Method for managing cone length in existing pipe rehabilitation work

Abstract

To provide a cone length management method that allows an expansion process to be performed while easily controlling a cone length in existing pipe rehabilitation construction by using an expander construction method.SOLUTION: There is provided a cone length management method. The method is configured in that: a rehabilitation pipe 3 having a diameter smaller than an inner diameter of an existing pipe 1 is manufactured and installed into an inside of the existing pipe; then a restraining force adjustment wire 21 interposed in a joint 15 is sequentially pulled toward a first side in a tube axis direction so as to weaken the restraining force of the joint; and a first side pipe end 3d of the rehabilitated pipe is twisted to expand the rehabilitated pipe. At this time, a position of an in-tube camera car is adjusted so that an image of a cone portion maintains a predetermined shape with the camera car 30 in order to manage an axial length L3c of the cone portion 3c that expands in diameter from an unexpanded small diameter pipe portion 3a to an expanded large diameter pipe portion 3b in the rehabilitated pipe. A predetermined image range R in a camera image 53 is marked, and a pulling speed of the restraint force adjustment wire is adjusted so that an image of a pull-out portion 21g of the restraint force adjustment wire is placed within the predetermined video range R.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] This invention relates to the rehabilitation work of aging sewer pipes and other existing pipes, and more particularly to a method for managing the cone length in the existing pipe rehabilitation work using an expansion pipe manufacturing method (expander method), in which a spiral-shaped rehabilitation pipe is manufactured along the inner circumference of the existing pipe to have a smaller diameter than the inner diameter of the existing pipe, and then the circumference of the rehabilitation pipe is expanded. [Background technology]

[0002] A method for rehabilitating existing pipes, such as aging sewer pipes, is known, which involves constructing a spiral-shaped rehabilitation pipe made of a strip-shaped member (profile) along the inner circumference of the existing pipe (see Patent Documents 1-3, etc.).

[0003] For example, Patent Documents 1 to 3 disclose a method for rehabilitating existing pipes using a so-called expander method. Specifically, a push-type pipe-making machine is installed in the manhole on the starting side. The pipe-making machine is used to spirally wind a strip-shaped member and join its adjacent edges with interlocking grooves, thereby forming a spiral-shaped rehabilitation pipe with a diameter smaller than the inner diameter of the existing pipe, and sequentially pushing the rehabilitation pipe into the existing pipe. During pipe formation, a restraining force adjustment wire is interposed between adjacent edges of the strip-shaped member. When the leading end of the rehabilitation pipe in the pushing direction reaches the pipe opening on the receiving side, the leading end in the pushing direction (the end on the receiving side) is fixed, and the restraining force adjustment wire is withdrawn, sequentially cutting a portion of the joint between the adjacent edges along the winding direction, thereby weakening the joint force. In parallel, the pipe-making machine further supplies the strip-shaped member to the rehabilitation pipe, twisting and rotating the starting end of the rehabilitation pipe. As a result, the adjacent edges of the joint, whose bonding force has been weakened by the cutting, slide against each other, and the circumference of the rehabilitated pipe is sequentially expanded (increased in diameter) from the receiving side to the discharging side, and it adheres to the inner surface of the existing pipe. The expander method eliminates the need for backfill injection, and compared to other methods, it is expected to shorten construction time and reduce construction costs. [Prior art documents] [Patent Documents]

[0004] [Patent Document 1] Japanese Patent Publication No. 2021-126830 [Patent Document 2] Japanese Patent Publication No. 2021-115749 [Patent Document 3] Japanese Patent Publication No. 2021-115750 [Overview of the project] [Problems that the invention aims to solve]

[0005] In the aforementioned expander method, during the restraint weakening process and the expansion process, a cone-shaped section is formed in the rehabilitated pipe, expanding in a conical shape from the unexpanded small-diameter section to the expanded large-diameter section. Controlling the axial length of the cone section (hereinafter referred to as "cone length") is important. If the cone length is too long, the expansion force may not be transmitted to the large-diameter end of the cone section, leading to insufficient expansion and poor adhesion. If the cone length is too short, the taper angle of the cone becomes too steep, potentially causing the fitting to disengage. A skilled worker can easily determine the cone length from, for example, images of the inside of the rehabilitated pipe taken by a pipe camera vehicle, and perform the expansion work while adjusting the pull-up speed of the restraint force adjustment wire based on that. However, it is difficult for an inexperienced worker to determine the cone length and perform the expansion process based solely on images of the inside of the rehabilitated pipe. In view of these circumstances, the present invention aims to propose a method for performing the expansion process while easily controlling the cone length, even for workers with little experience, in the rehabilitation work of existing pipes using the expander method. [Means for solving the problem]

[0006] To solve the aforementioned problems, the present invention provides A pipe manufacturing process involves winding a strip-shaped member in a spiral shape and joining adjacent edges that are offset by one full turn to form a spiral-shaped rehabilitated pipe, which is then manufactured to a diameter smaller than the inner diameter of the existing pipe and installed inside the existing pipe. A restraining force weakening step of sequentially pulling out a restraining force adjusting wire interposed at a joint between adjacent edge portions of the rehabilitation pipe from the second side to the first side in the pipe axis direction to weaken the restraining force between the adjacent edge portions; An expansion step of twisting the pipe end on the first side of the rehabilitation pipe to expand the circumferential length of the weakened portion of the rehabilitation pipe; A cone length management method for managing the axial length of a cone portion that expands from an unexpanded small-diameter pipe portion to an expanded large-diameter pipe portion in the rehabilitation pipe during the restraining force weakening step and the expansion step in the existing pipe rehabilitation construction including: A camera position adjustment step of arranging a traveling body equipped with a camera inside the large-diameter pipe portion and adjusting the position of the traveling body and thus the camera so that the image of the cone portion in the camera image taken by the camera maintains a predetermined shape; A range marking step of marking a predetermined image range in the camera image; A pulling speed adjustment step of adjusting the pulling speed in the restraining force weakening step so that the image of the pulling-out portion of the restraining force adjusting wire into the rehabilitation pipe in the camera image is arranged within the predetermined image range; characterized by comprising.

[0007] During the expansion step, the cone portion is moved to the first side while the strip-shaped member constituting it is twisted in the expansion direction. The operator in charge of the traveling body adjusts the position of the traveling body in accordance with the movement of the cone portion so that the image of the cone portion in the camera image maintains a predetermined shape regardless of the actual movement of the cone portion. For example, the traveling body is advanced to the first side in accordance with the movement of the cone portion to the first side so that the image of the cone portion maintains substantially the same position, size, perspective, etc. in the camera image. Since the large-diameter pipe portion connected to the large-diameter side end of the cone portion adheres to the inner surface of the existing pipe and does not move, the image of the cone portion and the image of the large-diameter pipe portion can be easily discriminated from the presence or absence of the movement of the image of the strip-shaped member constituting the rehabilitation pipe in the camera image. Consequently, the image of the cone portion can be easily grasped. Therefore, the position of the traveling body can be easily adjusted so that the image of the cone portion maintains a predetermined shape (position, size, perspective, etc.). Preferably, the predetermined image range corresponds to the position within the camera image of the image of the small-diameter end (first end) of the cone portion when the axial length of the cone portion (hereinafter referred to as "cone length") is within a desired range. The worker in charge of retrieval can adjust the retrieval speed while viewing the camera image so that the image of the pull-out section in the camera image is positioned within the predetermined image range indicated in the range indication process. By doing so, the cone length can be maintained within the desired range during the restraint weakening process and the expansion process. Therefore, even an inexperienced worker can perform the diameter expansion work while accurately managing the cone length. As a result, it is possible to prevent insufficient adhesion due to the cone length being too long, and disengagement due to the cone length being too short.

[0008] Preferably, in the range marking step, a laser is irradiated from a laser irradiator provided on the traveling body to a predetermined circumferential surface portion of the inner circumferential surface of the rehabilitation pipe that corresponds to the predetermined image range. When a laser is shone from the laser irradiator of the moving vehicle onto a predetermined portion of the inner surface of the rehabilitation pipe, the laser-irradiated area is displayed on the camera image of the inner surface of the rehabilitation pipe. The predetermined image range can be indicated by the laser-irradiated area.

[0009] Preferably, the laser from the laser irradiator is used to irradiate the first end of the predetermined circumferential surface portion with a first laser, and to irradiate the second end of the predetermined circumferential surface portion with a second laser. This allows the worker in charge of retrieval to adjust the retrieval speed so that the image of the retrieval section in the camera image passes between the image of the area irradiated by the first laser and the image of the area irradiated by the second laser, thereby positioning the retrieval section on a predetermined circumferential surface.

[0010] Preferably, a line laser is irradiated from the laser irradiator so that one end of the linear irradiation area of ​​the line laser is located at the first end of the predetermined circumferential surface portion, and the other end of the irradiation area is located at the second end of the predetermined circumferential surface portion. This allows the worker responsible for retrieval to adjust the retrieval speed so that the image of the retrieval unit in the camera image crosses the image of the linear illumination area, thereby positioning the image of the retrieval unit within a predetermined image range. Consequently, the retrieval unit can be positioned on a predetermined circumferential surface.

[0011] Preferably, the laser irradiator is made to oscillate by a swivel mechanism so that the laser irradiates back and forth between an angle at which the laser is irradiated to the first end of the predetermined circumferential surface portion and an angle at which the laser is irradiated to the second end of the predetermined circumferential surface portion. This allows the worker responsible for retrieval to adjust the retrieval speed so that the image of the retrieval unit in the camera footage crosses the reciprocating portion of the image of the laser irradiation area, thereby positioning the retrieval unit on a predetermined circumferential surface.

[0012] Preferably, the image processing means causes a first mark indicating the first end of the predetermined image range and a second mark indicating the second end of the predetermined image range to be displayed on the camera image. This allows the worker in charge of retrieval to adjust the retrieval speed so that the image of the retrieval unit in the camera footage crosses between the first and second marks, thereby positioning the image of the retrieval unit within a predetermined video range.

[0013] Preferably, in the camera position adjustment step, the position of the traveling body and, consequently, the camera is adjusted so that the image of the large-diameter end of the cone portion is positioned on the outer periphery of the camera image. Since the large-diameter pipe section adheres to the inner surface of the existing pipe and does not move, the operator in charge of the moving vehicle only needs to position the part where the movement of the strip-shaped member constituting the rehabilitated pipe stops at the outer edge of the camera image, making it easy to adjust the position of the moving vehicle. The predetermined image range can be set in a ring shape inside the outer edge of the camera image.

[0014] The predetermined image range is, when counting the number of turns of the image of the rehabilitation tube from the outer edge of the camera image inward, preferably the range from the position of turns 8 to 12 to the position of turns 18 to 22, and more preferably the range from the position of turns 10 to the position of turns 20. This allows the cone length to be controlled to an optimal size, ensuring that insufficient adhesion and disengagement are reliably prevented. [Effects of the Invention]

[0015] According to the present invention, in the rehabilitation of existing pipes using the expander method, even inexperienced workers can easily perform the expansion process while controlling the cone length. [Brief explanation of the drawing]

[0016] [Figure 1] Figure 1 is a side cross-sectional view showing an existing pipe undergoing rehabilitation work, including cone length control, according to the first embodiment of the present invention, during the restraint weakening process and the expansion process. [Figure 2] Figure 2(a) is a perspective cross-sectional view of circular section IIa in Figure 1. Figure 2(b) is a perspective cross-sectional view of circular section IIb in Figure 1. [Figure 3] Figure 3(a) is an explanatory side view showing the rehabilitation procedure for the existing pipe at the completion of the pipe manufacturing process for the rehabilitated pipe. Figure 3(b) is an explanatory side view showing the rehabilitation procedure at the start of the restraint weakening process. Figure 3(c) is an explanatory side view showing the rehabilitation procedure at the start of the rotation prevention process to the expansion process. [Figure 4] Figure 4(a) is an explanatory side view showing the rehabilitation procedure at the stage of introducing the in-pipe camera vehicle into the rehabilitation pipe. Figure 4(b) is an explanatory side view showing the rehabilitation procedure at the time of adjusting the angle of the laser pointer in the range marking process. Figure 4(c) is an explanatory side view showing the rehabilitation procedure at the time of the restraint weakening process and expansion process, which include the camera position adjustment process and the pick-up speed adjustment process. [Figure 5] Figure 5 is an explanatory plan view along the VV line in Figure 4(c). [Figure 6]Figure 6 shows an example of camera footage from the in-pipe camera vehicle during the restraint weakening process and expansion process, which include the camera position adjustment process and the pull-out speed adjustment process. [Figure 7] Figure 7 is an explanatory side view showing the rehabilitation work of an existing pipe according to the second embodiment of the present invention, including a restraint weakening step and an expansion step, which include a camera position adjustment step and a pull-up speed adjustment step. [Figure 8] Figure 8 is an explanatory plan view along the line VIII-VIII in Figure 7. [Figure 9] Figure 9 shows an example of camera footage from the in-pipe camera vehicle in Figure 7. [Figure 10] Figure 10 is an explanatory side view showing the rehabilitation work of an existing pipe according to the third embodiment of the present invention, including a restraint weakening process and an expansion process, which include a camera position adjustment process and a pull-up speed adjustment process. [Figure 11] Figure 11 is an explanatory plan view along the line XI-XI in Figure 10. [Figure 12] Figure 12 shows an example of camera footage from the in-pipe camera vehicle in Figure 10. [Figure 13] Figure 13 is an explanatory side view showing the rehabilitation work of an existing pipe according to the fourth embodiment of the present invention, including a restraint weakening process and an expansion process, which include a camera position adjustment process and a pull-up speed adjustment process. [Figure 14] Figure 14 shows an example of camera footage from the in-pipe camera vehicle in Figure 13. [Figure 15] Figure 15 is a diagram of camera footage according to the fifth embodiment of the present invention. [Modes for carrying out the invention]

[0017] Embodiments of the present invention will be described below with reference to the drawings. <First Embodiment (Figures 1-6)> As shown in Figure 1, the aging existing pipe 1 is rehabilitated by lining its inner circumference with a rehabilitated pipe 3. The existing pipe 1 to be rehabilitated is, for example, a sewer pipe buried underground, but the present invention is not limited to this and may also be a water supply pipe, agricultural water pipe, gas pipe, hydroelectric power generation water conduit, tunnel, etc.

[0018] As shown in Figures 1 and 2(a), the rehabilitation pipe 3 is composed of a strip-shaped member 10 (profile). The strip-shaped member 10 is made of a synthetic resin such as polyvinyl chloride (PVC) and is formed into a certain cross-sectional shape. As shown in Figure 2(a), male and female fitting portions 13 and 14 are provided on both sides of the widthwise edge portion of the strip-shaped member 10. The spiral-shaped rehabilitation pipe 3 is formed when adjacent fitting portions 13 and 14 of the spirally wound strip-shaped member 10, offset by one full turn, are joined by a concave-concave fitting mechanism. As shown in Figures 1 and 2(a), the rehabilitation pipe 3 has a spirally formed joining portion 15 between the fitting portions 13 and 14 (the adjacent edge portions).

[0019] Existing pipe 1 is rehabilitated as follows: <Pipe manufacturing process> As shown in Figures 1 and 3(a), a push-type pipe-making machine 8 is prepared and installed in a starting-side manhole 4 connected to the pipe opening 1d on the starting side (first side) of the existing pipe 1. The strip-shaped members 10 are sequentially fed from a drum 7 on the ground near the manhole 4 to the pipe-making machine 8. In the pipe-making machine 8, the strip-shaped members 10 are wound in a spiral shape and joined by fitting the fitting portions 13 and 14 of adjacent edges together, thereby forming a spiral-shaped rehabilitated pipe 3, and the rehabilitated pipes 3 are sequentially pushed into the existing pipe 1. In the pipe manufacturing process, the rehabilitated pipe 3 is manufactured to have a smaller diameter than the inner diameter of the existing pipe.

[0020] <Wire Interposition Process> In parallel with the pipe manufacturing process, a restraining force adjustment wire 21 is introduced from the feed roll 23 of the wire feed and winding unit 20, which is placed on the ground near the manhole 4, into the push-type pipe manufacturing machine 8. The restraining force adjustment wire 21 is interposed within the joint 15 between the adjacent edge portions of the rehabilitated pipe 3. Specifically, as shown in Figure 2(a), the restraining force adjustment wire 21 is positioned between the two protrusions 14a and 14b of the male fitting portion 14, and the fitting portion 13 is placed over it to sandwich it. As shown in Figure 1, the restraining force adjustment wire 21 is wound spirally along the joint 15. As shown in Figures 1 and 3(a), the restraining force adjustment wire 21 is brought out from the pipe end 3e on the receiving side (second side) of the rehabilitated pipe 3, passes through the inside of the rehabilitated pipe 3 and the manhole 4, and is wound onto the take-up winch 24 of the wire feed and winding unit 20. The pull-in winch 24 can be driven and controlled by a pendant-type control panel 25 (pull-in control means). The pendant-type control panel 25 is equipped with two or more knobs 25a for turning the pull-in winch 24 on and off and adjusting the rotation speed. The pull-in winch 24 is free to rotate during the pipe manufacturing process and the wire interposition process.

[0021] As shown in Figure 3(a), the rehabilitated pipe 3 is installed from the starting side (first side) pipe opening 1d of the existing pipe 1 to the receiving side (second side) pipe opening 1e through the pipe manufacturing process and the wire interposition process. When the pipe end 3e of the rehabilitated pipe 3 protrudes from the receiving side (second side) pipe opening 1e of the existing pipe 1 into the receiving side manhole 4B by a number of spiral pitches of the rehabilitated pipe 3 (for example, about 4 pitches), the pipe manufacturing process is considered complete.

[0022] <Start of the restraint reduction process> Next, as shown in Figures 2(b) and 3(b), the restraining force adjustment wire 21 is wound up by the drive of the pull-up winch 24 by the length of about a dozen spiral pitches (for example, about 14 pitches) of the rehabilitation pipe 3. As a result, the restraining force adjustment wire 21 inside the joint 15 is sequentially pulled out into the internal space of the rehabilitation pipe 3 from the pipe end 3e side of the rehabilitation pipe 3. At this time, the protrusion 14b (part of the joint 15) is cut. As a result, the restraining force of the joint 15 in the portion 3b' of the rehabilitation pipe 3 from which the restraining force adjustment wire 21 has been pulled out is weakened.

[0023] <Anti-rotation process> Next, as shown in Figure 3(c), a rod-shaped anti-rotation means 5 is passed through the pipe end 3e on the receiving side (second side) of the rehabilitation pipe 3 to prevent the pipe end 3e from rotating relative to the existing pipe 1.

[0024] <Start of extension process> Next, the main pipe-making machine 8 is driven to feed the subsequent strip-shaped member 10 of the unmade pipe to the pipe end 3d on the starting side (first side) of the rehabilitated pipe 3. As a result, almost the entire rehabilitated pipe 3, excluding the pipe end 3e which is locked in place, is rotated, and the adjacent edges of the restraint-weakening portion 3b' slide against each other, causing the circumference of the restraint-weakening portion 3b' to expand (increase in diameter). As shown by the dashed line in Figure 3(c), this forms a cone portion 3c in the rehabilitated pipe 3 that expands in diameter from the small-diameter pipe portion 3a, which has not yet been restrained, towards the pipe end 3e. The exit portion 21g of the restraint force adjustment wire 21 is located at the boundary between the small-diameter pipe portion 3a and the cone portion 3c, that is, at the small-diameter end 3g of the cone portion 3c.

[0025] Eventually, as shown in Figure 4(a), the portion of the cone section 3c on the pipe end 3e side becomes the large-diameter pipe section 3b and adheres to the pipe opening 1e of the existing pipe 1. At this point, the drive of the push-type pipe-making machine 8 is stopped, and the restraint weakening process and expansion process are stopped. Then, the in-pipe camera vehicle 30 is introduced into the pipe end 3e of the rehabilitation pipe 3 through the access side manhole 4B.

[0026] <Camera vehicle 30 within the jurisdiction> As shown in Figures 1 and 4(a), the in-pipe camera vehicle 30 includes a vehicle 31, a camera 32, and a laser irradiator 33. The vehicle 31 is equipped with a remotely controllable driving mechanism. The camera 32 and the laser irradiator 33 are mounted on the vehicle 31. The laser irradiator 33 has a first laser pointer 33a and a second laser pointer 33b. The camera 32 is directed forward in the direction of travel of the vehicle 31. The laser pointers 33a and 33b can each adjust their laser irradiation angles relative to the vehicle 31 and, consequently, the camera 32.

[0027] As shown in Figure 1, a cable 34 from the in-pipe camera vehicle 30 is connected to the ground-based management vehicle 40 through the receiving side manhole 4B. The cable 34 houses a power line (not shown), a travel control line 34a, and an imaging signal line 34b. The travel control line 34a is connected to a remote control panel 41 inside the management vehicle 40. The remote control panel 41 is equipped with one or more knobs 41a for remotely controlling the travel drive mechanism of the traveling body 31.

[0028] The imaging signal line 34b is connected to the first monitor 51 via a video distributor 42 in the management vehicle 40. As shown in Figure 6, the monitor 51 displays the video captured by the camera 32 (hereinafter referred to as "camera video 53").

[0029] Furthermore, as shown in Figure 1, the imaging signal line 43 from the video distributor 42 is routed along the ground towards the launch manhole 4 and connected to a second monitor 52 near the wire feed / winding unit 20. The second monitor 52 displays the same camera image 53 as the first monitor 51, simultaneously with the first monitor 51.

[0030] After positioning the in-pipe camera vehicle 30 inside the pipe end 3e (Figure 4(a)), the push-type pipe manufacturing machine 8 is restarted to resume the expansion process. At the same time, the camera 32 of the in-pipe camera vehicle 30 captures an image of the inside of the rehabilitation pipe 3 viewed from the arrival side (second side) toward the departure side (first side). The camera image 53 of the inside of the rehabilitation pipe 3 is displayed on monitors 51 and 52, respectively.

[0031] Worker A1 inside the management vehicle 40 observes the camera image 53 (Figure 6) on the monitor 51 and ensures that the image of the cone portion 3c of the rehabilitation pipe 3 in the camera image 53 maintains a predetermined shape (position, size, perspective, etc. in the image). Preferably, the worker monitors whether the image of the large-diameter end portion 3f (boundary with the large-diameter pipe portion 3b) of the cone portion 3c is positioned in the outer peripheral portion 54 of the camera image 53.

[0032] During the expansion process, the cone portion 3c moves in a twisting manner as the helical strip-shaped member 10 constituting the cone portion 3c twists, but this movement stops at the large-diameter end 3f and the large-diameter pipe portion 3b of the cone portion 3c. Therefore, operator A1 can determine whether or not the image of the large-diameter end 3f of the cone portion 3c is positioned in the outer peripheral portion 54 of the camera image 53 by checking whether or not the movement of the image of the helical strip-shaped member 10 in the outer peripheral portion 54 of the camera image 53 has stopped.

[0033] When worker A1 confirms that the image of the large-diameter end 3f of the cone section 3c is positioned on the outer periphery 54 of the camera image 53 (Figure 6), he gives a signal to stop the push-type pipe-making machine 8. As a result, as shown in Figure 4(b), the field of view R of the camera 32 of the in-pipe camera vehicle 30 placed inside the large-diameter pipe section 3b is reduced. 32 The larger diameter end 3f of the cone portion 3c is positioned on the outer circumference, and the entire circumference of the cone portion 3c is contained within the camera image 53.

[0034] <Range Marking Process> As shown in Figure 4(b), with the push-type pipe manufacturing machine 8 stopped, a laser is shone from the in-pipe camera vehicle 30 to the inner circumference portion 3R (hereinafter referred to as "predetermined circumference portion 3R") of the rehabilitation pipe 3, which is located within a predetermined distance range along the pipe axis of the rehabilitation pipe 3 toward the starting side (first side). The predetermined distance range is the axial length of the cone portion 3c (hereinafter referred to as "cone length L"). 3c This corresponds to the distance from the in-pipe camera vehicle 30 to the small-diameter end 3g of the cone section 3c when the desired range is reached.

[0035] For details, as shown in Figures 4(b) and 5, the first laser L from the first laser pointer 33a 33a The second laser L from the second laser pointer 33b is applied to the end portion 3R1 of the predetermined circumferential surface portion 3R on the starting side (first side). 33b The second laser L is applied to the end 3R2 on the receiving side (second side) of the predetermined circumferential portion 3R. More specifically, when counting the number of turns of the spiral of the rehabilitation tube 3 from the large diameter end 3f of the cone portion 3c toward the starting side, the second side end 3R2 of the predetermined circumferential portion 3R is preferably at a position with approximately 8 to 12 turns, more preferably at approximately 10 turns, and the second laser L is applied to that position. 33bApply it. Also, the winding number is preferably about 18 to 22, more preferably about 20, and the position is set as the first side end 3R1 of the predetermined circumferential surface portion 3R, and the first laser L is applied thereto. 33a Apply it.

[0036] As shown in the shaded pattern in FIGS. 4(b) and 5, the predetermined circumferential surface portion 3R is a cylindrical surface extending over the entire circumference in the circumferential direction of the regeneration pipe 3, and both end portions 3R1 and 3R2 thereof are annular over the entire circumference in the circumferential direction of the regeneration pipe 3. Laser irradiation may be performed at one location of each annular end portion 3R1 and 3R2. In short, laser irradiation may be performed on the side portion of the inner circumferential surface of the regeneration pipe 3, or laser irradiation may be performed on the top or bottom of the inner circumferential surface of the regeneration pipe 3.

[0037] As shown in FIG. 6, the irradiation location of the laser L 33a , L 33b can be confirmed by the camera image 53 of the monitor 51. An operator A1 on the monitor 51 side gives instructions to an operator A2 inside the access manhole 4B on the arrival side while observing the camera image 53. In response to this, the operator A2 adjusts the directions (irradiation angles) of the laser pointers 33a and 33b so that the lasers L 33a , L 33b hit both end portions 3R1 and 3R2 of the predetermined circumferential surface portion 3R. After the adjustment, fix the directions of the laser pointers 33a and 33b with a fixing screw (not shown) or the like.

[0038] As shown by the virtual line in FIG. 6, in the camera image 53, the predetermined circumferential surface portion 3R corresponds to a predetermined image range R within the camera image 53. Preferably, the predetermined image range R corresponds to the position of the image of the small-diameter side end portion 3g of the cone portion 3c when the cone length L 3c is within the desired range, within the camera image 53. More preferably, the predetermined image range R is arranged in an annular shape inside the outer peripheral portion 54 of the camera image 53. The image of the irradiation location of the laser L 33a is arranged on the inner peripheral edge (the first side end) R1 of the annular predetermined image range R. And the image of the irradiation location of the laser L 33bThe image of the irradiated area is positioned. In Figure 6, the image of the laser irradiation is projected onto the sides of each peripheral edge R1 and R2 of the circle, but it is not limited to this, and the image of the laser irradiation may also be projected onto the top or bottom. These lasers L in camera image 53 33a ,L 33b The projected image can indicate a predetermined image range R.

[0039] Specifically, in the rehabilitated tube 3, when counting the number of turns of the spiral of the rehabilitated tube 3 from the large-diameter end 3f of the cone portion 3c toward the starting side, the position with approximately 8 to 12 turns, more preferably approximately 10 turns, is defined as the second side end 3R2 of the predetermined circumferential portion 3R, and the position with approximately 18 to 22 turns, more preferably approximately 20 turns, is defined as the first side end 3R1 of the predetermined circumferential portion 3R. Therefore, the predetermined image range R in the camera image 53 is the range from the position with approximately 8 to 12 turns, more preferably approximately 10 turns, toward the position with approximately 18 to 22 turns, more preferably approximately 10 turns, when counting the number of turns of the image of the rehabilitated tube 3 toward the inside from the outer peripheral portion 54 of the camera image 53.

[0040] In short, workers A1 and A2 work together to use a laser L to position the rehabilitated pipe 3 at a location preferably with 8 to 12 turns, more preferably with 10 turns. 33b Adjust the direction of the laser pointer 33b so that it hits, and preferably position the laser L at a turn count of about 18 to 22, more preferably about 20. 33a Adjust the direction of the laser pointer 33a so that it hits the target. Note that in Figure 6, the diagram is drawn with fewer turns than the preferred number of turns (the same applies to Figures 9, 12, and 14).

[0041] <Restraint weakening process and extension process> Subsequently, as shown in Figures 1 and 4(c), the restraint weakening process and the expansion process are carried out in earnest. Specifically, the pull-in winch 24 is driven to sequentially pull in the restraint force adjustment wire 21 inside the joint 15 of the rehabilitated pipe 3 from the receiving side (second side) to the launching side (first side), thereby sequentially weakening the restraint force of the joint 15. Furthermore, the push-type pipe-making machine 8 is driven to feed the subsequent strip-shaped member 10 to the pipe end 3d of the rehabilitated pipe 3, thereby twisting the small-diameter pipe section 3a from the pipe end 3d to the small-diameter end 3g of the cone section 3c. As a result, the circumference of the weakened portion is expanded, the cone section 3c moves to the launching side (first side), and the large-diameter pipe section 3b extends towards the launching side.

[0042] <Camera position adjustment process> As shown in Figure 1, at this time, operator A1, who is in charge of operating the in-pipe camera vehicle 30, remotely controls the vehicle using the knob 41a on the remote control panel 41 while watching the monitor 51, so that the in-pipe camera vehicle 30 moves forward in accordance with the movement of the cone section 3. This ensures that the image of the cone section 3c in the camera image 53 maintains a predetermined shape (position, size, perspective, etc. in the image 53) regardless of the actual movement of the cone section 3c. Specifically, the travel speed of the vehicle 31 and, consequently the position of the in-pipe camera vehicle 30 are adjusted so that the image of the large-diameter end 3f of the cone section 3c, that is, the part where the twisting movement of the strip-shaped member 10 has stopped, is always positioned in the outer peripheral portion 54 of the camera image 53 (Figure 6) on the monitor 51.

[0043] <Pickup speed adjustment process> Simultaneously, operator A3, who is in charge of operating the wire feed and winding unit 20, adjusts the pulling speed of the restraining force adjustment wire 21 by the pull winch 24 by operating the knob 25a on the pendant-type control panel 25 while watching the monitor 52, so that the image of the pull-out section 21g in the camera image 53 is always positioned within a predetermined image range R. The pulling speed may be increased or decreased by adjusting the rotation speed of the pull winch 24, or the time-averaged pulling speed may be adjusted by turning the pull winch 24 on and off.

[0044] The actual pull-out section 21g moves spirally (like a helical spiral) along the winding direction of the rehabilitation tube 3 from the arrival side (second side) to the departure side (first side). Therefore, the image of the pull-out section 21g in the camera image 53 moves in a rotating or spiral manner from the outer edge of the screen towards the center. Thus, operator A3 uses two lasers L to control the image of the pull-out section 21g, as indicated by arrow g in Figure 6. 33a ,L 33b The retrieval speed is adjusted so that it passes between the images of the illumination points. This ensures that the image of the retrieval unit 21g fits within a predetermined image range R. Therefore, the actual retrieval unit 21g can be positioned within a predetermined circumferential portion 3R relative to the in-pipe camera vehicle 30. Consequently, the cone length L 3c It can be held at the desired size.

[0045] In this way, by having worker A1 adjust the camera position and worker A3 adjust the pull-up speed simultaneously, even with limited experience, the cone length L can be controlled during the restraint weakening and expansion processes. 3c This allows for precise management. During the period, the number of turns in the cone section 3c can be maintained at the desired number of turns (for example, around 10 to 20) without having to repeatedly count and check them. As a result, it is possible to reliably prevent the joint 15 from coming loose at the small-diameter end 3g of the cone section 3c, and to prevent insufficient adhesion of the large-diameter end 3f and, consequently, the expanded large-diameter pipe section 3b to the existing pipe 1.

[0046] This allows the cone length L to reach near the end 3d of the pipe on the starting side. 3c The expansion process can be carried out smoothly while maintaining the desired size. Near the starting end 3d of the pipe, the cone length can be omitted by performing pipe end treatment, such as pre-cutting the protrusions 14b before pipe manufacturing. In this way, the existing pipe 1 can be rehabilitated by attaching the entire area of ​​the rehabilitated pipe 3 to the inner surface of the existing pipe 1.

[0047] Next, other embodiments of the present invention will be described. In the following embodiments, components that overlap with those described above are denoted by the same reference numerals in the drawings and their descriptions are omitted. <Second Embodiment (Figures 7-9)> As shown in Figures 7 and 8, in the second embodiment of the present invention, the laser irradiator of the pipe camera vehicle 30 is configured with one line laser irradiator 35 instead of two laser pointers 33a and 33b (Figure 4). The line laser irradiator 35 has a width W in a direction perpendicular to the irradiation direction. L35 Line laser L 35 The light is irradiated. Therefore, a linear irradiation area R is formed on the inner circumferential surface of the rehabilitation tube 3. 35 It is possible.

[0048] In the range marking process, operators A1 and A2 (see Figure 1) use the line laser L 35 Linear irradiation area R 35 Adjust so that one end is positioned at the end 3R1 of the starting side (first side) of the predetermined circumferential surface portion 3R. And, irradiation area R 35 The other end is adjusted so that it is positioned at the end 3R2 on the receiving side (second side) of the predetermined circumferential surface portion 3R.

[0049] As shown in Figure 9, in the pull-up speed adjustment process, worker A3 (see Figure 1), who is in charge of pull-up, observes that the image of the pull-out section 21g in the camera image 53 is in a linear illumination region R. 35 The pulling speed of the restraint force adjustment wire 21 is adjusted so that it crosses the image. This allows the image of the pull-out section 21g to be positioned within a predetermined image range R. Consequently, the actual pull-out section 21g can be positioned in a predetermined circumferential portion 3R, and the cone length can be maintained at the desired size.

[0050] <Third Embodiment (Figures 10-12)> As shown in Figures 10 and 11, in the third embodiment of the present invention, the laser irradiator of the in-pipe camera vehicle 30 is composed of a single laser pointer 36. The laser pointer 36 is swivelable by a swivel mechanism 37.

[0051] In the range marking process, workers A1 and A2 (see Figure 1) receive a laser L from laser pointer 36. 36However, the angle at which the light is irradiated to the starting side (first side) end 3R1 of the predetermined circumferential surface portion 3R (the dashed line L in Figure 11) 36a ) and the angle at which the radiation is directed to the end portion 3R2 on the receiving side (second side) of the predetermined peripheral surface portion 3R (the dashed line L in Figure 11) 36b The laser pointer 36 is made to oscillate back and forth between the two points by the oscillating mechanism 37.

[0052] As shown in Figure 12, in the pull-up speed adjustment process, worker A3 (see Figure 1) in charge of pull-up sees the image of the pull-out section 21g in the camera image 53 as laser L 36 The reciprocating movement portion R of the image at the irradiated area. 36 The retrieval speed is adjusted so that it crosses the curve. This allows the image of the retrieval unit 21g to be positioned within a predetermined image range R. Consequently, the actual retrieval unit 21g can be positioned within a predetermined peripheral surface portion 3R, and the cone length can be maintained at the desired size.

[0053] <Fourth Embodiment (Figures 13-14)> As shown in Figure 13, in the fourth embodiment of the present invention, the in-pipe camera vehicle 30 is not equipped with a laser irradiator. Instead, an image processing means 38 is attached to the camera 32. As shown in Figure 14, the image processing means 38 has the function of displaying, for example, arrow-shaped marks 39a, 39b, etc., at fixed points in the camera image 53.

[0054] As shown in Figure 14, in the range marking process, operator A2 (see Figure 1) in charge of the in-pipe camera vehicle 30 operates the video processing means 38 in accordance with the instructions of operator A1 (see Figure 1) in charge of the monitor 51, adjusting the first mark 39a to mark the first end 3R1 of the predetermined video range 3R. Furthermore, the second mark 39b is adjusted to mark the reachable end 3R2 of the predetermined video range 3R. In the pull-out speed adjustment process, the worker A3 (see Figure 1) responsible for pull-out adjusts the pull-out speed so that the image of the pull-out section 21g in the camera image 53 crosses between the first mark 39a and the second mark 39b. This allows the image of the pull-out section 21g to be positioned within a predetermined image range R. Consequently, the actual pull-out section 21g can be positioned in a predetermined peripheral portion 3R, and the cone length can be maintained at the desired size.

[0055] <Fifth Embodiment (Figure 15)> In the camera position adjustment step, it is sufficient to ensure that the image of the cone portion 3c maintains a predetermined shape (position, size, perspective, etc., within the camera image 53), and it is not necessary for the entire circumference of the cone portion 3c to be contained within the camera image 53. For example, as shown in Figure 15, the camera image may be biased to one side of the rehabilitation tube 3, or it may be a camera image that only shows a portion of the cone portion 3c in the circumferential direction. In this case, in the camera position adjustment step, the image of the portion of the cone portion 3c in the circumferential direction maintains its shape (position, size, perspective, etc.). In the range indication step, a preferred arrangement range of the image of the small-diameter end portion 3g of the portion of the cone portion 3c in the circumferential direction is indicated as a predetermined image range R. The means for indicating the predetermined image range R in Figure 15 is a laser L similar to that of the first embodiment (Figure 6). 33a ,L 33b However, the line laser L in the second embodiment (Figure 9) 35 However, the swivel laser L of the third embodiment (Figure 12) 36 However, the video processing means 38 of the fourth embodiment (Figure 14) may also be used.

[0056] The present invention is not limited to the embodiments described above, and various modifications can be made without departing from its spirit. For example, as a modification of the first to third embodiments, the laser may be irradiated over the entire circumference of the circular ends 3R1 and 3R2 of the predetermined circumferential surface portion 3R. As a modification of the fourth embodiment, the entire circumference of a predetermined annular video range 3R may be marked by the video processing means 38. The means for indicating the predetermined video range R may be a marker sticker. The marker sticker should be affixed to two locations on the inner surface of the rehabilitation tube 3 (for example, on two circles 3R1 and 3R2) to indicate the predetermined video range R. [Industrial applicability]

[0057] This invention can be applied, for example, to the rehabilitation of aging sewer pipes. [Explanation of symbols]

[0058] 1 Existing pipe 1d Pipe opening on the starting side (first side) 1e The pipe opening on the receiving side (second side) 3 Rehabilitation pipe 3a Small diameter pipe section 3b Large diameter pipe section 3b' The part where the restraint force adjustment wire is pulled out (the part where the restraint is weakened) 3c Cone section L 3c Cone length 3d End of the pipe on the starting side (first side) 3e The end of the pipe on the receiving side (second side) 3f Large diameter side end 3g Small diameter end 3R Specified peripheral surface area End of the starting side (first side) of the predetermined circumferential surface portion of 3R1 3R2 End portion of the predetermined circumferential surface on the receiving side (second side) 8. Push-type pipe making machine 10. Strip-shaped member (profile) 13,14 Fitting portion (adjacent edge portion) 15 Joint 20 Wire feed and winding unit 21 Restraint force adjustment wire 21g drawer 24. Pickup winch 25. Pendant-type control panel (with pull-out control means) 30 In-district camera vehicles 31. Running body 32 cameras R 32 Camera field of view 33 Laser irradiation machine 33a First Laser Pointer L 33a First laser 33b Second Laser Pointer L 33b Second laser 35-line laser irradiation machine (laser irradiation machine) R 35 Linear irradiation area L 35 Line laser 36. Laser Pointer (Laser Projector) 37. Swivel Mechanism 38 Image processing means 39a Mark 1 39b Mark 2 L 36 laser R 36 Reciprocating part 41 Remote control panel 51, 52 Monitors 53 Camera footage 54 Outer area R predetermined video range R1 Inner edge of the predetermined video range (end on the first side) R2 Outer edge of the predetermined video range (second side end) A1: Worker in charge of adjusting camera position A2 Worker in charge of marking the range A3 Worker in charge of adjusting pickup speed

Claims

1. A pipe manufacturing process involves winding a strip-shaped member in a spiral shape and joining adjacent edges that are offset by one full turn to form a spiral-shaped rehabilitated pipe, which is then manufactured to a diameter smaller than the inner diameter of the existing pipe and installed inside the existing pipe. A restraint weakening step is performed by sequentially pulling back a restraint force adjustment wire, which has been interposed at the joint between adjacent edge portions of the rehabilitation pipe, from the second side in the pipe axis direction toward the first side, thereby weakening the restraint force between the adjacent edge portions. An expansion step of twisting the first end of the rehabilitation pipe to expand the circumference of the weakened portion of the rehabilitation pipe, A cone length management method for managing the axial length of a cone section that expands from an unexpanded small-diameter pipe section to an expanded large-diameter pipe section in an existing pipe rehabilitation construction, including the restraint weakening step and the expansion step, A camera position adjustment step involves arranging a mobile body equipped with a camera inside the large-diameter pipe section and adjusting the position of the mobile body and, consequently, the camera, so that the image of the cone section in the camera image captured by the camera maintains a predetermined shape. A range marking step for marking a predetermined image range in the camera image, A pull-up speed adjustment step adjusts the pull-up speed in the restraint weakening step so that the image of the part of the restraint force adjustment wire that is pulled into the rehabilitation tube is positioned within the predetermined image range in the camera image. A method for managing the cone length in the rehabilitation work of existing pipes, characterized by comprising the following:

2. The cone length management method according to claim 1, wherein in the range marking step, a laser is irradiated from a laser irradiator provided on the traveling body to a predetermined circumferential portion of the inner circumferential surface of the rehabilitation pipe corresponding to the predetermined image range.

3. The cone length control method according to claim 2, wherein, as the laser from the laser irradiator, a first laser is irradiated to the first end of the predetermined circumferential portion, and a second laser is irradiated to the second end of the predetermined circumferential portion.

4. The cone length management method according to claim 2, wherein a line laser is irradiated from the laser irradiator, and one end of the linear irradiation area of ​​the line laser is located at the first end of the predetermined circumferential portion, and the other end of the irradiation area is located at the second end of the predetermined circumferential portion.

5. The cone length management method according to claim 2, wherein the laser irradiator is oscillated by a oscillating mechanism so that the laser irradiates back and forth between an angle at which the laser is irradiated to the first end of the predetermined circumferential surface portion and an angle at which the laser is irradiated to the second end of the predetermined circumferential surface portion.

6. The cone length management method according to claim 1, wherein a first mark indicating the first end of the predetermined video range and a second mark indicating the second end of the predetermined video range are displayed on the camera image by a video processing means.

7. The cone length management method according to any one of claims 1 to 6, wherein in the camera position adjustment step, the position of the traveling body and, consequently the camera, is adjusted so that the image of the large-diameter end of the cone portion is positioned on the outer periphery of the camera image.

8. The cone length management method according to claim 7, wherein the predetermined image range is the range from the position of turn number 8 to 12 to the position of turn number 18 to 22 when the number of turns of the image of the rehabilitation tube is counted from the outer peripheral portion of the camera image toward the inside.

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