JPH0868758A - Method and apparatus for investigating state of existing sewer pipe - Google Patents

Abstract

PURPOSE: To obtain a uniform and detailed investigation result in the investigation of the state of an existing sewer pipe without being affected by the skill degree of a worker. CONSTITUTION: A scanner device 4 is moved through an existing sewer pipe 1 while the light detection part thereof is rotated at high speed and the reflected light from the inner peripheral wall of the existing sewer pipe 1 is collected by the light detection part and the collected reflected light is photoelectrically converted to be subjected to image processing by a control device 7 to display or record the state of the inner peripheral wall of the exising sewer pipe on a monitor.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a method for investigating the condition of existing pipes such as water pipes and sewer pipes, and an apparatus for surveying the condition of existing pipes used in this method.

[0002]

2. Description of the Related Art Generally, pipes such as water pipes, sewer pipes, and mounting pipes buried in the ground have conventionally been equipped with fume pipes, ceramic pipes,
Cast iron pipes are widely used. The inner walls of these pipes are eroded and deteriorated by hydrogen sulfide and other corrosive gases and deposits, running water in the pipes, etc., after long-term use.
The pipe thickness may be thin and the strength may be reduced. Also, due to ground pressure or ground subsidence, the seam between adjacent pipes may be displaced to create a gap, or due to overloading etc., a part of the pipe may be deformed or cracked. Water flowing into the pipe and leaking into the pipe may leak into the ground.

As a countermeasure against this, for example, in the case of a conduit where an operator cannot enter, a television camera is inserted into the conduit, the television camera is moved, and an image by the television camera is monitored on a monitor. By investigating the condition of the pipe, such as damage to the pipe, and based on the results of the survey, an appropriate rehabilitation method, for example, a covering with a base wound in a tubular shape so that the diameter can be expanded at a predetermined location in the pipe. Carry in
Here, the base is pushed open by an expander and fixed to form a water impermeable film on the inner wall of the pipe, or a method of rehabilitating a thermosetting resin rehabilitation pipe in a reduced diameter state. Re-construction method for existing pipes, which is inserted into the inside and expands the diameter of this rehabilitation pipe by pressing it against the inner peripheral wall to stretch it, and further hardens the rehabilitation pipe by heating, and other existing methods. Measures have been taken to rehabilitate the pipe by selecting the pipe rehabilitation method appropriately and using the most suitable method.

A method of investigating the condition of the existing pipe using the television camera, which is carried out prior to the rehabilitation method, will be specifically described with reference to FIG.

FIG. 9 is a cross-sectional explanatory view of a main part showing an outline of a method for investigating the condition of an existing pipe, and reference numeral 1 in the figure denotes a fume pipe which is to be investigated for condition such as damage buried in the ground. It is an existing pipe conduit made of ceramic pipe, cast iron pipe or the like, and both ends of the pipe conduit 1 communicate with the manhole 2.

[0006] Such a situation investigation work of the existing conduit 1
First, if necessary, the inner peripheral wall 1a of the pipe 1 is washed by high-speed cleaning in which high pressure water is sprayed on the inner wall 1a of the pipe 1.

A television camera 31 is carried into the cleaned conduit 1 from the manhole 2. The television camera 31 includes a control device 32 and a cable 33 arranged on the ground.
Are connected by the operator, and while the operator monitors the image from the television camera 31 from the ground on the monitor television 34 and gives an operation instruction from the control device 32, the television camera 31 is self-propelled or pulled by a cable to move the inside of the conduit 1. A video recorder 3 that can move and records the image captured by the television camera 31 at that time.
Have five.

Next, an operator records the inner peripheral wall 1a of the conduit 1 in the video recorder 35 by moving the television camera 31 while visually observing the image from the television camera 31 on the monitor television 34.

In this way, the survey results recorded in the video recorder 35 are reproduced and examined, and based on the examined results, the survey of the inner peripheral wall 1a of the pipe 1 showing the damages such as crushing, cracking, and depression due to human beings. A record table will be created, and the pipe 1 will be rehabilitated by the rehabilitation method according to the damage condition of the pipe 1 based on this survey record table.

[0010]

However, according to the above-mentioned method for investigating the condition of the existing conduit, the television set is operated by visually instructing the television monitor on the image from the television camera carried into the existing conduit to instruct the operation of the television. Since the video for recording the condition of the inner wall of the drainage pipe is recorded by moving the John camera, how the recording is performed by the television camera has a great influence on the subsequent survey results. For this reason, a high degree of skill is required for recording work with a television camera, and it is necessary to reproduce the indirect survey results with the recorded television camera and visually confirm the results to determine the rehabilitation method. It requires a high degree of skill to create a survey record table that accurately displays the condition of the inner wall of the pipe, and it is difficult to obtain uniform survey results due to individual differences among workers. Since a lot of work from video recording of the inner wall of the pipe to creation of a survey record table of the inner wall of the pipe is carried out by the operator's eyes, there is a problem that the survey requires a lot of work time.

Therefore, an object of the present invention is to provide a method for investigating the condition of an existing drainage pipe, in which a uniform and detailed survey result can be obtained in a very short time without depending on the operator's skill level without the operator's visual inspection. An object is to provide an existing pipe pit condition survey device used for this survey method.

[0012]

In order to achieve the above-mentioned object, the method for investigating the condition of an existing pipe in the present invention is such that a light receiving part of a scanner device is rotated at a high speed with a central axis of the existing pipe as a rotation center. While moving this scanner device along the central axis in the existing pipe, the reflected light from the inner wall of the existing pipe is collected by the light receiving part, and the collected reflected light is photoelectrically converted and image-processed by the control device. The present invention is characterized by displaying or recording the condition of the inner peripheral wall of the existing pipe, and the existing pipe condition investigation device according to the present invention is such that the center axis of the existing pipe where the light receiving part is to be investigated is the center of rotation. A scanner device that moves in the existing conduit along the central axis while rotating at high speed and collects the reflected light from the inner peripheral wall of the existing conduit by the light receiving part, and the reflection collected by the light receiving part. The is for a controller for image processing based on the data converted photoelectrically, characterized in that it has a recording device for a display device or a recording monitor display the existing sewer inner circumferential wall situation that image processing.

[0013]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the existing pipe condition inspection method and the existing pipe condition inspection device used in this inspection method will be described below with reference to FIGS.

FIG. 1 is a cross-sectional explanatory view of a main part showing an outline of a method for investigating the condition of an existing conduit and an apparatus for investigating the condition of the existing conduit.

Reference numeral 1 in the figure is an existing pipe that is buried in the ground and is to be used for a situation survey. In particular, a fume pipe, a ceramic pipe,
It is an existing pipe conduit made of cast iron pipe or the like, which operators cannot enter, for example, a sewer main pipe having an inner diameter of 700 mm or less. Both ends of the pipe 1 communicate with the manhole 2.

In the investigation of the condition of the existing conduit 1, first, if necessary, the inner peripheral wall 1a of the conduit 1 is cleaned by high-speed cleaning in which high pressure water is sprayed onto the inner peripheral wall 1a of the conduit 1.

Then, the condition of the inner peripheral wall 1a of the washed pipe 1 is investigated. An existing drainage condition survey device 3 for performing a condition survey of the inner peripheral wall 1a of the drainage pipe 1 operates and controls the scanner device 4 and the scanner device 4 installed in the drainage pipe 1, and measures from the scanner device 4. Control device 7 for image processing of result, monitor television 8 as monitor display device
And a television recorder 9 as a recording device.

The scanner device 4 has a scanner section 5 and a self-propelled section 6 for mounting and supporting the scanner section 5.
The scanner unit 5 has a substantially cylindrical outer shape, and as shown in the schematic cross-sectional explanatory view in FIG. 2, a light source 5a, a reflecting mirror 5b, a photoelectric converter 5c, and a data transfer device, which are sequentially arranged from the front end side. The light emitted from the light source 5a having the light source 5a is reflected by the reflecting mirror 5b and illuminates the inner peripheral wall 1a of the conduit 1 through the window 5e. The light applied to the inner peripheral wall 1a is reflected in accordance with the condition of the inner peripheral wall 1a, for example, damage such as crushing, cracking, and depression, and then enters the reflecting mirror 5b serving as a light receiving portion again, and the photoelectric converter 5
It is converted into an electric signal by c, converted into a digital signal by the data transfer device 5d, and sent to the ground control device 7 via the cable 10. Therefore, the reflecting mirror 5b is rotated at a high speed about the central axis a of the scanner unit 5, for example, 500 rpm.
It is possible to collect the reflected light from the inner peripheral wall 1a over the entire circumference by moving the scanner section 5 in the pipe 1 while rotating at ~ 3500 rotations, and obtain the condition of the inner peripheral wall 1a. The measurement result is converted into a digital signal by the data transfer device 5d and sent to the ground control device 7. The rotation speed of the reflecting mirror 5b is determined by the moving speed of the scanner unit 5 and the required resolution.

On the other hand, the self-propelled portion 6 for mounting and supporting the scanner portion 5 has a traveling device 6a which is rotationally driven and controlled by a control device 7 via a cable 10, and the caster portion 5 is also provided.
The scanner unit 5 is configured to be fixedly mounted or adjustably mounted so that the central axis line a of the above is substantially aligned with the central axis line b of the inner peripheral wall 1a of the pipe 1.

Furthermore, in the scanner unit 5 or the self-propelled unit 6 of the scanner device 4 or in a conveying device (not shown) which moves following the scanner device 4, the tilted state of the scanner device 4, that is, the gradient change of the pipe 1 Scanner state measuring device 5e having an inclination measuring device for measuring the direction and an azimuth measuring device for measuring the moving direction of the scanner device 4 in a plan view state.
The measurement result measured by the tilt measuring device and the azimuth measuring device and the moving distance of the scanner device 4 are sent to the control device 7.

The scanner device 4 configured as described above
Is carried into the pipe 1, and the controller 5 drives the traveling device 6a of the self-propelled unit 6 while rotating the reflecting mirror 5b provided in the scanner unit 5 at high speed in response to an instruction from the control device 7 to rotate the scanner device 4 into a tube. The photoelectric conversion device collects the reflected light from the inner peripheral wall 1a emitted from the light source 5a over the entire circumference of the inner peripheral wall 1a by running the inside of the culvert 1 along its central axis line b by the reflecting mirror 5b serving as a light receiving portion. An electric signal is converted by 5e, and the measurement result obtained here is converted into a digital signal, which is sent to the ground control device 7 by the data transfer device 5d, image-processed by the control device 7 and displayed on the monitor television 8. And it is recorded by the video recorder 9.

The condition of the inner peripheral wall 1a of the conduit 1 which is image-processed by the control device 7 and displayed on the monitor of the monitor television 8 and recorded on the video recorder 9 is shown in FIG.
It is displayed in a state where the inner peripheral wall 1a is expanded as shown in Fig. 3, and has a complicated collapsed state a ₁ , a thin annular crack a ₂ , and a large crack a.
₃ , the state of depression a ₄ etc. is displayed in detail and immediately, preferably in color, or as shown in FIG.
The state of the inner peripheral wall 1a is stereoscopically displayed.

On the other hand, the measurement result of displacement caused by movement of the scanner device 4 measured by the tilt measuring device and the azimuth measuring device of the scanner position measuring device 5e provided in the scanner device 4 is sequentially sent to the control device 7 for control. moving locus of the scanner device 4 by the device 7, thus Kanmizo first tube ground state, i.e. calculates the laying conditions, a meandering state viewed from above the tube bottom of Kanmizo 1 to b ₁ shown in FIG. 5 (a), Figure 5 shows the gradient situation
It is displayed like b ₂ shown in (b) and recorded in the video recorder 9. Further, the state of the pipe 1 may be three-dimensionally displayed and the state of the detected inner peripheral wall 1a may be three-dimensionally displayed and recorded with the meandering state of the pipe 1 actually laid. It is possible.

In the above description, the so-called self-propelled type in which the scanner device 4 is composed of the scanner unit 5 and the self-propelled unit 6 and is moved in the conduit 1 by the self-propelled unit 6 according to an instruction from the control unit 7 has been described. However, the scanner device 4 is pulled by a cable to move the inside of the pipe 1 so that it is possible to investigate the situation of a pipe with a large slope that may slip or a pipe with a small diameter. You can also

On the other hand, the conduit 1 recorded in the video recorder 9
The situation is shown in the survey record table 11 in which the state of the inner peripheral wall 1a is finely displayed as shown in FIG. A plan view 12 of the pipe 1 and a cross-sectional view 13 showing a sloped state can be easily obtained.

Next, an embodiment of a method of investigating the condition of an existing pipe such as a mounting pipe by a traction type scanner device will be described with reference to FIGS.

FIG. 7 is a sectional view showing the outline of the method for investigating the present situation. In the figure, reference numeral 15 has one end open to the main sewer pipe 1 buried underground and the other end to the ground. It is an existing pipe conduit such as a mounting pipe that opens to the mounting rod 16 provided.

As for the condition investigation of the existing conduit 15, the inner peripheral wall 15a of the conduit 15 is cleaned as in the above-mentioned embodiment.

Subsequently, the inner peripheral wall 15 of the washed pipe 15
Investigate the situation of a. The culvert condition investigation device 17 for conducting this condition investigation operates and controls the scanner device 18 to be inserted into the culvert 15 and the scanner device 18 as in the above-mentioned embodiment, and the image based on the investigation result from the scanner device 18. It has a control device 7 for processing, a monitor television 8 and a video recorder 9 as a recording device.

The scanner device 18 includes a scanner section 19
And a guide portion that supports the scanner portion 19.
The scanner unit 19 is configured in the same manner as in the above-described embodiment, and while moving the reflecting mirror at a high speed while moving in the pipe 15, the reflected light from the inner peripheral wall 15a is collected to obtain the condition of the inner peripheral wall 15a. It is configured to convert the measurement result into a digital signal and send it to the control device 7.

On the other hand, the guide portion for supporting the scanner portion 19 holds the scanner portion 19 and has a plurality of springs 20a radially arranged and a so-called spring leg having a plurality of rollers 20b provided at the tips of the springs 20a. A section 20 is provided, and the leg section 20 causes the scanner section 19 to move in the pipe 15 with the central axis c of the scanner unit 19 and the central axis d of the inner peripheral wall 15a of the pipe 15 substantially aligned with each other. It is configured to support as possible. Further, the scanner device 18 is provided with a scanner position measuring device (not shown) including an inclination measuring device for measuring the inclination state of the scanner portion 19 and an azimuth measuring device for measuring the moving direction of the scanner portion 19 in a plan view state. The measurement result and the movement distance measured by the scanner position measuring device are sent to the control device 7.

The scanner device 18 configured as described above
Is hung from the mounting rod 16 into the pipe 15 by a cable 21, and the scanner 1 is instructed by the control device 7.
Cable 2 while rotating the reflector provided in 9 at high speed
By moving the inside of the conduit 15 by 1, the measurement result concerning the condition of the entire circumference of the inner peripheral wall 15a and the laying condition of the conduit 15 is sent to the control device 7 as in the above-mentioned embodiment, and image processing is performed based on this measurement result. Monitor display on the monitor television 8 and record it on the video recorder 9.

The situation of the inner peripheral wall 15a of the conduit 15 which is displayed on the monitor television 8 image-processed by the control device 7 and recorded in the video recorder 9 is as follows.
Is displayed in a developed state, or is displayed three-dimensionally.

Each measurement result, which is measured by the tilt measuring device and the cubic measuring device of the scanner position measuring device and is displaced according to the movement of the scanner device 18, is also sequentially sent to the control device 7, and the control device 7 causes the slope condition of the pipe 15 and The meandering state in a plan view is subjected to image processing in the same manner as in the above embodiment, displayed on the monitor television 8 and recorded on the video recorder 9.

The situation of the conduit 15 recorded in the video recorder 9 is appropriately edited, arranged and printed out, and a survey record table in which the state of the inner peripheral wall 15a is finely displayed, and the conduit 1
A cross-sectional view, a plan view, and the like showing the gradient state of 5 can be easily obtained. Also in this case, the scanner device 18 can be configured to be self-propelled as in the above embodiment.

Furthermore, the maintenance management for displaying the state of the actually installed pipe as shown in FIG. 8 is integrated with the result of the survey of the existing pipe 1 in the above embodiment, that is, the main sewer pipe. The map 22 can be easily created.

In each of the above-mentioned embodiments, the reflection mirror of the scanner section is driven to rotate at high speed to collect the reflected light from the inner peripheral wall of the duct, and to convert the data obtained here into a digital signal. Although the image was processed by sending it to the control device, it is also possible to fix the reflecting mirror to the scanner unit and rotationally drive the scanner unit to collect the reflected light from the inner peripheral wall of the duct over the entire circumference. .

According to the above-described embodiment of the existing drainage channel survey method and the existing drainage channel survey device used in this survey method, the reflecting mirror of the scanner section for obtaining the status data of the inner wall of the drainage channel is installed in the existing drainage channel. While rotating at high speed with the central axis of the tube as the central axis of rotation, the light reflected from the inner wall of the tube is collected over the entire circumference while moving inside the tube, and image processing is performed by the controller based on the data obtained here. As a result, it is possible to instantly obtain the high-resolution and precise condition of the inner wall of the drainage pipe without any visual inspection by the operator, and it is possible to automatically record the situation, which may depend on the skill level of the operator. Detailed investigation results can be obtained without being carried out, and it is possible to select the most suitable rehabilitation method. Further, as the reflecting mirror that obtains data from the wall surface rotates at a high speed, it is possible to move the scanner section in the tube at a high speed, and the survey time can be shortened. Furthermore, by appropriately processing the situation data on the inner wall of the pipe underwater, it is possible to easily display the survey results in a graphic form such as expansive or three-dimensional. In addition, data can be obtained from the scanner status measuring device consisting of a tilt measuring device and a direction measuring device. Based on this, it is possible to easily display and record the condition of the conduit such as the slope and meandering condition of the conduit, and it is easy to create a management map for the conduit when it is actually installed. Have.

[0039]

EFFECTS OF THE INVENTION According to the existing pipe pit condition survey method and existing pipe pit condition survey device of the present invention described above, the pipe can be moved in the pipe pit while rotating the light-receiving section for obtaining the situation in the pipe pit at a high speed. Since the reflected light from the inner wall of the abutment is collected and image processing is performed by the control device based on the measurement result obtained here, the situation of the inner wall of the inner abutment with a high resolution and high precision can be obtained without the operator's visual inspection. Since it can be obtained immediately and can be automatically recorded, detailed survey results can be obtained in a short time regardless of the skill level of the operator, and the optimal rehabilitation method can be selected. .

[Brief description of drawings]

FIG. 1 is a cross-sectional explanatory view of a main part showing an outline of an embodiment of an existing pipe pit condition inspection method and an existing pipe pit condition inspection device according to the present invention.

FIG. 2 is a cross-sectional explanatory view schematically showing a scanner unit of the scanner device used in this embodiment.

FIG. 3 is an explanatory diagram showing a monitor display state according to the present embodiment.

FIG. 4 is an explanatory diagram showing a monitor display state according to the present embodiment.

FIG. 5 is an explanatory diagram showing a monitor display state according to the present embodiment.

FIG. 6 is an explanatory diagram showing a survey record table and the like according to the present embodiment.

FIG. 7 is a cross-sectional explanatory view of essential parts showing an outline of another embodiment of the existing pipe pit condition inspection method and the existing pipe pit condition inspection device according to the present invention.

FIG. 8 is an illustration showing a state of creating a management map of a conduit in the present invention.

FIG. 9 is an explanatory cross-sectional view of a main part showing an outline of a conventional existing pipe pit condition survey method.

[Explanation of symbols]

 1 Existing pipe 1a Inner wall 3 Existing pipe condition investigation device 4 Scanner device 5 Scanner part 5b Reflector (light receiving part) 5e Scanner position measuring device 7 Control device 8 Monitor television (display device) 9 Video recorder (recording device) 15 existing pipe 15a inner wall 17 existing pipe condition survey device 18 scanner device a central axis b central axis c central axis d central axis

─────────────────────────────────────────────────── ─── Continuation of the front page (51) Int.Cl. ⁶ Identification code Internal reference number FI technical display location G01C 7/06

Claims (4)

[Claims] 1. The light receiving part of the scanner device is moved along the central axis of the existing pipe while rotating at a high speed around the center axis of the existing pipe to be subjected to a situation investigation. Collecting the reflected light from the inner peripheral wall of the existing conduit, photoelectrically converting the collected reflected light and performing image processing by the control device, and displaying or recording the condition of the inner peripheral wall of the existing conduit. Survey method. 2. The scanner device has a scanner position measuring device including an inclination measuring device and an azimuth measuring device, and an image is processed by a control device based on a measurement result measured by the scanner position measuring device to lay an existing conduit. The existing conduit condition survey method according to claim 1, wherein the condition is displayed or recorded on a monitor. 3. The light receiving part is moved along the central axis line in the existing pipe while rotating at high speed with the center axis of the existing pipe as a center of rotation to move from the inner peripheral wall of the existing pipe to the light receiving part. A scanner device that collects the reflected light, a control device that performs image processing based on the data obtained by photoelectrically converting the reflected light that is collected by the light receiving unit, a display device that records and displays the condition of the inner peripheral wall of the existing pipe where the image processing has been performed, or a record that records. An existing pipe pit condition survey device, characterized by having a device. 4. The scanner device has a scanner position measuring device including an inclination measuring device and an azimuth measuring device, and an image is processed by a control device based on a measurement result measured by the scanner position measuring device to lay an existing conduit. The existing conduit condition investigating device according to claim 3, wherein the status is displayed on a display device on a monitor or recorded on a recording device.