Research Methodology

Abstract

To make it possible to investigate the inside of protective members of a communication facility buried in the ground without excavation.SOLUTION: A control device 10 includes a control unit 11 that obtains a captured image from a camera 25 of an endoscope device 20 positioned outside a conduit 70 and inside a protective member 80, passing through a whole 72 penetrating a wall surface of the conduit 70 disposed inside the protective member 80 buried in the ground, and investigates at least one of the shape and deterioration situation of the inner surface of the protective member 80 based on the captured image.SELECTED DRAWING: Figure 2

Description

[Technical field]

[0001] This disclosure , tone Regarding the inspection method. [Background technology]

[0002] When laying communication equipment such as communication cables underground, the communication cables are installed in a conduit that connects manholes. In areas with soft ground or special sections, the conduit that houses the communication cables may be laid inside a Hume pipe to protect the communication cables and conduits. A Hume pipe is a concrete clay pipe that protects the conduit. After burying the Hume pipe underground and laying the conduit inside the Hume pipe, the inside of the Hume pipe may be investigated in order to precisely calculate the amount of work required to fill the inside of the Hume pipe or to efficiently grasp the deterioration of the ends of the Hume pipe due to aging. In the conventional method, when conducting such an investigation, the vicinity of the Hume pipe is excavated and the Hume pipe is exposed and the investigation and inspection are carried out.

[0003] Patent Document 1 describes a drilling machine for drilling through holes penetrating the wall surface of a pipeline. Non-Patent Document 1 describes an industrial endoscope. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Patent Publication No. 2021-25539 [Non-patent literature]

[0005] [Non-Patent Document 1] Olympus Corporation, "Industrial Endoscope (Fiberscope) IPLEX GAir", [Retrieved June 28, 2021], Internet <URL: https: / / www.olympus-ims.com / ja / rvi-products / iplex-gair / > Summary of the Invention [Problem to be solved by the invention]

[0006] However, if there is an obstacle such as a building or structure directly above the survey area, it is not possible to conduct an excavation survey near protective components such as Hume pipes.

[0007] An object of the present disclosure is to provide a control device and an investigation method that enable investigation of the inside of protective components of communication equipment buried underground without excavation. [Means for solving the problem]

[0008] In one embodiment Research Methodology The hole penetrates the wall of the pipeline installed inside the protective material buried underground. forming the hole by a drilling machine; inserting a guide tube having a hollow shape for guiding an insertion portion of an endoscope device through the inside of the duct and the hole; and inserting the insertion portion into the guide tube. Outside the pipeline and inside the protective member The tip of the insertion part Positioning and providing a tip of the insertion portion. was given, The above Acquire images from the endoscope camera The process of Based on the captured image, at least one of the shape and deterioration state of the inner surface of the protective member is investigated. Process and , a plurality of images of the pipe end portion or other holes of the protective member taken by the camera passing through a plurality of holes drilled in the pipeline at intervals corresponding to the photographing distance of the camera are obtained as the plurality of photographed images, and for each of the plurality of photographed images, a distance between the hole through which the camera passed when the photographed image was taken and the pipe end portion or the other hole of the protective member is obtained based on the photographed image, and a pipe length of the protective member is obtained based on the distance obtained for each of the plurality of photographed images. .

[0009] The investigation method according to one embodiment includes the steps of: forming a hole penetrating a wall surface of a pipeline disposed inside a protective member buried underground using a drilling machine; inserting a guide tube having a hollow shape for guiding an insertion portion of an endoscope device through the inside of the pipeline and the hole; inserting the insertion portion into the guide tube to position a tip of the insertion portion outside the pipeline and inside the protective member; , the endoscope device Camera from The method includes a step of acquiring a photographed image, and a step of investigating at least one of the shape and deterioration state of the inner surface of the protective member based on the photographed image. An image of the inner wall surface of the protective member and the pipeline taken by the camera passing through a hole drilled in the pipeline is obtained as the captured image, and a distance between the pipeline through which the camera passed when the captured image was taken and the inner wall surface of the protective member is obtained based on the captured image, and a pipe diameter of the protective member is obtained based on the distance. . Effect of the Invention

[0010] According to one embodiment of the present disclosure, it becomes possible to investigate the inside of protective components of communication equipment buried underground without excavation. [Brief description of the drawings]

[0011] [Figure 1] FIG. 1 is a schematic diagram showing land with obstructions above an underground survey area. [Diagram 2] FIG. 2 is a diagram showing a schematic diagram of a survey performed by a survey method according to an embodiment; [Diagram 3] 3 is a block diagram showing a schematic configuration of a control device shown in FIG. 2. [Figure 4] FIG. [Diagram 5] FIG. 2 is a diagram showing a schematic diagram of a survey performed by a survey method according to an embodiment; [Figure 6] 1 is a flowchart showing a procedure of a survey method according to an embodiment. [Figure 7] FIG. 2 is a diagram showing a schematic diagram of a survey performed by a survey method according to an embodiment; [Figure 8] 8 is a diagram showing a schematic example of an image captured by the camera of FIG. 7. FIG. [Figure 9] 1 is a flowchart showing a procedure of a survey method according to an embodiment. [Figure 10] FIG. 2 is a diagram showing a schematic diagram of a survey performed by a survey method according to an embodiment; [Figure 11] 11 is a diagram showing an example of an image captured by the camera of FIG. 10. FIG. [Figure 12] 1 is a flowchart showing a procedure of a survey method according to an embodiment. [Figure 13] FIG. 2 is a diagram showing a schematic diagram of a survey performed by a survey method according to an embodiment; [Figure 14A] 14 is a diagram showing an example of an image captured by the camera of FIG. 13. FIG. [Figure 14B] 14 is a diagram showing an example of an image captured by the camera of FIG. 13. FIG. [Figure 15]1 is a flowchart showing a procedure of a survey method according to an embodiment. [Figure 16] FIG. 2 is a diagram showing a schematic diagram of a survey performed by a survey method according to an embodiment; [Figure 17] FIG. 2 is a diagram showing a schematic view of an endoscope device near the water surface. [Figure 18A] 17 is a diagram showing an example of an image captured by the camera of FIG. 16. FIG. [Figure 18B] 17 is a diagram showing an example of an image captured by the camera of FIG. 16. FIG. [Figure 19] 1 is a flowchart showing a procedure of a survey method according to an embodiment. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0012] Hereinafter, an embodiment of the present disclosure will be described with reference to the drawings. In each drawing, parts having the same configuration or function are denoted by the same reference numerals. In the description of this embodiment, duplicated descriptions of the same parts may be omitted or simplified as appropriate.

[0013] FIG. 1 is a diagram showing a schematic diagram of a land where an obstacle 90 exists above an underground investigation range 98. In FIG. 1, manholes 60 (60a, 60b) are formed under the ground surface G. A conduit 70 for accommodating a communication cable or the like is buried between the manholes 60a, 60b. In a soft ground and a special section, a Hume pipe 80 is buried as a protective member for protecting the conduit 70. The Hume pipe 80 is a hollow cylindrical concrete pipe. Hereinafter, an example in which the Hume pipe 80 is used as a protective member for protecting the underground conduit 70 will be described, but other members or tools may be used as the protective member. The end faces of both ends of the Hume pipe 80 are blocked by pipe end blockages 82 (82a, 82b). The pipe end blockages 82 (82a, 82b) are formed of, for example, mortar and bricks. The Hume pipe 80 may be formed by connecting a plurality of unit pipes, which are Hume pipes having a certain length (e.g., 2.43 m). In such a case, the pipe end closures 82 (82a, 82b) are provided only on both ends of the Hume pipe 80 formed by connecting a plurality of unit pipes.

[0014] After such a pipeline 70 and Hume pipe 80 are buried underground, the length and diameter of the Hume pipe 80 may be investigated. In addition, since the pipe end blockage 82 is prone to deterioration after being buried, the deterioration state of the pipe end blockage 82 may be investigated and inspected. In order to carry out such an investigation and inspection, in the conventional method, the vicinity of the Hume pipe 80 is excavated and the investigation and inspection are carried out with the Hume pipe 80 exposed. However, as shown in FIG. 1, when an obstacle 90 such as a building or structure is located directly above the investigation range 98, it is not possible to excavate the vicinity of the Hume pipe 80 for investigation.

[0015] FIG. 2 is a diagram showing a schematic diagram of an investigation by an investigation method according to an embodiment. In FIG. 2, there is an obstacle area 99 above a Hume pipe 80, which cannot be excavated due to a building or structure directly above. The endoscope device 20 includes a control device 10, a camera 25, and an insertion section 21. The control device 10 controls the operation of each component of the endoscope device 20. The camera 25 converts input light into an electrical signal to generate a captured image. The camera 25 is provided at the tip of the insertion section 21. The insertion section 21 has an elongated shape and is inserted into a subject. A light may be provided at the tip of the insertion section 21. The insertion section 21 has a bending section 23 that can be bent according to the control of the control device 10. A plurality of wires are arranged around the bending section 23 in the longitudinal direction of the bending section 23, and the bending section 23 is bent by applying tension to the wires based on the control of the control section 11. The insertion section 21 includes a cable that transmits the captured image generated by the camera 25 to the control device 10. The endoscope device 20 may include an objective lens at the tip of the insertion portion 21 instead of the camera 25. In this case, light incident on the objective lens is transmitted to the control device 10 by an optical fiber in the insertion portion 21 and converted into an electric signal by a photodiode provided in the control device 10, and a captured image is obtained. The captured image is displayed on the output unit 15 of the control device 10. The operator can operate the control device 10 to control the capturing of images by the camera 25 and the bending of the bending portion 23, etc.

[0016] In this embodiment, the drilling machine 30 drills the pipe 70 connecting the manholes 60a and 60b to form an inspection hole 72. In this embodiment, the pipe 70 is an empty pipe with a hollow inside. In this embodiment, the camera 25 of the endoscope device 20 is inserted into the inspection hole 72. The camera 25 may be inserted by first inserting the guide tube 26 having a hollow shape into the hole 72 and then inserting the camera 25 into the guide tube 26. This allows the camera 25 to reach the outside of the pipe 70 and the inside of the Hume pipe 80. The guide tube 26 is formed of a material such as polyethylene. In this embodiment, the control device 10 or an operator checks the end face of the Hume pipe 80 using the image captured by the camera 25, measures the pipe length L and pipe diameter D of the Hume pipe 80, and investigates the deterioration state of the pipe end blockage 82 at the pipe end. In this embodiment, the tip bending function of the camera 25 of the endoscope device 20 is utilized, and the camera 25 is remotely directed toward the end face of the hume pipe 80 to conduct the investigation and inspection while checking the image. As a result, according to the configuration of this embodiment, it is possible to conduct the investigation and inspection without being affected by the presence or absence of obstacles 90 on the ground. Note that although the camera 25 may be depicted as being large in schematic form in the attached pages of this specification, the camera 25 has a size that allows it to pass through the inside of the guide pipe 26.

[0017] Fig. 3 is a block diagram showing a schematic configuration of the control device 10 of Fig. 2. As shown in Fig. 3, the control device 10 includes a control unit 11, a storage unit 12, a communication unit 13, an input unit 14, an output unit 15, and a bus 16.

[0018] The control unit 11 is communicably connected to each component constituting the control device 10 via a bus 16, and controls the operation of the entire control device 10. The control unit 11 includes one or more processors. In one embodiment, the "processor" is a general-purpose processor or a dedicated processor specialized for a specific process, but is not limited to these. The processor may be, for example, a central processing unit (CPU), a graphics processing unit (GPU), a digital signal processor (DSP), an application specific integrated circuit (ASIC), or a combination of these.

[0019] The storage unit 12 stores any information used in the operation of the control device 10. For example, the storage unit 12 may store various information such as a system program, an application program, and a captured image received by the communication unit 13. The storage unit 12 includes any storage module including a hard disk drive (HDD), a solid state drive (SSD), a random access memory (RAM), a read-only memory (ROM), an electrically erasable programmable ROM (EEPROM), or a combination thereof. The storage unit 12 may function as, for example, a main storage device, an auxiliary storage device, or a cache memory. The storage unit 12 is not limited to being built into the control device 10, and may be an external database or an external storage module connected by a digital input / output port such as a universal serial bus (USB).

[0020] The communication unit 13 functions as an interface for communicating with other devices such as the camera 25. The communication unit 13 includes any communication module that can communicate with other devices by any communication technology including a wired LAN (Local Area Network), a wireless LAN, etc. The communication unit 13 may further include a communication control module for controlling communication with other devices, and a storage module for storing communication data such as identification information required for communication with other devices.

[0021] The input unit 14 includes one or more input interfaces that receive an input operation by a user and obtain input information based on the user operation. For example, the input unit 14 is a physical key, a capacitive key, a pointing device, a touch screen that is integrated with the display of the output unit 15, a microphone that receives voice input, or the like, but is not limited to these.

[0022] The output unit 15 includes one or more output interfaces that output information to the user and notify the user. For example, the output unit 15 is a display that outputs information as an image, but is not limited thereto, and may include, for example, a speaker that outputs information as sound. At least one of the input unit 14 and the output unit 15 may be configured integrally with the control device 10, or may be provided separately.

[0023] The functions of the control device 10 are realized by executing a program according to this embodiment on a processor included in the control unit 11. That is, the functions of the control device 10 are realized by software. The program causes a computer to execute processing of steps included in the operation of the control device 10, thereby causing the computer to realize functions corresponding to the processing of each step. That is, the program is a program for causing a computer to function as the control device 10 according to this embodiment. The program instructions may be program code, code segments, etc. for executing necessary tasks.

[0024] A part or all of the functions of the control device 10 may be realized by a dedicated circuit included in the control unit 11. That is, a part or all of the functions of the control device 10 may be realized by hardware. Furthermore, the control device 10 may be realized by a single information processing device, or may be realized by cooperation of multiple information processing devices.

[0025] FIG. 4 is a diagram showing the drilling machine 30. The drilling machine 30 is inserted into a pipeline 70 and drills a hole 72 penetrating the wall surface of the pipeline 70. The drilling machine 30 includes a drilling machine body 31, a drill 32, a push rod 33, a compressor 34, and an air hose 35. The drilling machine body 31 extends along the direction in which the drilling machine 30 is inserted into the pipeline 70. The drill 32 is installed on one side of the drilling machine body 31. The push rod 33 is used to push the drilling machine body 31 to a desired position in the pipeline 70 where a hole is to be drilled. The compressor 34 supplies air for driving the drilling machine body 31 via the air hose 35. The drilling machine body 31 is driven by the air supplied from the compressor 34, and the drill 32 is pressed against the wall surface of the pipeline 70 while rotating, thereby drilling the hole 72.

[0026] FIG. 5 is a diagram showing a schematic diagram of an inspection by an inspection method according to one embodiment. FIG. 5 illustrates a method of inspecting the pipe length L of a Hume pipe 80. In the example of FIG. 5, a pipe line 70 is disposed inside the Hume pipe 80, connected via a joint 75. Hereinafter, the thickness L of the pipe end closure 82 (82a, 82b) will be referred to as 1 , L 5 An example where is known will be described.

[0027] The worker checks the drawings, inserts drilling machine body 31 into pipeline 70, and drills inspection hole 72a at a location assumed to be inside Hume pipe 80. After completing drilling, the worker removes drilling machine body 31 from pipeline 70 and pushes guide pipe 26 into inspection hole 72a. The worker inserts camera 25 and insertion portion 21 into guide pipe 26, and places camera 25 inside Hume pipe 80. By inserting guide pipe 26 into hole 72a first in this way, it becomes possible to operate camera 25 inside Hume pipe 80.

[0028] The operator operates the control device 10 to correct the direction of the camera 25 so as to photograph both end faces of the Hume pipe 80. A light for illuminating the photographing direction may be provided at the tip of the insertion portion 21. The direction of the camera 25 may be automatically corrected by the control device 10 by analyzing the image photographed by the camera 25. The distance range in which the camera 25 can photograph within the Hume pipe 80 is limited. For this reason, in the example of FIG. 5, the camera 25 inserted through the hole 72a can photograph only one pipe end closure 82a. When the camera 25 photographs the pipe end closure 82a, the distance L between the hole 72a and the pipe end closure 82a is 2 is measured. Distance L 2 The distance L based on the photographed image may be measured by the control device 10 by analyzing the photographed image of the tube end closure 82a, or may be measured by an operator by estimating a rough value based on the photographed image. 2 The distance L may be measured, for example, by comparing the known thickness of the pipe 70 with the depth of the pipe end closure 82a in the captured image. 2 When measuring distance L, the relationship between the captured image and the distance is learned by machine learning in advance, and the distance L is calculated using the learning results. 2 Alternatively, a distance measuring sensor using infrared rays or a laser may be provided at the tip of the insertion portion 21, and the distance L may be measured using the distance measuring sensor. 2 Even when a distance measuring sensor is used, the subject is displayed in the captured image, and the subject of distance measurement is confirmed automatically or by the operator before distance measurement, so that distance measurement can be performed with higher accuracy. 2 Once estimated, the value is input to the controller 10.

[0029] At this point, the distance between the hole 72a and the tube end closure 82b has not been measured. 2When the measurement is completed, the operator removes the insertion portion 21 and the guide tube 26 of the endoscope device 20 from the pipeline 70. The operator again inserts the drilling machine body 31 into the pipeline 70 and drills the hole 72b next to the hole 72a. The hole 72b is provided at a position away from the hole 72a by a distance equivalent to the maximum distance that the camera 25 can photograph. After completing the drilling, the operator removes the drilling machine body 31 from the pipeline 70 and pushes the guide tube 26 out again to the inspection hole 72b. The operator inserts the camera 25 and the insertion portion 21 into the guide tube 26 and puts the camera 25 inside the Hume pipe 80. The operator operates the control device 10 to correct the direction of the camera 25 so as to photograph both end faces or the hole 72 of the Hume pipe 80. In the example of FIG. 5, the camera 25 inserted from the hole 72b can only photograph the hole 72b, and cannot photograph the pipe end blockages 82a and 82b. Therefore, the control device 10 calculates the distance L from the hole 72a to the tube end closure 82a. 2 The distance a between the hole 72b and the hole 72a was measured by the same method. 1 In this way, the worker repeats the series of processes of drilling, inserting the camera 25, taking a picture, and measuring the distance until the pipe end closure 82b is displayed in the image taken by the camera 25. The distance a obtained by such processes is 1 a N By adding up the distance L from the hole 72a to the hole 72c, 3 (=a 1 +···+a N ) is obtained.

[0030] In the example of Fig. 5, the pipe end occlusion 82b is displayed in the image captured by the camera 25 from the position of the hole 72c. Therefore, the control device 10 calculates the distance L 2 The distance L between the hole 72c and the tube end closure 82b was obtained by the same method as that used to obtain 4 Get the.

[0031] The control device 10 uses the L thus obtained 2 ~L 4 and known L 1 , L 5 Add up the total length of the Hume pipe 80, L (= L 1 +···+L 6) is obtained. In this manner, in this embodiment, the camera 25 of the endoscope device 20 is operated to confirm the pipe end occlusions 82 (82a, 82b) at both ends, and a series of processes including drilling a hole, inserting the camera 25, photographing, and measuring the distance are repeated until the pipe end occlusion 82b is displayed in the image captured by the camera 25. Therefore, the pipe length L of the Hume pipe 80 can be measured without excavating the vicinity of the protective member such as the Hume pipe 80. Note that when the Hume pipe 80 is located at a certain length L u If it is known that the pipe is composed of a plurality of unit pipes each having a length of (e.g., 2.43 m) connected together, this information may be used. For example, the pipe length L obtained by repeating a series of processes including drilling, inserting the camera 25, photographing, and measuring the distance may be used. * is the unit tube length L u Calculate n by rounding off the decimal point of the value divided by L u multiplied by N (L u ×n) may be acquired as the pipe length L of the Hume pipe 80. This makes it possible to measure the pipe length L with high accuracy. Also, a sensor for measuring the moving distance in the pipe 70 is provided in the camera 25 or the drilling machine body 31, and the distance L from the hole 72a to the hole 72c is calculated based on the moving distance measured by the sensor. 3 may be obtained.

[0032] 6 is a flowchart showing the procedure of an investigation method according to an embodiment. The process of each step is executed by the control device 10, the drilling machine 30, or an operator.

[0033] In step S1, the drilling machine 30 drills a hole 72 in the pipeline 70. In step S1, the operator inserts the drilling machine 30 into the pipeline 70 and causes the drilling machine 30 to drill the hole 72. After drilling, the operator removes the drilling machine 30 from the pipeline 70.

[0034] In step S2, the worker inserts the guide tube 26 through the hole 72 drilled in step S1.

[0035] In step S3, the operator inserts the camera 25 and the insertion portion 21 through the guide tube 26. As a result, the camera 25 is positioned outside the pipeline 70 and inside the fume pipe 80.

[0036] In step S4, the control unit 11 of the control device 10 acquires an image captured by the camera 25. The control unit 11 of the control device 10 or an operator controls the bending unit 23 of the endoscopic device 20 to acquire an image of the tube end occlusion 82 (82a, 82b) or the adjacent hole 72.

[0037] In step S5, the control unit 11 of the control device 10 acquires the distance from the position of the camera 25 to the tube end closure 82 (82a, 82b) or the adjacent hole 72. The specific method of acquiring the distance is as described above.

[0038] In step S6, the control unit 11 of the control device 10 determines whether or not the pipe end occlusions 82 (82a, 82b) at both ends of the hume pipe 80 have been photographed. If the photographs have been photographed (YES in step S6), the control unit 11 proceeds to step S7, and if not (NO in step S6), the control unit 11 returns to step S1 and drills the adjacent hole 72.

[0039] In step S7, control unit 11 of control device 10 adds up the lengths acquired in step S5 to calculate pipe length L of hume pipe 80. Then, the process ends.

[0040] As described above, the control unit 11 of the control device 10 passes through the hole 72 penetrating the wall surface of the conduit 70 disposed inside the protective member buried in the ground, and acquires a photographed image from the camera 25 of the endoscope device 20 positioned outside the conduit 70 and inside the protective member. The control unit 11 investigates at least one of the shape and deterioration state of the inner surface of the protective member based on the photographed image. Therefore, it is possible to investigate the inside of the protective member of the communication equipment buried in the ground without excavation. That is, since the existing conduit 70 is used, it is possible to investigate and inspect the inside of the protective member at a lower cost than the excavation method. In addition, by using the conduit 70 buried horizontally, it is possible to explore the inside of the protective member even if there is an obstacle 90 on the ground.

[0041] The control unit 11 also acquires a plurality of images of the pipe end or other holes 72 of the protective member, which are captured by the camera 25 passing through a plurality of holes 72 drilled in the pipeline 70 at intervals corresponding to the image capturing distance of the camera 25, as a plurality of captured images. For each of the plurality of captured images, the control unit 11 acquires the distance between the hole 72 through which the camera 25 passed when the captured image was captured and the pipe end or other holes 72 of the protective member, based on the captured image. The control unit 11 acquires the pipe length L of the protective member based on the distance acquired for each of the plurality of captured images. In this way, the control unit 11 acquires the pipe length L of the protective member by analyzing a plurality of captured images captured by the camera 25 passing through the holes 72 drilled at intervals corresponding to the image capturing distance of the camera 25. Therefore, it is possible to measure the pipe length over a long distance.

[0042] In addition, in the inspection method of this embodiment, a hole 72 penetrating the wall surface of a pipeline 70 arranged inside a protective member buried in the ground is formed by a drilling machine 30, and a guide tube 26 having a hollow shape for guiding an insertion part 21 of an endoscope device 20 is inserted through the inside of the pipeline 70 and the hole 72. In the inspection method, the insertion part 21 is inserted into the guide tube 26, the tip of the insertion part 21 is positioned outside the pipeline 70 and inside the protective member, and an image captured by a camera 25 provided at the tip of the insertion part 21 is obtained. In the inspection method, at least one of the shape of the inner surface of the protective member and the deterioration state is inspected based on the captured image. In this way, by inserting the guide tube 26 into the inspection hole 72 in advance, the camera 25 can be operated in any direction inside the protective member.

[0043] FIG. 7 is a diagram showing a schematic diagram of an investigation using an investigation method according to one embodiment. FIG. 7 explains a method of investigating the pipe diameter D of a Hume pipe 80. FIG. 7 shows a cross-sectional view of the Hume pipe 80 and the pipe 70 taken along a plane perpendicular to the longitudinal direction of the Hume pipe 80 and the pipe 70. In the example of FIG. 7, nine (=3×3) pipes 70 are provided inside the Hume pipe 80, in three rows in the horizontal direction and three rows in the vertical direction. Note that the distance D between the top surface of the pipe 70a in the upper row and the bottom surface of the pipe 70c in the lower row is 2 is known.

[0044] The worker inserts drilling machine body 31 into pipeline 70a, which is one of the pipelines 70 in the upper row, and drills inspection hole 72a at a position assumed to be inside Hume pipe 80. After completing drilling, the worker removes drilling machine body 31 from pipeline 70 and pushes guide pipe 26 into inspection hole 72a. The worker inserts camera 25 and insertion part 21 into guide pipe 26, and places camera 25 outside pipeline 70 and inside Hume pipe 80.

[0045] The operator operates control device 10 to correct the direction of camera 25 so as to photograph the inner wall surface of Hume pipe 80, pipe end blockage 82, and pipeline 70. A light for illuminating the photographing direction may be provided at the tip of insertion portion 21. The direction of camera 25 may be automatically corrected by control device 10 by analyzing the image photographed by camera 25. When camera 25 photographs the inner wall surface of Hume pipe 80 and pipeline 70, the distance D between pipeline 70a and the inner wall surface of Hume pipe 80 is 1 is measured. Distance D 1 The measurement of distance D based on the captured image may be performed by the control device 10 by analyzing the captured image of the inner wall surface of the Hume pipe 80 and the pipe 70, or may be performed by an operator estimating a rough value based on the captured image. Fig. 8 is a diagram showing an example of a captured image taken by the camera 25 in Fig. 7. 1 The measurement is performed, for example, by using a known pipe diameter b of the pipe 70 and a distance E from the pipe 70 in the photographed image to the inner wall surface of the Hume pipe 80 and the boundary of the pipe end blockage 82. 1 The control device 10 may analyze the captured image of the inner wall surface of the Hume pipe 80 and compare the distance D 1 When measuring distance D, the relationship between the captured image and the distance is learned by machine learning in advance, and the distance D is calculated by using the learning results. 1 Alternatively, a distance measuring sensor using infrared rays or a laser may be provided at the tip of the insertion portion 21, and the distance D may be measured using the distance measuring sensor. 1 Even when a distance measuring sensor is used, the subject can be displayed in the captured image, and the subject of distance measurement can be confirmed automatically or by the operator before distance measurement, thereby enabling more accurate distance measurement. 1 Once estimated, the value is input to the controller 10.

[0046] After completing the photographing from pipeline 70a, the worker inserts drilling machine body 31 into pipeline 70c, one of the pipelines 70 in the lower row, and drills inspection hole 72 at a position assumed to be inside the Hume pipe 80. After completing the drilling, the worker removes drilling machine body 31 from pipeline 70 and pushes guide pipe 26 into inspection hole 72. The worker inserts camera 25 and insertion part 21 into guide pipe 26, and places camera 25 outside pipeline 70 and inside Hume pipe 80. Then, distance D 1 The distance D between the pipe 70c and the inner wall surface of the Hume pipe 80 was measured by the same method as that used to measure the 3 is measured.

[0047] The control device 10 uses the D 1 , D 3 and known D 2 Add up the total and calculate the diameter D of the Hume pipe 80 (=D 1 +D 2 +D 3 In this manner, in this embodiment, a hole 72 is drilled in the duct 70, and the camera 25 is inserted therein to capture an image, thereby obtaining a distance D 1 , and the distance D between the inner wall surface of the pipe 70 and the Hume pipe 80 in the lower row 3 These values ​​are then multiplied by the known distance D 2 are summed up to obtain the pipe diameter D of the Hume pipe 80. Therefore, the pipe diameter D of the Hume pipe 80 can be measured without excavating the vicinity of the protective member such as the Hume pipe 80. Note that this information may be used when it is known that the Hume pipe 80 is one of a number of previously identified standard candidates, but it is not known which candidate it corresponds to. For example, each of the pipe diameters of the standard candidates may be compared with the measured pipe diameter, and the pipe diameter of the standard candidates that is closest to the measured value may be obtained as the pipe diameter D of the Hume pipe 80. This makes it possible to measure the pipe diameter D with high accuracy.

[0048] 9 is a flowchart showing the procedure of an investigation method according to one embodiment. The process of each step is executed by the control device 10, the drilling machine 30, or an operator.

[0049] In step S11, the drilling machine 30 drills the hole 72a in the upper row of the pipeline 70a. In step S11, the operator inserts the drilling machine 30 into the pipeline 70a and causes the drilling machine 30 to drill the hole 72a. After drilling, the operator removes the drilling machine 30 from the pipeline 70a.

[0050] In step S12, the worker inserts the guide tube 26 through the hole 72a drilled in step S11.

[0051] In step S13, the operator inserts the camera 25 and the insertion portion 21 through the guide tube 26. As a result, the camera 25 is positioned inside the hume pipe 80, outside the pipe line 70a.

[0052] In step S14, the control unit 11 of the control device 10 acquires an image captured by the camera 25. The control unit 11 of the control device 10 or an operator controls the bending unit 23 of the endoscope device 20 to acquire images of the inner wall surface of the hume pipe 80, the pipe end closure 82, and the pipe 70.

[0053] In step S15, the control unit 11 of the control device 10 acquires the distance from the pipe 70a to the inner wall surface of the Hume pipe 80. The specific method for acquiring the distance is as described above.

[0054] In step S16, control unit 11 of control device 10 determines whether or not both inner surfaces of hume pipe 80 have been photographed. If photographs have been taken (YES in step S16), control unit 11 proceeds to step S17, and if not (NO in step S16), control unit 11 returns to step S11 and performs the processes of steps S11 to S15 for pipe 70b in the lower row.

[0055] In step S17, the control unit 11 of the control device 10 receives the D 1 , D 3 Known in D 2 Add up the total and calculate the diameter D of the Hume pipe 80 (=D 1 +D 2 +D3 ) and the process ends.

[0056] As described above, the control unit 11 of the control device 10 acquires, as a captured image, an image of the inner wall surface of the protective member and the pipeline 70 captured by the camera 25 passing through the hole 72 drilled in the pipeline 70. Based on the captured image, the control unit 11 acquires the distance between the pipeline 70 through which the camera 25 passed when the captured image was captured and the inner wall surface of the protective member, and acquires the pipe diameter D of the protective member based on that distance. In this way, the control unit 11 acquires the pipe diameter D of the protective member based on the captured image of the inner wall surface of the protective member and the pipeline 70, and therefore it is possible to acquire the pipe diameter D of the protective member without excavation.

[0057] Furthermore, the control unit 11 acquires the distance between the pipe 70 inside the protective member and the inner wall surface of the protective member based on the width of the pipe 70 in the captured image, for which the pipe diameter b has been acquired in advance, and the distance between the pipe 70 in the captured image and the inner wall surface of the protective member. Therefore, it becomes possible to measure the pipe diameter with high accuracy based on the ratio of the image sizes of the known diameter (pipe diameter, etc.) and the unknown diameter.

[0058] FIG. 10 is a diagram showing a typical investigation performed by the investigation method according to an embodiment. FIG. 10 illustrates a technique for inspecting a Hume pipe 80 for end blockages 82 (82a, 82b).

[0059] The worker checks the drawing, inserts the drilling machine body 31 into the pipeline 70, and drills the inspection hole 72a at a position assumed to be inside the Hume pipe 80. After completing the drilling, the worker removes the drilling machine body 31 from the pipeline 70 and pushes the guide pipe 26 into the inspection hole 72a. The worker inserts the camera 25 and the insertion part 21 into the guide pipe 26, and puts the camera 25 inside the Hume pipe 80. The worker operates the control device 10 to correct the direction of the camera 25 so as to photograph the pipe end blockage 82 (82a, 82b) of the Hume pipe 80. A light for illuminating the photographing direction may be provided at the tip of the insertion part 21. The direction of the camera 25 may be automatically corrected by the control device 10 by analyzing the image photographed by the camera 25.

[0060] The control device 10 or the operator determines whether or not deterioration has occurred in the pipe end closure 82 (82a, 82b) based on the captured image. FIG. 11 is a diagram showing an example of a captured image captured by the camera 25 of FIG. 10. In the example of FIG. 11, cracks 93, through holes 94, and surface damage 95 exist in the pipe end closure 82. Also, deposits 96 such as soil exist inside the Hume pipe 80. The control device 10 or the operator detects deterioration such as cracks 93, through holes 94, surface damage 95, and deposits 96 from the captured image. When the control device 10 detects deterioration, the image of deterioration may be machine-learned in advance, and the deterioration may be detected using the learning results. The control device 10 or the operator can confirm the presence or absence of deterioration in the entire area of ​​the pipe end closure 82 by operating the bending portion 23 of the endoscope device 20 to obtain captured images of the entire area of ​​the pipe end closure 82. By performing such an operation for each of the pipe end blockages 82a, 82b at both ends of the hume pipe 80, deterioration can be detected for both of the pipe end blockages 82a, 82b.

[0061] 12 is a flowchart showing the procedure of an investigation method according to an embodiment. The process of each step is executed by the control device 10, the drilling machine 30, or an operator.

[0062] In step S21, the drilling machine 30 drills the hole 72 in the pipeline 70. In step S21, the operator inserts the drilling machine 30 into the pipeline 70 and causes the drilling machine 30 to drill the hole 72. After drilling, the operator removes the drilling machine 30 from the pipeline 70.

[0063] In step S22, the worker inserts the guide tube 26 through the hole 72 drilled in step S21.

[0064] In step S23, the operator inserts the camera 25 and the insertion portion 21 through the guide tube 26. As a result, the camera 25 is positioned outside the pipeline 70 and inside the fume pipe 80.

[0065] In step S24, the control unit 11 of the control device 10 acquires an image captured by the camera 25. The control unit 11 of the control device 10 or an operator controls the bending portion 23 of the endoscopic device 20 so as to acquire an image of the tube end occlusion 82 (82a, 82b).

[0066] In step S25, the control unit 11 of the control device 10 or an operator checks from the captured image whether or not deterioration has occurred in the tube end closure 82 (82a, 82b). The specific procedure for detecting deterioration is as described above.

[0067] In step S26, the control unit 11 of the control device 10 determines whether or not the pipe end blockages 82 (82a, 82b) at both ends of the hume pipe 80 have been photographed. If the images have been photographed (YES in step S26), the control unit 11 ends the process, and if not (NO in step S26), the control unit 11 returns to step S21 and performs the processes of steps S1 to S5 for the pipe end blockages 82 that have not been photographed.

[0068] In this way, the control unit 11 acquires as a photographed image an image of the pipe end closure 82 present on the end face of the protective member captured by the camera 25 passing through the hole 72 drilled in the pipeline 70, and analyzes the photographed image to detect deterioration in the pipe end closure 82. Therefore, it is possible to detect deterioration in the pipe end closure 82 without excavation.

[0069] In addition, in this embodiment, the guide tube 26 is first inserted into the inspection hole 72, and then the guide tube 26, the insertion portion 21, the bending portion 23, and the camera 25 are operated inside the protective member, making it possible to check the entire pipe end occlusion 82 on the pipe end surface.

[0070] Fig. 13 is a diagram showing a schematic diagram of an investigation using an investigation method according to one embodiment. Fig. 13 illustrates a method for investigating a pipe end blockage 82 (82a, 82b) of a hume pipe 80 in a situation where water is flowing into the inside of the hume pipe 80. In Fig. 13, light source holes 72c, 72c are provided separately from inspection holes 72a, 72b, and illumination is provided from a position separate from camera 25.

[0071] When photographing underwater, if the photographing direction is illuminated from a light near the camera 25, the light is reflected by the water and the entire image becomes blurred, and it is known that the distance from the camera 25 that can photograph cannot be sufficiently long. Figures 14A and 14B are diagrams that show an example of a photographed image photographed by the camera 25 of Figure 13. Figure 14A is an example of a photographed image when the photographing direction is illuminated from a light near the camera 25. In the photographed image of Figure 14A, only an image of the pipe 70 is shown. Figure 14B is an example of an image photographed at the same photographing location when the photographing direction is illuminated from a light source 40 provided at a position away from the camera 25. In the photographed image of Figure 14B, in addition to the pipe 70, images of the light source 40 and the pipe end closure 82 are shown. As is clear from a comparison of Figures 14A and 14B, by illuminating the photographing direction from the light source 40 provided at a position away from the camera 25, the visibility from the camera 25 can be improved, and it becomes possible to confirm objects that are further away in the photographed image. Although FIG. 13 shows an example in which light source 40 illuminates camera 25 from behind, the position of light source 40 need only be away from camera 25, and is not limited to being behind camera 25.

[0072] 15 is a flowchart showing the procedure of an investigation method according to an embodiment. The process of each step is executed by the control device 10, the drilling machine 30, or an operator.

[0073] In step S31, the drilling machine 30 drills a first hole 72a and a second hole 72b in the pipeline 70. In step S31, the operator inserts the drilling machine 30 into the pipeline 70 and causes the drilling machine 30 to drill the first hole 72a. Furthermore, the operator causes the drilling machine 30 to drill the second hole 72b at another position in the pipeline 70. After drilling, the operator removes the drilling machine 30 from the pipeline 70.

[0074] In step S32, the worker inserts the guide tube 26 through the first hole 72a drilled in step S21.

[0075] In step S33, the operator inserts the camera 25 and the insertion portion 21 through the guide tube 26. As a result, the camera 25 is positioned outside the pipeline 70 and inside the fume pipe 80.

[0076] In step S34, the worker inserts the guide tube 26 through the second hole 72b drilled in step S21.

[0077] In step S35, the control unit 11 of the control device 10 acquires an image captured by the camera 25. The control unit 11 of the control device 10 or an operator controls the irradiation direction of the light source 40 and the bending portion 23 of the endoscopic device 20 so as to acquire an image of the tube end occlusion 82 (82a, 82b).

[0078] In step S36, the control unit 11 of the control device 10 or an operator checks from the captured image whether or not deterioration has occurred in the tube end closure 82 (82a, 82b). The specific procedure for detecting deterioration is as described above with reference to FIG.

[0079] In step S37, the control unit 11 of the control device 10 determines whether or not the pipe end blockages 82 (82a, 82b) at both ends of the hume pipe 80 have been photographed. If the images have been photographed (YES in step S37), the control unit 11 ends the process, and if not (NO in step S37), the control unit 11 returns to step S31 and performs the processes of steps S31 to S36 for the pipe end blockages 82 that have not been photographed.

[0080] As described above, the control unit 11 acquires as a captured image an image of the tube end closure 82 captured while receiving light from the light source 40 that is located at a different position from the camera 25. In this way, by irradiating the tube end closure 82 with another light source 40 from a different position from the camera 25 underwater, it becomes possible to check the deterioration state of the tube end closure 82 at a more distant tube end.

[0081] Fig. 16 is a diagram showing a schematic diagram of an investigation using an investigation method according to one embodiment. Fig. 16 explains a method for checking whether water such as groundwater is present inside a Hume pipe 80, whether water is flowing in, and the like. In the example of Fig. 16, a pipe 70a is a pipe for checking whether water is present inside the Hume pipe 80, and the like. Stopcocks 51 and 52 are provided at both ends of pipe 70a. Stopcock 51 has a hole for inserting insertion portion 21 of an endoscope. In contrast, stopcock 52 has no hole.

[0082] The worker checks the drawing, inserts the drilling machine body 31 into the pipeline 70, and drills the inspection hole 72a at a position assumed to be inside the Hume pipe 80. After completing the drilling, the worker removes the drilling machine body 31 from the pipeline 70 and pushes the pipe 27 with the guide tube 26 inserted into it into the inspection hole 72a. The pipe 27 is a transparent coating to protect the guide tube 26 and the insertion part 21 from water. The worker inserts the camera 25 and the insertion part 21 into the guide tube 26, and puts the camera 25 inside the Hume pipe 80. The worker operates the control device 10 to correct the direction of the camera 25 so that it photographs various heights inside the Hume pipe 80. A light for illuminating the photographing direction may be provided at the tip of the insertion part 21. The direction of the camera 25 may be automatically corrected by the control device 10 by analyzing the image photographed by the camera 25.

[0083] Fig. 17 is a diagram showing a schematic diagram of the endoscope device 20 near the water surface. In the example of Fig. 17, the camera 25 is in the water 85 and is located below the water surface 86 which is the boundary between the air 87 and the water 85.

[0084] 18A and 18B are diagrams showing an example of a photographed image taken by the camera 25 of FIG. 16. The upper diagram of FIG. 18A is an example of a photographed image in a state where the water surface 86 is not in the vicinity of the camera 25. The lower diagram of FIG. 18A is an example of a photographed image in a state where the water surface 86 is in the vicinity of the camera 25. As shown in the lower diagram of FIG. 18A, when the water surface 86 exists in the vicinity of the camera 25, the photographed image is distorted. Therefore, the control device 10 or the operator may determine the presence or absence of the water surface 86 based on such a disturbance in the photographed image. When the control device 10 analyzes the photographed image to determine the water surface 86, the relationship between the photographed image and the presence or absence of the water surface 86 may be machine-learned in advance, and the presence or absence of the water surface 86 may be determined using the learning result.

[0085] FIG. 18B is an example of a photographed image showing a state in which the position of the water surface 86 is rising. In the left image of FIG. 18B, the water surface 86 exists between the air 87 and the water 85. The right image of FIG. 18B is a photographed image of the same location after a certain time has passed since the photographing time of the left image. In the right image of FIG. 18B, the water surface 86 is higher than the water surface 86 in the left image of FIG. 18B. Therefore, the control device 10 or the operator may determine the inflow of water based on the change in the position of the water surface 86 in such a photographed image. When the control device 10 analyzes the photographed image to determine the inflow of water, the control device 10 may perform machine learning on the relationship between the photographed image and the change in the position of the water surface 86 in advance, and may determine the inflow of water using the learning result. When the control device 10 can confirm the drop in the water surface 86 and the water surface 86 does not rise, the control device 10 or the operator may determine that there is no inflow of groundwater from the end (pipe end blockage 82) of the Hume pipe 80. On the other hand, the control device 10 or the operator may determine that groundwater is flowing in if the water level 86 does not drop or if the water level 86 rises.

[0086] 19 is a flowchart showing the procedure of an investigation method according to one embodiment. The process of each step is executed by the control device 10, the drilling machine 30, or an operator.

[0087] In step S41, the drilling machine 30 drills the hole 72 in the pipeline 70. In step S41, the operator inserts the drilling machine 30 into the pipeline 70 and causes the drilling machine 30 to drill the hole 72. After drilling, the operator removes the drilling machine 30 from the pipeline 70.

[0088] In step S42, the worker inserts the guide tube 26 into the pipe 27 through the hole 72 drilled in step S41.

[0089] In step S43, the operator inserts the camera 25 and the insertion portion 21 through the guide tube 26. As a result, the camera 25 is positioned outside the pipeline 70 and inside the fume pipe 80.

[0090] In step S44, the control unit 11 of the control device 10 acquires an image captured by the camera 25. The control unit 11 of the control device 10 or an operator controls the bending unit 23 of the endoscopic device 20 to acquire an image of the water surface, if present.

[0091] In step S45, the control unit 11 of the control device 10 detects the presence or absence of water or a rise in the water surface 86 based on the captured image. Then, the process ends.

[0092] As described above, the control unit 11 detects the inflow of water into the protective member by analyzing the captured image. That is, the drop or rise of the water level inside the protective member (groundwater inflow status) can be confirmed by visually checking the disturbance of the captured image by the camera 25 and the change in the position of the water surface 86 or by automatically determining the change by image analysis.

[0093] For example, multiple blocks shown in the block diagram may be integrated, or one block may be divided. Multiple steps shown in the flow chart may be executed in parallel or in a different order depending on the processing capacity of the device executing each step, or as needed, instead of being executed in chronological order as described. Other modifications are possible without departing from the spirit of the present disclosure. [Explanation of symbols]

[0094] 10 Control device 11 Control section 12 Storage section 13. Communications Department 14 Input section 15 Output section 20 Endoscopic device 21 Insertion section 23 Curved section 25 Camera 26 Guide tube 27 Pipe 30 Drilling Machine 31 Drilling machine body 32 Drill 33 Push Stick 34 Compressor 35 Air Hose 40 light source 41 Cable 51, 52 Stopcock 60 Manhole 70 Conduit 72 holes 75 Joints 80 Hume Pipe 82 Tube end occlusion 85 water 86 Water surface 87 Air 90 Obstacles 93 Crack 94 Through hole 95 Surface Damage 96 Sediments 98 Survey Scope 99 Disturbance range G surface

Claims

1. A step of forming a hole penetrating a wall surface of a pipeline disposed inside a protective member buried in the ground by a drilling machine; inserting a guide tube having a hollow shape for guiding an insertion portion of an endoscope device through the inside of the duct and the hole; a step of inserting the insertion portion into the guide tube and positioning a tip of the insertion portion outside the pipeline and inside the protective member; acquiring a captured image from a camera of the endoscope device provided at the tip of the insertion portion; investigating at least one of the shape and deterioration state of the inner surface of the protective member based on the captured image; Including, A plurality of images of the pipe end or other holes of the protective member are acquired as the plurality of captured images by the camera passing through a plurality of holes drilled in the pipeline at intervals corresponding to the image capturing distance of the camera, For each of the plurality of photographed images, a distance between the hole through which the camera passed when the photographed image was captured and the tube end of the protective member or the other hole is acquired based on the photographed image; and acquiring a pipe length of the protective member based on the distance acquired for each of the plurality of captured images. Research methodology.

2. A step of forming a hole penetrating a wall surface of a pipeline disposed inside a protective member buried underground by a drilling machine; inserting a guide tube having a hollow shape for guiding an insertion portion of an endoscope device through the inside of the duct and the hole; a step of inserting the insertion portion into the guide tube and positioning a tip of the insertion portion outside the pipeline and inside the protective member; acquiring a captured image from a camera of the endoscope device provided at the tip of the insertion portion; investigating at least one of the shape and deterioration state of the inner surface of the protective member based on the captured image; Including, An image of the inner wall surface of the protective member and the pipeline photographed by the camera passing through a hole drilled in the pipeline is obtained as the photographed image; Based on the captured image, a distance between the pipeline through which the camera passed when the captured image was captured and an inner wall surface of the protective member is acquired; Obtaining a pipe diameter of the protective member based on the distance. Research methodology.

3. An investigation method as described in claim 2, in which the distance between the pipeline inside the protective member and the inner wall surface of the protective member is obtained based on the thickness of the pipeline in the photographed image, whose pipe diameter has been obtained in advance, and the distance between the pipeline in the photographed image and the inner wall surface of the protective member.

4. An image of a pipe end blockage present on an end face of the protective member photographed by the camera passing through a hole drilled in the pipeline is obtained as the photographed image, analyzing the captured images to detect deterioration in the tube end closure; The research method according to claim 1 or 2.

5. The investigation method described in claim 4, wherein an image of the tube end blockage taken while receiving light from a light source located at a position different from the camera is obtained as the captured image.

6. An investigation method as described in claim 1 or 2, wherein the captured image is analyzed to detect the inflow of water into the interior of the protective component.

Images