JP2005221246A - Remote operation inspection device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To suppress enlargement of a motor for pulling a self-traveling vehicle, and to prevent a damage of a cable. <P>SOLUTION: A rotating drum for winding the cable is loaded on the self-traveling vehicle entering a pipe. The cable into which a signal wire necessary for remote operation is interpolated is wound on the rotating drum, and rotation of the rotating drum can be controlled by a drum motor. <P>COPYRIGHT: (C)2005,JPO&NCIPI

Description

  The present invention relates to a remote operation inspection apparatus suitable for inspecting water pipes, gas pipes, sewer pipes and the like.

  Conventionally, a self-propelled remote inspection device has a camera head mounted on the self-propelled vehicle. It also has multiple motors that drive the wheels of the self-propelled vehicle. These plurality of motors are remotely operated via cables. Further, a control signal line and an output signal line for taking out a signal imaged from the camera head to the outside are also bundled in the cable.

  According to the conventional remote operation inspection device, the self-propelled vehicle unwinds the cable wound around the external drum as it enters the sewer pipe, for example. Therefore, the farther the self-propelled vehicle is from the entrance of the pipe, the longer the cable length becomes, and the larger the load that the self-propelled vehicle pulls. For this reason, a large motor with a margin is also used as the wheel motor for driving the self-propelled vehicle.

  However, if the self-propelled vehicle forcibly pulls the cable and enters deep into the tube, the cable is in a tensioned state and is rubbed strongly at the corner of the tube. For this reason, there is a problem that the outer sheath of the cable is scratched or consumed quickly.

  SUMMARY OF THE INVENTION Accordingly, an object of the present invention is to provide a remote operation inspection device that is effective in suppressing an increase in the size of a motor for towing a self-propelled vehicle and preventing damage to a cable.

  The present invention includes a chassis, a camera head unit attached to the front of the chassis, a plurality of wheels attached to the left and right of the lower part of the chassis, and a plurality of wheels for transporting the chassis back and forth, and mounted on the chassis. A plurality of wheel motors for driving each of the plurality of wheels, a camera head unit mounted in front of the chassis, a rotating drum mounted on the chassis and for winding a cable; A drum motor for driving the rotary drum; a power supply line for supplying power to the wheel motor, the rotary drum motor and the camera head unit; and a power supply and control signal line for supplying a control signal so that it can be operated remotely. Output signal lines for taking out image signals from the camera head to the outside are collected in the cable. .

  According to the above means, since the rotating ram having the cable wound thereon is mounted on the self-propelled vehicle, it is not necessary to pull the cable when entering the back of the pipe. Instead of rotating the rotating drum and moving the cables in sequence. For this reason, the cable is not forcibly pulled and damaged. Further, since the pulling force can be reduced, it is not necessary to select a motor having a larger size than necessary.

  Embodiments of the present invention will be described below with reference to the drawings. FIG. 1 shows an embodiment of the present invention. 11 is a chassis. A camera head unit 21 is attached in front of the chassis 11. The camera head unit 21 can photograph the front. A plurality of wheels 13L1, 13L2, and 13L3 are attached to the left and right of the lower portion of the chassis 11, respectively, so that the chassis 11 can be conveyed back and forth. In the drawing, the left wheels 13L1, 13L2, and 13L3 appear, and the right wheels do not appear.

  Although not shown in FIG. 1, a plurality of wheel motors M1, M2, M3 (shown in FIG. 2) for driving the plurality of wheels 13L1, 13L2, 13L3 are mounted on the chassis 11.

  A rotating drum 14 for winding the cable 15 is mounted on the chassis 11. A drum motor DRM (shown in FIG. 2) for driving the rotary drum 14 is also mounted.

  The cable 15 includes a power supply line for supplying power to the wheel motors M1, M2, M3, the rotary drum motor DRM, and the camera head unit 21 and a power supply and control signal line for supplying a control signal so that it can be operated remotely. Yes. An output signal line for taking out an imaging signal from the camera head unit 21 is also collected in the cable 15. Moreover, the power supply line for illumination is also included.

  The cable 15, the camera head unit 21, and each motor are connected via a control unit 22. Each component placed on the chassis 11 is covered with a cover 30. The front of the cover 30 (the portion facing the camera head portion 21) is open, but is closed by the glass 31. The joint between the cover 30 and the chassis 11 has a waterproof structure, and packing or the like is used.

  In FIG. 2, the cable 15 is led to the control unit 22, and the electric wires are distributed in the control unit 22 and connected to the wheel motors M <b> 1, M <b> 2, M <b> 3, the drum motor DRM, the camera head unit 21, an illuminator and the like. It shows how it works.

  FIG. 3 shows a state in which the inspection apparatus 100 of the present invention has entered the tube 110 while the cable 15 is disposed. Conventionally, since the rotating drum is disposed outside, the cable 15 is entered while dragging. However, in the present invention, the cable 15 is sequentially entered while being unwound from the drum. As a result, an excessive pulling force is not applied to the cable 15, and the cable is not rubbed at the bent portion of the tube 110. Therefore, the cable is not forcibly pulled and damaged. Further, since the pulling force can be reduced, it is not necessary to select a motor having a larger size than necessary. Also, when the inspection device comes out of the tube 110 while retracting, the cable 15 is not dragged and is stored in the drum while being wound up. Therefore, the safety of the cable 15 can be obtained and the life can be extended.

  Further, there is no load that drags the cable as in the prior art, and there is no unstable material in which the load fluctuates due to the cable length to be dragged and the bending of the tube.

  FIG. 4 shows another embodiment of the present invention. In this example, the drawing direction and the drawing direction of the cable 15 are devised. The cable 15 pulled out and wound up from the rotating drum 14 is led out through a hole 45 provided at the lower rear portion of the chassis 11. As a result, when the cable 15 is unwound and placed on the ground, the distance between the cable discharge portion and the ground surface is reduced, so that the cable can be smoothly arranged and pulled. Further, a cleaning mechanism may be provided around the hole 45 for cleaning deposits (such as mud and dust) adhering to the cable when the cable is drawn.

Explanatory drawing which shows the structure of the in-pipe inspection apparatus of this invention. Explanatory drawing which shows the electrical structural example around the control unit of the in-pipe inspection apparatus of this invention. Explanatory drawing which shows the use condition of the in-pipe inspection apparatus of this invention. Explanatory drawing which shows the other example of the in-pipe inspection apparatus of this invention.

Explanation of symbols

  DESCRIPTION OF SYMBOLS 11 ... Chassis, 14 ... Rotary drum, 15 ... Cable, 21 ... Camera head part, 22 ... Control unit, 13L1, 13L2, 13L3 ... Wheel, M1, M2, M3 ... Motor for wheel, DRM ... Drum motor.

Claims (2)

The chassis,
A camera head attached to the front of the chassis;
A plurality of wheels respectively attached to the left and right of the lower part of the chassis and transporting the chassis back and forth; and
A plurality of wheel motors mounted on the chassis, each for driving the plurality of wheels;
A camera head attached to the front of the chassis;
A rotating drum mounted on the chassis for winding the cable;
A drum motor for driving the rotating drum;
In order to operate remotely, a power supply line for supplying power to the wheel motor, rotary drum motor and camera head unit, a control signal line for supplying a control signal, and an output for taking out an imaging signal from the camera head unit A remote operation inspection device, wherein signal lines are collected in the cable.   The remote operation inspection device according to claim 1, wherein the cable drawn and wound from the rotating drum is led out through a lower rear portion of the chassis.

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