the positional relationship between the first loop antenna and the water stopper, and FIG. 6 (a) is a resonance signal in the second loop antenna due to a change in the positional relationship between the second loop antenna and the resonator. 6 (b) is a waveform diagram for explaining the change state of the reception level of the first loop antenna, and FIG. FIG. 7 is a waveform diagram for explaining, FIG. 7 is a cross-sectional view of the inside of the tube showing a state at the time of perforation, FIG. 8 is a side view showing another arrangement example of the first loop antenna and the second loop antenna, and FIG. FIG. 10 is a partial perspective view, and FIG. 10 is a cross-sectional view showing another embodiment of the water stopcock. A ... Branch pipe, B ... Main pipe 1 ... Water stopcock, 2 ... Existing pipe 3 ... Waterstop set robot 14 ... Position detection marker, 16 ... Update pipe 17 ... Backfill Agent 18 …… Robot for position detection / drilling 23 …… First loop antenna 25 …… Second loop antenna 26 …… Drilling cutter

Claims (1)

[Claims] 1. A method of piercing an opening of the branch pipe closed by the lining from the main pipe side when the inside of the main pipe having the branch pipe is lined to correct the main pipe. A position detecting marker that vibrates by an excitation signal that excites the resonator, and that emits the resonance signal remaining in the resonator from the antenna coil after the excitation signal is stopped. The water stopcock arranged at a position substantially concentric with the pipe axis is inserted into the branch pipe opening before lining, and after lining, the loop surface is the axis core of the antenna coil of the position detection marker. An antenna carriage having a first loop antenna that is orthogonal to and that detects the maximum value of the resonance signal, and a second loop antenna that has a loop surface parallel to the axis and that detects the minimum value of the resonance signal is provided in the main pipe. Running And, after detecting the position of the position detection marker in the main pipe axial direction based on the detection result of the minimum value, the position in the main circumferential direction of the position detection marker based on the detection result of the maximum value. Is detected, the perforation means is driven with the position of the marker as a target, and the branch pipe opening is perforated from the main pipe side.