JP7583645B2 - Position measurement system and method for existing pipe rehabilitation - Google Patents

Description

The present invention relates to a position measurement system and method used in the rehabilitation of existing pipes, and more specifically, to a system and method that uses a laser to measure the position of a connection port for a branch pipe in an existing pipe, or the drilling position in a rehabilitated pipe along the inner wall of an existing pipe.

A connection port is formed on the upper wall of an existing pipe such as a sewer pipe, and a branch pipe is connected to this connection port. It is known that when an existing pipe becomes deteriorated, it can be rehabilitated by lining it with a rehabilitation pipe. When the rehabilitation pipe is lined, the connection port of the existing pipe is blocked by the rehabilitation pipe, so it is necessary to form a communication port in the rehabilitation pipe that matches the connection port.
When forming a communication port from the inside of the rehabilitated pipe, the position of the connection port is identified before lining the rehabilitated pipe, and after lining, a hole is drilled in the rehabilitated pipe at a location corresponding to the identified location to form the communication port.

Patent Document 1 discloses a position measurement system that uses a laser range finder and a traveling object. Simply put, the laser range finder is installed at the end of an existing pipe or inside a manhole. The traveling object is equipped with a video camera and a reflector. The traveling object is remotely controlled to travel along the existing pipe and is stopped when the connection port is confirmed by the video camera. At this time, a laser beam is emitted from the laser range finder toward the reflector, and the distance to the reflector is measured based on the returned laser beam from the reflector, and the position of the connection port is identified based on this measured distance.

After the lining of the rehabilitated pipe is completed, a traveling body equipped with a drilling machine and a reflector is used to form a communication opening in the rehabilitated pipe. The laser distance meter is installed in the same manner as above. The traveling body is made to travel along the rehabilitated pipe and stopped at a position close to the connection port. At this time, the laser distance meter measures the distance to the reflector, and based on this measured distance and the information on the position of the connection port measured in advance, the traveling body is moved to a position where the drilling machine faces the connection port. Finally, the drilling machine is moved toward the connection port to drill a hole in the rehabilitated pipe and form a communication opening that matches the connection port of the existing pipe.

JP 2018-81015 A

In the position measurement system of Patent Document 1, if the distance between the laser rangefinder and the reflector is long, the laser light may stray from the reflector and hit the traveling body, etc., making it impossible to accurately measure the position of the connection port or the drilling position of the communication port.

In order to solve the above problems, the present invention provides a position measurement system for rehabilitating an existing pipe, comprising: a movable body capable of moving within an existing pipe or within a rehabilitating pipe along an inner wall of the existing pipe; a fixed position within an end of the existing pipe or a manhole connected to the end of the pipe; a reflector having a flat reflective surface perpendicular to the axis of the existing pipe, which is installed on one of the movable bodies; laser distance measurement means installed at the fixed position and on the other of the movable body, which measures the distance to the reflective surface by emitting laser light to the reflector along the axis of the existing pipe and receiving the laser light reflected by the reflective surface of the reflector; and an arithmetic and control means for processing distance measurement data from the laser distance measurement means,
The arithmetic and control means changes the angle of the optical axis of the laser distance measurement means along a predetermined scanning trajectory, and determines the distance to the reflective surface based on a plurality of distance measurement values obtained during this angle change process that fall within a predetermined tolerance.

The above configuration allows the distance between the laser distance measuring means and the reflector to be accurately measured, and therefore allows the position of the connection port of the existing pipe and the drilling position of the communication port of the rehabilitated pipe to be accurately identified.

Preferably, the plurality of distance measurement values falling within the predetermined tolerance are distance measurement values obtained successively during the course of angular change of the optical axis of the laser distance measurement means.
According to the above configuration, the distance between the laser distance measuring means and the reflector can be measured more reliably.

Preferably, the arithmetic and control means determines the distance to the reflecting surface to be an average value of a plurality of distance measurement values falling within the predetermined tolerance.
According to the above configuration, the distance calculation can be simplified.

Preferably, the arithmetic and control means determines the distance to the reflecting surface based on a set number or more of distance measurement values that fall within the specified tolerance, provided that the set number or more of distance measurement values fall within the set number.
According to the above configuration, the distance between the laser distance measuring means and the reflector can be measured more reliably.

Preferably, the set number is set to a larger number as the measurement distance becomes shorter and to a smaller number as the measurement distance becomes longer.
This configuration takes into consideration the possibility that a flat surface (which is significantly narrower than the reflecting surface) perpendicular to the axis of the existing pipe or the rehabilitated pipe may exist at a location outside the reflecting surface, such as a moving object. If the measurement distance is short, a set number of distance measurements that fall within a specified tolerance may be obtained on flat surfaces other than the reflecting surface during the process of changing the angle of the optical axis, resulting in erroneous measurement. Therefore, by setting a large number when the measurement distance is short, this erroneous measurement can be avoided. If the measurement distance is long, the number of measurement points on the reflecting surface is reduced, and the number of measurement points on flat surfaces other than the reflecting surface is also reduced. Therefore, by setting a small number when the measurement distance is long, distance measurement on the reflecting surface can be performed reliably.
For the same reason, the angle change width of the optical axis for each distance measurement may be made wider as the measurement distance becomes shorter and narrower as the measurement distance becomes longer.

The predetermined tolerance may be increased as the measurement distance increases, or may be determined as an absolute value regardless of the measurement distance.

Preferably, the arithmetic and control means, when the set number of measured distance values within the specified tolerance cannot be obtained on the specified scanning trajectory, changes the angle of the optical axis along another scanning trajectory.
According to the above configuration, the optical axis of the laser light can be automatically aligned with the reflecting surface, and distance measurement work can be performed efficiently.

In a more specific aspect, when the multiple distance measurement values obtained in the process of changing the angle of the optical axis of the laser distance measurement means along a scanning locus extending in a first direction do not include more than the set number of distance measurement values that fall within the specified tolerance, the arithmetic control means shifts the angle of the optical axis of the laser distance measurement means by a predetermined angle in a second direction perpendicular to the first direction, and then changes the angle of the optical axis of the laser distance measurement means again along another scanning locus extending in the first direction, and determines the distance to the reflective surface based on the set number or more of distance measurement values that fall within the specified tolerance among the multiple distance measurement values obtained in the process of this angle change.
According to the above configuration, even if the distance to the reflective surface cannot be measured initially in the process of changing the angle of the optical axis of the laser distance measuring means along a scanning trajectory extending in a first direction, the distance to the reflective surface can be measured by shifting the angle of the optical axis in a second direction and then again changing the angle of the optical axis along another scanning trajectory extending in the first direction.

In another specific aspect, when the multiple distance measurement values obtained in the process of changing the angle of the optical axis of the laser distance measurement means along a scanning trajectory extending in a first direction do not include more than the set number of distance measurement values that fall within the specified tolerance, the arithmetic and control means changes the angle of the optical axis of the laser distance measurement means along another scanning trajectory extending in a second direction intersecting the first direction, and determines the distance to the reflective surface based on the set number or more of distance measurement values that fall within the specified tolerance among the multiple distance measurement values obtained in the process of this angle change.
According to the above configuration, even if the distance to the reflective surface cannot be measured initially in the process of changing the angle of the optical axis of the laser distance measuring means along a scanning trajectory extending in a first direction, the distance to the reflective surface can be measured in the process of changing the angle of the optical axis along another scanning trajectory extending in a second direction.

The predetermined scanning trajectory may be configured to form a spiral around the measurement start point. This ensures that a set number or more of distance measurements that fall within a predetermined tolerance are obtained.

The moving body is a traveling body, which is equipped with an imaging means for imaging a connection port for connecting a branch pipe formed in the existing pipe, and travels along the existing pipe. This makes it possible to identify the position of the connection port based on the measured distance to the reflector.

The moving body is a traveling body, and the traveling body is equipped with a drilling means for forming a communication hole in the rehabilitation pipe that corresponds to the connection hole of the existing pipe, and travels along the rehabilitation pipe. In this way, after the rehabilitation pipe is lined inside the existing pipe, the position to drill in the rehabilitation pipe can be identified based on the measured distance to the reflector, and the communication hole can be accurately formed.

Another aspect of the present invention is a position measurement method for rehabilitating an existing pipe, which includes a mobile body capable of moving within the existing pipe or within a rehabilitating pipe along the inner wall of the existing pipe, a fixed position within the end of the existing pipe or a manhole connected to the end of the pipe, a reflector having a flat reflecting surface perpendicular to the axis of the existing pipe, which is installed on one of the mobile bodies, and a laser distance measurement means installed on the fixed position and the other of the mobile body, which measures the distance to the reflecting surface by emitting a laser beam to the reflector along the axis of the existing pipe and receiving the laser beam reflected by the reflecting surface of the reflector, and which changes the angle of the optical axis of the laser distance measurement means along a predetermined scanning trajectory, and determines the distance to the reflecting surface based on a plurality of distance measurement values obtained during the angle change that fall within a predetermined tolerance.

According to the present invention, the distance between the laser distance measuring means and the reflector can be accurately measured, and the position of the connection port of the existing pipe and the drilling position of the communication port of the rehabilitation pipe can be accurately identified.

5 is a schematic vertical cross-sectional view showing the first half of a process for identifying the position of a connection port of an existing pipe using the first position measurement system according to the present invention; FIG. 10 is a schematic vertical cross-sectional view showing a latter half of the process of measuring the position of a connection port of an existing pipe. FIG. 11 is a schematic vertical cross-sectional view showing a process of identifying a drilling position for forming a communication hole in the rehabilitating pipe using a second position measurement system according to the present invention after lining an existing pipe with a rehabilitating pipe. FIG. FIG. 11 is a schematic vertical cross-sectional view showing a state in which the formation of the communication port has been completed. 1A to 1D are front views showing different cases of a first mode of scanning with a laser beam. FIG. FIG. 11 is a front view showing a second mode of scanning with laser light. FIG. 11 is a front view showing a third mode of scanning with laser light. FIG. 11 is a front view showing a fourth mode of scanning with laser light. A schematic vertical cross-sectional view showing a process of identifying the drilling position of a communication hole in a rehabilitating pipe during pipe manufacturing using a third position measurement system according to the present invention.

Hereinafter, one embodiment of the present invention will be described with reference to the drawings.
Overview of the existing pipe rehabilitation process
As shown in Figures 1 and 2, an existing pipe 1 to be rehabilitated is, for example, an aged underground sewer pipe. The inner diameter of the existing pipe 1 is large enough that a person cannot enter directly, for example, 800 mm or less. One or more connection ports 2 are formed in the middle of the existing pipe 1, and branch pipes 3 are connected to each connection port 2. Both ends of the existing pipe 1 are connected to manholes 4.

As shown in FIG. 3, the inner wall of the existing pipe 1 is lined with a rehabilitation pipe 5. The rehabilitation pipe 5 is formed, for example, by spirally winding a strip-shaped member made of synthetic resin and fitting the edges of adjacent wound portions together. The rehabilitation pipe 5 can be formed in various forms, and may be formed by connecting annular strips or may be a resin tube with shape memory properties. The connection port 2 of the existing pipe 1 is blocked by lining the rehabilitation pipe 5.

After lining the rehabilitating pipe 5, the rehabilitating pipe 5 is drilled at a position corresponding to the connection port 2 of the existing pipe 1, forming a communication port 6 that connects to the connection port 2 as shown in FIG. 4. This allows the branch pipe 3 to communicate with the inside of the rehabilitating pipe 5.

Configuration of the first position measurement system Prior to lining the rehabilitation pipe 5, the first position measurement system is used to obtain position data of the connection port 2. As shown in Fig. 2, the first position measurement system includes a mobile imaging device 10, a laser distance measurement device 20 (laser distance measurement means), and a remote control device 30 including a personal computer or the like arranged on the ground or inside the manhole 4.

The mobile imaging device 10 has a running body 11, an arm 12 supported at the front of the running body 11 so as to be rotatable about an axis extending in the pipe axis direction of the existing pipe 1, a video camera 13 (imaging means) mounted at the tip of the arm 12, an inclination sensor 14 provided on the video camera 13 or the arm 12, and a reflector 15 mounted at the rear of the running body 11. The reflector 15 is formed, for example, from a square plate, and has a flat reflecting surface 15a that is perpendicular to the pipe axis of the existing pipe 1. The shape of the reflector can be a semicircle, a hood shape (horseshoe shape), etc., in addition to a rectangle.

The laser distance measuring device 20 has a main body 21, a light receiving/emitting unit 22 provided on the front surface of the main body 21, an angle adjustment mechanism 23 that adjusts the angle of the main body 21 around three mutually perpendicular axes, and a calculation control unit 24 (calculation control means) that controls the light receiving/emitting unit 22 and the angle adjustment mechanism 23 and performs distance calculations.

Step of Measuring the Position of the Connection Port by the First Position Measuring System The step of acquiring the position data of the connection port 2 by using the first position measuring system will now be described in detail.
<First half of the process>
As shown in Figure 1, after placing a flat reflector 9 on the pipe end 1a of the existing pipe 1, the operator operates the remote control device 30 to issue a measurement command to the calculation and control unit 24 of the laser distance measuring device 20, causing the light receiving and emitting unit 22 to emit laser light toward the reflector 9. A mark is provided on the reflector 9 at a position corresponding to the pipe axis of the existing pipe 1, and the position of the laser distance measuring device 20 is finely adjusted or the direction of the optical axis 25 of the light receiving and emitting unit 22 is finely adjusted so that the laser light hits this mark. As a result, the optical axis 25 approximately coincides with the pipe axis of the existing pipe 1.
The laser light reflected from the reflector 9 is received by the light receiving/emitting unit 22, and the distance from the laser distance measuring device 20 to the reflector 9 is calculated by the calculation control unit 24. This measured distance value is sent to the remote control device 30 and recorded.

<Later process>
As shown in Fig. 2, the operator remotely controls the remote control device 30 to move the mobile imaging device 10 along the existing pipe 1 while imaging the upper wall surface of the existing pipe 1 with the video camera 13. The image of the existing pipe 1 is displayed in real time on the monitor 31 of the remote control device 30. Eventually, the connection port 2 is displayed on the monitor 31. When the video camera 13 reaches a position corresponding to the connection port 2, the mobile imaging device 10 is stopped. Furthermore, the arm 12 is rotated so that the optical axis of the video camera 13 faces the connection port 2 (so that the image of the connection port 2 is located at the center of the screen of the monitor 31). The tilt angle detected by the tilt sensor 14 at this time indicates the angular position of the connection port 2 in the circumferential direction. This tilt angle information is sent to the remote control device 30 and recorded.

With the mobile imaging device 10 stopped, the distance from the laser distance measuring device 20 to the reflector 15 of the mobile imaging device 10 is measured. By roughly adjusting the optical axis 25 as described above, when the distance between the laser distance measuring device 20 and the reflector 15 is short, the laser light from the laser distance measuring device 20 can be directed to the reflecting surface 15a of the reflector 15, and the distance to the reflecting surface 15a can be accurately measured. However, when the distance between the laser distance measuring device 20 and the reflector 15 is long, the above rough adjustment does not allow the laser light to be directed to the reflecting surface 15a, and it may hit the moving object 11 or the like, resulting in an erroneous measurement of the distance. Therefore, the operator causes the calculation control unit 24 of the laser distance measuring device 20 to execute the automatic measurement mode by command from the remote control device 30.

The automatic measurement mode executed by the calculation control unit 24 of the laser distance measuring device 20 will be described below. The automatic measurement mode includes aligning the optical axis 25 with the reflecting surface 15a by rotating it along a predetermined scanning trajectory (auto-alignment) and calculating the distance to the reflecting surface 15a.

In the first scanning mode shown in FIG. 5, the calculation control unit 24 controls the angle adjustment mechanism 23 to rotate the main body 21 around the vertical axis, thereby rotating the optical axis 25 along a horizontal (first direction) scanning line (scanning trajectory), and measuring the distance during this rotation process (scanning process). For example, the rotation speed is 1 degree/second, and the number of measurements is 20 points per second (converted to an angle, 1 point every 0.05 degrees). In other words, the angle width by which the optical axis 25 of the laser distance measuring device 20 changes for each measurement is constant. There is an upper limit to the rotation angle in one scan, and it is set to a maximum of 1° from the measurement start point (initial position) of the optical axis 25.

As shown in Figures 5(A) and (B), when the horizontal scanning line L1 passes through the reflecting surface 15a of the reflector 15, the laser distance measuring device 20 can measure the distance to the reflecting surface 15a. It is possible to measure the distance to the reflecting surface 15a not only when the measurement start point S of the optical axis 25 is on the reflecting surface 15a, but also when it is off the reflecting surface 15a. This will be described in more detail below.

As shown in FIG. 5(A), when the measurement start point S of the optical axis 25 is off to the left of the reflecting surface 15a, the initial distance measurement value is large, but as the optical axis 25 moves to the right, it hits the reflecting surface 15a. While the optical axis 25 is hitting the reflecting surface 15a, the distance measurement value is approximately constant, and when it moves away from the reflecting surface 15a, the measured distance value increases again. When the calculation control unit 24 determines from the distance measurement values that the approximately constant distance measurement values, i.e., distance measurement values within a specified tolerance, exist consecutively for a set number (multiple) or more, the average value is determined as the distance to the reflecting surface 15a.

As shown in FIG. 5(B), if the measurement start point S of the optical axis 25 is off to the right of the reflecting surface 15a, the first time the optical axis 25 is moved to the right, the measured distance value is large and an approximately constant measured distance value cannot be obtained. If the set number or more of measured distance values cannot be obtained within the tolerance even after rotating to the maximum rotation angle (1°), the optical axis 25 is returned to the measurement start point S and then moved leftward. This causes the optical axis 25 to hit the reflecting surface 15a, so that approximately constant measured distance values can be obtained continuously. In this way, the distance to the reflecting surface 15a can be determined based on the set number or more of approximately constant measured distance values.

The tolerance is, for example, 0.1% of the measured distance. For example, when the measured distance is 50 m, the tolerance is 50 mm, and when there are a set number or more distance measurements within the 50 mm range, the average value is determined as the distance to the reflecting surface 15 a.
The tolerance may be set to an absolute value, for example, 20 mm (i.e., ±10 mm), regardless of the measurement distance. This allows the distance to the reflecting surface 15a to be measured with high accuracy even if the measurement distance is long.

As described above, when the rotation angle width for each measurement is constant, the number of settings may be changed according to the measurement distance. That is, the shorter the measurement distance, the more points are set, and the longer the measurement distance, the fewer points are set. For example, if the measurement distance is 30 m or more, it is set to 2 points, if the measurement distance is 15 m or more but less than 30 m, it is set to 3 points, and if the measurement distance is less than 15 m, it is set to 6 points.
There is a possibility that a flat surface perpendicular to the pipe axis of the existing pipe 1 exists at a location outside the reflecting surface 15a, such as the traveling body 11 or its accessories. However, this flat surface is significantly narrower than the reflecting surface 15a, for example, less than 50 mm. If the measurement distance is short, there is a possibility that multiple distance measurements within the tolerance are obtained on flat surfaces other than the reflecting surface 15a during the process of the angle change of the optical axis 25. However, this erroneous measurement can be avoided by increasing the number of settings when the measurement distance is short. If the measurement distance is long, the number of measurement points on the reflecting surface 15a is reduced and the number of measurement points on flat surfaces other than the reflecting surface 15a is also reduced. Therefore, if the measurement distance is long, the number of settings can be reduced to ensure that the distance measurement on the reflecting surface 15a is performed.

The rotation angle width for each measurement may be reduced as the measurement distance increases, for example, 0.28° for less than 10 m, 0.14° for 10-20 m, 0.09° for 20-30 m, 0.07° for 30-40 m, and 0.05° for 40-50 m. In this case, the number may be set to a constant, for example 3, regardless of the measurement distance.
Also, as the measurement distance becomes longer, the rotation angle width for each measurement may be made smaller and the number of settings may be reduced.
Furthermore, the rotation angle width for each measurement may be constant, regardless of the measurement distance, and the set number may be constant.

The average value may be calculated by simply averaging the distance measurements within the tolerance, or, if there are a large number of distance measurements, by averaging distance measurements within a range narrower than the tolerance. The distance to the reflecting surface 15a may also be calculated using other known calculation methods.

When scanning the optical axis 25, the scan may be terminated when a set number of distance measurements within the tolerance have been reached. In this case, the distance to the reflecting surface 15a is calculated based on the set number of distance measurements. The same applies to the scans described below.

If the scanning line L1 does not pass through the reflecting surface 15a, even if scanning is performed up to 1° to the right from the measurement start point S as described above, and then returning to the measurement start point S and scanning up to 1° to the left, the distance measurement value will vary, and it will not be possible to measure more than the set number of consecutive, approximately constant distance measurements. In this case, the calculation control unit 24 of the laser distance measurement device 20 determines that the scanning line L1 does not pass through the reflecting surface 15a, and changes the scanning line that the optical axis 25 should scan. An example is given below.

The calculation control unit 24 adjusts the angle of the optical axis 25 up and down. In this embodiment, the optical axis 25 is first shifted upward by a predetermined angle α (angle adjustment). This causes the scanning line L2 to move upward as shown in FIG. 5(C). If the initial scanning line L1 is slightly below the reflecting surface 15a, the upwardly displaced scanning line L2 will pass through the reflecting surface 15a, and the distance to the reflecting surface 15a can be measured in the same manner as described above.

The calculation control unit 24 changes the scanning line of the optical axis 25 while widening the angle width up and down until the scanning line of the laser light passes through the reflection surface 15a, that is, until a set number or more of approximately constant distance measurement values are obtained in succession. For example, in the example of FIG. 5(D), the first scanning line L1 is above the reflection surface 15a. In this case, even if the optical axis 25 is adjusted upward by a predetermined angle α (for example, 0.14°) as described above, the second scanning line L2 does not pass through the reflection surface 15a. Next, even if the optical axis 25 is adjusted downward from the first angular position by the predetermined angle α, the third scanning line L3 does not pass through the reflection surface 15a. Next, even if the optical axis 25 is adjusted upward from the first angular position by twice the predetermined angle α, the fourth scanning line L4 does not pass through the reflection surface 15a. Next, if the optical axis 25 is adjusted downward from the first angular position by twice the predetermined angle α, the fifth scanning line L5 passes through the reflection surface 15a. Based on the distance measurement value along this fifth scanning line L5, the distance to the reflecting surface 15a is determined in the same manner as described above.
As described above, the angle is adjusted alternately up and down, and the adjustment angle is increased by a predetermined angle α, thereby finding the angle of the optical axis 25 at which the laser light reaches the reflecting surface 15a.

As described above, the calculation control unit 24 of the laser distance measuring device 20 automatically controls the optical axis 25 to strike the reflecting surface 15a (auto-alignment function), and the distance to the reflecting surface 15a can be measured. This distance information is sent to the remote control device 30 and recorded.

The remote control device 30 calculates the distance D1 from the pipe end 1a of the existing pipe 1 to the reflecting surface 15a by subtracting the distance to the reflector 9 measured in the first half of the process from the measured distance to the reflecting surface 15a. The position of the connection port 2, i.e., the distance Da from the pipe end 1a of the existing pipe 1 to the center of the connection port 2, can be determined by adding the distance D2 from the reflecting surface 15a to the video camera 13 (i.e., the connection port 2) to this calculated distance D1.

After the lining process of the rehabilitating pipe 5 is completed, the communication hole 6 is drilled using the second position measurement system shown in Fig. 3. In this embodiment, the second position measurement system includes the laser measurement device 20 and the remote control device 30, which are shared with the first position measurement system, and also includes a mobile drilling device 50.

As shown in FIG. 6, the mobile drilling device 50 includes a traveling body 51, a fixing jack 52 provided on the traveling body 51, an arm 53 supported on the front of the traveling body 51, a drilling machine 54 (drilling means) supported on the arm 53, and a reflector 55 provided on the rear of the traveling body 51. The fixing jack 52 is X-shaped and can be extended and retracted up and down. The arm 53 can rotate around an axis extending in the pipe axis direction, and can preferably be extended and retracted in the front-rear direction. The arm 53 is provided with an inclination sensor 56. The drilling machine 54 can be extended and retracted up and down. The reflector 55 has a flat reflecting surface 55a that is perpendicular to the pipe axis of the existing pipe 1, similar to the reflector 15 described above.

The laser measuring device 20 is installed at the bottom of the manhole 4 in the same manner as in the process of measuring the position of the connection port 2. When changing the installation position of the laser measuring device 20, the distance to the reflector 9 installed at the pipe end 1a of the existing pipe 1 is measured in advance in the same manner as in the first half of the process of measuring the position of the connection port 2.

With the mobile drilling device 50 inside the rehabilitation pipe 5, it is moved by remote control of the remote control device 30. For example, based on the travel distance of the mobile drilling device 50 and the distance Da determined as described above, the mobile drilling device 50 is moved until the drilling machine 54 reaches a position close to the connection port 2.

After the mobile drilling device 50 has stopped, the remote control device 30 is operated to instruct the calculation control unit 24 of the laser distance measuring device 20 to execute the automatic measurement mode. That is, the calculation control unit 24 executes distance measurement while rotating and scanning the optical axis 25. This automatic measurement mode is the same as that described above, so a description thereof will be omitted.

The distance D3 between the pipe end 1a and the reflecting surface 55a is calculated by subtracting the distance between the laser distance measuring device 20 and the pipe end 1a of the existing pipe 1 (the measured distance to the reflector 9) from the measured distance between the laser distance measuring device 20 and the reflecting surface 55a of the reflector 55 obtained as described above. Furthermore, the drilling machine 54 is positioned so that the distance D4 from the reflecting surface 55a to the drilling machine 54 plus this calculated distance D3, i.e., the distance from the pipe end 1a of the existing pipe 1 to the drilling machine 54 (D3 + D4), matches the previously determined distance Da from the pipe end 1a to the connection port 2. The positioning of the drilling machine 54 is performed by extending and retracting the arm 53 in the forward and backward directions or by moving the mobile drilling device 50. After moving the mobile drilling device 50, the distance measurement may be performed again.

After the automatic measurement mode and the positioning of the drilling machine 54 are completed, the operator extends the fixing jack 52 by remote control of the remote control means 30 and strikes it against the top wall of the rehabilitated pipe 5, thereby fixing the mobile drilling device 50 to the rehabilitated pipe 5 and the existing pipe 1. Furthermore, the arm 53 is controlled to rotate based on the tilt angle signal from the tilt sensor 56 so that the drilling machine 54 faces the circumferential angle position of the connection port 2 that was previously determined. Finally, the drilling machine 54 is moved toward the rehabilitated pipe 5 and drills a hole, thereby forming a communication port 6 in the rehabilitated pipe 5. This drilling can be performed while viewing images from a mobile imaging device (not shown) located in front of the mobile drilling device 50 or a video camera (not shown) attached to the arm 53 on the monitor 31.

Next, another aspect of the rotational scanning of the optical axis 25 will be described.
In the second aspect shown in Figure 7, if the multiple distance measurement values obtained in the process of scanning the optical axis 25 along a scanning line L1 extending in the horizontal direction (first direction) do not include a set number or more of consecutive distance measurement values that fall within the tolerance, the optical axis 25 is returned to the measurement start point S, and then scanned along a scanning line L2 extending in the vertical direction (second direction), and the distance to the reflective surface 15a is determined based on the distance measurement values obtained in the process of this scan that are a set number or more that fall within the tolerance.

8, two scanning lines L1 and L2 are set at an angle of 45° with respect to the horizontal and vertical axes. If the multiple distance measurement values obtained in the process of scanning the optical axis 25 along the scanning line L1 do not include a set number or more of consecutive distance measurement values that fall within the tolerance, the optical axis 25 is returned to the measurement start point S, and then scanning is performed along the scanning line L2, and the distance to the reflecting surface 15a is determined based on the set number or more of distance measurement values that fall within the tolerance among the distance measurement values obtained in the process of this scanning.
In the third embodiment, the scanning lines L1 and L2 do not have to be perpendicular to each other. For example, the scanning lines L1 and L2 may be at an angle of less than 45° with respect to the horizontal axis.

As shown in FIG. 9, the optical axis may be scanned along a spiral-shaped scan line centered on the measurement start point. This ensures that the optical axis is aligned with the reflecting surface.

Figure 10 shows a third position measurement system. This third position measurement system is used in the process of manufacturing the rehabilitation pipe 5' after the position of the connection port 2 of the existing pipe 1 is measured by the first position measurement system described above, and is equipped with the same laser distance measurement device 20 and remote control device 30 as the first position measurement system (both of which are omitted in Figure 10).

The rehabilitated pipe 5' is produced in one (left) manhole 4. That is, the pipe is produced by winding a strip-shaped material in a spiral shape using a pipe-making machine 60 and fitting the edges of adjacent wound portions together. At the same time as this pipe-making process, the tip 5a of the rehabilitated pipe 5' is pulled via a wire 61 by a winch installed on the ground near the other (right) manhole 4, and moves toward the right manhole 4.

In this embodiment, the tip 5a of the rehabilitated pipe 5' in the process of being manufactured is provided as the moving body of the third position measurement system. A reflector 65 is attached to the top of the tip 5a of the rehabilitated pipe 5', and a tilt sensor 66 is attached to the bottom. A laser distance measuring device installed in the left manhole 4 measures the distance to the reflective surface of the reflector 65 in the same manner as the previously described position measurement system.

The distance between the right end of the existing pipe 1 and the connection port 2 is determined in advance based on the distance between the left end of the existing pipe 1 and the connection port 2 determined by the first position measurement system and the entire length of the existing pipe 1. This distance corresponds to the distance between the tip 5a of the rehabilitated pipe 5 and the planned location where the communication port 6 in the rehabilitated pipe 5 is to be drilled.

Based on the distance measured by the third position measurement system and the distance calculated as described above between the tip 5a and the planned drilling location for the communication port 6, the drilling position for the rehabilitated pipe 5' at the left manhole 4 is determined, and the communication port 6 is formed. This allows the communication port 6 to be aligned with the connection port 2 when the tip of the rehabilitated pipe 5' reaches the right end of the existing pipe 1 and the sheet metal working work is completed.

The present invention is not limited to the above-described embodiment, and various modifications can be made without departing from the spirit of the present invention.
When the moving drilling device of the second position measuring system is provided with an imaging means such as a video camera, it can also be used as the moving imaging device of the first position measuring system by removing the drilling machine.
In the above embodiment, the laser distance measuring device is fixed at the bottom of the manhole connected to the existing pipe to be rehabilitated, but it may be installed via a support device at the end of the existing pipe to be rehabilitated. Also, it may be installed at the end of another existing pipe adjacent to the existing pipe to be rehabilitated across the manhole 4.

A video camera may be attached to the laser distance measuring device so that their optical axes are parallel. In this case, prior to distance measurement, the angle of the optical axis of the video camera and therefore the optical axis of the laser distance measuring device can be roughly adjusted while watching the image from the video camera on a monitor so that the center of the existing pipe is located at the center of the monitor screen.
In the above embodiment, the laser distance measuring device is installed at the fixed position and the reflector is installed on the vehicle, but the opposite may be true: the reflector may be installed at the fixed position and the laser distance measuring device may be installed on the vehicle.
At least some of the functions of auto-alignment and distance calculation may be performed by the remote control device.
The existing pipes are not limited to sewer pipes, but may be water supply pipes, agricultural water pipes, gas pipes, etc.

The present invention can be applied, for example, to the rehabilitation of aging sewer pipes.

1 Existing pipe 2 Connection port 3 Branch pipe 5 Rehabilitation pipe 5' Rehabilitation pipe in the process of pipe making 5a Tip of rehabilitation pipe in the process of pipe making (moving body)
6 Communication port 11 Traveling body 12 Video camera (imaging means)
15 Reflector 15a Reflection surface 20 Laser distance measuring device (laser distance measuring means)
24 Calculation control unit (calculation control means)
51 Traveling body 54 Drilling machine 55, 65 Reflector 55a Reflecting surface

Claims (6)

A movable body that can move within an existing pipe or within a rehabilitating pipe along an inner wall of the existing pipe;
A reflector having a flat reflecting surface perpendicular to the axis of the existing pipe, the reflector being installed on either the end of the existing pipe or a fixed position in a manhole connected to the end of the existing pipe or the movable body;
a laser distance measuring means that is installed at the other of the fixed position and the movable body, and that emits a laser beam to the reflector along the pipe axis of the existing pipe and receives the laser beam reflected by the reflecting surface of the reflector, thereby measuring the distance to the reflecting surface;
A calculation and control means for processing distance measurement data of the laser distance measuring means;
In a position measurement system for existing pipe rehabilitation,
the arithmetic and control means changes an angle of the optical axis of the laser distance measuring means along a predetermined scanning trajectory, and, under the condition that a set number or more of distance measurement values obtained during the process of this angle change are within a set tolerance, determines a distance to the reflecting surface based on the set number or more of distance measurement values;
A position measurement system for rehabilitating existing pipes, characterized in that the set number is greater as the measurement distance is shorter and is smaller as the measurement distance is longer. A movable body that can move within an existing pipe or within a rehabilitating pipe along an inner wall of the existing pipe;
A reflector having a flat reflecting surface perpendicular to the axis of the existing pipe, the reflector being installed on either the end of the existing pipe or a fixed position in a manhole connected to the end of the existing pipe or the movable body;
a laser distance measuring means that is installed at the other of the fixed position and the movable body, and that emits a laser beam to the reflector along the pipe axis of the existing pipe, and receives the laser beam reflected by the reflecting surface of the reflector, thereby measuring the distance to the reflecting surface;
A calculation and control means for processing distance measurement data of the laser distance measuring means;
In a position measurement system for existing pipe rehabilitation,
the arithmetic and control means changes an angle of the optical axis of the laser distance measuring means along a predetermined scanning trajectory, and, under the condition that a set number or more of distance measurement values obtained during the process of this angle change are within a set tolerance, determines a distance to the reflecting surface based on the set number or more of distance measurement values;
A position measurement system for rehabilitating existing pipes , characterized in that the angle change width of the optical axis for each distance measurement is wider as the measurement distance is shorter and narrower as the measurement distance is longer. A movable body that can move within an existing pipe or within a rehabilitating pipe along an inner wall of the existing pipe;
A reflector having a flat reflecting surface perpendicular to the axis of the existing pipe, the reflector being installed on either the end of the existing pipe or a fixed position in a manhole connected to the end of the existing pipe or the movable body;
a laser distance measuring means that is installed at the other of the fixed position and the movable body, and that emits a laser beam to the reflector along the pipe axis of the existing pipe, and receives the laser beam reflected by the reflecting surface of the reflector, thereby measuring the distance to the reflecting surface;
A calculation and control means for processing distance measurement data of the laser distance measuring means;
In a position measurement system for existing pipe rehabilitation,
the arithmetic and control means changes an angle of the optical axis of the laser distance measuring means along a predetermined scanning trajectory, and, under the condition that a set number or more of distance measurement values obtained during the process of this angle change are within a set tolerance, determines a distance to the reflecting surface based on the set number or more of distance measurement values;
A position measurement system for rehabilitating existing pipes, characterized in that the specified tolerance increases as the measurement distance increases. A movable body that can move within an existing pipe or within a rehabilitating pipe along an inner wall of the existing pipe;
A reflector having a flat reflecting surface perpendicular to the axis of the existing pipe, the reflector being installed on either the end of the existing pipe or a fixed position in a manhole connected to the end of the existing pipe or the movable body;
a laser distance measuring means that is installed at the other of the fixed position and the movable body, and that emits a laser beam to the reflector along the pipe axis of the existing pipe and receives the laser beam reflected by the reflecting surface of the reflector, thereby measuring the distance to the reflecting surface;
A calculation and control means for processing distance measurement data of the laser distance measuring means;
In a position measurement system for existing pipe rehabilitation,
the arithmetic and control means changes an angle of the optical axis of the laser distance measuring means along a predetermined scanning trajectory, and, under the condition that a set number or more of distance measurement values obtained during the process of this angle change are within a set tolerance, determines a distance to the reflecting surface based on the set number or more of distance measurement values;
The position measurement system for rehabilitating existing pipes is characterized in that the calculation and control means changes the angle of the optical axis along another scanning trajectory when the set number of measurement distance values within the specified tolerance are not obtained on the specified scanning trajectory. The position measurement system for rehabilitating existing pipes as described in claim 4, characterized in that if the multiple distance measurement values obtained in the process of changing the angle of the optical axis of the laser distance measurement means along a scanning locus extending in a first direction do not include more than the set number of distance measurement values that fall within the specified tolerance, the arithmetic control means shifts the angle of the optical axis of the laser distance measurement means by a specified angle in a second direction perpendicular to the first direction, and then changes the angle of the optical axis of the laser distance measurement means again along another scanning locus extending in the first direction, and determines the distance to the reflective surface based on the multiple distance measurement values obtained in the process of this angle change that are more than the set number of distance measurement values that fall within the specified tolerance. The position measurement system for rehabilitating existing pipes as described in claim 4, characterized in that if the multiple distance measurement values obtained in the process of changing the angle of the optical axis of the laser distance measurement means along a scanning trajectory extending in a first direction do not include more than the set number of distance measurement values that fall within the specified tolerance, the arithmetic control means changes the angle of the optical axis of the laser distance measurement means along another scanning trajectory extending in a second direction intersecting the first direction, and determines the distance to the reflective surface based on the multiple distance measurement values obtained in the process of this angle change that are more than the set number of distance measurement values that fall within the specified tolerance.

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