JP2006052961A - In-pipe probing device and guiding device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide an in-pipe probing device wherein a running body moving forward/backward in a pipe is equipped with a camera with a lens and a radar for cavity probing, conveyable easily into the pipe disposed underground, and a guiding device. <P>SOLUTION: This in-pipe probing device R has a constitution wherein the running body 3 moving forward/backward in the pipe, while pulling a cable K, is divided into a front running body 31 and a rear running body 32, and the front running body 31 and the rear running body 32 are connected bendably. The device R is also constituted so as to be lowered in the state where the front running body is kept horizontal and the rear running body is bent approximately vertically upward from the front running body, and to be conveyed into the pipe by using the guiding device G for resetting the device R in the bent state to the horizontal state to be advanceable. <P>COPYRIGHT: (C)2006,JPO&NCIPI

Description

  The present invention is a self-propelled in-pipe pipe that can search for damage to a pipe while traveling inside with a camera with a lens mounted thereon, and can search for a cavity in the formation around the pipe with a radar for cavity search. In particular, the present invention relates to an in-pipe exploration device and a guide device that enable exploration in a small pipe and can be easily carried into a pipe disposed underground.

  Conventionally, in order to check the internal state of various pipes, a self-propelled exploration device that moves forward and backward in the pipe and searches for the state in the pipe has already been disclosed. (For example, refer to Patent Document 1).

  Such a self-propelled exploration device is equipped with a camera with a lens and an illuminating device, images the entire inside of the tube while illuminating the traveling tube, and searches for abnormalities such as damage and is photographed. The transmitted image is transmitted to the ground via a cable.

  Pipes buried underground may have cavities in the upper part of the pipe due to the fall of earth and sand due to the rupture of the pipe, or the loss of earth and sand due to groundwater, etc. Can be used.

  For this purpose, if the in-pipe exploration apparatus is provided with a lens-equipped camera and a cavity exploration radar, the lens-equipped camera needs to be disposed at a substantially central portion of the tube, and the cavity exploration radar needs to be disposed on the upper side of the tube. is there.

Furthermore, an in-pipe inspection apparatus including a driving traveling vehicle body and an inspection vehicle body has already been disclosed. (For example, refer to Patent Document 2).
JP 11-64230 A (page 1-4, FIG. 1) Japanese Utility Model Publication No. 6-82555 (page 1-2, Fig. 1)

  However, if the in-pipe exploration device including the lens-equipped camera and the cavity exploration radar is mounted vertically in the vertical direction, the height of the exploration device becomes high, and it is difficult to explore a small pipe.

  Moreover, if they are simply arranged in the horizontal direction, the height can be reduced, but the length becomes longer, and a large opening corresponding to the length is required to carry into the small tube from above. Become.

  In a configuration in which an in-pipe exploration apparatus including a camera with a lens and a cavity exploration radar is carried into a pipe buried underground, as described above, the camera is arranged at a substantially central portion of the pipe, and the radar is arranged in the pipe. It is necessary to arrange on the upper side. For this purpose, it is preferable to carry in the exploration device with their height positions set in advance, and the size is preferably as small as possible and the length is also short.

For this purpose, a camera with a lens and a radar for cavity exploration are provided, and the camera position and radar position can be easily set according to the inner diameter of the exploration pipe. Even if the pipe buried underground is small, Therefore, an in-pipe exploration device that can be easily carried in is desired.

  An object of the present invention is to provide an in-pipe exploration device and a guide device that are equipped with a lens-equipped camera and a cavity exploration radar on a traveling body that moves forward and backward in a pipe, and that can be easily carried into a pipe arranged underground. Is to provide.

  In order to achieve the above object, the invention according to claim 1 is directed to an in-pipe exploration apparatus comprising a camera with a lens and a cavity exploration radar in a traveling body that moves forward and backward in a pipe. And the rear traveling body, the height of the camera is mounted on the leading traveling body, the height position of which is adjustable, and the height of the radar is mounted on the rear traveling body, the height position of which is adjustable. The front traveling body and the rear traveling body are configured to be bendable with a predetermined axle provided in the body as a rotation center.

  According to the first aspect of the present invention having the above-described configuration, the height direction can be reduced by mounting the camera with a lens and the radar for cavity exploration on different traveling bodies. Furthermore, by making the leading traveling body and the backward traveling body freely bendable, it is possible to increase the degree of freedom during transportation of the in-pipe exploration device, loading into the tube, or traveling.

  According to a second aspect of the present invention, the traveling body includes three pairs of traveling wheels including a front wheel, an intermediate wheel, and a rear wheel, and each pair of traveling wheels includes an axle and wheels disposed on both sides of the axle. The leading traveling body includes the front wheel and the intermediate wheel, the backward traveling body includes the intermediate wheel and the rear wheel, and the leading traveling body has an axle of the intermediate wheel as a rotation center. And the rear traveling body can be bent to a substantially right angle state.

  According to the invention which concerns on Claim 2 which has said structure, it can be set as an in-pipe exploration apparatus provided with the leading | running | working traveling body and back traveling body connected flexibly via an intermediate ring.

  The invention according to claim 3 is configured such that a driving device for traveling is disposed on the rear traveling body, the intermediate wheel and the rear wheel are connected by a chain, and both are actively driven by the driving device. It is characterized by.

  According to the invention according to claim 3 having the above-described configuration, the traveling wheels before and after the rear traveling body including the cavity exploration radar and the driving device are actively driven, so that the vehicle can travel reliably even in a non-flat pipe. . Further, since the intermediate wheel serving as the center of rotation at which the leading traveling body and the backward traveling body bend is actively driven, the leading traveling body and the backward traveling body can travel even in a bent state.

  The invention according to claim 4 is characterized in that the camera is mounted on the leading traveling body via a first pantograph member, and the radar is mounted on the backward traveling body via a second pantograph member. It is said.

  According to the fourth aspect of the present invention having the above-described configuration, the installation positions of the lens-equipped camera and the cavity exploration radar can be set to appropriate positions according to the size of the pipe.

The invention according to claim 5 is installed in a pothole part such as a manhole serving as a communication port of a pipe disposed underground, and holds the in-pipe exploration device according to any one of claims 1 to 4, and the pothole A guide device for lowering a part and carrying it into a pipe, wherein the size of the pothole is such that the leading traveling body is bent horizontally and the backward traveling body is bent substantially perpendicularly upward from the leading traveling body. It is a size that can be carried in, and is provided with a mounting table on which the leading traveling body is mounted, and a lifting means that moves the mounting table up and down in the pothole and a cable that is pulled by the in-pipe exploration device are guided. And a guide member capable of measuring the moving distance of the cable.

  According to the invention according to claim 5 having the above-described configuration, the in-pipe exploration device in a state where the leading traveling body and the backward traveling body are bent can be carried into the underground pipe by lowering the pothole portion, and has a small size. It can be set as the guide apparatus which can be carried in from the pothole part.

  According to a sixth aspect of the present invention, in the in-pipe exploration device placed in a bent state on the mounting table, the rear side bent in a vertical state when the leading traveling body moves forward and moves away from the mounting table. A guide means for bringing the traveling body into contact with the traveling body and returning to a horizontal state is provided on the mounting table.

  According to the invention according to claim 6 having the above-described configuration, after the in-pipe exploration device is carried into the underground pipe in a state in which the leading traveling body and the backward traveling body are bent, the in-pipe exploration device is bent forward only. The rear traveling body in the state can be returned to the horizontal state and returned, and the inside of the pipe can be searched with the camera with the lens and the radar for cavity search.

  In the in-pipe exploration device according to the present invention, the leading traveling body and the backward traveling body can be bent, so that the degree of freedom during transportation, carrying into the pipe or traveling can be increased. Further, according to the guide device of the present invention, the in-pipe exploration device in a state where the leading traveling body and the backward traveling body are further bent can be carried into the underground pipe by lowering the pit portion, and a small-sized pit Can be carried in from the department.

  The purpose of obtaining an in-pipe exploration device and a guide device that are equipped with a camera with a lens and a radar for cavity exploration in a traveling body that moves forward and backward in the pipe, and that can be easily carried into a pipe disposed underground. A traveling body that moves forward and backward is constituted by a leading traveling body and a backward traveling body, and an in-pipe exploration device configured to flexibly connect the leading traveling body and the backward traveling body to a substantially right angle state, This is realized by a guide device that carries the leading traveling body horizontally and the rear traveling body bent into the pipe at a substantially right angle upward from the leading traveling body.

  Hereinafter, embodiments of an in-pipe exploration device and a guide device according to the present invention will be described with reference to FIGS.

  First, an in-pipe exploration device according to the present invention will be described with reference to FIG. FIG. 3 shows an overall perspective view of the in-pipe exploration device according to the present invention. The in-pipe exploration device R includes a lens-equipped camera 1 and a cavity exploration radar 2 on a traveling body 3 that moves forward and backward in the pipe while pulling a cable. Further, the traveling body 3 is divided into a leading traveling body 31 including the camera 1 with a lens and a backward traveling body 32 including the cavity exploration radar 2, and the leading traveling body 31 and the backward traveling body 32 are separated. It is configured to be flexibly connected.

  The lens-equipped camera 1 provided in the leading traveling body 31 is attached to a substantially cylindrical casing 2, and the casing 2 is configured to be movable up and down by a first pantograph member 4. In other words, the height position of the camera with lens 1 can be adjusted by the first pantograph member 4.

The cavity exploration radar 2 is attached to the rear traveling body 32 via a second pantograph member 5, the height position of which can be adjusted by the second pantograph member 5, and the size of the tube to be investigated. It can be installed in the optimal position according to the situation.

  The traveling body 3 includes three pairs of traveling wheels, that is, a front wheel 3A, an intermediate wheel 3B, and a rear wheel 3C. Each traveling wheel is composed of an axle 3a and wheels 3b disposed on both sides of the axle 3a, and the leading traveling body 31 includes the front wheel 3A and the intermediate wheel 3B, and the backward traveling is performed. A body 32 includes the intermediate wheel 3B and the rear wheel 3C.

  Further, by attaching the frame 31A of the leading traveling body 31 to the axle 3a of the intermediate wheel 3B so as to be rotatable, the leading traveling body 31 and the rear traveling body 32 can be bent around the axle 3a. .

  A driving device 33 for traveling is disposed on the rear traveling body 32, the intermediate wheel 3B and the rear wheel 3C are connected by a chain 34, and both are driven actively by the driving device 33. Further, the front wheel 3A is a driven wheel, and is configured to move forward and backward by driving the intermediate wheel 3B or the rear wheel 3C.

  The chain 34 is preferably provided on both wheels 3b disposed on both sides of the axle 3a, and the rear traveling body 32 including the intermediate wheel 3B and the rear wheel 3C has all the wheels as drive wheels. It is a so-called four-wheel drive type traveling body.

  As described above, the head traveling body 31 and the rear traveling body 32 can be bent around the axle 3a of the intermediate wheel 3B, and as shown in FIG. 2, when the head traveling body 31 is leveled, The rear traveling body 32 bends substantially at a right angle from the leading traveling body 31 and is substantially vertically upward.

  When the driving device 33 is driven in this state, the intermediate wheel 3B is driven, so that the leading traveling body 31 itself can travel.

  Next, the guide device G for carrying the in-pipe exploration device R into the tube will be described with reference to FIG.

  The guide device G according to the present invention is installed in a pothole part such as a manhole serving as a communication port of a pipe disposed in the basement, and guides the pipe exploration device R down the pothole part and carries it into the pipe. The apparatus is provided with a vertical frame 6 standing upright and a horizontal frame 6A arranged at an upper part, and the vertical frame 6 is placed on the ground above a predetermined pothole. And the mounting base 60 holding the said pipe | tube search apparatus R is mounted | worn through the wire 62 wound around the pulley 61 with which the said horizontal frame 6A is mounted | worn.

  The mounting table 60 supports the leading traveling body 31 in a state where the leading traveling body 31 of the in-pipe exploration device R is bent horizontally and the backward traveling body 32 is bent substantially perpendicularly upward from the leading traveling body 31. It is. Therefore, the size of the mounting table 60 is such that the front wheel 3A and the intermediate wheel 3B of the leading traveling body 31 are placed and support the leading traveling body 31, and the in-pipe exploration device The pothole for carrying R into the pipe buried underground can be made small.

  The wire 62 wound around the pulley 61 is fixed to the wire support portion 60a at the four corners of the mounting table 60, and the pulley 61 is rotated and driven integrally by pulley driving means (not shown) provided separately. The mounting table 60 is configured to be movable up and down by driving up and down (in the direction of the arrow in the drawing).

In other words, the pulley 60, the wire 62, and the pulley driving means (not shown) constitute lifting / lowering means for raising / lowering the mounting table up and down in the hole.

  The mounting table 60 is provided with a guide roller 65 via a support plate 64. This guide roller 65 is a rotatable guide roller extending in the back of the figure, and the in-pipe exploration device R in a state where the leading traveling body 31 and the backward traveling body 32 are bent substantially at right angles, Although it does not interfere anywhere when it is placed on the mounting table 60, it is disposed at a position where the radar part of the rear traveling body standing up comes into contact when the leading traveling body 31 moves forward.

  Further, the guide device G is provided with a cable guide roller 63 above the horizontal frame 6A. The cable guide roller 63 is a guide member capable of guiding the cable K pulled by the in-pipe exploration device and measuring the moving distance of the cable K from the degree of rotation.

  The cable K is a cable in which a power supply line for driving a motor, a signal line from a camera and a radar, and the like are collected. In this configuration, a signal or the like is transmitted to the ground via the cable K.

  Therefore, the in-pipe exploration device R is configured to move forward and backward in the pipe while pulling the cable K.

  Next, the carrying-in of the in-pipe exploration device R into the pipe T2 buried in the ground will be described with reference to FIG.

  T1 is a pothole connected to the tube T2. The vertical frame 6 of the above-described guide device G is erected on the upper portion of the hole T1. Of course, the size of the hole T1 is a hole that allows the leading traveling body 31 including the front wheel 3A and the intermediate wheel 3B to be horizontally loaded.

  In the posture illustrated in the pipe exploration device R in a state in which the leading traveling body 31 and the backward traveling body 32 are bent substantially at right angles to the mounting table 60 suspended by the wire 62 via the pulley 61 of the guide device G. Place.

  After the cable K is looped around the cable guide roller 63 at this position, the pulley 61 is driven by a pulley drive means (not shown) to lower the in-pipe exploration device R into the well T1.

  This descent distance can be measured by the degree of rotation of the cable guide roller 63 as described above. When the in-pipe exploration device R reaches the bottom of the pothole T1, it can be detected by detecting that the wire 62 is loosened. Alternatively, even if the feeding of the cable K is stopped, it can be easily detected from the fact that the image from the lens-equipped camera 1 included in the in-pipe exploration device R becomes a stop image, and either method is adopted. May be.

  The pothole T1 is a hole that communicates with the pipe T2 embedded in the underground, so that the bottom thereof is continuous with the pipe T2. Therefore, when it is detected by any method that the in-pipe exploration device R has reached the bottom of the pothole T1, the tube T2 to be explored is opened in front of the lens-equipped camera 1 of the in-pipe exploration device R. Become.

  Therefore, after the in-pipe exploration device R reaches the bottom of the pothole T1, when the driving device 33 for driving is started, the rear wheel 3C and the intermediate wheel 3B are rotationally driven and are grounded. The leading traveling body 31 is driven forward by the intermediate wheel 3B.

  When the in-pipe exploration device R in a state where the leading traveling body 31 and the backward traveling body 32 are bent at substantially right angles is advanced, the standing backward traveling body 32 comes into contact with the guide roller 65.

  The guide roller 65 is rotatable, and the rear traveling body 32 is bendable with the leading traveling body 31 via the axle 3a of the intermediate wheel 3B. As the leading traveling body 31 moves forward while being in contact with the head, it rotates in the direction of arrow A1 in the figure and gradually becomes horizontal.

  It is configured to gradually become horizontal and finally rotate until the rear wheel 3C comes into contact with the weight of the rear traveling body 32 to return to the horizontal state from the bent state. Therefore, the front wheel 3A, the intermediate wheel 3B, and the rear wheel 3C can all travel in the pipe T2 while being in contact with the ground.

  Further, when the guide roller 7 is provided at a position where it interferes with the wall surface T1a of the pothole T1 when the rear traveling body 32 gradually returns to the horizontal position, the rotational movement from the standing state to the horizontal state is achieved. In the middle, the guide roller 7 which is a rotating roller moves in contact with the wall surface T1a, which is preferable because the forward movement of the in-pipe exploration device R can be performed smoothly.

  However, in the configuration in which the rear wheel 3C is positioned at the rearmost end of the rear traveling body 32, the rotating rear wheel 3C itself is in contact with the wall surface T1a and becomes a guide roller because of forward movement. There is no need to provide the guide roller 7.

  In the pipe T2 buried underground, the pipe exploration device R returns to the horizontal state and the front wheel 3A, the intermediate wheel 3B, and the rear wheel 3C are all in contact with the ground. Can be explored.

  The camera 1 with a lens provided in the in-pipe exploration device R and the radar 2 for exploring the cavity explore the inside of the tube or detect the upper cavity of the tube. The travel distance of the in-pipe exploration device R is the cable guide roller 63 described above. It can be measured by the degree of rotation.

  Further, while traveling in the tube T2, when the cable K is pulled forward and backward while pulling the cable K, the cable K is guided by a rotatable guide roller 65, and the movement of the in-pipe exploration device R is performed. Accordingly, the cable K can be easily sent out and wound up.

  That is, the guide roller 65 is a guide means for returning the rear traveling body 32 erected in the vertical direction to a horizontal state, and the cable K that is pulled when the in-pipe exploration device R moves forward and backward in the pipe. It is also a guide means for guiding.

  When searching the inside of a pipe having a predetermined pipe diameter, it is necessary to set the height positions of the lens-equipped camera 1 and the cavity search radar 2 to positions corresponding to the pipe diameter. For this purpose, the first pantograph member 4 that adjusts the height of the lens-equipped camera 1 and the second pantograph member 5 that adjusts the height position of the cavity exploration radar 2 are adjusted in advance. The exploration device R may be carried in. It is also possible to provide a driving member for driving up and down each pantograph member and adjust each height position after carrying in the pipe.

  When the in-pipe exploration device R is pulled out from the pipe T2 after the pipe T2 has been searched for a predetermined length, the drive device 33 rotates the intermediate wheel 3B and the rear wheel 3C in the reverse direction so that the in-pipe search is performed. The device R moves backward. At this time, if the cable K is configured to move backward while being wound by a winding device installed on the ground, it is preferable that the cable K does not slack and does not interfere with the backward movement.

  When the in-pipe exploration device R moves backward and the backward traveling body 32 reaches the pothole T1 portion, it rides on the mounting table 60 waiting at the bottom thereof. In addition, the guide roller 7 mounted at the rear end of the rear traveling body 32 (frontmost row when moving backward) comes into first contact with the wall surface T1a of the hole T1.

  As described above, since the cable K is retracted while being wound up, the rear traveling body 32 is configured to be gradually lifted upward after reaching the hole T1 and the axle 3a of the intermediate wheel 3B. With the center of rotation as the center of rotation, it gradually bends from the leading traveling body 31 and becomes bent.

  After confirming that the leading traveling body 31 is completely mounted on the mounting table 60, the in-pipe exploration device R can be carried out to the ground by winding the wire 62 by the pulley 61.

  Confirmation that the head traveling body 31 is completely placed on the placing table 60 is made by looking into the eye from the pothole T1 with the naked eye when the tube T2 is embedded in a relatively shallow portion. You can also. Also, the winding length of the cable K can be detected and confirmed.

  When the in-pipe exploration at one place is completed, the guide device G can be installed in the next pothole portion and the same procedure can be performed. Further, in the in-pipe exploration device R according to the present invention, the camera with lens 1 includes the first pantograph member 4 and the cavity exploration radar 2 includes the second pantograph member 5, so that the adjustment range of these pantograph members is within the range. It can be explored by traveling in a pipe with a certain diameter.

  As described above, the in-pipe exploration device R according to the present invention divides the traveling body 3 into the leading traveling body 31 and the backward traveling body 32, and adjusts the height position of the lens-equipped camera 1 to the leading traveling body 31. Since the cavity traveling radar 2 is mounted on the rear traveling body 32 so that the height position thereof can be adjusted freely, and the leading traveling body 31 and the rear traveling body 32 are bendable, they can be transported and moved into the pipe. The degree of freedom at the time of carrying in or traveling can be increased.

  Further, according to the guide device G according to the present invention, the in-pipe exploration device R in a state where the leading traveling body 31 and the backward traveling body 32 are bent at substantially right angles is lowered at the pothole T1 portion, and then the bending is performed. Since the state is restored and it can be carried into the underground pipe T2, it can be carried in from a small-sized pothole about half the size of the traveling body 3 of the pipe exploration device R.

It is sectional drawing which shows the place which has carried in the pipe | tube search apparatus into the pipe | tube using the guide apparatus which concerns on this invention. It is a perspective view showing the state where the in-pipe exploration device concerning the present invention bent. 1 is an overall perspective view showing an in-pipe exploration device according to the present invention. It is a side view which shows the place which mounted the in-pipe exploration apparatus in the guide apparatus which concerns on this invention.

Explanation of symbols

1 Camera with lens
2 Radar for cavity exploration
3 Running body
3A front wheel
3B Intermediate wheel
3C rear wheel
31 Leading body
32 Rear body
3a axle
3b wheel
4 First pantograph member
5 Second pantograph member 60 Mounting table 61 Pulley (lifting means)
62 wire (lifting means)
63 Cable guide roller (guide member)
65 Guide roller (guide means)
K cable
G guidance device
R In-pipe exploration device

Claims (6)

In an in-pipe exploration device equipped with a lensed camera and cavity exploration radar on a traveling body that moves forward and backward in the pipe,
The traveling body is composed of a leading traveling body and a backward traveling body, and the camera is mounted on the leading traveling body so that the height position of the traveling body can be adjusted, and the radar can be adjusted on the rear traveling body. And mounted on
An in-pipe exploration device characterized in that the leading traveling body and the backward traveling body are bendable with a predetermined axle provided in the traveling body as a rotation center.   The traveling body includes three pairs of traveling wheels, a front wheel, an intermediate wheel, and a rear wheel, and each pair of traveling wheels includes an axle and wheels disposed on both sides of the axle, and the leading traveling body Includes the front wheel and the intermediate wheel, the rear traveling body includes the intermediate wheel and the rear wheel, and the leading traveling body and the rear traveling body are substantially centered around the axle of the intermediate wheel. The in-pipe exploration device according to claim 1, wherein the in-pipe exploration device can be bent to a right angle state.   The driving device for driving is disposed on the rear traveling body, the intermediate wheel and the rear wheel are connected by a chain, and both are actively driven by the driving device. The in-pipe exploration device described.   4. The camera according to claim 1, wherein the camera is mounted on the leading traveling body via a first pantograph member, and the radar is mounted on the rear traveling body via a second pantograph member. The in-pipe exploration device according to any one of the above. It is installed in a pothole part such as a manhole serving as a communication port for a pipe buried underground, holds the pipe exploration device according to any one of claims 1 to 4, and descends the pothole part and carries it into the pipe A guidance device,
The size of the pothole is such a size that it can be carried in a state where the leading traveling body is bent horizontally and the backward traveling body is bent substantially perpendicularly upward from the leading traveling body,
An elevating means for elevating and lowering the mounting table up and down in the pothole;
A guide device comprising: a guide member capable of guiding a cable pulled by the in-pipe exploration device and capable of measuring a moving distance of the cable. When the leading traveling body of the in-pipe exploration device placed in a bent state on the mounting table moves away from the mounting table and moves forward, the backward traveling body bent in a vertical state makes contact while traveling. 6. The guide device according to claim 5, wherein guide means for returning to a horizontal state is disposed on the mounting table.

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