Drilling apparatus and drilling method
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United States of America Patent
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May 26, 2020
Grant Date -
Jul 11, 2019
app pub date -
Mar 29, 2017
filing date -
May 23, 2016
priority date (Note) -
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status (Latency Note)
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Abstract
A drilling apparatus has a work robot mounting a drilling blade and moving inside a main pipe and a photodetector for detecting the contour of an opening image formed on the inner surface of a pipe lining material by illumination light. The opening image is scanned, and a two-dimensional image corresponding to the opening image is generated based on the contour points P0 to P8 detected by the photodetector for display on a display unit. The amount of positional deviation between the center of the two-dimensional image on the display unit and the axial center C of the rotary shaft of the drilling blade is calculated, and the pipe lining material is drilled by moving the drilling blade by the amount of positional deviation in a direction in which the positional deviation is eliminated.
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