WO2017203823A1 - 穿孔装置及び穿孔方法 - Google Patents
穿孔装置及び穿孔方法 Download PDFInfo
- Publication number
- WO2017203823A1 WO2017203823A1 PCT/JP2017/012789 JP2017012789W WO2017203823A1 WO 2017203823 A1 WO2017203823 A1 WO 2017203823A1 JP 2017012789 W JP2017012789 W JP 2017012789W WO 2017203823 A1 WO2017203823 A1 WO 2017203823A1
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- WIPO (PCT)
- Prior art keywords
- pipe
- image
- lining material
- drilling
- opening
- Prior art date
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B26—HAND CUTTING TOOLS; CUTTING; SEVERING
- B26D—CUTTING; DETAILS COMMON TO MACHINES FOR PERFORATING, PUNCHING, CUTTING-OUT, STAMPING-OUT OR SEVERING
- B26D1/00—Cutting through work characterised by the nature or movement of the cutting member or particular materials not otherwise provided for; Apparatus or machines therefor; Cutting members therefor
- B26D1/01—Cutting through work characterised by the nature or movement of the cutting member or particular materials not otherwise provided for; Apparatus or machines therefor; Cutting members therefor involving a cutting member which does not travel with the work
- B26D1/44—Cutting through work characterised by the nature or movement of the cutting member or particular materials not otherwise provided for; Apparatus or machines therefor; Cutting members therefor involving a cutting member which does not travel with the work having a cup or like cutting member
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- F16L55/00—Devices or appurtenances for use in, or in connection with, pipes or pipe systems
- F16L55/18—Appliances for use in repairing pipes
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B26—HAND CUTTING TOOLS; CUTTING; SEVERING
- B26D—CUTTING; DETAILS COMMON TO MACHINES FOR PERFORATING, PUNCHING, CUTTING-OUT, STAMPING-OUT OR SEVERING
- B26D1/00—Cutting through work characterised by the nature or movement of the cutting member or particular materials not otherwise provided for; Apparatus or machines therefor; Cutting members therefor
- B26D1/01—Cutting through work characterised by the nature or movement of the cutting member or particular materials not otherwise provided for; Apparatus or machines therefor; Cutting members therefor involving a cutting member which does not travel with the work
- B26D1/45—Cutting through work characterised by the nature or movement of the cutting member or particular materials not otherwise provided for; Apparatus or machines therefor; Cutting members therefor involving a cutting member which does not travel with the work having a cutting member the movement of which is not covered by any preceding group
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B26—HAND CUTTING TOOLS; CUTTING; SEVERING
- B26D—CUTTING; DETAILS COMMON TO MACHINES FOR PERFORATING, PUNCHING, CUTTING-OUT, STAMPING-OUT OR SEVERING
- B26D3/00—Cutting work characterised by the nature of the cut made; Apparatus therefor
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B26—HAND CUTTING TOOLS; CUTTING; SEVERING
- B26D—CUTTING; DETAILS COMMON TO MACHINES FOR PERFORATING, PUNCHING, CUTTING-OUT, STAMPING-OUT OR SEVERING
- B26D5/00—Arrangements for operating and controlling machines or devices for cutting, cutting-out, stamping-out, punching, perforating, or severing by means other than cutting
- B26D5/007—Control means comprising cameras, vision or image processing systems
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B26—HAND CUTTING TOOLS; CUTTING; SEVERING
- B26D—CUTTING; DETAILS COMMON TO MACHINES FOR PERFORATING, PUNCHING, CUTTING-OUT, STAMPING-OUT OR SEVERING
- B26D5/00—Arrangements for operating and controlling machines or devices for cutting, cutting-out, stamping-out, punching, perforating, or severing by means other than cutting
- B26D5/02—Means for moving the cutting member into its operative position for cutting
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B26—HAND CUTTING TOOLS; CUTTING; SEVERING
- B26D—CUTTING; DETAILS COMMON TO MACHINES FOR PERFORATING, PUNCHING, CUTTING-OUT, STAMPING-OUT OR SEVERING
- B26D5/00—Arrangements for operating and controlling machines or devices for cutting, cutting-out, stamping-out, punching, perforating, or severing by means other than cutting
- B26D5/20—Arrangements for operating and controlling machines or devices for cutting, cutting-out, stamping-out, punching, perforating, or severing by means other than cutting with interrelated action between the cutting member and work feed
- B26D5/30—Arrangements for operating and controlling machines or devices for cutting, cutting-out, stamping-out, punching, perforating, or severing by means other than cutting with interrelated action between the cutting member and work feed having the cutting member controlled by scanning a record carrier
- B26D5/34—Arrangements for operating and controlling machines or devices for cutting, cutting-out, stamping-out, punching, perforating, or severing by means other than cutting with interrelated action between the cutting member and work feed having the cutting member controlled by scanning a record carrier scanning being effected by a photosensitive device
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B26—HAND CUTTING TOOLS; CUTTING; SEVERING
- B26F—PERFORATING; PUNCHING; CUTTING-OUT; STAMPING-OUT; SEVERING BY MEANS OTHER THAN CUTTING
- B26F1/00—Perforating; Punching; Cutting-out; Stamping-out; Apparatus therefor
- B26F1/16—Perforating by tool or tools of the drill type
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- E—FIXED CONSTRUCTIONS
- E03—WATER SUPPLY; SEWERAGE
- E03F—SEWERS; CESSPOOLS
- E03F7/00—Other installations or implements for operating sewer systems, e.g. for preventing or indicating stoppage; Emptying cesspools
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- E—FIXED CONSTRUCTIONS
- E03—WATER SUPPLY; SEWERAGE
- E03F—SEWERS; CESSPOOLS
- E03F7/00—Other installations or implements for operating sewer systems, e.g. for preventing or indicating stoppage; Emptying cesspools
- E03F7/12—Installations enabling inspection personnel to drive along sewer canals
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- F16L41/00—Branching pipes; Joining pipes to walls
- F16L41/04—Tapping pipe walls, i.e. making connections through the walls of pipes while they are carrying fluids; Fittings therefor
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- F16L55/00—Devices or appurtenances for use in, or in connection with, pipes or pipe systems
- F16L55/16—Devices for covering leaks in pipes or hoses, e.g. hose-menders
- F16L55/162—Devices for covering leaks in pipes or hoses, e.g. hose-menders from inside the pipe
- F16L55/165—Devices for covering leaks in pipes or hoses, e.g. hose-menders from inside the pipe a pipe or flexible liner being inserted in the damaged section
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- F16L55/00—Devices or appurtenances for use in, or in connection with, pipes or pipe systems
- F16L55/26—Pigs or moles, i.e. devices movable in a pipe or conduit with or without self-contained propulsion means
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- F16L55/00—Devices or appurtenances for use in, or in connection with, pipes or pipe systems
- F16L55/26—Pigs or moles, i.e. devices movable in a pipe or conduit with or without self-contained propulsion means
- F16L55/28—Constructional aspects
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- F16L2101/00—Uses or applications of pigs or moles
- F16L2101/10—Treating the inside of pipes
Definitions
- the present invention relates to a drilling apparatus and a drilling method for drilling a pipe lining material closing a branch pipe opening.
- a lining method for lining an existing pipe with a pipe lining material when an existing pipe such as a sewer pipe buried underground is aged is known.
- the pipe lining material is made by impregnating an uncured liquid curable resin into a resin absorbent material made of a tubular flexible nonwoven fabric corresponding to the shape of an existing pipe.
- the outer peripheral surface of the resin absorbent material is a highly airtight plastic.
- a film is affixed.
- the pipe lining material is inserted into the existing pipe by the reversal method or the pull-in method, and the liquid curable resin is heated and cured while being pressed against the inner peripheral surface of the existing pipe, whereby the lining is performed.
- the branch pipes are joined to the main pipe such as a sewer pipe
- the pipe lining material blocks the opening at the end of the junction of the branch pipes.
- a work robot equipped with a drilling machine and a TV camera is inserted into the main pipe and remotely operated from the ground, and the pipe lining material that blocks the branch pipe opening by rotating the drilling machine (piercing blade) is rotated.
- Patent Document 1 discloses that a cap member made of a conductive or magnetic material is attached to a branch opening of a branch pipe and a main pipe, and after the main pipe lining, the detecting means of the mobile robot in the pipe Describes a method of detecting a place where the change in the permittivity or permeability of the cap member is maximum as an opening of the branch pipe, and punching the opening of the branch pipe closed by the lining material of the main pipe.
- Patent Document 2 a magnetism generating member is arranged on the side of the branch pipe, and a magnetism detection unit is moved along the lined main pipe to detect magnetism from the magnetism generating member, and the branch pipe and the main pipe are detected.
- the structure which detects the branch opening part of this and cuts the lining material of this opening part is described.
- Patent Document 3 describes a configuration in which a marker made of a coil and a resonator is embedded concentrically with a tube axis of a branch pipe, and a loop antenna mounted on a drilling robot excites the marker after main pipe lining. .
- the marker when the loop antenna approaches the branch opening, the marker resonates at the resonance frequency, and the position where the reception level of the resonance signal is minimum is specified as the center position of the branch opening, and the drilling operation is performed.
- JP 2002-22062 A JP 2008-142827 A JP-A-7-88915
- Patent Document 1 it is necessary to prepare a cap member made of a conductive or magnetic material.
- the detecting means has a change in the permittivity or permeability of the cap member. There is a drawback that the maximum point cannot be detected accurately.
- Patent Document 2 it is necessary to attach the magnetism generating member so as to coincide with the axis of the branch pipe, and since the positioning is incomplete, the center of the branch opening of the branch pipe and the main pipe is accurately specified. There is a drawback that it is difficult.
- Patent Document 3 a piezoelectric vibrator such as a quartz crystal vibrator is required for manufacturing a marker, and the excitation signal from the marker is not sharp, and it is difficult to specify the center position of the branch opening. , There is a drawback.
- any patent document since the marker (mark) for perforation is detected by moving the sensor in the pipe length direction of the main pipe, if the mounting position of the marker is shifted in the circumferential direction of the main pipe, The marker could not be detected, and the detection had to be performed again by moving the sensor in the circumferential direction, resulting in a decrease in drilling efficiency.
- the present invention has been made to solve such a problem, and the pipe lining material is perforated by detecting the branch pipe opening blocked by the pipe lining material in an inexpensive manner and efficiently. It is an object of the present invention to provide a drilling device and a drilling method that can be used.
- the present invention Main pipe lining material in which an opening image corresponding to the branch pipe opening is formed on the inner surface of the pipe lining material by the illumination light from the branch pipe passing through the pipe lining material closing the branch pipe opening.
- a drilling device for drilling from the side A rotatable drilling blade for drilling pipe lining material;
- a working robot that moves the inside of the main pipe in the pipe length direction by mounting the drilling blade so as to be able to turn in the circumferential direction around an axis extending in the main pipe length direction;
- a plurality of photodetectors arranged in the circumferential direction of the main tube, a photodetector for scanning the aperture image in the tube length direction to detect the contour point, and an aperture based on the contour point detected by the photodetector
- Image generating means for generating a two-dimensional image showing the outline of the partial image;
- Calculating means for calculating the amount of displacement in the tube length direction and the circumferential direction between the center position of the generated two-dimensional image and the axial center position
- the present invention also provides: Main pipe lining material in which an opening image corresponding to the branch pipe opening is formed on the inner surface of the pipe lining material by the illumination light from the branch pipe passing through the pipe lining material closing the branch pipe opening.
- a drilling method for drilling from the side A step of moving a work robot mounted in a main pipe length direction so that a rotatable drilling blade for drilling a pipe lining material can be turned around an axis extending in the main pipe length direction; Scanning the opening image formed on the inner surface of the tube lining material by the illumination light with a photodetector in which a plurality of photodetecting elements are arranged in the circumferential direction of the main tube, and detecting the contour points; A two-dimensional image indicating the contour of the opening image is generated based on the detected contour point, and the main pipe length direction and the circumference between the center position of the generated two-dimensional image and the axial center position of the rotation axis of the drilling blade Calculating the direction displacement amount; Drilling the pipe lining material by moving
- the opening image is scanned in the main tube length direction by a photodetector in which a plurality of photodetecting elements are arranged in the main tube circumferential direction to generate a two-dimensional image indicating the contour, and the generated two-dimensional image
- the amount of displacement in the main pipe length direction and the circumferential direction between the center position of the center and the axial center position of the rotary shaft of the drilling blade is calculated. Accordingly, it is possible to obtain the positional deviation amount in the tube length direction and the circumferential direction with respect to the opening image of the drilling blade with a simple configuration, and it is possible to accurately position the drilling blade.
- an existing pipe is a main pipe of a sewer, and after lining the main pipe with a pipe lining material, a branch pipe opening blocked by the pipe lining material is drilled.
- the example can be applied not only to the sewer system but also to the case of drilling an opening portion which is closed by a pipe lining material after lining in another pipe line.
- FIG. 1 shows a state in which the inner surface of an old sewer main pipe 11 is lined with a pipe lining material 13.
- this lining is performed by guiding the pipe lining material 13 into the main pipe 11 by the reversing method or the pulling method and pressing the pipe lining material 13 on the inner surface of the main pipe.
- the pipe lining material 13 is obtained by impregnating a resin absorbent material made of a tubular flexible nonwoven fabric with an uncured liquid curable resin.
- the resin is a thermosetting resin
- it is pressed against the inner surface of the main pipe.
- the pipe lining material 13 is heated and the resin is a photocurable resin, the pipe lining material 13 is cured by irradiating with ultraviolet rays, and the inner surface of the main pipe 11 is lined.
- a plurality of branch pipes 12 branch to the main pipe 11, and sewage such as homes and buildings is discharged to the main pipe 11 through the branch pipe 12. As shown in FIG. 1, when the main pipe 11 is lined with the pipe lining material 13, the opening 12 a of the open branch pipe 12 is blocked by the pipe lining material 13. *
- FIG. 2 shows a perforating apparatus for perforating a branch pipe opening that is thus blocked by the pipe lining material 13.
- the drilling apparatus includes a work robot 20 that moves in the main pipe 11 in the pipe length direction (horizontal direction), and a drilling blade 28 is mounted on the work robot 20.
- the work robot 20 has four wheels, and is driven by driving a motor 21 mounted in the work robot 20 or by winding a wire (not shown) coupled to the front and rear of the work robot 20 with a winch on the ground. It can move back and forth in the tube length direction.
- the TV camera 27 is attached to the upper part of the work robot 20, and the inside of the main illuminated by the lighting device (not shown) attached to the side surface is photographed by the TV camera 27.
- the photographed image is displayed on the display 52 (FIG. 10) in the work track 14 installed on the ground via the signal cable in the cable pipe 15 so that the operator can observe the inside of the main pipe. .
- a motor 22 is attached to the front position of the work robot 20 at the center position in the left-right direction (main pipe circumferential direction).
- a support plate 24 is attached to the tip of the motor 22 via a mount 23, and a hydraulic cylinder 25 having a disk-shaped head 25 a on the upper side is fixed to the support plate 24.
- a cylindrical drilling blade 28 having a blade surface 28a having a number of bits arranged in a circle and a rotating shaft 28b is attached to the head 25a of the hydraulic cylinder 25 in the vertical direction, and a motor 26 that rotates the drilling blade 28 is provided.
- the rotary shaft is mounted coaxially with the piston rod of the hydraulic cylinder 25.
- the motor 22 has a rotating shaft 22a extending in the length direction of the main pipe parallel to the pipe axis 11a of the main pipe 11, and when the work robot 20 takes a normal position in the main pipe, for example, the rotating shaft 22a is It is attached to the work robot 20 so as to be coaxial with the tube axis 11a of the tube 11 (FIG. 4).
- the drilling blade 28 turns in the main pipe circumferential direction about the pipe shaft 11a extending in the pipe length direction.
- the drilling blade 28 has an outer diameter d1 of the blade surface 28a slightly smaller than an inner diameter d2 of the branch pipe, and is lifted up and down by hydraulic pressure by the hydraulic cylinder 25. Can be rotated.
- the tension member 29 is provided on the upper part of the work robot 20, and when the drilling is performed, the tension member 29 rises and hits the upper surface of the pipe lining material 13 to stabilize the work robot 20.
- an illumination lamp 30 is inserted into the branch pipe 12 from the ground, and the illumination lamp 30 is turned on by a power source 32 via a power line 31 to close the branch pipe opening 12 a.
- the existing pipe lining material 13 is illuminated from above. Since the tube lining material 13 is made of a non-woven fabric, the illumination light passes through the tube lining material even when the resin impregnated therein is cured.
- this transmitted light is viewed from the inside of the main tube 11, it can be observed as a bright opening image 34 curved corresponding to the inner surface of the main tube 11 as shown in FIG. 7.
- the opening image 34 is observed as a circular image when the branch pipe 12 intersects the main pipe 11 perpendicularly, and when it intersects obliquely as shown in FIG. Observed as an image.
- a block-shaped base 41 is fixed to the work robot 20, and is urged upward by a spring 44 in a hollow column 42 erected on the base 41.
- a sensor rod 43 that can be raised and lowered is housed.
- a ball bearing 47 for rolling the sensor holder 45 and a metal or resin ball 46 is attached to the upper part of the sensor rod 43.
- a sensor mounting plate 48 that is curved according to the curvature of the pipe lining material 13 is fixed to the sensor holder 45.
- five photodetecting elements 48a to 48e each made of a CdS (cadmium sulfide) cell or a photodiode are attached at equal intervals ⁇ 1 in the circumferential direction of the main pipe.
- These light detection elements 48a to 48e constitute a light detector 40 that optically scans and detects the opening image 34 in the main tube length direction as the work robot 20 moves.
- FIG. 8 shows the waveform of the output signal with respect to the elapsed time t of each of the light detection elements 48a to 48e when the work robot 20 is moved at a constant speed.
- Each of the light detection elements 48a to 48e outputs a voltage from v0 to v1, as illustrated by a dotted line, according to the brightness of the aperture image 34.
- the output signal is digitized so that, for example, a threshold voltage of v1 / 2 is set and a high level signal v1 is generated when the threshold voltage is exceeded, and a low level v0 signal is generated below the threshold voltage.
- the light detection element of the light detector 40 detects the first contour point of the aperture image at time t1, and the output signal is low. Switch to high level. Subsequently, the output signal of the light detection element maintains a high level in a bright region corresponding to the diameter d2 of the branch tube opening, and switches to a low level when a subsequent contour point is detected at time t2.
- the threshold voltage at which the level is switched can be adjusted according to the brightness of the aperture image and the sensitivity of the light detection element.
- FIG. 10 is a block diagram of a control system for controlling the operation of the perforating apparatus.
- a computer (CPU) 50 as a control unit and a calculation unit includes a ROM 50a that stores a basic program and the like, and a work RAM 50b that stores processing data, calculation data, and the like.
- the computer 50 includes an image processing unit 50c, and the image generation unit 50d of the image processing unit 50c processes signals output from the light detection elements 48a to 48e to generate a two-dimensional image corresponding to the aperture image. Generated.
- the positional deviation amount calculation unit 50e of the image processing unit 50c the positional deviation amount between the center position of the generated two-dimensional image and the axis of the rotary shaft 28 of the punching blade 28 located at the end of the scanning of the opening image 34 is calculated.
- the image processing unit 50c performs various other image processing necessary for image formation.
- the computer 50 is connected to a storage device 51 formed of a hard disk storing a control program, an image processing program, a template, and the like.
- the motor 21 is composed of, for example, a DC motor equipped with a rotary encoder, and moves the work robot 20 back and forth in the main pipe length direction.
- the rotation speed of the motor 21 is input to the computer 50, and the moving speed and moving distance of the work robot 20 are calculated.
- the motor 22 is composed of a stepping motor or a servo motor provided with a rotary encoder.
- the motor shaft 22a is coaxial with the tube shaft 11a of the main pipe 11, and the drilling blade 28 is clocked at a predetermined angle around the motor shaft 22a. Turn in direction or counterclockwise.
- the computer 50 drives the hydraulic cylinder 25 to move the drilling blade 28 up and down, drives the motor 26 to rotate the drilling blade 28, and drives the hydraulic cylinder 53 to move the thrust member 29 up and down. Further, the computer 50 controls the attitude of the TV camera 27 and captures an image taken by the TV camera 27.
- a display device 52 is connected to the computer 50, and the display device 52 calculates the contour point of the detected opening image, the two-dimensional image generated based on the contour point, and the image taken by the TV camera. Data, control data, etc. are displayed.
- a mouse 54 and a keyboard 55 are connected to the computer 50. The computer 50, the storage device 51, the display 52, the mouse 54, and the keyboard 55 are mounted on the work track 14 as a part of the drilling device.
- the motors 21, 22, 26 and the hydraulic cylinders 25, 53 are connected to a power source mounted on the work track 14 via a power cable in the cable pipe 15 and are controlled by the computer 50. These driving means can be individually driven and controlled via switches, joysticks, etc. arranged on the console in the work track.
- image data captured by the TV camera 27 or a signal from the light detection element is input to the computer 50 via a signal cable in the cable pipe 15.
- the work robot 20 is thrown into the main pipe 11 through the manhole 16 and moves forward in the main pipe 11 (step S1).
- the ball 46 urged upward by the spring 44 rolls while making point contact with the inner surface of the tube lining material 13, so that the light detection elements 48a to 48e attached to the sensor attachment plate 48 have their detection surfaces.
- it is close to the inner surface of the pipe lining material 13 at an equal distance in the radial direction, and the brightness of the opening image 34 is optically detected.
- the work robot 20 does not necessarily move forward in a vertical posture.
- the work robot 20 is slightly rotated clockwise by ⁇ around the tube axis 11 a of the main pipe 11. Move forward with.
- the photodetector 40 is also tilted by ⁇ , so that the light detection elements 48a to 48e detect the opening image 34 indicated by the phantom line in a state shifted to the right instead of being symmetrical.
- This ⁇ is shown in FIG. 12 as a shift amount ⁇ x when viewed from above.
- any one of the light detection elements 48a to 48e for example, the center light detection element 48c, is a point on the contour line 34a of the opening image 34. And the output signal of the light detection element 48c switches from the low level to the high level at this contour point.
- the position of the work robot 20 at this time is also shown in FIG.
- the work robot 20 When any of the light detection elements 48a to 48e detects the contour point of the opening image 34 (Yes in step S2), the work robot 20 is moved backward by a predetermined distance, and this position is set as the scanning start position H1 of the opening image 34. (Step S3).
- the scanning start position H1 is a home position when the coordinates of the contour point of the opening image 34 are obtained.
- a dimension D1 longer by a predetermined distance than the maximum diameter of the used branch pipe is set, and the work robot 20 is moved to the scanning start position H1 as shown in FIG. Is moved in the main pipe length direction by a distance D1 beyond the opening image 34, and the work robot 20 is stopped there.
- the stop position H2 of the work robot 20 is set as the scanning end position of the aperture image.
- 2D scanning of the aperture image 34 is performed while the work robot 20 moves from the scanning start position H1 to the scanning end position H2 (step S4).
- the photodetecting elements 48a to 48e are respectively switched from the low level to the high level, whereby the contour points P2, P1, P0, P8, and P7 in front of the opening image 34 are displayed. Is detected.
- the work robot 20 further moves forward, and the light detection elements 48a to 48d are switched from the high level to the low level, whereby the rear contour points P3, P4, P5, and P6 are detected.
- the contour points P2 and P5 are detected by being deviated from the contour line 34a of the opening image 34, and the work robot 20 is inclined by ⁇ . Therefore, the rightmost light detection element 48e can detect only the front contour point P7.
- the contour of the opening image may not be detected, so it is determined whether a plurality of contour points, for example, six or more contour points have been detected (step S5). If not detected, the process returns to step S3, the work robot 20 is retracted to the scanning start position H1, and the same processing is repeated until a predetermined number of contour points are detected.
- the computer 50 calculates the coordinate values of the contour points P0 to P8.
- the y-axis when calculating the coordinate value is, for example, an axis parallel to the tube axis 11a of the main pipe 11 and set to an axis passing through the position of the center photodetecting element 48c in the left-right direction.
- the horizontal axis orthogonal to the y-axis is set to an axis that passes through the scanning start position H1 of the center photodetecting element 48c. Since the y-axis is set at the center in the left-right direction of the work robot 20, the y-axis is directly above the axis C of the rotary shaft 28 b of the drilling blade 28.
- the vertical line passing through the scanning start position H1 is orthogonal to the x axis.
- the computer 50 is provided with a time counter for each of the light detection elements 48a to 48e, and each time counter is activated simultaneously with the movement of the work robot 20 from the scanning start position H1, and each of the light detection elements 48a to 48e is respectively set. Time t1 (FIG. 8) until switching from the low level to the high level is measured.
- the movement speed can be obtained based on the wheel diameter of the work robot 20, so that the movement speed of the work robot and the time t1 until switching from the low level to the high level are obtained.
- Distance) y2, y1, y0, y8, y7 can be calculated.
- the distance in the x-axis direction of each of the light detection elements 48a to 48e from the light detection element 8c is x2, x1, 0, x1, x2 as shown in the center of FIG.
- the xy coordinate values of the contour points P0 to P8 when the contour points P0 to P8 of the partial image 34 are projected onto the xy plane determined by the xy axes are values as illustrated on the right side of FIG.
- the calculation of the coordinate values of the contour points P0 to P8 is performed by the image generation unit 50d of the image processing unit 50c.
- the image generation unit 50d adds contour points by interpolating the contour points P0 to P8 as necessary, and connects the contour points P0 to P8 and the added contour points with, for example, a spline curve, as shown in the upper part of FIG.
- a two-dimensional image 35 showing the contour of the opening image 34 is generated (step S6).
- the xy coordinate value of the axis C of the rotary shaft 28b of the drilling blade 28 is C ⁇ 0, (D1 + D2) ⁇ .
- D1 is a movement distance in the tube length direction from the scanning start position H1 of the work robot 20 considering a dimension longer than the maximum diameter of the branch tube
- D2 is a distance between the light detection element 48c and the punching blade 28. The distance in the tube length direction to the axis C.
- D1 is obtained by activating the time counter when the work robot 20 starts scanning, measuring the time when the work robot 20 stops at the scan end position H2, and multiplying by the moving speed of the work robot 20.
- D2 is a value determined by the design value of the work robot 20.
- the moving distances y0 to y8 and D1 can also be obtained by measuring the number of rotations of the motor 21 using a rotary encoder.
- the two-dimensional image 35 generated by the image generation unit 50d is displayed on the display 52 (step S7).
- the xy coordinate values of the contour points P0 to P8 are calculated based on the actual distance in the coordinate system set in the work robot 20 and become a large value, so that they are appropriately reduced to 1 / m times and displayed. To.
- the center position of the two-dimensional image 35 displayed on the display 52 is detected (step S8).
- One method (means) for detecting the center is a method using a circular template 36 having a diameter 1 / m times the outer diameter d1 (FIG. 5) of the blade surface 28a of the drilling blade 28.
- a template 36 is read from the storage device 51, and the template 36 and the two-dimensional image 35 are aligned by, for example, dragging the template 36 with the mouse 54 as shown in the lower part of FIG.
- a coordinate value C ′ ( ⁇ Xc, Yc) of the center C ′ of the aligned template 36 is obtained, and this is used as a coordinate value indicating the center position of the two-dimensional image 35. Since the template 36 has a circular shape, the center can be easily obtained by software.
- the drilling blade 28 is moved while the opening image 34 is actually viewed obliquely upward in the main tube 11 with the TV camera 27, and the rotation surface (corresponding to the template 36) is moved to the opening image. This corresponds to the operation of positioning to 34 (corresponding to the two-dimensional image 35).
- Another method for detecting the center of the two-dimensional image 35 is to use template matching.
- the degree of coincidence between the image of the template 36 and the two-dimensional image 35 is calculated from the correlation coefficient, the position of the template 36 having the maximum correlation coefficient is obtained, and the center position C ′ is determined as the center of the two-dimensional image 35.
- Position the center of gravity of the two-dimensional image 35 can be calculated and the position of the center of gravity can be set as the center position of the two-dimensional image 35.
- the positional deviation amount calculation unit 50e calculates the positional deviation amount between the center position C ′ ( ⁇ Xc, Yc) of the two-dimensional image and the axial center position C ⁇ 0, (D1 + D2) ⁇ of the drilling blade 28 (step S9). ).
- ( ⁇ Xc, Yc) is a coordinate value in the reduced coordinate system, it is set to m times.
- step S10 the perforation blade 28 is moved by the amount of the positional deviation in a direction in which the calculated amount of positional deviation disappears (step S10). That is, the work robot 20 is retracted by (D1 + D2) ⁇ Yc, and the motor 22 is driven to turn the drilling blade 28 counterclockwise by an angle ⁇ ( ⁇ ) corresponding to Xc.
- the blade surface 28a of the drilling blade 28 is also aligned with the opening image 34 in correspondence with the template 36 being aligned with the two-dimensional image 35 on the display 52. Therefore, the hydraulic cylinder 25 is driven to raise the drilling blade 28, and the motor 26 is driven to rotate the drilling blade 28 as shown in FIG. At this time, in order to stabilize the position of the work robot 20, the tension member 29 is abutted against the inner surface of the pipe lining material 13. In this way, as shown in FIG. 6, the pipe lining material 13 closing the branch pipe opening 12a is perforated (step S11).
- the operation of aligning the blade surface 28a of the drilling blade 28 with the opening image 34 while actually viewing the opening image 34 obliquely upward with the TV camera 27 in the main pipe 11 is performed. Since the two-dimensional image 35 corresponding to the opening image 34 can be displayed on the display 52 and can be viewed from the front, alignment is extremely easy. In addition, even if there is an unclear portion in the outline of the actual opening image 34 or there is a harsh light (noise) in the opening image 34, the positioning is performed within a range where the outer shape of the two-dimensional image 35 can be grasped. And the drilling efficiency can be increased.
- the five photodetecting elements are used. However, as the number of photodetecting elements increases, the number of detected contour points increases, and the alignment accuracy improves.
- the five light detection elements are arranged at equal intervals in the circumferential direction. However, the density may be changed between the central portion and the end portion.
- a CCD or CMOS image sensor 70 in which minute light detection elements are arranged one-dimensionally at equal intervals at a fine pitch may be used as the light detector 40.
- the one-dimensional image sensor 70 is attached to a sensor attachment plate 48 that extends in an arc shape along the circumferential direction of the main pipe.
- the work robot 20 When the opening image 34 is scanned using such a one-dimensional image sensor 70, the work robot 20 is moved forward until the one-dimensional image sensor 70 detects any contour of the opening image 34 (see FIG. 16). In steps T1 and T2), when the contour is detected, the work robot 20 is moved backward by a predetermined distance (step T3), and this position is set as a scanning start position H1 ′ (step T3). Subsequently, a dimension longer than the maximum diameter of the branch pipe by a predetermined distance is set as D1 ′, and the work robot 20 is moved from the scanning start position H1 ′ to the distance D1 ′ + D2 beyond the opening image 34 as shown in FIG.
- D2 ′ is a value determined by the design value of the work robot 20.
- the analog signal detected by each photodetecting element of the one-dimensional image sensor 70 is converted into a digital signal indicating the brightness of the minute area of the aperture image corresponding to the arrangement pitch of each photodetecting element and input to the computer 50. .
- the signal value for each minute region of the aperture image 34 sequentially output from each light detection element of the one-dimensional image sensor 70 according to the movement of the light detector 40 in the tube length direction is sequentially recorded in the RAM 50b.
- the image generation unit 50d reads the signal value for each minute region of the opening image 34 stored in the RAM 50b, and generates a two-dimensional image 72 that faithfully reproduces the shape and brightness of the opening image 34 (step T5). ).
- the y axis is an axis parallel to the tube axis 11 a of the main pipe 11 and is set to an axis passing through the position of the light detection element at the center of the one-dimensional image sensor 70
- the x axis is The horizontal axis orthogonal to the y-axis is set to an axis that passes through the scanning start position H1 ′ of the central photodetector.
- steps S7 to S11 in FIG. 11 processing similar to steps S7 to S11 in FIG. 11 is performed in steps T6 to T10, and the tube lining material 13 is perforated.
- the entire area of the aperture image 34 is displayed on the display 52 with a resolution corresponding to the fine pitch of the light detection elements.
- the outline 72a of the two-dimensional image 72 is shown as a black solid line. However, in actuality, the lines having different shading according to the brightness of the rising or falling part of the signal indicated by the dotted line in FIG. It is expressed as a contour.
- the peripheral regions 72b and 72c of the two-dimensional image 72 are images in which the portions are missing because dirt is deposited on the branch pipe opening 12a, and the central region 72d is reproduced as a noise image.
- the coordinate value of the axis C of the rotary shaft 28a of the punching blade 28 is C ⁇ 0, (D1 ′ + D2 ′) ⁇ , and the center position of the two-dimensional image 72 is C ′ ( ⁇ Xc, Yc) as in FIG. ),
- the work robot 20 is moved backward by the amount of displacement (D1 ′ + D2 ′) ⁇ Yc, the motor 22 is driven, and the drilling blade 28 is rotated at an angle ⁇ (corresponding to the difference Xc ( ⁇ x) on the x axis.
- the pipe lining material 13 that closes the opening of the branch pipe 12 is punched by turning counterclockwise by ⁇ ).
- the one-dimensional image sensor 70 When the one-dimensional image sensor 70 is used, since the entire area of the opening image 34 is faithfully displayed as a two-dimensional planar image on the display 52, positioning is facilitated and the positioning accuracy is improved.
- the photodetector 40 can also be composed of a one-dimensional image sensor in which a plurality of linear one-dimensional image sensors 75a to 75e are arranged along the circumferential direction of the main pipe.
- each of the one-dimensional image sensors 75a to 75e is attached to the sensor attachment plates 74a to 74e arranged in the main pipe circumferential direction extending linearly.
- a two-dimensional image indicating the contour of the opening image 34 is generated based on signals sequentially detected by the respective one-dimensional image sensors 75a to 75e as the work robot 20 moves.
- the contour of the generated two-dimensional image cannot be faithfully reproduced. There is little deviation of the contour shape, and the center of the two-dimensional image can be obtained, and drilling can be performed with the same alignment accuracy.
- the photodetector 40 is fixed to the work robot 20 and is moved in conjunction with the movement of the work robot 20 in the tube length direction.
- the photodetector 40 is independent of the movement of the work robot 20.
- the aperture image 34 can also be scanned by moving. Examples of such are shown in FIGS.
- a scanning unit 80 having four wheels and mounting the photodetector 40 is used.
- the scanning unit 80 is guided by guide rails 83 and 84 arranged symmetrically with respect to the center in the circumferential direction of the work robot 20 by a motor 82 provided in the base 81, for example, a stepping motor or a servo motor, and stopped.
- the plate 85 and 86 are moved in the tube length direction on the flat portion of the work robot 20.
- Limit switches 81a and 81b are attached to the front and rear of the base 81.
- the limit switches 81a and 81b are activated to operate the motor.
- the light detector 40 including the light detection elements 48a to 48e is attached to the base 81 of the scanning unit 80 via the members 42 to 48 described in FIG.
- the scanning of the opening image 34 by the scanning unit 80 is performed in a flow similar to the flow shown in FIG.
- the work robot 20 moves forward with a slight ⁇ rotation about the tube axis 11 a of the main tube 11, and the scanning unit 80 is stopped at the rearmost portion, that is, at a position where it abuts against the rear stop plate 86. (FIG. 23).
- the work robot 20 moves forward and one of the light detection elements 48a to 48e (the center light detection element 48c) of the light detector 40 detects the contour of the opening image 34, as shown on the right side of FIG. As shown on the left side of the figure, the work robot 20 is moved backward by a predetermined distance ⁇ d, and this position is set as a scanning start position H of the opening image 34 (steps S1 to S3). At the scanning start position H, as described above, the scanning unit 80 is in contact with the stop plate 86 and stopped.
- An axis parallel to the tube axis 11a of the main pipe 11 passing through the position of the central photodetecting element 48c is the y axis, and a horizontal axis perpendicular to the y axis is the scanning start of the central photodetecting element 48c.
- the axis passing through the position H is set to the x axis.
- the work robot 20 is moved forward at the scan start position H to scan the opening image (step S4).
- the work robot 20 is stopped at the scan start position H.
- the scanning unit 80 is advanced on the work robot 20 to scan the opening image 34.
- the photodetector 40 As the scanning unit 80 advances, the photodetector 40 also moves in the tube length direction. As shown in FIG. 24, the light detection elements 48a to 48e move by a distance Y1 from the scanning start position H, respectively, while detecting the contour points P1 to P8 of the aperture image 34, and the scanning unit 80 ends the scanning. Stop at position H ′.
- the movement distances y0 ′ to y8 ′ from the scanning start position H of the light detection elements 48a to 48e until the contour points P1 to P8 are detected are the same as in the first embodiment until the respective contour points are detected. 24. Since the arrangement of the photodetecting elements 48a to 48e in the x-axis direction is the same as that of the first embodiment, the contour as shown on the right side of FIG. The coordinate values of the points P0 ′ to P8 ′ are calculated.
- contour points P0 ′ to P8 ′ are interpolated as necessary to add contour points, and the contour points P0 ′ to P8 ′ and the added contour points are connected by, for example, a spline curve.
- a two-dimensional image 35 ′ showing the contour of the opening image 34 as shown in the upper part of FIG. 25 is generated (step S6).
- step S7 the two-dimensional image 35 ′ is displayed on the display 52 (step S7), and the center C ′ ( ⁇ Xc ′, Yc ′) is obtained by the same method as in the first embodiment (step S8).
- Y2 is the distance in the y-axis direction (tube length direction) from the axis C to the scanning start position H, and is determined by the mounting position of the stop plate 86 on the work robot 20, the design values of the work robot 20 and the scan unit 80, and the scan unit The value does not depend on the movement of 80.
- step S9 the positional deviation amount between the center C ′ ( ⁇ Xc ′, Yc ′) of the two-dimensional image 35 ′ and the axis C (0, Y2) of the drilling blade 28 is calculated (step S9), and the positional deviation amount disappears.
- the perforation blade 28 is moved in the main pipe length direction and the circumferential direction by the amount of the positional deviation to perforate the pipe lining material 13 (steps S10 and S11).
- the scanning unit 80 is moved backward until it comes into contact with the stop plate 86 and waits for the next scanning of the opening image.
- the work robot 20 is not moved, but the scanning unit 80 is moved on the work robot independently of the work robot 20 to scan the opening portion image 34. Since the scanning unit 80 can move the flat portion of the work robot 20, the scan unit 80 can be moved smoothly and stably compared to the work robot 20 that moves the curved surface. The contour points can be detected.
- a sheet having a large friction coefficient may be laid on the traveling path on the work robot 20 on which the scanning unit 80 moves.
- a gear may be formed on the entire circumference of the scanning unit wheel, and a gear that meshes with the gear may be provided on the guide rail, and the scanning unit may be moved by meshing the gear.
- the photodetector 40 is configured by arranging individual photodetectors.
- FIG. 15 is a diagram in which minute photodetectors are arranged one-dimensionally at equal intervals at a fine pitch.
- a CCD or CMOS one-dimensional image sensor as shown in FIG. 19 may be used.
- the sensor mounting plate 48 of the photodetector 40 is curved in accordance with the curvature of the main pipe 11 or the pipe lining material 13 thereof, so that the pipe diameter of the main pipe 11 or the pipe lining material is used. If the layer thicknesses differ, it is necessary to use a sensor mounting plate having a curvature corresponding to the layer thickness. Therefore, each of the light detection elements 48a to 48d of the light detector 40 is attached to an individual sensor mounting plate, and each of the light detection elements is independently biased by a spring so that the pipe diameter of the main pipe 11 or the pipe lining material is changed. Even if the layer thicknesses are different, the distance between each detection surface and the inner surface of the pipe lining material is made constant.
- FIG. 26 is a diagram showing attachment of the light detection element 48c at the center of the light detector 40.
- the light detection element 48c is separated from other light detection elements by the block-shaped sensor attachment plate 100 and attached to the sensor holder 45. It is done. The same applies to the other light detection elements 48a, 48b, 48d, and 48e.
- all the light detection elements 48a to 48e of the light detector 40 are arranged on the base 101 fixed to the work robot 20 at an equal angle ⁇ 1 in the main pipe circumferential direction. .
- the light detection elements 48a to 48e of the light detector 40 are urged upward by the spring 44 independently of the other light detection elements, and the balls 46 are in point contact with the inner surface of the tube lining material 13, respectively. Since the distance between the detection surfaces of the elements 48a to 48e and the inner surface of the tube lining material is constant, the aperture image can be scanned with the same sensitivity even if the tube diameter of the main tube 11 or the layer thickness of the tube lining material 13 is different. It becomes possible.
- the punching apparatus in the third embodiment has the same configuration as that of the first embodiment except that the photodetector 40 is configured as shown in FIGS. 26 and 27, and the drilling of the pipe lining material 13 is performed as shown in FIG. It is performed along the flow shown in In FIG. 29, steps U1 to U5 are the same processes as steps S1 to S5 of FIG.
- the light detection elements 48a to 48e of the light detector 40 are each first as the work robot 20 advances. Contour points Q2, Q1, Q0, Q9, and Q8 are detected, and then rear contour points Q3, Q4, Q5, Q6, and Q7 are detected.
- the light detection element 48c at the center of the light detector 40 outputs an output signal as shown in the upper part of FIG. 32, for example, and detects the contour point Q0 at time t1 and the contour point Q5 at time t2. Assuming that the sensitivity of the other light detection element, for example, the light detection element 48a, is the same as that of the light detection element 48c, as shown in the lower part, a similar output signal is output, and the contour point is displayed at time t1 ′. At Q2, a contour point Q3 is detected at time t2 ′.
- the distance between the contour points Q0 and Q5 detected by the light detection element 48c is different from the distance between the contour points Q2 and Q3 detected by the light detection element 48a, but the centers Qc and Qa have the same output signal. If it is a simple waveform, it is almost the same. The same applies to other photodetecting elements.
- the contour points (Q2, Q3), (Q1, Q4), (Q4) detected by the photodetecting elements 48a to 48e The y coordinates of the centers Qa to Qe of the distances between Q0, Q5), (Q9, Q6), and (Q8, Q7) have the same value.
- contour points P0 to P8 similar to those shown in FIG. 14 are detected, and each contour point is connected by a two-dot chain virtual line as shown in the upper part of FIG. Is done.
- the contour points P2 and P5 are inaccurate because the contour of the opening image 34 is unclear, and the light detection element 48e detects only the front contour point P7. Absent.
- a light detection element that is considered to have detected the contour point satisfactorily is selected.
- the light detection elements 48b and 48d are examples thereof, one of the centers Qb and Qd of the contour point distances P1-P4 and P8-P6, or an average value thereof is obtained.
- the detected contour points are corrected.
- the contour points P2 and P5 are inaccurate, and the light detection element 48e detects only the front contour point P7. Therefore, as shown in the lower part of FIG. 31, the contour point P2 is corrected to P2 ′, the contour point P5 is corrected to P5 ′, and the contour point P7 ′ is complemented to obtain the centers Qa, Qc, Qe is set to the same value as Qb and Qd.
- the two-dimensional image 102 is generated by connecting the contour points including the contour points corrected or complemented in this way by a spline curve (step U6).
- the center C ′ of the generated two-dimensional image 102 is obtained (step U7). Since the centers Qa to Qe of the distances between the contour points detected by the respective light detection elements correspond to the y coordinate of the center of the two-dimensional image, any one of the centers Qa to Qe or the average value Qy thereof is represented in the two-dimensional image 102. The y coordinate value of the center C ′ is used. Further, a sign is added to the distance Qx in the x-axis direction between the center line of the width w of the two-dimensional image 102 and the line connecting the contour points P0 and P5 ′, and ⁇ Qx is the x coordinate of the center C ′ of the two-dimensional image 100. Value.
- step U8 the amount of displacement in the tube length direction and the circumferential direction between the center of the two-dimensional image 102 and the axial center position of the rotary shaft of the drilling blade is obtained.
- the displacement amount in the tube length direction is a value obtained by subtracting the y coordinate value of the center C ′ of the two-dimensional image 102 from (D1 + D2), and the displacement amount in the circumferential direction is an angle ( ⁇ ) corresponding to Qx.
- the perforating blade 28 is retracted by the amount of deviation, and the perforating blade 28 is turned counterclockwise by ⁇ around the tube axis (step U9).
- the hydraulic cylinder 25 is driven to raise the drilling blade 28, and the drilling blade 28 is rotated to close the branch pipe opening 12a.
- the material 13 is drilled (step U10).
- the contour point detected by the light detection element is corrected, or the contour point that could not be detected by the light detection element is complemented, so that the two-dimensional image 102 faithful to the opening image 34 is generated. Therefore, the center of the two-dimensional image, that is, the center of the opening image can be obtained by a simple method without using the template as in the first embodiment.
- the photodetector 40 is mounted on the work robot 20 and moves in conjunction with the movement of the work robot 20 in the tube length direction.
- the light detector 40 moves on the work robot 20. It can also be moved in the tube length direction independently of the movement of 20.
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Abstract
Description
枝管側からの照明光が枝管開口部を閉塞している管ライニング材を透過することにより管ライニング材内面に枝管開口部に対応した開口部像が形成される管ライニング材を本管側から穿孔する穿孔装置であって、
管ライニング材を穿孔するための回転可能な穿孔刃と、
前記穿孔刃を本管管長方向に延びる軸を中心に周方向に旋回できるように搭載して本管内を管長方向に移動する作業ロボットと、
本管周方向に配列された複数の光検出素子を備え、開口部像を管長方向に走査してその輪郭点を検出する光検出器と
前記光検出器により検出された輪郭点に基づいて開口部像の輪郭を示す2次元画像を生成する画像生成手段と、
生成された2次元画像の中心位置と穿孔刃の回転軸の軸心位置との管長方向と周方向位置ずれ量を演算する演算手段と、を備え、
前記位置ずれ量がなくなる方向に位置ずれ量分穿孔刃を管長方向に移動させるとともに周方向に旋回させて管ライニング材を穿孔することを特徴とする。
枝管側からの照明光が枝管開口部を閉塞している管ライニング材を透過することにより管ライニング材内面に枝管開口部に対応した開口部像が形成される管ライニング材を本管側から穿孔する穿孔方法であって、
管ライニング材を穿孔するための回転可能な穿孔刃を本管管長方向に延びる軸を中心に旋回できるように搭載した作業ロボットを本管管長方向に移動させる工程と、
前記照明光により管ライニング材内面に形成された開口部像を、複数の光検出素子を本管周方向に配列した光検出器で管長方向に走査しその輪郭点を検出する工程と、
前記検出された輪郭点に基づいて開口部像の輪郭を示す2次元画像を生成し、生成された2次元画像の中心位置と穿孔刃の回転軸の軸心位置との本管管長方向と周方向位置ずれ量を演算する工程と、
前記位置ずれ量がなくなる方向に位置ずれ量分穿孔刃を管長方向に移動させるとともに周方向に旋回させて管ライニング材を穿孔する工程と、
を備えることを特徴とする。
12 枝管
12a 枝管開口部
13 管ライニング材
14 作業トラック
15 ケーブルパイプ
20 作業ロボット
21 モーター
22 モーター
25 シリンダー
26 モーター
27 TVカメラ
28 穿孔刃
28a 刃面
29 突っ張り部材
30 照明ランプ
34 開口部像
35 2次元画像
36 テンプレート
40 光検出器
46 ボール
47 ボールベアリング
48 センサー取付板
48a~48e 光検出素子
50 コンピュータ
50c 画像処理部
50d 画像生成部
50e 位置ずれ量演算部
51 記憶装置
52 表示器
70 1次元イメージセンサー
72 2次元画像
75a~75e 1次元イメージセンサー
80 走査ユニット
81 基台
81a、81b リミットスイッチ
82 モーター
83、84 ガイドレール
85、86 停止板
Claims (9)
- 枝管側からの照明光が枝管開口部を閉塞している管ライニング材を透過することにより管ライニング材内面に枝管開口部に対応した開口部像が形成される管ライニング材を本管側から穿孔する穿孔装置であって、
管ライニング材を穿孔するための回転可能な穿孔刃と、
前記穿孔刃を本管管長方向に延びる軸を中心に周方向に旋回できるように搭載して本管内を管長方向に移動する作業ロボットと、
本管周方向に配列された複数の光検出素子を備え、開口部像を管長方向に走査してその輪郭点を検出する光検出器と
前記光検出器により検出された輪郭点に基づいて開口部像の輪郭を示す2次元画像を生成する画像生成手段と、
生成された2次元画像の中心位置と穿孔刃の回転軸の軸心位置との管長方向と周方向位置ずれ量を演算する演算手段と、を備え、
前記位置ずれ量がなくなる方向に位置ずれ量分穿孔刃を管長方向に移動させるとともに周方向に旋回させて管ライニング材を穿孔することを特徴とする穿孔装置。 - 前記光検出器は、作業ロボット上に取り付けられ、作業ロボットの管長方向移動に連動して移動することを特徴とする請求項1に記載の穿孔装置。
- 前記光検出器は、作業ロボット上を作業ロボットの移動と独立して管長方向に移動することを特徴とする請求項1に記載の穿孔装置。
- 前記光検出器の各光検出素子は、それぞれの検出面と管ライニング材内面との距離が一定になるように、個別にスプリングにより上方に付勢されることを特徴とする請求項1から3のいずれか1項に記載の穿孔装置。
- 前記光検出器の各光検出素子は、それぞれの検出面と管ライニング材内面との距離が一定になるように、本管の管径並びに管ライニング材の層厚に応じた曲率で湾曲した取付板に取り付けられることを特徴とする請求項1から3のいずれか1項に記載の穿孔装置。
- 前記光検出器の光検出素子はCdSセルあるいはフォトダイオードであることを特徴とする請求項1から5のいずれか1項に記載の穿孔装置。
- 枝管側からの照明光が枝管開口部を閉塞している管ライニング材を透過することにより管ライニング材内面に枝管開口部に対応した開口部像が形成される管ライニング材を本管側から穿孔する穿孔方法であって、
管ライニング材を穿孔するための回転可能な穿孔刃を本管管長方向に延びる軸を中心に旋回できるように搭載した作業ロボットを本管管長方向に移動させる工程と、
前記照明光により管ライニング材内面に形成された開口部像を、複数の光検出素子を本管周方向に配列した光検出器で管長方向に走査しその輪郭点を検出する工程と、
前記検出された輪郭点に基づいて開口部像の輪郭を示す2次元画像を生成し、生成された2次元画像の中心位置と穿孔刃の回転軸の軸心位置との本管管長方向と周方向位置ずれ量を演算する工程と、
前記位置ずれ量がなくなる方向に位置ずれ量分穿孔刃を管長方向に移動させるとともに周方向に旋回させて管ライニング材を穿孔する工程と、
を備えることを特徴とする穿孔方法。 - 前記生成された2次元画像の中心位置は、穿孔刃が描く形状に対応した形状のテンプレートとのテンプレートマッチングにより求められることを特徴とする請求項7に記載の穿孔方法。
- 前記生成された2次元画像は、光検出器の各光検出素子が検出した最初の輪郭点と次の輪郭点間の距離の中心が各光検出素子で同じになるように、輪郭点が補正ないし補完されることを特徴とする請求項7に記載の穿孔方法。
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JP7429414B2 (ja) | 2019-11-19 | 2024-02-08 | 早川ゴム株式会社 | 更生管の接続方法 |
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US10981734B2 (en) * | 2019-04-11 | 2021-04-20 | Drew P. HENRY | Conduit access |
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DE102022003373B3 (de) * | 2022-09-13 | 2023-10-12 | Ibak Helmut Hunger Gmbh & Co Kg | Verfahren zum Sanieren eines Kanalrohrs mittels Schlauch-Relining |
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JP7429414B2 (ja) | 2019-11-19 | 2024-02-08 | 早川ゴム株式会社 | 更生管の接続方法 |
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