JPH0788915B2 - Method for perforating branch pipe opening after pipe lining and water stopcock used therefor - 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 old 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 adopting such a rehabilitating pipe construction method for an existing pipe having a mounting pipe (branch pipe), after injecting the backing agent,
Through holes for branch pipes must be drilled.

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 perform perforation from the branch pipe side, but in the construction of the sewer rehabilitation pipe, it may be difficult to insert the perforator depending on the piping 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 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 is substantially the branch pipe axis. Insert the water stopcock arranged at the matching position into the branch pipe opening before lining, and after lining, set the minimum value of the resonance signal at the position where the loop surface is parallel to the axis of the antenna coil. The position of the position detection marker is detected by running an antenna carriage equipped with a loop antenna for detection inside the main pipe, and the perforation means is driven by targeting the position of the marker,
This is a method of punching 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.

Further, the water stopcock of the present invention is, in the water stopcock used in the above-mentioned perforation method, vibrated by an excitation signal for exciting the resonator, and after the excitation signal is stopped, remains from the antenna coil to the resonator. The position detecting marker for emitting a resonance signal is arranged such that the axis of the antenna coil is orthogonal to the branch pipe axis and the center of the coil is located on the branch pipe axis. .

(Operation) A case will be described in which the antenna carriage functions not only for transmission but also for reception. That is, when the antenna truck is run inside the main pipe after lining and the excitation signal is transmitted from the loop antenna, the resonator of the position detection marker installed in the water stopper inserted into the branch pipe opening before lining vibrates. To do. Since the resonance signal of this resonator is transmitted from the antenna coil, it is received by the loop antenna.
Here, since the loop surface of the loop antenna of the antenna carriage is parallel to the axis of the antenna coil of the resonator, the signal level of the received resonance signal is shown in FIG.
Alternatively, as shown in (b) of the figure, the loop antenna becomes smaller as it approaches the position detection marker, and the position where the signal level becomes 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 can be detected very accurately by this loop antenna. If the position of the position detecting marker can be detected in this way, the perforation means is driven with the marker position as a target 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 detection marker 14 is composed of an antenna coil and a resonator, and is located at a position substantially coincident with the tube axis, that is, so that the axis center of the antenna coil coincides with the tube axis, or the axis center of the tube is aligned with the tube axis. It is arranged so that it is orthogonal to the axis and the center of the coil is located on the tube axis (in this example, the axis center 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. In addition, position detection 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 stop cock setting robot 3 is connected to the television camera car 15 via the tow 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 certain position of a certain water stopcock 1, it is necessary to increase the diameter by sending a fluid such as air to increase the diameter, or by pouring water into a water-expandable resin forming the water stop main body 8.

FIG. 3 shows a state after lining by the rehabilitating pipe construction method, reference numeral 16 is a renewal pipe, and 17 is a backing agent made of mortar or the like injected between the existing pipe 2 and the renewal pipe 16. . When this renewal pipe construction method is used, the back-filling agent 17 is injected into the gap between the openings of the branch pipe A, and the back-filling agent 17 pushes up the water stopper 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, an antenna 23 is attached to one end of the rotary head 22, and a perforated cutter 24 made of a cone-shaped super steel blade is attached to the other end. The loop antenna 23 is provided such that its loop surface is parallel to the axis of the antenna coil of the position detecting marker 14, in other words, the loop surface is orthogonal to the tube axis of the main pipe B. And this loop antenna
The transmission mode 23 and the reception mode are appropriately switched in a set cycle, and are connected to a signal processing circuit (not shown) corresponding to each mode. Further, the loop antenna 23 is not limited to being provided in the above-mentioned positional relationship, and is provided so that the loop surface is parallel to both the axis center of the antenna coil of the marker 14 and the tube axis of the main pipe B. May be. In this case, when the rotary head 22 is rotated to detect the position where the reception level becomes the minimum as described later, the detection of the minimum point becomes clearer than when the loop antenna 23 is provided in the above-mentioned positional relationship. As shown in FIG. 6, when the axial center of the antenna coil of the position detecting marker 14 is orthogonal to the tube axis of the branch pipe A, the loop surface of the loop antenna 23 is that of the main pipe B. It is provided so as to be parallel to the tube axis. TV camera car 35
Is for monitoring the drilling process, and the measuring device 13 arranged on the ground displays the reception characteristics of the loop antenna 23 in a graph. The punch cutter 24 may be another punch device such as a water jet device.

Then, from the loop antenna 23 in the transmission mode,
An excitation signal for exciting the resonator constituting the position-finding marker 14 is transmitted, and the loop antenna 23 moves as the position-finding / drilling robot 18 moves. Then, when the loop antenna 23 approaches the attachment position of the position detection marker 14 (the insertion position of the water stopcock 1), the resonator of the position detection marker 14 vibrates at a constant resonance frequency and corresponds to this vibration level. The generated resonance signal is transmitted from the antenna coil. At this time, the loop antenna 23 is switched to the reception mode, the rotary head 22 is operated to rotate the drive unit 20, and the position where the reception level of the loop antenna 23 becomes the minimum [see FIG. 7 (a)] is detected. Drive unit 20 at this position
Robot for position detection and drilling
Stop 18

Then, rotate the rotary head 22 180 degrees at this position,
The punching cutter 24 is directed to the position where the reception level becomes the minimum, that is, the position where the position detecting marker 14 exists. Then, the punch cutter 24 is started to start punching (see FIG. 5). During this perforation step, the water stopcock 1 is destroyed and poured into the renewal pipe 16.

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 is greatly excavated and the newly installed pipe is directly lowered into the ground, and the newly installed pipe is sequentially traversed, or the so-called reversal method (see, for example, JP-A-55-15852). . Further, the positional relationship between the loop antenna 23 attached to the position detection / drilling robot 18 and the hole cutter 24 is not limited to the above-mentioned embodiment, and may be provided separately before and after the position detection / drilling robot 18. Further, it 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. Further, by using the water stopcock of the present invention, the opening of the branch pipe can be accurately detected from the main pipe side by using it together with the antenna carriage.

[Brief description of drawings]

FIG. 1 is a cross-sectional view of an inside of an existing pipe showing a robot or the like used in a step of setting a water stopcock in a method of punching a branch pipe opening after an inner pipe lining according to the present invention, and FIG. 2 is a mounted state of the water stopcock. FIG. 3 is a partially enlarged cross-sectional view showing the state after lining, FIG. 3 is a cross-sectional view of the inside of the pipe showing a state after lining, and FIG.
FIG. 5 is a sectional view of the inside of the tube showing a state at the time of perforation, FIG. 6 is a partial sectional view showing another arrangement example of the position detection marker and the loop antenna, and FIGS. 7 (a) and 7 (b) are FIG. 9 is a waveform diagram for explaining a change state of a reception level of a resonance signal in the loop antenna due to a change in the positional relationship between the loop antenna and the resonator. 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: Position detection / drilling robot 23: Loop antenna, 24: Drilling cutter

Claims (2)

[Claims] 1. A method of piercing an opening of a branch pipe closed by a lining from the main pipe side when lining the inside of the main pipe having a branch pipe to rehabilitate the main pipe, the antenna coil 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 coincident with the pipe axis is inserted into the branch pipe opening before the lining, and after the lining, the resonance occurs at a position where the loop surface is parallel to the axis of the antenna coil. An antenna carriage equipped with a loop antenna for detecting the minimum value of the signal is run inside the main pipe to detect the position of the position detection marker, and the punching means is driven by targeting the position of the marker, and the branch A method of piercing a branch pipe opening after in-pipe lining, which comprises piercing the pipe opening from the main pipe side. 2. The water stopcock used in the drilling method according to claim 1, wherein the resonator is vibrated by an excitation signal that excites the resonator, and after the excitation signal is stopped, the antenna coil remains on the resonator. A position detecting marker that emits a resonance signal is arranged such that the axis of the antenna coil and the branch pipe axis are orthogonal to each other and the center of the coil is located on the branch pipe axis. And a stopcock.