Patent Application
20200063906
The present invention relates to a drilling apparatus and drilling method in which a pipe lining material that blocks a lateral pipe opening is drilled from the main pipe side.
When an existing pipe such as a sewer pipe buried underground has deteriorated, a lining method has been conventionally known in which the existing pipe is lined with a pipe lining material. The pipe lining material includes a resin absorbing material that is made of a flexible tubular non-woven fabric having a shape corresponding to that of the existing pipe and is impregnated with an uncured liquid setting resin. The resin absorbing material is coated at its external peripheral surface with a highly airtight plastic film. The pipe lining material is inserted into the existing pipe by means of an eversion or pull-in method. The pipe lining material is pressed against the internal circumferential surface of the existing pipe, and the liquid setting resin is heated and cured to carry out the lining.
Since a lateral pipe communicates with a main pipe such as a sewer pipe, the pipe lining material blocks the opening at the end of the juncture of the lateral pipe when the main pipe is lined with the pipe lining material. Therefore, a work robot provided with a drilling machine and a TV camera is transported into the main pipe and operated remotely from aboveground. While monitoring an image taken with the TV camera, an operator positions the rotation center of the cutter (drilling blade) of the drilling machine to the center of the lateral pipe opening, and drills the pipe lining material at the lateral pipe opening from the main pipe side.
However, in this work, the cutter of the drilling machine must be positioned respectively in the longitudinal direction and in the circumferential direction of the main pipe. This is accomplished while monitoring the main pipe interior with the TV camera. However, since there is no marker in the main pipe interior, there are cases in which mistakes are made in positioning.
As a countermeasure, the following Patent Document 1 discloses an arrangement in which a plurality of laser beam emitters each emitting a laser beam toward the direction of the drilling cutter is provided in symmetrical positions about the rotation center of the cutter to emit a laser beam toward the pipe lining material at the lateral pipe opening at the time of drilling in order to position the cutter.
Furthermore, various methods of positioning the cutter are known. For example, the following Patent Document 2 describes an arrangement in which a marker is provided in advance at the center of the lateral pipe opening or at a position corresponding thereto and, after lining the main pipe, the marker position is detected by a sensor to determine the center of the lateral pipe opening and perform the cutter positioning.
Patent Document 1: JP 2000-97388 A
Patent Document 2: JP 1995-88915 B
At the time of drilling, illumination light from the side of the lateral pipe passes through the pipe lining material that blocks the lateral pipe opening. This causes a bright area corresponding to the lateral pipe opening to be formed at the inner circumferential surface of the pipe lining material of the main pipe. In the arrangement in Patent Document 1, the laser beam emitters are arranged so as to be immovable relative to the cutter, so that the position of the laser beam at the pipe lining material that is emitted toward the pipe lining material doesn't change even if the cutter rotates. Therefore, the operator can only observe a state in which multiple bright spots are discrete and do not move near the bright area.
The positioning of the cutter is accomplished such that the rotation center of the cutter coincides with the center of the bright area that corresponds to the lateral pipe opening. Therefore, the rotation center of the cutter is estimated at the time of drilling from the above-mentioned multiple bright spot positions and the center of the bright area is also estimated by observation. This makes the positioning to be inaccurate, causing a problem that it was difficult to perform efficient drilling.
In the arrangement in Patent Document 2, the positioning accuracy of the cutter depends on the mounting accuracy of the marker. Positioning errors further occur when the cutter is moved to the detected drilling position, and this may not always result in the desired drilling. It is difficult to detect the mounting errors of the marker and the positioning errors of the cutter. In the case of drilling performed on the premise that there are no such errors, there would be a problem that accurate drilling cannot be guaranteed.
It is therefore an object of the present invention to solve such problems and provide a drilling apparatus and a drilling method being capable of efficiently and without drilling errors cutting the pipe lining material that blocks the lateral pipe opening.
The present invention relates to a drilling apparatus in which a pipe lining material that blocks a lateral pipe opening is drilled from the main pipe side by rotating a drilling blade comprising:
a robot that moves in the pipe-length direction inside the main pipe;
a drilling blade mounted on the robot;
a motor for rotating the drilling blade;
a laser light source disposed in the vicinity of the drilling blade for emitting a laser beam parallel to the rotary shaft of the drilling blade to form a laser spot on the inner circumferential surface of the pipe lining material;
a camera mounted on the robot for photographing a trajectory of the laser spot that is drawn on the inner circumferential surface of the pipe lining material by rotating the laser light source coaxially with the rotary shaft of the drilling blade, and a bright area corresponding to the lateral pipe opening that is formed on the inner circumferential surface of the pipe lining material by illumination light from the lateral pipe side; and
positioning means for positioning the drilling blade so that the trajectory image of the laser spot photographed by the camera matches the bright area image corresponding to the lateral pipe opening.
The present invention further relates to a drilling method in which a pipe lining material that blocks a lateral pipe opening is drilled from the main pipe side by rotating a drilling blade comprising:
illuminating the lateral pipe opening from the lateral pipe side;
emitting a laser beam from a laser light source toward the pipe lining material in a direction parallel to the rotary shaft of the drilling blade from a position near the drilling blade to form a laser spot on the inner circumferential surface of the pipe lining material;
moving the drilling blade to the position of a bright area corresponding to the lateral pipe opening that is formed on the inner circumferential surface of the pipe lining material by illumination light from the lateral pipe side while rotating the laser light source coaxially with the rotary shaft of the drilling blade;
photographing the trajectory of the laser spot that is drawn on the inner circumferential surface of the pipe lining material in accordance with rotation of the laser light source and the bright area corresponding to the lateral pipe opening; and
drilling by positioning the drilling blade so that the trajectory image of the photographed laser spot matches the bright area image corresponding to the lateral pipe opening.
In the present invention, the laser spot formed on the inner circumferential surface of the pipe lining material rotates thereon around the rotary shaft of the drilling blade and moves along a portion where the drilling blade actually cuts the pipe lining material. The rotating laser spot and the bright area corresponding to the lateral pipe opening are photographed, and the drilling blade is positioned so that the trajectory image of the photographed laser spot matches the bright area image. This allows the drilling blade to be accurately moved to the position of the lateral pipe opening, making possible efficient drilling with few drilling errors.
The present embodiments according to the present invention will now be described with reference to the attached drawings. The embodiments are described for a case in which a sewer main pipe is illustrated as an existing pipe, and, after lining the sewer pipe with a pipe lining material, a lateral pipe opening blocked by the pipe lining material is drilled through. However, the present embodiments can be applied not only for the sewer pipe, but also for other pipelines whose openings are blocked after lining by the pipe lining material and are drilled through.
A plurality of lateral pipes 12 branch off from the main pipe 11, and sewage from homes or buildings is discharged into the main pipe 11 through the lateral pipes 12. Once the main pipe 11 is lined with the pipe lining material 13, the lateral pipe 12 which remained open at an opening 12a is blocked by the pipe lining material 13, as shown in
The drilling apparatus 20 includes a robot 21 with four wheels 21a, 21b (two other wheels invisible in
A mount 25 is fixed to the piston rod of the hydraulic cylinder 24. The mount 25 and a support plate 26 fixed thereto move up and down when the hydraulic cylinder 24 is driven. A hydraulic motor 27 is fixed to the support plate 26 and has an output shaft 27a (
A work truck 14 is provided with a console (not shown) on which operation devices such as various kinds of switches, operation buttons, joystick and the like are arranged to move the drilling blade 30 in the longitudinal and/or circumferential directions of the main pipe. The electric motors 22, 23, the hydraulic cylinder 24, the hydraulic motor 27, the electric motor 28 and the like are driven and controlled by operations on the console via power lines and date lines inside a cable pipe. The hydraulic system for the hydraulic cylinder 24 and the hydraulic motor 27 is not shown.
A camera 50 with a built-in image sensor made of CCD or CMOS is obliquely upward mounted on the upper portion of the robot 21 and at the center thereof as viewed in the circumferential direction of the main pipe in order to photograph the inside of the main pipe. The camera 50 has its photographing optical axis directed upward so that the trajectory image of the laser spots by the laser beams from the laser sources 40, 41 may be displayed substantially at the center of screen of a display 60 (
The robot 21 is equipped at the top with a bracing member 51, which is lifted against the upper surface of the pipe lining material 13 in order to stabilize the robot 21 during drilling.
When drilling the pipe lining material 13, a lighting lamp 52 is introduced from the ground into the lateral pipe 12, and is lit by a power supply 54 above the ground via a power supply line 53 to illuminate from the top the pipe lining material 13 that blocks the lateral pipe opening 12a.
Since the pipe lining material 13 is made of a non-woven fabric, illumination light transmits through the pipe lining material 13 even if the resin impregnated therein is cured. When viewing the transmitted light from the interior of the main pipe 11, it can be observed as a bright area 55 that is curved corresponding to the inner surface of the main pipe 11, as shown in
A ring 31 is fixed to the output shaft 27a of the hydraulic motor 27 and a gear 32 rotatably attached to the output shaft 27a of the hydraulic motor 27 is provided in a sitting manner at the upper portion thereof. The gear 32 meshes with a pinion gear 33 of the electric motor 28 that is mounted on a mount base 29 of the hydraulic motor 27. When the electric motor 28 is driven, the gear 32 rotates coaxially with the rotary shaft of the drilling blade 30, that is, the output shaft 27a of the hydraulic motor 27. A holding plate 35 is fixed to the surface of the gear 32 opposite the ring 31. As shown in
A hole 35a that is formed at the center of the holding plate 35 is set to have a diameter that allows the output shaft 27a of the hydraulic motor 27 to pass therethrough. The electric motor 28 is driven to rotate the laser light sources 40, 41 held on the holding plate 35 coaxially with the rotary shaft of the drilling blade 30 independently of the drive of the hydraulic motor 27, i.e., independently of rotation of the drilling blade 30.
The laser light sources 40, 41, for example, emit the red or green laser beams 40a, 41a and are driven by a battery mounted on the holding plate 35 or a built-in battery.
The diameter d1 of the drilling blade 30 is, as shown in
When the laser beams 40a, 41a emitted from the laser light sources 40, 41 are projected on the pipe lining material 13, small-diameter laser spots 40b, 41b that correspond to the cross section of the laser beams 40a, 41a are formed on the inner circumferential surface of the pipe lining material 13, as shown in
In such an arrangement, the drilling apparatus 20 is transported through the manhole 16 into the main pipe 11 that is lined with the pipe lining material 13 and is moved toward the lateral pipe opening 12a inside the main pipe 11 by driving the electric motor 22. When the laser light sources 40, 41 are activated and the electric motor 28 is driven, the laser spots 40b, 41b formed by the laser beams 40a, 41a rotate with a trajectory 44 around the rotary shaft of the drilling blade 30 on the inner circumferential surface of the pipe lining material 13, as shown in
It is now assumed that the drilling apparatus 20 moves forward inside the main pipe 11 in a normal posture at an angle where the rotary shaft of the drilling blade 30 is vertical. The camera 50 captures obliquely from below as videos the laser spots 40b, 41b rotating in accordance with rotation of the laser light sources 40, 41 and the bright area 55 corresponding to the lateral pipe opening. As shown in the upper part of
The pipe lining material 13 is made of non-woven fabric. Therefore, when the laser beams 40a, 41a are projected on the pipe lining material 13, the laser spots 40b, 41b diffuse to diameters larger than those corresponding to the cross-sectional areas of the laser beams 40a, 41a and thus have diameters larger than the actual cross-sectional areas thereof. This makes the captured trajectory image unclear. Therefore, the images are processed to find the centers of the diffused spots, which are then combined to provide and display a trajectory image 44′. The bright area 55 corresponding to the lateral pipe opening also has a blurred outline because illumination light diffuses. Therefore, the bright area images shown in the following are also processed such that the captured bright area images have clear outlines.
When the drilling apparatus 20 reaches the vicinity of the lateral pipe opening 12a, the camera 50 can take the bright area 55 and the image 55′ thereof can be displayed at the lower screen portion on the display 60. Since the bright area 55 and the trajectory 44 of the laser spots are photographed obliquely from blow, the bright area image 55′ indicated by the solid line and the trajectory image 44′ indicated by the two-dot chain line are each displayed as a curved ellipse image.
As the drilling apparatus 20 further advances, the bright area image 55′ moves while expanding from below to above, although the trajectory image 44′ remains unchanged at the screen position. When the bright area image 55′ and the trajectory images 44′ are matched and the bright area image 55′ includes the trajectory image 44′ therein as shown in the lower part of
Since the lateral pipe 12 obliquely intersects with the main pipe 11, the bright area image 55′ shapes into an ellipse curved with the curvature of the main pipe and is further away from the trajectory image 44′ in the upper portion 55a′ than in the lower portion 55b′, as shown in the lower part of
In this state, the hydraulic cylinder 24 is driven to move drilling blade 30 upward and the hydraulic cylinder 27 is driven to rotate the drilling blade 30. The bracing member 51 is then lifted against the pipe lining material 13 in order to stabilize the drilling apparatus. The drilling blade 30 rotates along the movement trajectory 44 of the laser spots 40b, 41b inside thereof to cut the portion of the pipe lining material that blocks the lateral pipe opening 12a. Since the bright area image 55′ and the trajectory image 44′ are matched, the drilling blade 30 cuts only the portion of the pipe lining material inside the bright area 55 and it is possible to prevent the drilling blade 30 from cutting off the portion of the pipe lining material 13 outside the bright area 55, that is, from cutting off the portion of the pipe lining material 13 beyond the lateral pipe opening 12a.
The drilling apparatus 20 does not necessarily approach the lateral pipe opening 12a in a correct posture, and is assumed to be rotated by Δθ (rolling) in the clockwise direction about the pipe axis 11a as viewed in the forward direction, for example. In this case, when the drilling apparatus 20 approaches the lateral pipe opening 12a, the trajectory image 44′ of the laser spots is displayed almost at the center of the screen of the display 60 as shown in the upper part of
When the drilling apparatus 20 further moves forward and the bright area image 55′ and the trajectory image 44′ are displayed at substantially the center of the screen as shown in the middle part of
In this state, the hydraulic cylinder 24 is driven to move the drilling blade 30 upward, and the hydraulic motor 27 is driven to rotate the drilling blade 30 to cut the pipe lining material 13 that blocks the lateral pipe opening 12a. As in the case of the correct posture described above, the drilling blade 30 cuts the pipe lining material inside the movement trajectory 44 of the laser spots 40b and 41b, so that the intended drilling can be performed.
The drilling apparatus 20 may move to the drilling position in a complicated posture as well as roll about the pipe axis 11a as described above. Even in this case, the operation button or the joystick can be operated to move the drilling blade 30 in the pipe-length direction and in the circumferential direction to thereby match the bright area image 55′ with the trajectory image 44′. A part of the bright area image 55′ may protrude from the screen of the display 60 or matching cannot be performed within the allowable error range. In this case, the drilling apparatus 20 is moved backward once and the above-described operation can be performed.
The bright area image 55′ and the trajectory image 44′ can be matched in various ways other than aligning both the images first in the pipe-length direction of the main pipe and then in the circumferential direction thereof as shown in
Thus, the movement trajectory obtained when the laser spots rotate around the rotary shaft of the drilling blade approximately indicates a portion where the drilling blade actually cuts the pipe lining material. Since the drilling blade is positioned so that the trajectory image of the laser spots matches the bright area image corresponding to the lateral pipe opening, the drilling blade can be accurately moved to the position of the lateral pipe opening, allowing efficient drilling with few drilling errors.
In the above-described embodiment, two laser light sources are provided 180 degrees apart in the circumferential direction of the drilling blade 30, but only one laser light source 40 may be provided as shown in
Conversely, a plurality of three or more laser light sources, for example, four laser light sources may be arranged at equiangular intervals of 90 degrees as shown in
In order to grantee that the movement trajectory 44 of the laser spots 40b, 41b accurately indicate a portion where the drilling blade actually cuts the pipe lining material, it is preferable that laser beams 40a, 41a are, as shown in
In
Since the radial distance of the laser light sources 40 and 41 relative to the drilling blade 30 can thus be adjusted, the laser light sources 40 and 41 can be disposed close to the limit where the laser beams 40a and 41a are not blocked by the drilling blade. As a result, the movement trajectory of the laser spots 40b and 41b accurately indicates the portion where the drilling blade actually cuts the pipe lining material. The laser light sources 40 and 41 can be disposed so that the laser beams 40a and 41a are projected on the outline of the bright area 55 corresponding to the lateral pipe opening or close to the inside thereof. This prevents the pipe lining material from being cut beyond the lateral pipe opening by the drilling blade and the lateral pipe opening from being damaged. After adjusting the positions of the laser light sources 40 and 41, the guide rails 72 to 75 and the slide plates 70 and 71 are tightened with bolts (not shown) to prevent the laser light sources 40 and 41 from moving.
In the above-mentioned embodiment, the hydraulic motor 27 for rotating the drilling blade 30 is made independent of the electric motor 28 for rotating the laser light sources 40, 41, 46, 47 in order to rotate the laser light sources independently of the drilling blade. However, the laser light sources and the drilling blade may be rotated simultaneously (or synchronously). In this case, the holding plate 35 is fixed to the output shaft 27a of the hydraulic motor 27, and the electric motor 28, the pinion gear 33, the gear 32, and the ring 31 are removed, as shown in
As shown in
The hydraulic motor 27 can be an electric motor, and the electric motor 28 can be a hydraulic motor.
In the above-described embodiment, the drilling blade 30 is a hole saw having a cylindrical shape and having a bit at the upper end, but may be a hole saw having a center drill at the center. Further, it may be a drilling blade having a cylindrical shape and having a bit on the peripheral surface, or a conical hole saw having a bit on the peripheral surface.
The camera 50 is preferably capable of wide-angle photographing, and its mounting position is not limited to the robot 21, but a position where an image as shown in
In the above-described embodiments, the pipe lining material is a visible light transmissive lining material. However, there are lining materials that are so thick that observing clear bright area is made difficult or lining materials made of materials such as vinyl chloride that do not transmit light. Even in such a case, the trajectory of the laser spot drawn on the inner circumferential surface of the pipe lining material indicates which part of the pipe lining material is drilled by what size. This would be useful for drilling the pipe lining material.
In Embodiment 1, the drilling blade was manually moved in the pipe-length direction or in the circumferential direction to match the trajectory image of the laser spot with the bright area image of the lateral pipe opening.
In
The controller 80 receives commands from the computer 81 and other Web clients, drives the electric motors 22, 23, the hydraulic cylinder 24, the hydraulic motor 27 and the electric motor 28, and operates the camera 50. Since the electric motors 22, 23 are provided with a rotary encoder, the number of rotations (rotational speed) of the electric motors 22 and 23 is input to the controller 80, and photographed image data is also input thereto from the camera 50.
The computer 81 includes a CPU for performing operations and controls, a ROM 81a for storing basic programs, a RAM 81b for storing work data, processing data, a control program according to the present invention and the like, and an image processing unit 81c for processing images taken by the camera 50. The computer 81 is mounted on the work truck 14 and can issue various commands. Connected to the computer 81 are a keyboard 82 as an operation device, a mouse 83, a storage device 84 for storing a control program, and a display 60 for displaying a photographed image from the camera 50 or an image processed by the image processing unit 81c.
The controller 80 and the computer 81 are respectively provided with a communication function and are connected to the router 85 wirelessly via communication interfaces 80c and 81d to constitute a LAN. Since the router 85 is connected to the Internet 86, the controller 80 and the computer 81 can not only communicate with each other for data transmission, but also access an external server 87 connected to the Internet 86 to acquire the data stored therein, or to store the data acquired by the controller 80 or the computer 81 to the server 87.
So-called IoT (Internet of Things) that can control the controller 80 and the computer 81 from the server 87 can also be provided. The controller 80 can function as a Web server, and devices connected to the controller 80 can also be controlled using a Web browser.
The router 85 is disposed in the work truck 14 or at the bottom of the manhole 16, but when wireless communication is difficult, a router can be added or a repeater can be installed in the main pipe. Lan cables can also be used for wired communication to connect the router 85 to the controller 80 and the computer 81 and connect the controller 80 to the computer 81.
With such a configuration, the drilling blade 30 is positioned using the controller 80 by a control program stored in the computer 81. This positioning flow is illustrated in
The robot 21 is first carried into the main pipe 11 from the manhole 16. The laser light sources 40, 41 are then turned on and rotated (step S1) and the robot 21 is moved forward (step S2). As the laser light sources 40 and 41 rotate, a movement trajectory 44 by the laser spots 40b and 41b is drawn on the inner circumferential surface of the pipe lining material 13 and is photographed by the camera 50. The captured image is transmitted to the computer 81, stored in the RAM 81b and displayed on the display 60 as videos.
Since the pipe lining material 13 diffuses the projected laser spot, its diameter becomes larger than the diameter corresponding to the cross-sectional area of the laser beam. The image processing unit 81c captures the laser spot image at a predetermined sampling speed and extracts the center pixel of the spot image. After the laser spots 40b and 41b have rotated, for example, once, the image processing unit 81c connects the extracted central pixels to create the trajectory image 44′ of the laser spots in the image area of the RAM 81b as shown in the upper part of
When the robot 21 approaches the lateral pipe opening 12a, the camera 50 photographs the bright area 55 to capture the leading portion of the bright area image 55′ into the image area of the RAM 81b. The image processing unit 81c performs line scanning to detect the bright area image 55′ in the lower part. At this time, it is determined that the bright area 55 has been photographed (Yes in step S3), and the robot 21 is caused to stop (step S4). In step S4, the tip x-coordinate value x1 of the bright area image 55′ and the tip x-coordinate value x2 of the trajectory image 44′ at the time the robot 21 is stopped are acquired to calculate the shift amount (x1-2).
This shift amount is a negative value, which indicates that the robot 21 is rolled clockwise about the pipe axis 11a, so that the drilling blade 30 is turned counterclockwise about the rotary shaft 23a of the electric motor 23 by an angle corresponding to the shift amount (x1-2) (step S5). Once the drilling blade 30 is turned, the trajectory image 44′ is created in which the tip has moved to x1 from the photographed image, as shown in the second row of
Subsequently, the robot 21 is moved forward by a small distance at a low speed, and the robot 21 is stopped (step S6). The front end y-coordinate value y1 and the rear end y-coordinate value y4 at x1 of the bright area image 55′ captured when the robot is stopped are acquired, and the front end y-coordinate value y2 and the rear end y-coordinate value y3 at x1 of the trajectory image 44′ are also acquired. The bright area image 55′ enlarges as the robot 21 advances, and the leading end of the bright area image 55′ exceeds the leading end of the trajectory image 44′ to become yl>y2 as shown in the lower part of
When y1>y2, the trajectory image 44′ is positioned inside the bright area image 55′, so that the distance (y1-y2) at the front end between the bright area image 55′ and the trajectory image 44′ and the distance (y3-y4) at the rear end therebetween are acquired. The processes in steps S6 to S8 are repeated until the distances are the same. However, the photographing optical axis of the camera 50 is tilted, so that the distance (y3-y4) between the two images on the far side as viewed in the traveling direction is shorter than the distance (y1-y2) on the near side even if the actual distances are the same. Therefore, corrections are correspondingly made for distance comparison.
As described above, the bright area 55 formed on the inner circumferential surface of the pipe lining material diffuses when the illumination light from the lateral pipe side passes through the pipe lining material, so that its contour becomes unclear. In addition, there are cases where the lateral opening is damaged, or dirt accumulates to make the outline of the bright area 55 distorted or lost. For this, the image processing unit 81c performs contour extraction processing by a known method to clarify the contour of the bright area image and correct the distorted contour. If the contour is missing, the complemented image is stored as a bright area image 55′ for comparison with the trajectory image 44′.
If it is determined that the distances at the front and rear ends between the bright area image 55′ and the trajectory image 44′ are equal (Yes in step S8), the robot 21 is stopped (step S9). Note that there is a possibility that the rear end of the bright area image 55′ exceeds the rear end of the trajectory image 44′ to become y4>y3. In this case, the robot is moved backward in step S6 by a small distance for determination in step S8. In this way, the trajectory image 44′ matches the bright area image 55′, and the drilling blade 30 is positioned in the pipe-length direction and in the circumferential direction, so that the process proceeds to step 12 to allow drilling to start, as shown by the phantom line.
However, at the time of positioning in the pipe-length direction, the robot 21 repeatedly moves and stops several times in the pipe-length direction (step S6). This may cause the posture of the robot 21 to change. Furthermore, there is a possibility that the positioning is inaccurate when positioning in the circumferential direction in step S5.
Accordingly, in the state where the positioning in the pipe-length direction is completed as shown in the lower part of
In order to finely position the drilling blade 30, an operation panel 90 provided with operation buttons 90a to 90d may be connected to the computer 81 as shown in
Each time the operation buttons 90a to 90d are pressed, the drilling blade 30 moves by a minute amount Δ in the corresponding direction. This allows the positions of the drilling blade 30 in circumferential and the pipe-length directions to be finely adjusted, making it possible to accurately match the bright area image and the trajectory image.
In the above-described embodiment, the bright area image 55′ and the trajectory image 44′ are first aligned in the circumferential direction and then both images are aligned in the pipe axis direction of the main tube. Both the images may be aligned first in the pipe-length direction and then in the circumferential direction.
The movement of the robot 21 in the pipe-length direction and the turning of the drilling blade 30 are performed by the electric motors 22 and 23 having a rotational position sensor such as a rotary encoder, so that the positioning accuracy can be improved.
Thus, in Embodiment 2, the drilling blade 30 is positioned with high accuracy in the pipe-length direction and in the circumferential direction so that the trajectory image 44′ may match the bright area image 55′ by program control. This allows efficient drilling with few drilling errors.
In Embodiment 2, the drilling apparatus is connected to the Internet, so that it is possible to control the drilling from an external server, or it is possible to store data such as a drilling location, a drilling supplier and a drilling date in the server 87 with a drilling image attached thereto. This helps for repairs and maintenance at a later date.
In Embodiment 2, as in Embodiment 1, one or a plurality of three or more laser light sources can be used, and the radial distance of each laser light source from the rotary shaft of the drilling blade can also be adjusted. Furthermore, the rotation of the laser light source is made independent of the rotation of the drilling blade, but it can also be rotated simultaneously.
As in Embodiment 1, the laser light source can be detachably attached to the outer circumferential surface or inner circumferential surface of the drilling blade via a magnet or the like. Various drilling blades as described in Embodiment 1 can also be used.
11 main pipe
12 lateral pipe
12
a lateral pipe opening
13 pipe lining material
14 work truck
15 cable pipe
16 manhole
20 drilling apparatus
21 robot
22, 23 electric motor
24 hydraulic cylinder
27 hydraulic motor
28 electric motor
29 mount base
30 drilling blade
35, 36 holding plate
40, 41, 46, 47 laser light source
40
a, 41a laser beam
40
b, 41b laser spot
42, 43, 48, 49 holding bracket
44 movement trajectory of laser spot
44′ trajectory image
45 counterbalance
50 camera
51 bracing member
52 lighting lamp
55 bright area
55′ bright area image
60 display
62, 63 magnet
70, 71 slide plate
72 to 75 guide rail
80 controller
81 computer
| Number | Date | Country | Kind |
|---|---|---|---|
| 2017-050336 | Mar 2017 | JP | national |
| 2017-086686 | Apr 2017 | JP | national |
| Filing Document | Filing Date | Country | Kind |
|---|---|---|---|
| PCT/JP2018/006169 | 2/21/2018 | WO | 00 |
