JPH0765710B2 - 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 the 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. A perforation method for perforating a part.

(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 into a renewal pipe, which is then piped into an existing pipe for lining, 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 having an attachment 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).

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. .

Therefore, in order to solve the above-mentioned conventional problems, the applicant has previously proposed the following method of piercing the branch pipe opening after the pipe lining. This drilling method is composed of an antenna coil and a resonator and vibrates by an excitation signal for exciting the resonator, and after the excitation signal is stopped, the resonance signal remaining in the resonator is emitted from the antenna coil. A position stop marker is placed at a position that is approximately concentric with the branch pipe axis, and is inserted into the branch pipe opening before lining, and after lining, the loop surface is used for the position detection. A first loop antenna that is orthogonal to the axis of the antenna coil of the marker and that detects the maximum value of the resonance signal; and a second loop antenna that has a loop surface that is parallel to the axis and that detects the minimum value of the resonance signal. The antenna trolley is run inside the main pipe,
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 determined. After the detection, the perforation means is driven by targeting the position of the position detection marker to perforate the branch pipe opening from the main pipe side.

(Problems to be Solved by the Invention) According to the above-described perforation method proposed by the applicant, although it is possible to accurately detect the position of the branch pipe opening, this method uses a position detection marker. The emitted resonance signal is arranged so that the loop planes are orthogonal to each other.
One loop antenna detects one by one,
In addition, since these loop antennas are set at positions apart from each other due to the mechanism, there is a possibility that a detection error is likely to occur,
There was an inconvenience that the detection accuracy was limited. Also,
Since two loop antennas are required, the mechanism becomes complicated accordingly.

The present invention has been made to further improve the above-mentioned perforation method, and it is an object of the present invention to provide a method capable of detecting and perforating an opening of a branch pipe more accurately than the above perforation method with only one loop antenna. To do.

(Means for Solving the Problems) In order to achieve the above object, a method for perforating a branch pipe opening after in-pipe lining according to the present invention is performed by lining the inside of a main pipe having a branch pipe to rehabilitate the main pipe. In this case, there is provided a method of piercing the opening of the branch pipe closed by a lining from the main pipe side, which comprises an antenna coil and a resonator and vibrates by an excitation signal for exciting the resonator, and the excitation Before the lining of the water stopcock, the position detection marker for emitting the resonance signal remaining in the resonator from the antenna coil after the signal is stopped is arranged at a position substantially concentric with the branch pipe axis. After the lining, and after lining, the loop surface is made parallel to the pipe axis of the main pipe, and an antenna truck equipped with a loop antenna for detecting the maximum value of the resonance signal is run inside the main pipe. Let, before The signal level of the resonance signal detected by the loop antenna first reaches a reference level set lower than the maximum value as one of the base points, and the antenna cart detects the maximum value from the base point. The position where the signal level of the resonance signal reaches the reference level again is defined as the other base point, and the intermediate point between these two base points is calculated to determine the presence of the position detection marker in the pipe axis direction of the main pipe. The step of specifying the position, the loop antenna is rotated in the circumferential direction of the main pipe so that the loop surface thereof always faces the peripheral wall of the main pipe, and the signal level of the resonance signal detected by the loop antenna is the maximum value. One of the base points is the one that first reaches the reference level set lower than the above, and the loop antenna detects the maximum value from the base point. The position where the signal level of the resonance signal reaches the reference level again is set to the other base point, and the intermediate point between these two base points is calculated to determine the final position of the position detecting marker in the circumferential direction of the main pipe. After the target position is set, the perforation means is driven to target the position of the position detection marker to perforate the branch pipe opening from the main pipe side.

The antenna carriage running in the main pipe functions not only as a transmitting antenna that sends an excitation signal to the resonator of the position-finding marker, but also as a receiving antenna that receives a resonance signal based on the resonance vibration of the resonator. In addition to the case where the position detecting marker is provided, the antenna carriage may have only the function as a receiving antenna.

(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 after lining and the excitation signal is first transmitted from the loop antenna, the resonator of the position detection marker provided in the water stopcock inserted into the branch pipe opening before lining. Vibrates. Since the resonance signal of this resonator is transmitted from the antenna coil, it is received by the loop antenna of the antenna carriage. Here, since the loop surface of the loop antenna is parallel to the tube axis of the main pipe, in other words, orthogonal to the axis of the antenna coil of the resonator, the signal level of the received resonance signal is shown in FIG. ) And FIG. 6 (b), the loop antenna 23 becomes larger as it approaches the position-finding marker 14, and then becomes maximum, and then becomes smaller as the loop antenna 23 moves away from the position-finding marker 14. Draw a sinusoidal waveform. When a reference level V _c lower than the maximum value V _p is set for the signal level that draws such a waveform, the signal level reaches the reference level V _c twice before and after the maximum value V _p. become. Then, when the signal level first reaches the reference level V _c , one base point D ₁
And the point where the signal level reaches the reference level V _c again is the other base point D ₂ , the signal level draws a sine waveform, and therefore both base points D ₁ and D ₂ are at the same distance from the maximum value V _p. It will be. Therefore, by calculating the intermediate point D _m from both base points D ₁ and D ₂ , the position where the signal level shows the maximum value V _p ,
That is, the existing position of the position detection marker 14 in the pipe axis direction of the main pipe B can be detected with extremely high accuracy. However, even if the presence position of the position detecting marker 14 in the pipe axis direction of the main pipe B can be detected only by this, it is not enough to know the position of the main pipe B in the circumferential direction. Then, following this, the excitation signal is again transmitted from the loop antenna 23, and this time, the loop antenna 23 is rotated in the circumferential direction of the main pipe B as shown in FIG. The resonance signal is received by the loop antenna 23. As shown in FIG. 7 (a), the signal level in this case shows the same change as in the case of detecting the position of the main pipe B in the pipe axis direction. Therefore, as in the above case, the reference level lower than the maximum value V _p is used. The level V _c is set to detect _two base points R ₁ and R ₂ at which the signal level reaches the reference level V _c . Then, the midpoint R _{m of the two} base points R ₁ and R ₂
By calculating, the position where the signal level shows the maximum value V _p, that is, the position where the position detecting marker 14 exists in the circumferential direction of the main pipe B can be finally detected with very high accuracy. After specifying the existing position of the position detection marker in this way, the perforation means is driven with the position detection 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 position detecting 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 a non-foaming resin, and is not particularly limited in shape, material and the like.

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 position detection marker 14 itself can be miniaturized. In addition, the position detection marker 14 is a general
It may be composed of an LC resonance circuit. By the way, the position detecting marker 14 thus configured is not always necessary for the water blocking main body 8.
It does not have to be embedded in the central part of the water pipe, and if it is in a position substantially concentric with the pipe axis of the branch pipe A, even if it is attached to the head of the water stop body 8 or attached to the bottom. It may be worn.

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 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 a step of detecting the position of the position detecting marker 14 after lining and punching the opening of the branch pipe A. The position detecting / drilling robot 18 used in this step is the same as the water stop set robot 3 described above.
It is composed of a robot main body 19 having an automatic traveling means and a drive unit 20. The drive unit 20 includes a rotary head 22,
The loop antenna 23 on the upper part of the rotary head 22 and the perforated cutter 26 made of a cone-shaped super steel blade are positioned on the coaxial core, that is, the center of the loop surface of the loop antenna 23 and the driving of the perforated cutter 26. The shaft 25 is attached so that its axis coincides with each other, and the loop surface and the axis are orthogonal to each other. The loop antenna 23 is provided so that its loop surface is parallel to the main pipe B and the pipe axis, in other words, orthogonal to the axis of the antenna coil of the position detecting marker 14. Also, the head of the rotary head 22
A television camera 35 for monitoring the punching process by the punching cutter 26 is attached to the 24. The punching cutter 26 may be another punching device such as a water jet device. Robot for position detection and drilling
18 is connected to the control device 13 arranged on the ground.

Then, from the loop antenna 23 in the transmission mode,
An excitation signal for exciting the resonator forming the position-finding marker 14 is transmitted, and the loop antenna 23 travels in the main pipe B together with the position-finding / drilling robot 18. Then, when the loop antenna 23 approaches the area where the mounting position of the position detecting marker 14 (the insertion position of the water stopcock 1) is present, the resonator of the position detecting marker 14 vibrates at a constant resonance frequency, and this vibration A resonance signal corresponding to the level is transmitted from the antenna coil. At this time, the loop antenna 23
Is switched to the reception mode, and the reception characteristic is displayed by the display means (for example, meter) of the control device. Here, the sensitivity of the loop antenna 23 is set high so that the target resonance signal can be reliably received even if noise is received. When the position detection / drilling robot 18 further advances and the loop antenna 23 approaches the mounting position of the position detection marker 14, the signal level of the resonance signal gradually increases, and eventually reaches the maximum, and then the loop antenna It becomes smaller as 23 becomes farther from the mounting position of the position detection marker 14. When the signal level hardly changes, the position detection / drilling robot 18 is stopped, and in the signal processing circuit (not shown) in the control device 13 connected to the loop antenna 23, the signal level is higher than the maximum value. Also set a low reference level. The set value of this reference level is preferably about 40 to 80% of the maximum value in order to obtain high detection accuracy, but is not limited to this range. Next, the sensitivity of the loop antenna 23 is lowered to such a degree that searchlation does not occur, and then the position detection / drilling robot 18 is retracted. Then, the signal level of the resonance signal received by the loop antenna 23 changes in the same manner as when the robot 18 moves, and reaches the reference level twice before and after the signal level reaches the maximum value [Sixth See FIG. (A)]. Therefore, these two reaching points are set as base points D ₁ and D ₂ , respectively, and the arrival of the loop antenna 23 at these base points D ₁ and D ₂ is detected by, for example, a light emitting means or a warning means provided in the control device 13. Be prepared to do so. The detection of the base points D ₁ and D ₂ can be easily performed by providing an appropriate circuit in the signal processing circuit of the loop antenna 23. Then, the two base points D ₁ ,
The position of the position detection / drilling robot 18 corresponding to D ₂ is read by, for example, a distance meter provided in the control device 13. At the two base points D ₁ and D ₂ , the signal level of the resonance signal is the maximum value V ₁
Since each would be equidistant from the point where the to calculate these two base points D _1, the midpoint D _m of D _2, the loop antenna 23 to the position where the intermediate points D _m, that is, perforation cutter 26 The position detecting / drilling robot 18 is appropriately moved so as to move. This means that the punch cutter 26 is positioned at the position where the position detecting marker 14 exists in the pipe axis direction of the main pipe B. However, at this point, it is still unknown at which position in the circumferential direction of the main pipe B the position detecting marker 14 is located. Then, following this, the excitation signal is again transmitted from the loop antenna 23, and the rotary head 22 is rotated this time. Then, the resonator of the position detecting marker 14 vibrates again, and a resonance signal is transmitted from the antenna coil of the resonator. At this time, the loop antenna 23 is switched to the reception mode, and the resonance signal is transmitted to the loop antenna 23.
However, the reception sensitivity of the loop antenna 23 here is set so that searchlation does not occur.
The change in the signal level of the resonance signal of the case, as shown in FIG. 7 (a), are the same as those of the position detection in the tube axis direction of the main pipe B described above, similar to the maximum value V _p A lower reference level V _c is set to detect _two base points R ₁ and R ₂ at which the signal level reaches the reference level V _c . Then, an intermediate point R _m between these two base points R ₁ and R ₂ is calculated, and the rotation angle of the rotary head 22 is adjusted so that the loop antenna 23 comes to the position where this intermediate point R _m is reached. This allows the drilling cutter
The tip of 26 is directed to the position detecting marker 14. Then, the punch cutter 26 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 the above embodiment, the main pipe B of the position detecting marker 14 is
In order to detect the position in the tube axis direction of, once pass the loop antenna 23 at the position detecting marker 14,
The loop antenna 23 is retracted after detecting the maximum value of the signal level of the resonance signal, and the two base points D ₁ and D ₂ are detected. This is because the loop antenna 23 has a high reception sensitivity. This is to prevent the positions of the base points D ₁ and D ₂ from being erroneously detected, and to obtain the maximum value V _p before setting the reference level V _c . Therefore, it is not necessary to increase the sensitivity of the loop antenna 23 so much, and if the maximum value V _p of the signal level of the resonance signal is known, the two base points D ₁ and D ₂ are detected from the beginning to detect the position. The position of the marker 14 in the pipe axis direction of the main pipe B may be detected. Further, all of the above detection operations may be controlled by the micro computer.

FIG. 8 shows another embodiment of the water stopcock 1, in which a cylindrical projection 29 having a small diameter is formed in the central upper portion of a cylinder-shaped waterstop main body 28, and this projection 29 is used for position detection. The antenna coil of the marker 30 is inserted. Further, in this case, the inner wall surface of the branch pipe A is enhanced in water blocking effect by the water blocking ring 31 provided on the outer circumferential surface of the water blocking plug body 28 at intervals in the height direction. In addition to this, the water stop cock body 28 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 is further opened and the new pipe is directly lowered into the ground, and the new pipe is transversely fed in sequence, or the so-called reversal method (for example, refer to JP-A-55-15852). .

(Effects 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 from the main pipe side with extremely high accuracy, and the opening of the branch pipe closed by the lining can be detected. The part can be drilled 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 an enlarged cross-sectional view of the inside of the pipe showing a state at the time of perforation, and FIG. 6 (a) is a change in the signal level of the resonance signal due to the change in the positional relationship between the loop antenna and the position detection marker in the main pipe axial direction. FIG. 6 (b) is a waveform diagram for explaining the state, FIG. 6 (b) is a diagram showing a positional relationship between the loop antenna and the water stop in the axial direction of the main pipe, and FIG. 7 (a) is a loop antenna and a position detection marker. FIG. 7 (b) is a waveform diagram for explaining the change state of the signal level of the resonance signal due to the change in the positional relationship in the circumferential direction of the main pipe with FIG. FIG. 8 is a sectional view showing another embodiment of the water stopcock, showing the relationship. A ... Branch pipe, B ... Main pipe 1 ... Water stopcock, 2 ... Existing pipe 3 ... Waterstop set robot 14 ... Position detection marker, 16 ... Renewal pipe 17 ... Backing agent 18 ... Position detection / drilling Robot 23… Loop antenna, 26… Drilling cutter V _p … Maximum value, V _c … Reference level D ₁ , D ₂ … Main pipe axial direction base point D _m … Main pipe axial direction intermediate point R ₁ , R ₂ … Main pipe circumferential direction base point R _m … Main pipe circumferential direction middle point

Continuation of the front page (56) References JP-A-63-256303 (JP, A) JP-A-63-243898 (JP, A) Actually-opened Sho 63-176007 (JP, U) Actual-Kosho 60-15037 (JP , Y2)

Claims (1)

[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 step of inserting the water stopcock, which is arranged in a position substantially concentric with the pipe axis, into the branch pipe opening before the lining, and after the lining, the loop surface becomes parallel to the pipe axis of the main pipe. The antenna carrier provided with a loop antenna for detecting the maximum value of the resonance signal is made to run inside the main pipe, and the signal level of the resonance signal detected by the loop antenna is
One of the base points is the point at which the reference level set lower than the maximum value is first reached, and further, the antenna carriage is moved in the direction of detecting the maximum value from the base point so that the signal level of the resonance signal is again the above-mentioned. With the other base point reaching the reference level, the step of calculating the intermediate point of these two base points to specify the position of the position detection marker in the pipe axis direction of the main pipe, and the loop surface of the loop antenna. Rotate in the circumferential direction of the main pipe so as to always face the peripheral wall of the main pipe, and the signal level of the resonance signal detected by the loop antenna first reaches a reference level set lower than the maximum value. Further, the loop antenna is rotated in the direction in which the maximum value is detected from the base point, and the signal level of the resonance signal reaches the reference level again. To the other base point, and finally set the position of the position detection marker in the circumferential direction of the main by calculating the intermediate point of these two base points, and then target the position detection marker position. And driving the piercing means to pierce the branch pipe opening from the main pipe side, and a method for piercing the branch pipe opening after in-pipe lining.