JP2012036921A - Device and method for repairing buried pipe - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a device and method for repairing a buried pipe that repair deformation of the buried pipe, in response to calculated deformation, curvature, bending, and the like of the buried pipe, without digging up the buried pipe or a worker entering the inside of the buried pipe.SOLUTION: The device 1 for repairing the buried pipe includes: a body 3 which is movable in the buried pipe 2 buried in the ground; a boring unit 4 which bores a first through-hole 7 at a predetermined position and a second through-hole 8 at a position different from that of the first through-hole 7, within a repairing region of the buried pipe 2; a removing unit 5 which removes the earth and sand of the periphery of the first through-hole 7 corresponding to the external of the buried pipe 2, through the first through-hole 7; and an injecting unit 6 which injects an expanding agent to the periphery of the second through-hole 8 corresponding to the external of the buried pipe 2, through the second through-hole 8.

Description

  The present invention relates to a buried pipe repairing device and a buried pipe repairing method that can calculate the shape of a buried pipe buried in the ground and automatically repair the buried pipe that is deformed or curved without being dug up.

  Many buried pipes such as water pipes and sewage pipes are buried underground in Japan and other countries. These buried pipes are often affected by aging, natural disasters such as earthquakes, and man-made disasters caused by construction vibration, and the shape of the buried pipes is often changed. For example, the buried pipe is bent, bent, or deformed. In this way, if the shape of the buried pipe is changed, the flow of clean water or sewage is adversely affected, or a failure due to water leakage occurs.

  On the other hand, since the buried pipe is buried in the ground, it is extremely difficult to confirm its state from the ground. Of course, excavating and checking the buried pipe requires a lot of labor and is not a realistic method.

  For this reason, it has been required to accurately calculate the shape of the buried pipe without digging out the buried pipe. Since the shape of the buried pipe can be calculated, problems in the buried pipe can be confirmed at an early stage, and necessary repairs and replacements can be performed. As a result, it is possible to prevent a disaster caused by a buried pipe failure.

  Various techniques have been proposed to calculate the shape of the buried pipe (see, for example, Patent Document 1, Patent Document 2, Patent Document 3, Patent Document 4, Patent Document 5, and Patent Document 6). .

  On the other hand, deformation and bending of the buried pipe are detected by calculating the shape of the buried pipe. When such a buried pipe is deformed or curved, repair or repair is necessary. This is because the deformation may cause problems such as poor fluidity and mobility inside the buried pipe, and oil that passes through the buried pipe leaks into the ground.

  However, it is difficult for an operator to enter a buried pipe buried in the ground and perform repair or repair work. For this reason, a technique for repairing the buried pipe by inserting a special device into the buried pipe buried in the ground has been proposed (see, for example, Patent Document 7, Patent Document 8, and Patent Document 9).

JP 7-234124 A Japanese Patent Laid-Open No. 7-311022 Japanese Patent Laid-Open No. 8-219782 Japanese Patent Laid-Open No. 9-14932 JP 2001-141431 A JP-A-2005-345118 JP 2007-169987 A JP 2003-119836 A Japanese Patent Laid-Open No. 11-13985

  Patent Documents 1 to 6 disclose techniques for calculating the shape inside the buried pipe. Various techniques have been proposed for calculating the internal shape of the buried pipe.

  Patent Document 1 discloses a technique in which a device traveling inside a pipeline irradiates light inside the pipeline, and calculates the shape inside the pipeline using a reflected wave of the irradiated light.

  However, in the technique of Patent Document 1, since reflection of light is used, there is a problem that the apparatus becomes large and the calculation accuracy deteriorates due to the deterioration of the light receiving accuracy. In addition, although the shape inside the pipe can be calculated, there is a problem that it is impossible to calculate each of the bending, bending, pipe diameter change, and internal obstacle of the pipe in two or three dimensions.

  Patent Document 2 discloses a technique in which a device traveling inside a pipeline calculates the curvature of the pipeline.

  However, with the technique of Patent Document 2, it is only possible to calculate the curvature of the pipe line, and not to calculate the pipe diameter change or the internal obstacle. Further, since it is only possible to measure the curvature with respect to a predetermined reference line at each position, there is a problem that it is difficult to calculate a three-dimensional pipe curvature such as a horizontal direction and a vertical direction.

  Patent Document 3 discloses a technique in which laser light is exchanged between two devices traveling on a pipeline, and the bending of the pipeline is calculated by the oscillation of the laser beam.

  However, with the technique of Patent Document 3, it is only possible to calculate the bend within a range where laser light can be exchanged, and it is difficult to calculate the shape of the pipe other than the bend. In addition, since it is based on the exchange of laser light, the apparatus becomes large and causes problems such as an error in exchange of laser light.

  Patent Document 4 discloses a technique for calculating the shape of the inside of a pipeline using irradiation light, as in Patent Documents 1 and 3.

  However, there is a problem that the apparatus becomes large, and it is impossible to calculate all of the bending, bending, pipe diameter change, internal obstacles, and the like of the pipe line. In addition, there is a concern about deterioration in calculation accuracy by using an optical system.

  Patent Document 5 is the same technology as Patent Document 4, and has the same problems.

  Patent Document 6 discloses a technique in which a device arranged in a pipeline irradiates an electromagnetic wave pulse to the pipeline and calculates a cavity included in the pipeline.

  However, in the technique of Patent Document 6, the apparatus becomes large, and a cavity at a certain predetermined position can be calculated. However, over the entire pipeline, the curve of the pipeline, the bending, the change in the pipe diameter, the internal obstacle, respectively. It is not suitable for measuring. There is also a problem that is not suitable for anything other than small-diameter pipes.

  Patent Documents 7 to 9 propose techniques related to repair and repair methods for buried pipes. Each of Patent Documents 7 to 9 proposes a technique for repairing the inside of the buried pipe by inserting a device inside the buried pipe.

  However, any of the techniques of Patent Documents 7 to 9 can repair a scratch or the like inside the buried pipe, but the buried pipe that is bent or deformed cannot be straightened as originally. In addition, repairs that match the status of buried pipes cannot be performed.

  As described above, the prior art is (1) repairing after detecting bending, bending, and deformation of the buried pipe, and (2) replacing the deformed and curved buried pipe in the surrounding environment. In addition, there are problems that it is difficult to perform the repair to return straight to the original state, and (3) to perform the repair while visually checking the repair state.

  In view of the above problems, the present invention repairs the deformation of a buried pipe without digging up the buried pipe or entering the buried pipe in response to the calculated deformation, bending, bending, etc. of the buried pipe. An object of the present invention is to provide a buried pipe repair device and a buried pipe repair method.

  In view of the above problems, the buried pipe repairing device of the present invention includes a main body that can move inside the buried pipe buried in the ground, and a first through hole and a first through hole at predetermined positions in the repaired area of the buried pipe. A perforation unit for perforating a second through hole at a position different from the hole, a removal unit for removing earth and sand around the first through hole outside the buried pipe through the first through hole, and a second through hole, And an injection unit for injecting an expansion agent around the second through hole outside the buried pipe.

The buried pipe repairing device of the present invention can automatically repair and repair even a narrow buried pipe that an operator cannot enter without digging up the buried pipe.
In particular, the bend and deformation of the buried pipe can be corrected by adjusting the circumference of the buried pipe, so that the service life of the buried pipe can be extended without replacing the buried pipe. In particular, since the deformation and bending of the buried pipe can be returned to the original state, the buried pipe can be returned to a state where it can play its role.

  Further, since the buried pipe can be automatically repaired on the basis of calculating the shape of the buried pipe, the repair according to the actual situation of the buried pipe is possible.

It is a schematic diagram of the buried pipe repair apparatus in Embodiment 1 of this invention. It is a side view of the buried pipe repair apparatus in Embodiment 1 of this invention. It is a side view of the buried pipe of the normal state in Embodiment 1 of this invention. It is a side view of the buried pipe of the bending state in Embodiment 1 of this invention. It is a schematic diagram which shows the drilling of the 1st through-hole in Embodiment 1 of this invention. It is a schematic diagram which shows the removal of earth and sand in Embodiment 1 of this invention. It is explanatory drawing which shows the state which drills the 2nd through-hole in Embodiment 1 of this invention. It is explanatory drawing which shows injection | pouring of the expansion material in Embodiment 1 of this invention. It is explanatory drawing which shows the repair state of the buried pipe in Embodiment 1 of this invention. It is explanatory drawing which shows injection | pouring of the filler in Embodiment 1 of this invention. It is a block diagram of the buried pipe repair apparatus in Embodiment 2 of this invention. It is explanatory drawing explaining the state which detects the repair area | region in Embodiment 2 of this invention. It is explanatory drawing which shows the state of buried pipe repair in Embodiment 2 of this invention. It is explanatory drawing which shows implementation of the buried pipe repair method in Embodiment 2 of this invention. It is a perspective view of the buried pipe repair apparatus in Embodiment 3 of this invention. It is a schematic diagram of the shape calculation of the buried pipe in Embodiment 3 of this invention. It is a schematic diagram explaining the internal diameter change calculation of the buried pipe in Embodiment 3 of this invention. It is a schematic diagram which shows calculation of the curve and bending | flexion of an embedded pipe in Embodiment 3 of this invention.

  The buried pipe repairing apparatus according to the first aspect of the present invention includes a main body that is movable in the buried pipe buried in the ground, a first through hole at a predetermined position in the repaired area of the buried pipe, and a first Through a drilling unit for drilling a second through hole at a position different from the through hole, a removal unit for removing earth and sand around the first through hole outside the buried pipe through the first through hole, and through the second through hole And an injection unit for injecting an expansion agent around the second through hole outside the buried pipe.

  With this configuration, it is possible to repair the deformation of the buried pipe without an operator entering the buried pipe or digging up the buried pipe. In addition, the state of the repaired buried pipe can be maintained.

  In the buried pipe repairing apparatus according to the second invention of the present invention, in addition to the first invention, each of the first through hole and the second through hole is in a position facing each other in the buried pipe.

With this configuration, the first through hole is used to remove excess earth and sand, and the second through hole is used to fill the gap. As a result, the buried pipe repair device can easily repair the deformation of the buried pipe.
In the buried pipe repairing apparatus according to the third invention of the present invention, in addition to the first or second invention, when the repaired area of the buried pipe is bent, the first through hole is a bent of the buried pipe. Located on the inner side, the second through hole is located on the bent outer side of the buried pipe.

  With this configuration, the first through hole for removing excess earth and sand and the second through hole for filling the void are optimally provided for repairing the buried pipe. As a result, the buried pipe repair device can easily repair the deformation of the buried pipe.

  In the buried pipe repairing apparatus according to the fourth invention of the present invention, in addition to any of the first to third inventions, the first through hole is connected to a removal region where earth and sand are removed by the removal unit, The two through holes are connected to an injection region where the expansion material is injected by the injection unit.

  With this configuration, the buried pipe repairing device can remove earth and sand in the removal region from the first through hole, and can fill the void from the second through hole.

  In the buried pipe repairing apparatus according to the fifth aspect of the present invention, in addition to any of the first to fourth inventions, the main body portion includes a wheel that can move inside the buried pipe.

  With this configuration, the buried pipe repair device can freely move inside the buried pipe.

  In the embedded pipe repair device according to the sixth aspect of the present invention, in addition to any one of the first to fifth inventions, the main body section includes a positioning control unit that determines a repair area in the embedded pipe.

  With this configuration, the buried pipe repair device can reliably perform repair work at the deformed position of the buried pipe.

  In the buried pipe repairing apparatus according to the seventh aspect of the present invention, in addition to any one of the first to sixth inventions, the drilling unit includes at least one of a core drill, a drill, and a hole saw, and a repair region in the buried pipe A first through hole and a second through hole are drilled.

  With this configuration, the buried pipe repair device can easily drill the first through hole and the second through hole. In addition, a through hole having a predetermined diameter can be drilled.

  In the buried pipe repairing apparatus according to the eighth aspect of the present invention, in addition to any of the fourth to seventh aspects of the invention, the removal unit includes a nozzle, and the removal unit protrudes the nozzle from the first through-hole to generate a pneumatic pressure. The soil in the removal area is removed by at least one of water pressure and water pressure.

  With this configuration, the removal unit can reliably and easily remove earth and sand.

  In the embedded pipe repair device according to the ninth aspect of the present invention, in addition to any of the fourth to eighth aspects of the invention, the injection unit has the second through hole after the removal of the earth and sand in the removal region. Through which the expansion material is injected into the injection region.

  With this configuration, the buried pipe repair device can correct the bending of the buried pipe caused by the gap. In particular, the bending of the buried pipe can be restored to the original by applying pressure from the expansion material from the outside of the bent.

  In the buried pipe repairing apparatus according to the tenth invention of the present invention, in addition to any of the fourth to ninth inventions, the injection unit is configured to pass through the first through hole after the expansion material is injected. Fill the removal area with filler.

  With this configuration, the repair of the buried pipe is completed, and the state of the repaired buried pipe is maintained thereafter.

  In the embedded pipe repair device according to the eleventh aspect of the present invention, in addition to the tenth aspect, at least one of the expansion material and the filler is accommodated in the main body portion or supplied to the main body portion.

  With this configuration, the buried pipe repair device can use the expansion material and the filler necessary for repairing the buried pipe without any shortage. As a result, the efficiency of repairing the buried pipe is improved.

  In the embedded pipe repair device according to the twelfth aspect of the present invention, in addition to any one of the first to eleventh inventions, an imaging unit capable of imaging the repair region, and a transmission unit that transmits a captured image of the repair region, And a monitoring unit.

  With this configuration, the repair work by the buried pipe repair device can be performed while checking the repair state of the buried pipe by the buried pipe repair device. As a result, the efficiency of repairing the buried pipe is improved.

  In the buried pipe repairing apparatus according to the thirteenth aspect of the present invention, in addition to any of the first to twelfth inventions, a first arm extending from the main body and movable in accordance with the internal shape of the buried pipe; , Extending from the main body in a direction different from the first arm, movable in accordance with the internal shape of the buried pipe, and connected to the first arm and movable in contact with the inner wall of the buried pipe The first contact portion, connected to the second arm, the second contact portion that can move in contact with the inner wall of the buried pipe, and the movement distance from the reference surface of the first contact portion is calculated as the first distance, A distance calculating unit that calculates a moving distance from the reference surface of the second contact unit as a second distance, and calculates a linear distance between the first contact unit and the second contact unit as a third distance; and a first contact unit, The angle formed by the first arm with respect to the tangent line of the inner wall that is in contact is calculated as the first angle, An angle calculation unit, a first distance, a second distance, a third distance, a first angle, and a second angle, wherein the angle formed by the second arm is calculated as a second angle with respect to the tangent to the inner wall with which the unit contacts And a shape calculating unit that calculates the internal shape of the buried pipe based on at least one of the above.

  With this configuration, the buried pipe repair device can reliably grasp the deformation inside the buried pipe. Based on this grasp, the buried pipe repair device can repair the deformation of the buried pipe, so that the buried pipe is reliably repaired.

  In the embedded pipe repair device according to the fourteenth aspect of the present invention, in addition to the thirteenth aspect, the shape calculating unit is based on the first distance, the second distance, the third distance, the first angle, and the second angle. Then, a three-dimensional shape having a very small width at a predetermined position of the buried pipe is calculated, and the shape calculating unit calculates a three-dimensional shape of the buried pipe based on a plurality of continuous three-dimensional shapes.

  With this configuration, the buried pipe repair device can detect the deformation of the buried pipe with high accuracy.

  In the buried pipe repairing apparatus according to the fifteenth aspect of the present invention, in addition to the fourteenth aspect, the shape calculation unit may calculate a difference between the first distance and the second distance included in the three-dimensional shape and a change in the third distance. Based on at least one of the above, at least one of the bending, bending, inner diameter change and deformation of the buried pipe is calculated.

  With this configuration, the buried pipe repair device can detect various deformations of the buried pipe such as a change in inner diameter.

  In the embedded pipe repair device according to the sixteenth aspect of the present invention, in addition to any of the first to twelfth inventions, the main body portion uses a gyro mechanism to bend, bend, change the inner diameter and deform the embedded pipe. Calculate at least one of

  With this configuration, the buried pipe repair device can detect the deformation of the buried pipe and the position where the buried pipe is deformed with a simple mechanism.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings.

  (Embodiment 1)

  Embodiment 1 will be described.

(Overview)
First, the overall outline of the buried pipe repair device will be described with reference to FIG. FIG. 1 is a schematic diagram of an embedded pipe repair device according to Embodiment 1 of the present invention. FIG. 1 shows a buried pipe repair device 1 inserted into the buried pipe 2. In addition, in this specification, the buried pipe 2 is a concept including all of the portion of the pipe line forming the buried pipe 2 and the joint portion between the pipe lines. That is, the repair target position in the buried pipe 2 to be repaired may be a pipe portion or a joint portion.

  The buried pipe repair device 1 is used by being inserted into the buried pipe 2. The buried pipe repair device 1 includes a main body 3, a perforation unit 4, a removal unit 5, and an injection unit 6.

  The main body 3 is movable inside the buried pipe 2 and forms the overall outline of the buried pipe repairing apparatus 1. The main body 3 may be capable of storing the perforation unit 4, the removal unit 5, and the injection unit 6. In FIG. 1, the perforation unit 4, the removal unit 5, and the injection unit 6 are exposed to the outside of the main body 3. 5 and the injection unit 6 may be stored.

  FIG. 2 shows a state in which these units are stored in the main body 3. FIG. 2 is a side view of the buried pipe repair device according to Embodiment 1 of the present invention.

  The perforation unit 4 perforates the first through hole 7 at a certain position in the repair region to be repaired in the buried pipe 2. Further, the punching unit 4 punches the second through hole 8 at a position different from the first through hole 7. The perforation unit 4 is a single member, and the single member may perforate the first through hole 7 and the second through hole 8, but the perforation unit 4 includes a plurality of members, One of the plurality of members may pierce the first through hole 7 and the other may pierce the second through hole.

  The 1st through-hole 7 is connected to the area | region where the earth and sand causing the buried pipe 2 to bend or curve is accumulated. On the other hand, the second through-hole 8 is connected to a gap that causes the buried pipe 2 to bend or bend. The perforating unit 4 perforates a through-hole connected to the outside of the buried pipe 2 that causes the buried pipe 2 to bend or bend.

  The removal unit 5 removes the earth and sand around the first through hole 7 (around the first through hole 7 outside the buried pipe 2) through the first through hole 7. By removing the earth and sand around the first through hole 7, there is room for repairing the bending and bending of the buried pipe 2.

  The injection unit 6 injects the expansion material around the second through hole 8 (around the second through hole 8 outside the buried pipe 2) through the second through hole 8. By this inflating material, the gap that causes the buried pipe 2 to be bent or curved disappears.

  The buried pipe repair device 1 includes the above elements, and can repair the bending and bending of the buried pipe 2 by utilizing these elements.

(Repair method)
Next, a method for repairing the buried pipe 2 by the buried pipe repairing apparatus 1 will be described.

  FIG. 3 is a side view of the buried pipe in a normal state according to the first embodiment of the present invention. The buried pipe 2 in FIG. 3 is straight in the underground 20 and does not cause problems such as bending and bending.

  The buried pipe 2 is formed by connecting a plurality of pipelines 21 together. For this reason, a plurality of pipelines 21 are connected at the joint 22. Thus, the buried pipe 2 is formed by connecting the plurality of pipe lines 21 by the joints 22. For this reason, even if the pipe 21 itself is not bent or broken, the joint 22 can be bent or curved.

  For example, in the underground 20, the joint 22 may be bent when pressure or a gap is generated around the joint 22. Due to the bending of the joint 22, the buried pipe 2 is bent or curved.

  FIG. 4 is a side view of the buried pipe in the bent state in the first embodiment of the present invention. As shown in FIG. 4, the place where the joint 22 connecting the plurality of pipes 21 is bent. A gap 201 is formed below the joint 22. For example, the void 201 is generated by reducing the sediment below the joint 22 due to pressure generated by an earthquake or heavy rain. Alternatively, when pressure is applied from the upper side of the joint 22, the joint 22 is bent, and the gap 201 is generated by the bending.

  Thus, when the space | gap 201 has arisen, the joint 22 will bend and the buried pipe 2 will be in the bent state. If the buried pipe 2 is bent, it becomes difficult for sewage and clean water to pass through the buried pipe 2. For this reason, it is necessary to restore this bending.

  As shown in FIG. 4, when the gap 201 exists below the bent joint 22, the bending occurs and the bending cannot be restored. For this reason, it is necessary to eliminate this gap 201 in order to repair the bending. The disappearance means that the gap 201 is filled. However, the bent state does not return simply by filling the gap 201 with any material. This is because the bent state is only maintained.

  For this reason, in order to return the bend to the original state by returning the bend, and further maintaining the state of the embedded tube 2,

(1) The earth and sand at a position opposite to the gap 201 is removed.
(2) The removed region becomes a region where the bent pipe line 21 and the joint 22 return. (3) The gap 201 is filled.
It is necessary to perform the procedure.

  By such a procedure, the bending of the pipe line 21 and the joint 22 is corrected, and the buried pipe 2 is repaired.

(Drilling the first through hole)
FIG. 5 is a schematic diagram showing perforation of the first through hole in the first embodiment of the present invention. First, the buried pipe repair device 1 moves inside the buried pipe 2. At this time, the inside of the buried pipe 2 can be moved by the wheels provided in the main body 3. When the buried pipe repair device 1 reaches a repair area where the pipe 2 or the joint 22 is bent in the buried pipe 2, the buried pipe repair device 1 stops at that location. A position where the embedded pipe 2 shown in FIG. 5 is bent is a repair region. The buried pipe repair device 1 is stopped in this repair area. The wheel may be of any structure that allows the main body 3 to move within the buried pipe 2, may have a structure that travels in contact with the bottom surface of the buried pipe 2, and the wheel is pressed against the entire surface of the buried pipe 2. A traveling structure may be used.

  In addition to providing wheels, the main body 3 has communication means for notifying the operator of the position inside the buried pipe 2 and position positioning means for grasping the position. Furthermore, the main body 3 accommodates water, an expansion material, and a filler described later. The accommodated water is used for removal of earth and sand by the removal unit 5, and the accommodated expansion material and filler are used by the injection unit 6.

  Moreover, since the main-body part 3 repairs the abnormality of the burying pipe 2 while moving the inside of the burying pipe 2, it is preferable that it has the magnitude | size according to the internal diameter of the burying pipe 2. FIG. The buried pipe 2 has various inner diameters depending on the type. There may be a buried tube 2 with a small inner diameter and a buried tube 2 with a larger inner diameter. For this reason, the main body 3 may have a plurality of types according to the inner diameter of the buried pipe 2.

  In FIG. 5, a gap 201 is formed below the bent joint 22. By this gap 201, the joint 22 is bent so as to protrude downward. Further, in accordance with this bending, earth and sand are accumulated on the upper side of the bent joint 22. The buried pipe 2 is bent by the joint 22 being pressed against the lower gap 201 by the accumulated earth and sand.

  The buried pipe repair device 1 first drills the first through hole 7 at a certain position in the repair region. At this time, the drilling unit 4 protruding from the buried pipe repairing apparatus 1 drills the first through hole 7.

  The 1st through-hole 7 is located in the bending inner side (inner side where the bending is bent) of the buried pipe 2 which is bent. The 1st through-hole 7 is a hole drilled in order to remove the earth and sand collected on the upper side of the buried pipe 2 which is bent. In order to repair the bending, it is necessary to push back the buried pipe 2 toward the inside bent by the bending. For this reason, the 1st through-hole 7 is pierced inside the bending | flexion inner side of the buried pipe 2 bent so that it can connect to the removal area | region which needs to remove earth and sand.

  The perforation unit 4 protrudes from the main body 3 and pierces the first through hole 7 on the wall surface of the buried pipe 2 from the inside of the buried pipe 2. Here, the drilling unit 4 includes at least one of a core drill, a drill, and a hole saw, and by these, a hole can be formed in the wall surface of the embedded pipe 2. In particular, by using a core drill, a hole having a predetermined diameter can be formed in the wall surface of the buried pipe 2.

  The perforating unit 4 is normally stored inside the main body 3 and may protrude from the main body 3 when a hole is made in the buried pipe 2. Of course, the drilling unit 4 may protrude from the beginning, and the drilling unit 4 may drill the first through hole 7 when it reaches the repair region. Alternatively, the base portion of the drilling unit 4 may protrude from the main body 3, and when reaching the repair region, the drill may protrude from the base portion to punch the first through hole 7.

  By drilling the first through-hole 7, the inside of the buried pipe 2 and the removal area where it is desired to remove excess earth and sand are connected. Through this first through-hole 7, the earth and sand existing in the removal region can be removed.

(Removal of earth and sand)
Next, excess earth and sand applying pressure to the bent inner side where the buried pipe 2 is bent are removed through the first through hole 7. The area where the excess sediment is accumulated is defined as a removal area.

  FIG. 6 is a schematic diagram showing removal of earth and sand in Embodiment 1 of the present invention. As shown in FIG. 6, the buried pipe repair device 1 causes the removal unit 5 to protrude outside the buried pipe 2 through the first through hole 7. In the buried pipe 2, the earth and sand accumulated in the bent inner region presses the buried pipe 2 downward. The buried pipe 2 is bent by this pressing. It is necessary to remove this earth and sand. For this reason, this area | region where earth and sand should be removed is defined as the removal area | region 202. FIG. As shown in FIG. 6, the removal region 202 is a region inside the bend of the buried pipe 2.

  Although the removal unit 5 is stored in the main body 3, the removal unit 5 protrudes to the outside of the embedded pipe 2 through the perforation unit 4 after the first through hole 7 is formed. With this protrusion, the removal unit 5 reaches the removal region 202. The removal unit 5 removes the earth and sand in the removal region 202.

  The removal unit 5 removes earth and sand in the removal region 202 by spraying water or a solution to the removal region 202. When water or a solution is sprayed, the earth and sand in the removal region 202 is blown away. Since the blown away earth and sand move from the removal area 202 to another place, a void is generated in the removal area 202. As a result of this gap, the pressure applied to the buried pipe 2 from above is reduced. By reducing the pressure, there is room for returning the bending of the buried pipe 2 to its original state.

  The earth and sand removed by the removal unit 5 may be moved to a place other than the removal region 202, but may be taken into the buried pipe 2 through the first through hole 7. This is because even if the removed earth and sand are taken into the buried pipe 2, the earth and sand flow out by washing the inside of the buried pipe 2 with clean water or sewage. For example, when there is no room for moving earth and sand around the removal area 202, the removal unit 5 takes the earth and sand removed through the first through hole 7 into the buried pipe 2.

  In addition, when the earth and sand in the removal region 202 cannot be sufficiently removed by spraying water or hot water (for example, when there is a very hard rocky substance), the removal unit 5 ejects a chemical solution, What is necessary is just to melt and remove. Moreover, the removal unit 5 may remove the earth and sand in the removal region 202 by jetting air as well as water and a solution. This is because it is not necessary to generate excess sludge by air pressure removal.

  Moreover, the removal unit 5 is provided with a nozzle, and water or a solution is ejected from this nozzle. The nozzle is normally stored in the main body 3 and the removal unit 5 and can eject water, a solution, air, or the like by protruding during the removal operation. By providing the removal unit 5 with the nozzle, there is an advantage that the injection of water and air can be finely controlled.

  Thus, after the first through hole 7 is drilled, the removal unit 5 can remove the earth and sand in the removal region 202 through the first through hole 7. By being removed, the pressure applied to the bent portion of the buried pipe 2 is reduced, and a room for returning the bent buried pipe 2 to the original position (a space necessary for returning to the original position) can be formed.

(Drilling of the second through hole)
Next, the buried pipe repair device 1 drills the second through hole 8 at a position different from the first through hole 7. FIG. 7 is an explanatory diagram showing a state in which the second through hole in the first embodiment of the present invention is drilled.

  When the removal of earth and sand in the removal region 202 is completed, the buried pipe repairing apparatus 1 performs a work of filling the lower space 201 of the bent buried pipe 2. In order to fill the gap 201, the buried pipe repair device 1 drills the second through hole 8 in the wall surface of the buried pipe 2. That is, the 2nd through-hole 8 turns into a hole connected to the space | gap 201 (the 2nd through-hole 8 is located in the bending outer side of the buried pipe 2). Thus, since the 2nd through-hole 8 needs to be connected to the space | gap 201, it is provided in the position facing the 1st through-hole 7 in many cases. This is because the gap 201 often occurs at a position opposite to the removal region 202.

  The buried pipe repairing apparatus 1 drills the second through-hole 8 by projecting the drilling unit 4 to the position where the second through-hole 8 is drilled. The drilling unit 4 includes at least one of a core drill, a drill, and a hole saw, and drills the second through-hole 8 using these as well as the first through-hole 7. When the second through hole 8 is opened, the inside of the buried pipe 2 and the gap 201 can be connected. By this connection, the buried pipe repair device 1 can work on the gap 201.

  The second through hole 8 may be drilled after the removal of the earth and sand by the removal unit 5 is completed, or may be drilled after the first through hole 7 is drilled. Alternatively, when the perforation unit 4 includes a plurality of perforation members, the perforation unit 4 may perforate the first through hole 7 and the second through hole 8 simultaneously.

(Filling voids)
By piercing the second through hole 8, the buried pipe repair device 1 can access the gap 201. If the gap 201 remains, the bending of the buried pipe 2 cannot be repaired. For this reason, the gap 201 needs to be filled. Furthermore, in the process of filling the gap 201, it is necessary to push back the buried pipe 2 bent downward. From the above, the expansion material may be injected into the gap 201. This is because, by inflating the expansion material into the space 201, the embedded tube 2 bent as the expansion material expands is pushed back while the space 201 is filled.

  The buried pipe repair device 1 includes an injection unit 6. The injection unit 6 injects the expansion material into the gap 201 through the drilled second through hole 8. FIG. 8 is an explanatory diagram showing injection of the expansion material in the first embodiment of the present invention. In FIG. 8, the injection unit 6 is injecting an expansion material into the gap 201. Various materials such as a resin and a synthetic resin are used as the expansion material.

  The injection unit 6 injects the expansion material 61 accommodated in the main body 3 toward the gap 201. At this time, the injection unit 6 includes a nozzle, and this nozzle reaches the gap 201 from the inside of the buried pipe 2 through the second through hole 8. When the expansion material 61 is discharged from the tip of the nozzle that has reached the space 201, the expansion material 61 is injected into the space 201. After the expansion material 61 is injected into the gap 201, the expansion material 61 expands inside the gap 201, and this expansion pushes the buried pipe 2 upward.

  FIG. 9 shows a state where the space 201 is filled with the expansion material 61 and the embedded pipe 2 is pushed back upward. FIG. 9 is an explanatory diagram showing a repaired state of the buried pipe in the first embodiment of the present invention.

The expansion material 61 injected into the gap 201 starts to expand inside the gap 201 according to its property. As the expansion proceeds, the buried pipe 2 is pushed upward in the gap 201. By this pushing up, the bending of the buried pipe 2 is repaired. Furthermore, on the upper side of the bent portion of the buried pipe 2, earth and sand are removed by the removal unit 5 to form a gap. For this reason, the buried pipe 2 is easily pushed upward by the expansion pressure of the expansion material 61.
When the expansion of the expansion material 61 is completed, the buried pipe 2 is repaired in a straight state without bending. As a result, as shown in FIG. 9, the buried pipe 2 is in a straight state, and the lower gap 201 disappears, so that the buried pipe 2 can be prevented from bending downward again. Become. At this time, the main body 3 can be confirmed to be free of bending of the buried pipe 2 by providing an angle detection function.

  The injection unit 6 returns from the second through hole 8 when the injection of the expansion material 61 is completed, and is stored in the main body 3.

(Filler injection)
When the buried pipe 2 returns straight, only the void (the area where the earth and sand have been removed) of the bent part of the buried pipe 2 remains around the buried pipe 2. If this void remains, the straightened buried pipe 2 may bend upward next. For this reason, in order to prevent bending upward, it is necessary to fill the voids generated by removing the earth and sand.

  FIG. 10 is an explanatory diagram showing injection of the filler in the first embodiment of the present invention. FIG. 10 shows how the filler 62 is injected into the removed region.

  The buried pipe repairing apparatus 1 injects the filler 62 into the area removed via the injection unit 6 when the expansion material 61 is injected into the gap 201 and the embedded pipe 2 becomes straight. At this time, the injection unit 6 injects the filler 62 through the first through hole 7. Since the filler 62 is injected into the removal region, which is a void whose volume has already been determined, it does not have to be a material that expands unlike the expansion material 61. Since the material filling the gap 201 needs to push up the buried pipe 2 upward, the material injected into the gap 201 not only fills the gap 201 but also pushes up the buried pipe 2 from the gap 201. Things are appropriate. On the other hand, since the material filled in the removal region 202 only needs to fill the gap generated in the removal region 202, it is not essential to expand. For this reason, the filler 62 may or may not be an expanding material. Of course, the expansion material 61 and the filling material 62 may be the same material.

  The injection unit 6 injects the filler into the gap generated in the removal region 202, so that there is no gap around the bent portion of the buried pipe 2, and subsequent deformation and bending of the buried pipe 2 repaired straight. Can be prevented. The filler 62 is injected through the first through hole 7 after the expansion material 61 is filled into the gap 201 through the second through hole 8. Further, similarly to the expanding material 61, the filler 62 may be accommodated in the main body 3. Or the expansion material 61 and the filler 62 should just be replenished from the exterior by the conveyance pipeline connected to the main-body part 3. FIG.

  Through the above procedure, the buried pipe repair device 1 according to the first embodiment can repair deformation such as bending and bending of the buried pipe 2.

  That is, the buried pipe 2 deformed such as bent or curved can be repaired regardless of human power by the buried pipe repairing method including the following procedure.

(1) A repair area that is bent or curved in the buried pipe 2 is set.
(2) The first through hole 7 is drilled in the repair area with respect to the bent inner side (Note that the bent inner side is either the upper side, the lower side, or the left and right sides of the ground 20 depending on the situation. is there).
(3) The earth and sand around the first through hole 7 (removal region) is removed through the first through hole 7.
(4) The second through hole 8 is drilled at a position different from the first through hole 7 and corresponding to the outer side of the bend.
(5) The expansion material 61 is injected into the gap 201 existing outside the second through hole 8 through the second through hole 8.
(6) By injecting the expansion material 61, the bending of the buried pipe 2 is returned and straightened.
(7) The filler is injected through the first through-hole 7 into the void formed by removing the earth and sand.
(8) By the injection of the filler 62, the periphery of the buried pipe 2 is buried, and the state of the buried pipe 2 is maintained.
Thus, the repair of the buried pipe 2 by the buried pipe repair device 1 described in the first embodiment can be regarded as a buried pipe repair method.

  The injection unit 6 only needs to have a function of injecting the expansion material 61 through the second through hole 8, and may be a member common to the perforation unit 4. In addition to the member for drilling the buried pipe 2 such as a drill, the drilling unit 4 is provided with a nozzle for ejecting liquid or solid, so that after the drilling unit 4 drills the second through-hole 8, The expansion material 61 is injected into the gap 201. Since the injection unit 6 is the same member as the perforation unit 4, the expansion material 61 can be immediately injected when the second through hole 8 is perforated.

  In addition, the punching unit 4 may be a common member with the removal unit 5. The removal unit 5 removes the earth and sand in the removal region 202 through the first through hole 7. At this time, the removal unit 5 exhibits a function of injecting air, water, dissolved solution, and the like. However, after the first through hole 7 is drilled by the drilling unit 4, the earth and sand in the removal region 202 is removed. Just do it. For this reason, the perforation unit 4 is provided with a nozzle, and this nozzle may perform injection of air or water, which is a function of the removal unit 5.

  Furthermore, the perforation unit 4, the removal unit 5 and the injection unit 6 may be a common member. For example, if the drilling unit 4 includes a drill and a nozzle for drilling a through hole, the drilling unit 4 drills the first through hole 7 and then inserts the nozzle into the removal region 202 from the first through hole 7. The earth and sand can be removed.

  The perforating unit 4 can inject the expansion material 61 by inserting a nozzle into the gap 201 from the second through hole 8 after the second through hole 8 is perforated. In addition, the punching unit 4 can inject the filler 62 by inserting a nozzle through the first through hole 7.

  Thus, when the drilling unit 4 includes a drilling mechanism such as a drill and a nozzle, the drilling unit 4 can form a through hole, remove earth and sand, and inject an expansion material or a filler.

  As described above, the buried pipe repair device 1 and the buried pipe repair method according to the first embodiment bend or bend the buried pipe 2 without an operator entering the buried pipe 2 or digging up the buried pipe 2. Can be repaired.

  (Embodiment 2)

  Next, a second embodiment will be described.

  In the second embodiment, details of each part of the buried pipe repairing device and the buried pipe repairing method, a modified example, and the like will be described.

(Main body)
The main body 3 is movable in the buried pipe 2. Furthermore, a drilling unit 4, a removal unit 5, and an injection unit 6 that are necessary for repairing the buried pipe 2 are provided. The main body 3 stores each of these units and takes them out. For this reason, the main-body part 3 is provided with the mechanism and space to store. Or the main-body part 3 may attach these each unit to the outer surface. Attached to the outer surface, each of the units protrudes when required. Further, each unit may be pulled by the main body 3 and operate in the repair area. In short, each unit may be transported to the repair area by the main body 3 and perform operations for work in the repair area.

  The main body 3 accommodates an expansion material 61 and a filler 62 that are injected through the injection unit 6. For example, the main body 3 is provided with a storage tank therein, and stores the expansion material 61 and the filling material 62 that require this storage tank. At this time, it is also preferable that the expansion material 61 and the filling material 62 are accommodated in different tank layers. Moreover, the main-body part 3 is equipped with the pipe line which can be connected with the buried pipe 2 exterior, and supply of the expansion material 61 and the filler 62 may be received through this pipe line.

  The main body unit 3 includes wheels for enabling movement. Of course, not only wheels but also crawlers and tires may be provided. In particular, since there is a possibility that the inside of the buried pipe 2 is deformed, it is preferable to use a member having a high traveling ability such as a crawler.

  Moreover, it is suitable for the main-body part 3 to be provided with the positioning control part which can be stopped in the repair area | region in the buried pipe 2. FIG. The positioning control unit includes a gyro and a GPS function, so that the main body unit 3 (that is, the buried pipe repair device 1) can be stopped in a predetermined repair area. The gyro and GPS functions can be realized by using publicly known techniques. Alternatively, if the repair area is detected in advance and the repair area is known to be located at a predetermined distance from the entrance of the buried pipe 2 (the entrance of the buried pipe repair device 1), positioning is performed. The control part should just be provided with the function which can measure a mileage. From this travel distance, the positioning control unit can grasp the position where the buried pipe repair device 1 should be stopped.

  Alternatively, the positioning control unit may further include a posture detection unit that detects the posture of the main body unit 3. The buried pipe 2 has a constant gradient in the vertical direction and a moving direction in the left-right direction, and a place where a sudden change occurs in the gradient or the moving direction indicates that the buried pipe 2 is deformed such as bent or curved. The positioning control unit grasps the position where the posture suddenly changes by the posture detection unit, and grasps that this position is the stop position of the embedded pipe repair device 1.

  Of course, the main body 3 may include a monitoring camera, and the stop position of the embedded pipe repair device 1 may be determined based on the image of the monitoring camera. The stop position of the buried pipe repair device 1 may be controlled by transmitting an image from the monitoring camera and monitoring the image by the operator. Or the positioning control part which received the image from the monitoring camera may determine an image, and may determine the stop position of the buried pipe repair apparatus 1. FIG. For example, by image processing, the positioning control unit calculates an abrupt change in the motion vector of the main body unit 3 and determines that the position causing the abrupt change is a stop position.

  Further, the positioning control unit may determine the stop position by detecting the deformation position (repair region) of the embedded pipe 2 while the embedded pipe repair device 1 travels inside the embedded pipe 2. Or when the deformation | transformation position (repair area | region) of the buried pipe 2 is specified previously, you may determine a stop position based on the information which specifies this position.

(Determination of repair area)
FIG. 11 is a block diagram of an embedded pipe repair device according to Embodiment 2 of the present invention. The buried pipe repair device 1 includes a positioning control unit 9 and a posture detection unit 91. As described above, the positioning control unit 9 determines the stop position inside the buried pipe 2 of the buried pipe repair device 1.

  Further, the positioning control unit 9 includes a posture detection unit 91. The posture detection unit 91 detects the posture of the main body unit 3. Since the buried pipe 2 has a plurality of pipelines 21 (formed of concrete, metal, resin, etc.) connected by a joint 22, the buried pipe 2 extends straight except for a branch or a curve caused by a special joint. For this reason, the embedded pipe 2 generally has no directionality other than the gradient generated in the vertical direction and the traveling direction generated in the left-right direction, and the interior of the embedded pipe 2 itself is straight.

  The posture detection unit 91 detects the posture of the main body 3 that moves inside the buried pipe 2. For example, the posture detection unit 91 detects the vertical gradient of the main body unit 3 and the vector of the left and right traveling directions. If the buried pipe 2 is not deformed, the posture detection unit 91 does not detect a change in the vector. On the other hand, if the buried pipe 2 is deformed such as bent or curved, a change occurs in the gradient and the vector in the traveling direction. When detecting a change in the vector, the posture detection unit 91 determines that the position where the change has occurred is a deformed position (that is, a repair region to be repaired).

  FIG. 12 shows how the repair region is detected by detecting the posture of the main body 3 by the posture detecting unit 91. FIG. 12 is an explanatory diagram for explaining a state in which a repair area is detected in the second embodiment of the present invention. FIG. 12 shows a moving path of the buried pipe repairing apparatus 1 that moves inside the buried pipe 2 that is bent.

  The posture detection unit 91 detects the posture of the main body 3 in the movement path of the main body 3. The posture is detected by a motion vector, positioning, or the like. In FIG. 12, the buried pipe 2 is kept straight up to a certain point, but is bent at the joint 22. This is because the gap 201 is formed below the joint 22. Due to the gap 201, the pressure balance between the upper and lower sides of the joint 22 is deteriorated and bent.

  When the buried pipe 2 is straight, the movement path of the main body 3 should be straight as shown by the broken line B. However, since the joint 22 is bent, the movement path of the main body 3 is bent as indicated by the solid line A at the joint 22. Each of the broken line B and the solid line A represents a vector in the moving direction of the main body 3. The posture detection unit 91 can detect a position where the posture of the main body 3 changes suddenly from the vector of the moving direction. In FIG. 12, the vector in the moving direction has changed abruptly at the joint 22 (changed from the broken line B that should be originally changed to the solid line A), so the posture has changed suddenly at this position. As a result, the posture detection unit 91 can determine that the joint 22 is in a deformed position such as bending or bending.

  The posture detection unit 91 calculates the change in the moving direction vector, so that the buried pipe repair device 1 can detect a repair area to be repaired in the buried pipe 2.

  The posture detection unit 91 outputs the detected position information of the repair area to the positioning control unit 9. The positioning controller 9 stops the movement of the main body 3 based on the received position information, and stops the buried pipe repair device 1 at a position where repair work can be performed. In addition, the posture detection unit 91 uses the communication means (wireless communication or wired communication, which is known as publicly known technology) to detect the position information of the repaired area outside the embedded pipe 2 ( To the terminal used by the worker). Based on this notification, the operator determines the working position of the buried pipe repair device 1 via the remote operation of the positioning control unit 9 and stops it.

  The posture detection unit 91 outputs the detected position information of the repair area to the control unit 10. The control unit 10 controls operations of the perforation unit 4, the removal unit 5 and the injection unit 6. The control unit 10 confirms the position of the repair region received from the posture detection unit 91, operates the drilling unit 4 and the like, and repairs the embedded tube 2 as described in the first embodiment.

  In addition, the posture detection unit 91 outputs position information to a worker (or a worker's terminal) outside the buried pipe 2. Based on this position information, the operator remotely controls the positioning control unit 9 to stop the buried pipe repair device 1. Further, the operator controls the control unit 10 to operate the drilling unit 4 and repair the embedded pipe 2.

  As described above, the position where the buried pipe repair device 1 should be stopped for repair is detected by the posture detection unit 91, and the buried pipe repair device 1 repairs the buried pipe 2 by the stop control by the positioning control unit 9. Executed.

(Monitoring unit)
In the repair of the buried pipe 2 using the buried pipe repair device 1, a monitoring unit that is a set with the buried pipe repair device 1 may be provided for the convenience of the operator.

  FIG. 13 is an explanatory diagram showing a state of buried pipe repair according to Embodiment 2 of the present invention. FIG. 13 shows the monitoring unit 30 that is set as a set with the buried pipe repair device 1, captures an image of the repair area and the repair status in the repair area, and transmits the captured image. The monitoring unit 30 includes an embedded pipe repair device 1, an imaging unit 31 that can capture an image of the repair area, and a transmission unit 32 that transmits the captured image. The transmission unit 32 transmits an image captured by either wireless communication or wired communication to the worker. FIG. 13 shows a signal cable 33 used for wired communication. The signal cable 33 is connected to an external display unit or the like, and transmits a captured image.

  The operator operates the monitoring unit and the buried pipe repair device 1 outside the buried pipe 2 while confirming the captured image that is sent. An operation terminal is used for the operation. FIG. 14 shows a situation where the operator is operating remotely. FIG. 14 is an explanatory diagram showing the implementation of the buried pipe repair method according to Embodiment 2 of the present invention.

  The operator 50 controls the operation of the buried pipe repairing apparatus 1 that moves inside the buried pipe 2 by operating the operation terminal 40 outside the buried pipe 2. The operation terminal 40 includes a display device 41, and the display device 41 displays a captured image transmitted from the monitoring unit 30. The operator 50 controls the embedded pipe repair device 1 while viewing the captured image displayed on the display means 41. At this time, the operation terminal 40 outputs a command input to the operation terminal 40 to the embedded pipe repair device 1 by wireless communication or wired communication. The buried pipe repair device 1 performs an operation in accordance with a command transmitted from the operation terminal 40 in an operation other than the autonomous operation.

  For example, the operation terminal 40 outputs a command as a signal to the control unit 10 of the buried pipe repair device 1. Upon receiving this signal, the control unit 10 stops the buried pipe repair device 1 at a predetermined position and controls the operation of the drilling unit 4 and the like.

  In these operations, it is preferable in an appropriate repair operation that the work state in the actual repair region is visible. Since the captured image from the monitoring unit 40 is displayed on the display device 41, the operator 50 can output an appropriate command to the embedded pipe repair device 1 while confirming this image. For example, it is possible to confirm whether the work is in the repair area, and it is also possible to confirm the progress of the repair. The monitoring unit 30 enables the worker 50 to perform repair while confirming the repair state.

The worker 50 repairs the deformation of the buried pipe 2 in the following procedure.
(1) The buried pipe repair device 1 and the monitoring unit 30 are put into the target buried pipe 2. The worker 50 moves the buried pipe repair device 1 and the monitoring unit 30 through the buried pipe 2 in response to a command from the operation terminal 40.
(2) The buried pipe repair device 1 identifies the deformed portion of the buried pipe 2 by the operation of the posture detection unit 91. When specified, the posture detection unit 91 transmits the position information of the repair area that has been specified to the operation terminal 40.
(3) The worker 50 confirms the captured image (captured by the monitoring unit 30) of the repair area on the display means 41 based on the position information of the specified repair area.
(4) The operator 50 controls the stop position of the buried pipe repair device 1 depending on the confirmed image. At this time, control is performed by a command signal from the operation terminal 40.
(5) The operator 50 commands the buried pipe repair device 1 to drill the first through hole 7 by the drilling unit 4 through the operation terminal 40. The drilling unit 4 that has received the command drills the first through hole 7 at a position on the bent inner side of the buried pipe 2.
(6) The operator 50 commands the buried pipe repair device 1 to remove the earth and sand in the removal area by the removal unit 5 through the operation terminal 40. Upon receiving this command, the removal unit 5 applies air pressure or water pressure through the first through hole 7 to remove earth and sand in the removal region. The removal process can be confirmed by the operator 50 from the captured image transmitted from the monitoring unit 30.
(7) Next, the operator 50 passes through the operation terminal 40 to the buried pipe repair device 1 at a position facing the first through hole 7 by the drilling unit 4 (a different position that is connected to the gap 201). The second through-hole 8 is drilled. Upon receiving this command, the punching unit 4 punches the second through hole 8. In this drilling, the operator 50 can drill the second through hole 8 at an accurate position while confirming the image transmitted from the monitoring unit 30.
(8) Next, the operator 50 commands the buried pipe repair device 1 to inject the expansion material 61 into the gap 201 by the injection unit 6 through the operation terminal 40. The expansion material 61 may be accommodated in the main body 3 or supplied through a supply pipe. Upon receiving this command, the injection unit 6 injects the expansion material 61 into the gap 201 through the second through hole 8. At this time, the operator 50 can confirm the rise of the buried pipe 2 accompanying the expansion of the expansion material 61 while confirming the captured image transmitted from the monitoring unit 30. Confirming that the bent pipe 2 is straight (the operator 50 may confirm with the image from the monitoring unit 30, or the attitude of the main body 3 transmitted from the attitude detector 91) The injection of the expansion material 61 is completed.
(9) Next, the operator 50 commands the buried pipe repair device 1 to inject the filling material 62 into the removal region by the injection unit 6 through the operation terminal 40. In accordance with this command, the injection unit 6 injects the filler into the gap generated in the removal region through the first through hole 7. By the injection of the filler 62, the periphery of the buried pipe 2 returned straight is sufficiently hardened.

  As described above, the operator 50 can repair the deformation of the buried pipe 2 while operating the buried pipe repairing apparatus 1 through the operation terminal 40. Of course, part or all of the above-described procedures (1) to (9) may be automatically performed by the buried pipe repair device 1. Thus, by providing the monitoring unit 30 and the operation terminal 40, the buried pipe 2 can be repaired more easily.

  In FIG. 13, the monitoring unit 30 is a separate device from the buried pipe repair device 1, but may be an integrated device.

  As described above, the buried pipe repair device and the buried pipe repair method according to the second embodiment can easily and reliably deform the buried pipe 2 without an operator entering the buried pipe or digging up the buried pipe. Can be repaired.

  (Embodiment 3)

  Next, Embodiment 3 will be described.

  In the third embodiment, the function that the buried pipe repair device 1 detects the deformation of the buried pipe 2 not by the gyro mechanism, the movement vector, and the GPS mechanism but by the arm extending from the main body 3 will be described. It is preferable that the buried pipe repair device 1 can accurately detect the deformation of the buried pipe 2 in addition to repairing the deformation of the buried pipe 2. Since the deformation can be accurately detected, there is a merit in repairing the buried pipe 2.

(Overview)
FIG. 15 is a perspective view of an embedded pipe repair device according to Embodiment 3 of the present invention.

  The buried pipe repair device 1 includes a main body part 3 that can move inside the buried pipe and an arm part 104 that extends from the main body part 3. The arm portion 104 includes a plurality of arms, and each of the plurality of arms includes a contact portion that can move in contact with the inner wall of the buried pipe. In FIG. 15, the arm unit 104 includes a first arm 105 and a second arm 106. Of course, you may have three or more arms used as the 3rd arm. Since the arm unit 104 includes three or more arms, the buried pipe repair device 1 can easily calculate the buried pipe shape three-dimensionally.

  Each arm provided in the arm portion can be opened / closed or expanded / contracted like an umbrella based on the main body portion 3 so that the contact portion provided in the arm can always be brought into contact with the inner wall of the buried pipe.

  The buried pipe repair device 1 further includes a distance calculation unit 120 and an angle calculation unit 121. In addition, the buried pipe repair device 1 includes a shape calculating unit 122 that calculates the inner shape of the buried pipe. Each of the distance calculation unit 120 and the angle calculation unit 121 may be provided inside the main body unit 3 or may be provided in the arm unit 104. In addition, the shape calculation unit 122 may be provided inside the main body unit 3 or the arm unit 104, or may be provided outside the embedded pipe repair device 1.

  The buried pipe repair device 1 moves inside the buried pipe. At the time of this movement, the arm part 104 opens / closes or expands / contracts from the main body part 3, and the contact parts of each of the plurality of arms contact the inner wall of the buried pipe. Each of the arms opens and closes so that the contact part of each arm always contacts the inner wall of the buried pipe (it does not require physical strict contact and may maintain a certain distance from the inner wall of the buried pipe). Or it expands and contracts. The buried pipe repairing apparatus 1 moves inside the buried pipe while bringing each of the plurality of contact portions into contact with the inner wall of the buried pipe using the opening / closing and expansion / contraction of each of the plurality of arms.

  As shown in FIG. 15, a plurality of arms open and close like an umbrella from the arm portion 104, and contact portions connected to the arms are in contact with the inner wall 23 of the buried pipe 2. Thus, the buried pipe repairing apparatus 1 moves inside the buried pipe 2 while operating the plurality of arms to bring each of the plurality of contact portions into contact with the inner wall 23. At this time, the distance calculation unit 120 calculates the moving distance of the contact parts and the distance between the contact parts, and the angle calculation unit 121 calculates the angle between the contact part and the inner wall 23. Further, based on the calculation results of the distance calculation unit 120 and the angle calculation unit 121, the shape calculation unit 122 calculates the shape of the buried pipe 2.

  The buried pipe repair device 1 calculates the shape of the buried pipe 2 by always bringing the contact portion into contact with the inner wall 31 while operating the opening / closing and expansion / contraction of a plurality of arms.

  The buried pipe repair device 1 moves inside the buried pipe 2. At this time, a plurality of arms (in FIG. 15, the first arm 105 and the second arm 106 are also included) are opened and closed from the arm unit 104. Each of the plurality of arms includes a contact portion (in FIG. 15, the first contact portion 107 and the second contact portion 108 are included), and each of the contact portions is in contact with the inner wall 31. The buried pipe repair device 1 moves inside the buried pipe 2 while maintaining the contact state of the contact portion.

  As shown in FIG. 15, the buried pipe repairing apparatus 1 moves inside the buried pipe 2 using a plurality of arms while always bringing the plurality of contact portions into contact with the inner wall 31 of the buried pipe 2. During this movement, the distance calculation unit 120 and the angle calculation unit 121 collect data necessary for calculating the shape of the buried pipe 2. Based on the collected data, the shape calculation unit 122 calculates the shape of the buried pipe 2.

  That is, the buried pipe repairing device 1 detects the shape inside the moving buried pipe 2 by using these arms, the contact part attached to the arm, the distance calculating part 120, the angle calculating part 121, and the shape calculating part 122. it can. By this detection, the buried pipe repair device 1 can identify the position where the buried pipe 2 is deformed, and therefore can detect the repair area to be repaired. As a result of the detection, the buried pipe repair device 1 can repair the deformation of the buried pipe 2.

    (Detection of buried pipe shape by buried pipe repair device)

  The operation of the buried pipe repair device 1 will be described using the first arm 105 and the second arm 106 as an example. FIG. 15 shows the first arm 105 and the second arm 106.

  Note that the inner wall 23 and the inner wall 24 are the inner walls of the same buried pipe 2, but in order to make the explanation using the drawings easier to understand, the inner wall portion with which the first contact portion 107 is in contact with the inner wall 23 is the same. The inner wall 23 and the inner wall portion with which the second contact portion 108 contacts will be described as the inner wall 24. The same applies thereafter.

  The buried pipe repair device 1 includes a main body 3, and the main body 3 moves inside the buried pipe 2. During this movement, the first arm 105 and the second arm 106 open and close like an umbrella with the main body 3 as a reference. The first arm 105 includes a first contact portion 107, and the second arm 106 includes a second contact portion 108. The first arm 105 opens and closes the first contact portion 107 to contact the inner wall 31, and the second arm 106 opens and closes the second contact portion 108 to contact the inner wall 32. The first arm 105 and the second arm 106 not only open and close with the main body 3 as a reference, but also expand and contract to bring the first contact portion 107 and the second contact portion 108 into contact with the inner walls 23 and 24. You may do it.

  The distance calculation unit 120 and the angle calculation unit 121 collect data necessary for calculating the shape of the buried pipe. At this time, the buried pipe repair device 1 moves while bringing the first contact portion 107 and the second contact portion 108 into contact with the inner walls 23 and 24. For this reason, the buried pipe repairing apparatus 1 can always obtain data from the contact portions along the inner walls 23 and 24 of the buried pipe 2. Note that opening and closing and expansion and contraction are realized by a contact sensor, a distance sensor, and the like included in the first contact unit 107 and the second contact unit 108. Moreover, it is not necessary for all the contact portions to always be in contact with the inner walls 23, 24, and it is sufficient that the buried pipe repair device 1 can collect data sufficient to calculate the shape of the buried pipe.

  In FIG. 15, a cross-sectional position where the buried pipe 2 is provided is a reference plane 140. The reference surface 140 may be arbitrarily determined. For example, a position where the embedded pipe repair device 1 starts moving may be used as the reference surface 140.

  The distance calculation unit 120 calculates the movement distance of the first contact unit 107 from the reference surface 140 as the first distance a. Furthermore, the distance calculation unit 120 calculates the movement distance of the second contact unit 108 from the reference surface 140 as the second distance b. In addition, the distance calculation unit 120 calculates a linear distance between the first contact unit 107 and the second contact unit 108 as the third distance L.

  The angle calculation unit 121 calculates the angle formed by the first arm 105 with respect to the tangent line of the inner wall 23 with which the first contact unit 107 contacts as the first angle α. Further, the angle calculation unit 121 calculates the angle formed by the second arm 106 with respect to the tangent line of the inner wall 24 with which the second contact unit 108 contacts as the second angle β.

  Since the buried pipe repair device 1 moves inside the buried pipe 2 while always bringing the first contact portion 107 and the second contact portion 108 into contact with the inner walls 23, 24, the buried pipe repair device 1 moves inside the buried pipe 2. During this time, the distance calculation unit 120 can accurately calculate the first distance a, the second distance b, and the third distance L. Similarly, the angle calculation unit 121 can accurately calculate the first angle α and the second angle β while the embedded pipe repair device 1 is moving inside the embedded pipe 2.

  The shape calculation unit 122 calculates the internal shape of the buried pipe 2 based on at least one of the first distance a, the second distance b, the third distance L, the first angle α, and the second angle β. The internal shape of the buried pipe 2 includes (1) bending and bending of the buried pipe, (2) inner diameter change of the buried pipe, (3) obstacles inside the buried pipe, (4) inclination of the buried pipe, and the like. The first distance a, the second distance b, the third distance L, the first angle α, and the second angle β are data indicating the internal shape according to (1) to (4) of the buried pipe 2.

  The shape calculation unit 122 can calculate the internal shape of the buried pipe 2 based on at least one of the first distance a, the second distance b, the third distance L, the first angle α, and the second angle β. The pipe repair device 1 can calculate the three-dimensional shape of the buried pipe 2 by moving inside the buried pipe 2. At this time, since the buried pipe repair device 1 is introduced from the entrance of the buried pipe 2 and moves, there is no need to dig up the buried pipe 2 in order to calculate the shape of the buried pipe 2.

(Details of shape calculation)
Next, details of the shape calculation of the buried pipe by the shape calculation unit will be described.

  FIG. 16 is a schematic diagram of the shape calculation of the buried pipe in the third embodiment of the present invention.

  Based on the first distance a, the second distance b, the third distance L, the first angle α, and the second angle β, the shape calculation unit 122 calculates a three-dimensional shape 150 having a minute width at a predetermined position of the embedded pipe 2. .

  In FIG. 16, a plurality of three-dimensional shapes 150 are shown, but a symbol “150” is given to one of the three-dimensional shapes for easy viewing of the drawing. However, the three-dimensional shape 150 is continuously obtained one after another as the buried pipe repair device 1 moves. As a result, as shown in FIG. 16, the shape calculation unit 122 can calculate a plurality of three-dimensional shapes 150.

  The solid shape 150 shown in FIG. 16 is calculated by the first distance a, the second distance b, the third distance L, the first angle α, and the second angle β. In addition, in reality, it is a three-dimensional shape calculated by the first distance a, the second distance b, the third distance L, the first angle α, and the second angle β, but here, for convenience of explanation, A three-dimensional shape 150 shown in FIG. 16 is shown as a planar shape. In practice, the third arm calculates the first distance a, the second distance b, the third distance L, the first angle α, the second angle β, the second arm and the second arm, which are calculated by the first arm and the second arm. The first distance a, the second distance b, the third distance L, the first angle α, the second angle β calculated by the three arms, the first distance a calculated by the third arm and the first arm, From the two distance b, the third distance L, the first angle α, and the second angle β, a three-dimensional minute three-dimensional shape 150 is calculated.

  As shown in FIG. 16, the shape of the three-dimensional shape 150 is determined by the first distance a, the second distance b, the third distance L, the first angle α, and the second angle β.

  The description will be made based on the three-dimensional shape 150a which is one of the plurality of three-dimensional shapes 150.

  In the three-dimensional shape 150a, the width of the three-dimensional shape 150a is indicated by the first distance a and the second distance b. In the three-dimensional shape 150a, the inner diameter change of the buried pipe 2 is indicated by the third distance L1 and the third distance L2. Furthermore, a change in diameter of the three-dimensional shape 150a is indicated by the first angle α and the second angle β.

  Thus, the shape and volume of the three-dimensional shape 150a are calculated by the first distance a, the second distance b, the third distances L1 and L2, the first angle α, and the second angle β. The shape calculating unit 122 continuously calculates a three-dimensional shape 150 having a very small width using the first distance a, the second distance b, the third distance L, the first angle α, and the second angle β. The plurality of continuous solid shapes 150 having a very small width can approximate the shape of the buried pipe 2. An approximate shape 160 shown in FIG. 16 is obtained by approximating the shape of the buried pipe 2 with a plurality of continuous three-dimensional shapes 150. However, for convenience of drawing, FIG. 16 shows two dimensions.

  By calculating the approximate shape 160, the buried pipe repair device 1 can grasp the shape of the buried pipe 2.

  The approximate shape 160 includes: (1) curve or bend of the buried pipe, (2) change in inner diameter of the buried pipe, (3) obstacle inside the buried pipe, (4) inclination of the buried pipe, Is included. For this reason, various elements included in the shape of the buried pipe 2 can be acquired by the approximate shape 160.

  The shape calculation unit 122 can calculate the approximate shape 160 based on the first distance a, the second distance b, the third distance L, the first angle α, and the second angle β. 2 may be calculated at one time, or only one of the elements (1) to (4) included in the shape of the buried pipe 2 may be calculated in the process of calculating the approximate shape 160. good.

    (Calculation of inner diameter change)

  The shape calculation unit 122 calculates the inner diameter change of the embedded pipe 2 based on the change in the third distance L. Here, the shape calculating unit 122 can “understand the phenomenon that the inner diameter of the buried pipe 2 has changed” or can “calculate the change value of the inner diameter of the buried pipe 2”. The user who uses the buried pipe repairing apparatus 1 may “understand the change” or “calculate the amount of change” as necessary.

  The buried pipe repair device 1 moves inside the buried pipe 2. During the movement, the first arm 105 brings the first contact portion 107 into contact with the inner wall 31, and the second arm 106 brings the second contact portion 108 into contact with the inner wall 32. For this reason, the first contact part 107 and the second contact part 108 move along the inner wall of the buried pipe 2.

  A distance calculation unit (not shown) calculates a linear distance between the first contact unit 107 and the second contact unit 108 as the third distance. At this time, the distance calculation unit calculates the third distance in accordance with the movement of the main body unit 3. The shape calculation unit (not shown) determines that there is no change in the inner diameter of the buried pipe 2 if there is no change in the value of the third distance even when the main body 3 moves. On the other hand, when there is a change in the inner diameter of the buried pipe 2, the third distance varies depending on the position of the main body 3.

  For example, when the inner diameter of the embedded pipe 2 increases from right to left, the calculated third distances L1, L2, and L3 gradually increase as the main body 3 moves from right to left. . That is,

  L1 <L2 <L3

  The third distances L1, L2, and L3 have the following relationship.

  This change in the third distance is due to the fact that the inner diameter of the buried pipe 2 is enlarged from the right to the left. Conversely, the calculated third distances L1, L2, and L3 are

  L1 <L2 <L3

  Is calculated, it is calculated that the inner diameter of the buried pipe 2 is enlarged. Further, an enlarged numerical value of the inner diameter of the buried pipe 2 is also calculated from the values of the third distances L1, L2, and L3.

  Conversely, if the third distance decreases along the moving direction of the main body 3, it is calculated that the inner diameter of the buried pipe 2 is gradually reduced. Alternatively, if the third distance repeats increasing and decreasing, it is calculated that the inner diameter of the buried pipe 2 is increasing or decreasing.

  Thus, the shape calculation unit can calculate the inner diameter change of the buried pipe 2 based on the change in the third distance.

  In addition, the shape calculation unit may calculate the inner diameter change of the buried pipe 2 using all of the first distance, the second distance, the third distance, the first angle, and the second angle. The process in which the shape calculation unit calculates the inner diameter change of the buried pipe 2 will be described with reference to FIG. FIG. 17 is a schematic diagram for explaining the calculation of the inner diameter change of the buried pipe in the third embodiment of the present invention.

  FIG. 17 shows the first distance, the second distance, the third distance, the first angle, and the second angle calculated at three locations inside the buried pipe 2.

  The shape calculation unit calculates an An vector at the next position from the An-1 vector and the an-1 vector. This is as shown in (Equation 1). Similarly, the shape calculation unit calculates a vector of Bn at the next position from the vector of Bn-1 and the vector of bn-1. This is as shown in (Equation 2).

  In this manner, the next position between the first contact portion 107 and the second contact portion 108 can be calculated from the vectors obtained from the first distance, the second distance, the third distance, the first angle, and the second angle. The inner diameter change of the buried pipe 2 can be calculated from the calculated coordinates of the next position.

  As described above, the shape calculation unit can calculate the inner diameter change of the buried pipe 2 by the third distance, or all of the first distance, the second distance, the third distance, the first angle, and the second angle.

    (Calculation of bending and bending of buried pipe)

Next, calculation of the bending and bending of the buried pipe will be described.
The shape calculation unit calculates the bending or bending of the buried pipe 2 based on the first distance, the second distance, the third distance, the first angle, and the second angle. Here, as shown in FIG. 16, the shape calculation unit obtains the three-dimensional shape of the buried pipe 2 based on the continuous three-dimensional shape having a very small width, and as a result, curves and bends the buried pipe 2. It may be calculated.

  Further, the shape calculation unit may calculate the bending and bending of the buried pipe 2 based on the difference between the first distance and the second distance. FIG. 18 is a schematic diagram showing calculation of the bending and bending of the buried pipe in the third embodiment of the present invention.

  The buried pipe repair device 1 moves inside the buried pipe 2. During this movement, the first arm 105 and the second arm 106 extend from the main body 3. The first arm 105 always brings the first contact portion 107 into contact with the inner wall 23 of the buried tube 2, and the second arm 106 always brings the second contact portion 108 into contact with the inner wall 24 of the buried tube 2. With reference to the reference plane, the moving distance of the first contact portion 107 is a first distance a, and the moving distance of the second contact portion 108 is a second distance b.

  If the buried pipe 2 is not curved or bent, the first distance a and the second distance b should be equal. On the other hand, as shown in FIG. 18, when the buried pipe 2 is curved, a difference between the first distance a and the second distance b occurs. In FIG. 18, since the buried pipe 2 is curved from the first arm 105 side toward the second arm 106 side, the first distance a is larger than the second distance b in the curved portion. For this reason, the first distance a and the second distance b have a difference.

  The shape calculation unit calculates this difference and calculates the bending and bending of the buried pipe 2.

  Note that the curve of the buried pipe 2 shown in FIG. 18 may be either a planar direction or a vertical direction, and the buried pipe repair device 1 can calculate the curve or bend in any direction. In particular, for convenience of explanation, FIG. 18 shows a state of calculation with two arms, the first arm 105 and the second arm 106, but by using the third arm, the plane direction and The buried pipe repairing apparatus 1 can calculate simultaneously whether it is curved or bent in any of the vertical directions.

  Further, the shape calculating unit can grasp the fact that (1) the buried pipe 2 is curved or bent if there is a difference between the first distance a and the second distance b. Further, based on the difference amount between the first distance a and the second distance b, the shape calculation unit can calculate (2) the amount of bending or bending of the embedded pipe 2.

  Here, the shape calculation unit can grasp the fact that (1) the embedded pipe 2 is curved or bent only by the difference between the first distance a and the second distance b. That is, when the system using the buried pipe shape calculation unit 1 requires only the fact of the bending or bending of the buried pipe 2, the shape calculation unit detects the difference between the first distance a and the second distance b. Just do it.

  On the other hand, the shape calculation unit can also calculate the amount of bending or bending of the embedded pipe 2 from the difference amount between the first distance a and the second distance b, or the first distance, the second distance, Based on the three distances, the first angle, and the second angle (in other words, based on a three-dimensional shape having a very small width), (2) the amount of bending or bending of the embedded pipe 2 can be calculated.

  In the former case, the buried pipe repair device 1 can calculate (2) the amount of bending or bending of the buried pipe 2 based on the difference amount between the first distance a and the second distance b. For example, the shape calculation unit is previously provided with a relationship table between the original shape (diameter, length, etc.) of the buried pipe 2 and the difference amount between the first distance a and the second distance b. Based on this relationship table, the shape calculating unit can calculate (2) the amount of bending or bending of the embedded pipe 2.

  In the latter case, the buried pipe repair device 1 calculates the three-dimensional shape of the buried pipe 2 based on the first distance, the second distance, the third distance, the first angle, and the second angle ( 2) The amount of bending or bending of the buried pipe 2 can be calculated. In this case, after calculating the three-dimensional shape of the buried pipe 2, (2) the amount of bending or bending of the buried pipe 2 can be calculated, so that it can be calculated with higher accuracy.

  As described above, the buried pipe repairing device 1 is either one of (1) an event that the buried pipe 2 is bent or bent, and (2) an amount of the bent or bent of the buried pipe 2 according to specifications and requirements. (Or both) can be calculated selectively.

  As described above, the embedded pipe repair device 1 can detect the shape of the embedded pipe 2 by having the arm that extends from the main body 3 and can contact the inner wall of the embedded pipe 2. By this detection, the buried pipe repairing device 1 can repair the deformation of the buried pipe 2 by specifying the deformed portion of the buried pipe 2.

  The buried pipe repair device 1 may transmit the detected deformation of the buried pipe 2 to the operation terminal 40 used by the worker 50 described in the second embodiment.

  Further, the repair method and the buried pipe repair method using the buried pipe repair device described in the first to third embodiments may be realized by a predetermined computer program. The embedded pipe described in the first to third embodiments is repaired by operating the computer by the CPU based on the program formed by the computer program programmed in advance.

  As described above, the buried pipe repair device described in the first to third embodiments is an example for explaining the gist of the present invention, and includes modifications and alterations without departing from the gist of the present invention.

DESCRIPTION OF SYMBOLS 1 Embedded pipe repair apparatus 2 Embedded pipe 21 Pipe line 22 Joint 23, 24 Inner wall 201 Cavity 202 Removal area | region 3 Main body part 4 Drilling unit 5 Removal unit 6 Injection | pouring unit 61 Expansion material 62 Filling material 7 1st through-hole 8 2nd through-hole DESCRIPTION OF SYMBOLS 9 Positioning control part 91 Posture detection part 10 Control part 30 Monitoring unit 40 Operation terminal 41 Display apparatus 50 Worker 105 1st arm 106 2nd arm 107 1st contact part 108 2nd contact part 120 Distance calculation part 121 Angle calculation part 122 Shape calculator

Claims (18)

A main body movable within the underground pipe buried in the ground,
A perforation unit for perforating a first through hole at a predetermined position in the repair region of the buried pipe and a second through hole at a position different from the first through hole;
A removal unit that removes earth and sand around the first through hole outside the buried pipe through the first through hole;
An embedded pipe repairing apparatus comprising: an injection unit that injects an expansion agent to the outside of the embedded pipe and around the second through hole through the second through hole.   The buried pipe repairing device according to claim 1, wherein each of the first through hole and the second through hole is located at a position facing each other in the buried pipe.   When the repair region of the buried pipe is bent, the first through hole is located on the bent inner side of the buried pipe, and the second through hole is located on the bent outer side of the buried pipe. The buried pipe repair device according to claim 1 or 2.   The first through hole is connected to a removal region where earth and sand are removed by the removal unit, and the second through hole is connected to an injection region where an expansion material is injected by the injection unit. The buried pipe repair device according to any one of the above.   5. The embedded pipe repair device according to claim 1, wherein the main body portion includes a wheel that can move inside the embedded pipe. 6.   The embedded pipe repair device according to any one of claims 1 to 5, wherein the main body includes a positioning control unit that determines the repair region of the buried pipe.   The said drilling unit is provided with at least one of a core drill, a drill, and a hole saw, The said 1st through-hole and said 2nd through-hole in the said repair area | region in the said buried pipe are drilled. Buried pipe repair device.   The said removal unit is provided with a nozzle, The said removal unit protrudes the said nozzle from the said 1st through-hole, and removes the earth and sand of the said removal area | region by at least one of an air pressure and a hydraulic pressure. Buried pipe repair device.   The buried pipe repairing device according to any one of claims 4 to 8, wherein the injection unit injects an expansion material into the injection region through the second through hole after removal of earth and sand in the removal region.   The buried pipe repairing device according to any one of claims 4 to 9, wherein the injection unit injects a filler into the removal region through the first through hole after the expansion material is injected.   The buried pipe repairing device according to claim 10, wherein at least one of the expansion material and the filler is accommodated in the main body portion or supplied to the main body portion.   The embedded pipe repair device according to any one of claims 1 to 11, further comprising a monitoring unit including an imaging unit capable of imaging the repair region and a transmission unit that transmits a captured image of the repair region. A first arm extending from the main body and movable in accordance with the internal shape of the buried pipe;
A second arm extending from the main body portion in a direction different from the first arm and movable in accordance with the internal shape of the buried pipe;
A first contact part connected to the first arm and movable in contact with the inner wall of the buried pipe;
A second contact portion connected to the second arm and movable in contact with the inner wall of the buried pipe;
The movement distance from the reference surface of the first contact portion is calculated as a first distance, the movement distance from the reference surface of the second contact portion is calculated as a second distance, and the first contact portion and the second contact are calculated. A distance calculating unit that calculates a linear distance to the unit as a third distance;
The angle formed by the first arm with respect to the tangent of the inner wall with which the first contact portion contacts is calculated as a first angle, and the second angle with respect to the tangent of the inner wall with which the second contact portion contacts. An angle calculator that calculates an angle formed by the arm as the second angle;
A shape calculating unit that calculates an internal shape of the buried pipe based on at least one of the first distance, the second distance, the third distance, the first angle, and the second angle. The buried pipe repair device according to any one of claims 1 to 12. The shape calculation unit calculates a three-dimensional shape having a minute width at a predetermined position of the buried pipe based on the first distance, the second distance, the third distance, the first angle, and the second angle;
The embedded pipe repair device according to claim 13, wherein the shape calculation unit calculates a three-dimensional shape of the embedded pipe based on the plurality of continuous solid shapes.   The shape calculating unit is configured to bend, bend, change an inner diameter, and deform the bent pipe based on at least one of a difference between the first distance and the second distance and a change in the third distance included in the three-dimensional shape. The buried pipe repairing device according to claim 14, wherein at least one of the following is calculated.   The embedded pipe repair device according to claim 1, wherein the main body portion calculates at least one of bending, bending, inner diameter change, and deformation of the embedded pipe using a gyro mechanism. A buried pipe repairing method for repairing the buried pipe inside the buried pipe buried in the ground,
A drilling step of drilling a first through hole at a predetermined position in the repair region of the buried pipe and a second through hole at a position different from the first through hole;
A removal step of removing earth and sand around the first through hole outside the buried pipe through the first through hole;
An embedded pipe repair method comprising: an injecting step of injecting an expansion agent to the outside of the embedded pipe and around the second through hole through the second through hole.   The embedded pipe repair method according to claim 17, further comprising a filling step of injecting a filler through the first through hole after the injecting step.