JP2009244418A - Lighting method for in-liquid investigation equipment, and in-liquid investigation equipment - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a lighting method for in-liquid investigation equipment and the in-liquid investigation equipment, capable of changing a view field of a camera independently of a posture of the in-liquid investigation equipment, capable of reducing the number of illumination units, capable of restraining a fluid resistance and a weight of an equipment body of the in-liquid investigation equipment from increasing, and capable of simplifying control. <P>SOLUTION: This in-liquid investigation equipment 20 for investigating a liquid sealing state is arranged with the camera 25 and the illumination unit 26 in an inner side of transparent walls 21aa, 21ab formed in one part or the whole of the equipment body 21 of the in-liquid investigation equipment 20, and changes an illumination direction of the illumination unit 26 in linking with a direction of the view field of the camera 25, to conduct illumination. A non-light-transmitting partitioning wall 21b is further provided between the portion 21aa serving as a photographing view field of the camera 25 out of the transparent walls 21aa, 21ab in the in-liquid investigation equipment 20 and the portion 21ab with an illumination light transmitted therethrough, to prevent the light from being propagated in insides of the transparent walls 21aa, 21ab. <P>COPYRIGHT: (C)2010,JPO&INPIT

Description

  The present invention relates to a problem caused by illumination light when illuminating the field of view of a camera in an in-liquid investigation device (investigation underwater robot) charged in a liquid-tight part such as a water main. The present invention relates to a lighting method for a submerged investigation device and a submerged investigation device that are prevented from occurring in the submersible.

  When investigating the inside of a water main, the pressure inside the pipe is about 1 MPa for water supply, and at the time of investigation, it is necessary to investigate while keeping the water tight so that the water in the pipe does not leak to the outside. is there. In addition, in research facilities and chemical factories where liquids that cause environmental pollution problems when leaked to the outside are investigated, the liquid in the surveyed part should be in a liquid-tight state that does not leak outside. There is a need to.

  For example, when investigating the inside of a water main pipe, remove the air valve of the branch pipe that branches upward from the water main pipe and is provided with an air valve, etc. In-pipe investigation equipment (underwater robot for investigation) that is equipped with a propeller for movement, etc., and transmits data and power by cable is inserted into the water main, and inspection is performed by this in-pipe investigation equipment (for example, patents) (See Literature 1, Patent Literature 2, and Patent Literature 3.)

  In this investigation, a repair valve provided in the branch pipe is closed, an air valve or the like is removed from the branch pipe, and an insertion pipe containing the in-pipe investigation device is attached to the branch pipe. After installing this insertion pipe, open the repair valve to make it watertight, feed the cable connected to the pipe survey equipment, insert the pipe survey equipment into the water main, and feed the cable further. While in-pipe investigation equipment is moved within a specified range in the water main, the water main is investigated. When the survey is completed, the cable is pulled in and the pipe survey device is pulled into the insertion pipe from the water main. Thereafter, the repair valve is closed, the insertion pipe is removed, an air valve or the like is attached to the branch pipe, the repair valve is opened as necessary, and the original state is returned to complete a series of operations.

  This insertion pipe is a watertight device called an uninterrupted water insertion device for preventing the water main from shutting off during the survey, and maintains a watertight state against the high water pressure of the water main. The insertion tube is formed with a cable insertion part and a cable delivery part. The cable is guided to the outside of the insertion tube via the cable insertion portion, and the terminal portion is connected to the measurement and control device.

  In these conventional technologies, in order to inspect the inner wall surface of the pipe with a camera, the camera and the lighting device are placed inside the transparent wall constituting the fuselage of the in-pipe inspection device at the front and side of the in-pipe inspection device. The field of view of the camera is changed by changing the direction of the in-pipe inspection device using a thruster or the like.

  However, with this lighting method, the posture of the in-pipe inspection device is changed in order to change the field of view of the camera, but there are often water streams in the tube, so that the posture is changed or the posture is maintained in the changed state. There is a problem that the attitude control device, power, attitude control and the like are required.

  In addition, for underwater robots that investigate the seabed and lake bottom, etc., a mechanism for turning the camera is provided, and lighting devices facing multiple directions are provided outside the body of the underwater robot, and the direction of the turning observation camera Shooting is performed by turning on lighting equipment that suits the situation.

  However, in this lighting method, it is necessary to install a large number of lighting devices outside the underwater robot body, which causes problems such as an increase in fluid resistance of the body, an increase in the weight of the underwater robot, and power saving. Therefore, there is a problem that a circuit or control for switching lighting of the lighting device in accordance with a change in the viewing direction of the camera is required.

In order to cope with this, when a part of the survey equipment is formed with a transparent wall such as acrylic, for example, and lighting equipment that changes the direction of lighting in conjunction with the camera is provided inside the transparent wall However, there is a problem in that light from the lighting device continuously reflects in the transparent wall and enters the camera field of view, and this reflected light causes trouble in photographing.
JP 2007-91169 A JP 2003-43377 A JP-A-10-212257

  The present invention has been made in view of the above situation, and its purpose is to change the field of view of the camera separately from the attitude of the submerged investigation device, and to reduce the number of lighting devices. An object of the present invention is to provide a lighting method for a submerged survey device and a submerged survey device that can suppress an increase in fluid resistance and weight of the airframe and simplify control.

  In order to achieve the above object, the illumination method of the submerged investigation device according to the present invention is a part of or all of the body of the submerged investigation device in the illumination and photographing method of the submerged investigation device to be investigated in a liquid seal A camera and an illumination device are arranged inside a transparent wall formed in the above, and illumination is performed by changing the illumination direction of the illumination device in conjunction with the view direction of the camera.

  According to this method, the field of view of the camera can be changed separately from the attitude of the submerged investigation device, the number of lighting devices can be reduced, and the increase in fluid resistance and weight of the body of the submerged investigation device can be suppressed, Furthermore, since the control for changing the direction of the camera is simpler than the change of posture in liquid or the posture maintenance control, the control can be simplified.

  In the above-described illumination method of the submerged inspection device, a partition wall that does not transmit light is provided between the portion of the transparent wall of the submerged inspection device that is the shooting field of view of the camera and the portion through which the illumination light is transmitted. Propagation of light inside the transparent wall is prevented. As a result, it is possible to solve the problem that the light from the lighting device continuously reflects in the transparent wall and enters the camera field of view, and the reflected light causes trouble in photographing.

  In the illumination method for the submerged investigation device, the camera images the side of the submerged investigation device. This side-viewing is often used when investigating the inside of a tube. In this case, since the tube wall to be investigated is in the immediate vicinity of the submerged investigation device, it is necessary to place a lighting device next to the camera. Therefore, in particular, the effect of the above method can be utilized.

  And, in the submerged investigation device for achieving the above-mentioned purpose, in the submerged investigation device to investigate in the liquid seal state, while forming a part or all of the body of the submerged investigation device with a transparent wall, Inside the transparent wall, the camera and the lighting device are arranged on the same direction changing member so that the direction of the field of view of the camera and the lighting direction of the lighting device are changed simultaneously.

  According to this configuration, the field of view of the camera can be changed separately from the attitude of the submerged investigation device, the number of lighting devices can be reduced, and the increase in fluid resistance and weight of the body of the submerged investigation device can be suppressed, Furthermore, the control can be simplified.

  In the submerged investigation device, in the transparent wall of the submerged investigation device, propagation of light inside the transparent wall is prevented between a portion that is a field of view of the camera and a portion that transmits illumination light. For this purpose, a partition wall that does not transmit light is provided. With this configuration, since the edge portion of the reflected light can be provided on the transparent wall, it is possible to prevent the light from the lighting device from continuously reflecting through the transparent wall and entering the camera field of view.

  In the submerged inspection device, the camera is arranged so as to photograph the side of the submerged inspection device. With this configuration, if the tube wall to be investigated is in the immediate vicinity of the submerged investigation device and the lighting device needs to be placed right next to the camera, for example, in the case of in-pipe investigation, etc. The effects of the above configuration can be utilized.

  According to the submerged investigation device illumination method and submerged investigation device according to the present invention, the field of view of the camera can be changed separately from the posture of the submerged investigation device, and the number of illumination devices can be reduced. The increase in fluid resistance and the increase in weight can be suppressed, and the control can be simplified.

  In addition, a partition wall that prevents light from passing through between the portion of the transparent wall of the submerged inspection device that is used as the camera's field of view and the portion through which the illumination light is transmitted, prevents light from propagating inside the transparent wall. Therefore, it is possible to prevent troubles in photographing due to light continuously reflected in the transparent wall.

  DESCRIPTION OF EMBODIMENTS Hereinafter, embodiments of an illumination method for a submerged survey device and a submerged survey device according to the present invention will be described with reference to the drawings. Here, the water main survey will be described as an example. However, the present invention is not limited to this, and can be applied to the illumination method of the submerged survey device and the submerged survey device to be investigated in other liquid seal states. .

  First, the lighting method for the submerged investigation device and the water pipe inspection system 1 in which the submerged investigation device is used will be described. As shown in FIG. 1, the internal situation and corrosion of the water main 10 are detected by using an in-pipe inspection device 20 that is an underwater inspection robot over a long distance of about 300 m to 1000 m without shutting off the water main 10. This is a system for inspecting the situation and the displacement of the joint 11 part. In addition, the survey target of water pipes is not only connected to water mains (distribution mains of water supply) of about 500 mmφ to 1000 mmφ and water pressure of about 1 MPa, but also directly connected to general users of about 200 mmφ and water pressure of about 0.3 MPa. The piping etc. which are are included. In addition, the water main here refers to the pipe between the water supply source (water purification plant, etc.) and the user, and the branch pipe is a pipe that branches upward from the main pipe. A pipe to which an air valve, a digestive plug, etc. are attached.

This system 1 includes an in-pipe investigation device 20 which is an in-liquid investigation device, an insertion / recovery device 30 for inserting the in-pipe investigation device 20 into the water main pipe 10, transmission / reception of video data and control data, and power transmission Cable 41, 42, 43, 44, and control and monitoring device 50 for maneuvering, controlling, monitoring, recording and the like of the in-pipe investigation device 20 and the insertion and collection device 30. The control and monitoring device 50 may have functions such as data storage and data analysis.

  Transmission / reception of control signals, power, data, and the like with the in-pipe inspection device 20 is performed via the first connection cable 41 and the first underwater cable 42, and transmission / reception of control signals and power with the insertion / recovery device 30 is performed by the second connection. This is performed via the cable 43 and the second underwater cable 44. These cables 41, 42, 43, and 44 are formed of composite cables of electric signals and electric power.

  As shown in FIGS. 1 to 3, the insertion / recovery device 30 inserts the in-pipe inspection device 20 into the water main 10 and sends it out without stopping the water supply, that is, without stopping the water supply. This is a device for collecting the in-pipe inspection device 20 after the inspection. The insertion / recovery device 30 includes an insertion tube 31 and a take-up device storage member 32 connected to the upper portion of the insertion tube 31, and the lower portion of the insertion tube 31 can be attached to and detached from the repair valve 14 at the branch portion of the water main pipe 10. Thus, the lower flange 31a is formed, and the upper portion is formed with an upper flange 31b connected to the winding device storage member 32. Further, a drain cock 31c and a viewing window 31d (transparent acrylic plate) are provided on the lower side of the insertion tube 31. The viewing window 31d is provided at a position where the rear portion of the storage member 34 can be confirmed when the storage member 34 that houses the in-pipe inspection device 20 is pulled up. After confirming the rear part of the storage member 34 from the viewing window 31d, the repair valve 14 is closed to prevent the storage member 34 from being pinched by the repair valve 14 and being damaged.

  The take-up device storage member 32 includes a first case 32a having a watertight (liquid tight) section and a second case 32b having a non-watertight section capable of withstanding the water pressure of the main water pipe 10, and further includes a first case 32b. A rod insertion portion 32c through which the insertion rod 36 having a lever 36a enters and exits and a second waterproof connector 32d serving as a connection portion between the second connection cable 43 and the second underwater cable 44 are provided on the upper portion of the case 32a. A guide roller 32e for guiding the first underwater cable 42 is provided at the lower portion of 32a.

  The insertion rod 36 moves the storage member 34 from the insertion pipe 31 into the water main pipe 10, and conversely moves the storage member 34 up and down to move from the water main pipe 10 to the insertion pipe 31. It is a rod and is configured to move up and down.

  Further, the winding device storage member 32 is provided with a winding device 33 for feeding and winding the first underwater cable 42. The winding device 33 rotates the cable drum 33a provided in the first case 32a of the watertight section by the rotation of the rotation shaft 33c by the winding motor 33b in the second case 32b of the non-watertight section. The first underwater cable 42 is wound up while the guide roller 33e of the cable shifter 33d is moved laterally in synchronization with the rotation of the cable drum 33a. Moreover, the rotation of the cable drum 33a is made free so that the first underwater cable 42 is fed out according to the movement of the in-pipe inspection device 20. Further, rotation of the cable drum 33a is detected by a rotation meter 33f formed by a rotating plate and an encoder and used for control. The electric signal and power from the first underwater cable 42 are guided to the first connector 33h via the slip ring 33g.

  With these configurations, the cable drum 33a, the cable shifter 33d, and the guide roller 33e are housed in the first case 32a in the watertight compartment, while the winding motor 33b, the rotation meter 33f, the slip ring 33g, and the like are in the non-watertight compartment. It is provided in the second case 32b and is watertight at the rotating shaft portion 33c of the cable drum 33a. The water-tight mechanism at the rotating shaft portion 33c is a well-known technique and can be easily formed as compared with the water-tight mechanism at the portion where the cable enters and exits as in the prior art.

  In addition, a storage member 34 for storing the in-pipe inspection device 20 is disposed in the insertion tube 31 of the insertion / recovery device 30, and a feeding roller 34 a for feeding the first underwater cable 42 is provided behind the storage member 34. It has been. The feed roller 34a is rotationally driven via a flexible joint 35b from a feed roller motor 35a provided at the distal end portion 35 of the insertion rod. A second underwater cable 44 is provided to transmit a control signal and power to the feed roller motor 35a. With the second underwater cable 44, the second waterproof connector 32d and the feed roller of the insertion rod tip 35 are provided. The motor 35a is connected. The second underwater cable 44 is formed of a curl cord or the like so as to expand and contract as the insertion rod tip 35 moves up and down.

  The storage member 34 is connected at its rear part to the insertion rod tip 35 with a cable bear 34b which is a bending member. The insertion rod tip 35 is fixed to the lower end of the insertion rod 36 and With the movement, the inside of the insertion tube 31 is moved up and down. When the insertion rod 36 is at the upper end, as shown in FIGS. 2 and 3, the storage member 34 is inside the insertion tube 31 in the state in which the in-pipe inspection device 20 is stored therein, and the distal end of the insertion rod Part 35 is also on it. On the other hand, when the insertion rod 36 is at the lower end, as shown in FIG. 1, the storage member 34 is pushed out of the insertion pipe 31 and is in the water main pipe 10, and the insertion rod tip 35 is at the lower end of the insertion pipe 31. Inside the side.

  The cable bear 34b that connects the insertion rod tip 35 and the storage member 34 is a bending member so that the storage member 34 can face both the tube axis direction of the insertion tube 31 and the tube axis direction of the water main pipe 10. It is a part to make and has a plurality of joints. This joint is configured such that joint element members on both sides are connected by a pin coupling portion, and adjacent joint element members can relatively rotate by a predetermined angle around the pin coupling portion. By forming the cable bear 34b with a joint, the bending direction and the shape before and after the bending can be fixed, so that the shaking and vibration are reduced when the storage member 34 is moved. Further, by providing a plurality of joints, the bending member can be bent smoothly, and even when the flow in the water main pipe 10 is large, the bending member can be easily bent and can easily return to a straight state.

  As shown in FIGS. 4 to 8, the in-pipe investigation device (underwater investigation robot) 20 includes a fuselage (main body) 21 equipped with a rear thruster 22 and a front posture stabilization fin 23. A total of three buoyancy adjusting devices 24 are provided, one on the part and a pair on the left and right.

  In the present invention, a part of the body 21 of the in-pipe inspection device (submerged inspection device) 20 is formed by the transparent walls 21aa and 21ab, and an observation camera (camera) is provided inside the transparent walls 21aa and 21ab. ) 25 and the camera LED illumination lamp (illumination equipment) 26 are arranged on the direction changing member 27a of the same camera turning device 27, and the observation camera is changed by changing the direction of the direction changing member 27a turned by the turning drive device 27b. The direction of the field of view 25 and the illumination direction of the LED illumination lamp 26 are changed at the same time.

  With this configuration, the field of view of the observation camera 25 can be changed separately from the posture of the in-pipe inspection device 20, the number of LED lighting lamps 26 can be reduced, and the fluid resistance and the weight of the body 21 of the in-pipe inspection device 20 can be increased. In addition, control can be simplified.

  This observation camera 25 is arranged sideways and observes the inner wall of the water main pipe 10 and the joint 11. In addition, in the transparent walls 21aa and 21ab of the in-pipe inspection device 20, the transparent walls 21aa and 21ab are disposed between the portion 21aa that is a field of view of the observation camera 25 and the portion 21ab through which the illumination light of the LED illumination lamp 26 is transmitted. A ring-shaped partition wall 21b having a T-shaped cross section that does not transmit light is provided to prevent propagation of light inside. With this configuration, since the edge portions 21b of the reflected light can be provided on the transparent walls 21aa and 21ab, the light from the LED illumination lamp 26 continuously reflects in the transparent walls 21aa and 21ab, and the observation camera 25 Can be prevented from entering. Further, with this configuration, the LED illumination lamp 26 can be disposed immediately next to the observation camera 25 in response to a case where the tube wall to be investigated is in the immediate vicinity of the in-pipe investigation device 20.

  Here, since the in-pipe inspection device 20 having a substantially circular cross-sectional shape is shown as the inspection device in the pipe, the reflected light edge cutting portion 21b has been described as a ring shape, but another shape may be used. For example, the transparent wall 21a is not cylindrical, but can be illuminated and photographed by partitioning it as a part of the wall surface in a window shape, and the portion 21ab through which the illumination light of the window-shaped transparent wall 21a is transmitted and the observation camera 25 In order to prevent light from propagating to the portion 21aa serving as the photographic field of view, for example, a partition wall 21b that does not allow straight light to pass through in a planar shape is provided. The partition wall 21b may not be a straight line but may be an arbitrary curve.

  This in-pipe investigation device 20 is put into the water main pipe 10 after the weight is adjusted to neutral buoyancy that does not float and sink in water. Control signals for the motor 28, the buoyancy adjusting device 24, the camera turning device 27, etc., which are the power source of the thruster 22 of the in-pipe inspection device 20, and the signals of power and data obtained by the observation camera 25 are displayed at the rear. It transmits / receives with the 1st underwater cable 42 connected. One end side of the first underwater cable 42 is connected to the rear part of the in-pipe inspection device 20, but the other end side is connected to the slip ring 33 g and wound around the cable drum 33 a of the winding device 33. It is done.

  Since the first underwater cable 42 is connected to the in-pipe inspection device 20, the specific gravity is adjusted so as to have a neutral buoyancy that does not rise and fall. However, when the water pressure is high, the underwater cable 42 is compressed and the specific gravity changes, so that ups and downs of the in-pipe inspection device 20 and trim (front and rear inclination) occur. This change is dealt with by changing the buoyancy position by moving the buoyancy body in and out of the main body with the buoyancy adjustment device 24 to increase or decrease the buoyancy of the part, thereby adjusting the buoyancy and posture. .

  As shown in FIG. 1, the control and monitoring device 50 includes a control device 51, a TV monitor 52, a video recording device 53, a power control device 54, and the like that control and control the in-pipe investigation device 20 and the insertion / recovery device 30. A rack 55 is provided. The control device 51 is configured to be operated by an operator by wire or wireless.

  The first connection cable 41 connects an atmospheric part between the control and monitoring device 50 and the first connector 33h which is a signal extraction unit of the winding device of the insertion / recovery device 30. Further, the control and monitoring device 50 and the second waterproof connector 32d of the insertion / collection device 30 are connected by the second connection cable 43, and the control signal and power to the feeding roller motor 35a are transmitted via the second underwater cable 44. introduce.

  Next, an operation method of the water pipe inspection system 1 will be described. As shown in FIG. 1, when checking the water main 10, the manhole cover 13 is removed, the repair valve 14 is closed, and then a fire hydrant or an air valve (not shown) installed in the manhole 12 is removed. And the insertion collection | recovery apparatus 30 is attached on the repair valve 14, and the repair valve 14 is opened.

  Thereafter, the insertion rod 36 is pushed down, and the in-pipe investigation device 20 is sent out from the insertion pipe 31 of the insertion collection device 30 into the water pipe main 10. When the storage member 34 inserted into the insertion pipe 31 is inserted into the water main 10 with the in-pipe inspection device 20 stored therein, the storage member 34 is caused by the water flow in the water main 10. The water is directed in the direction of the water flow and is substantially parallel to the water flow. In this state, the cable bear 34b that connects between the storage member 34 and the insertion rod tip 35 is bent at a substantially right angle. When there is no water flow, the cable bear 34b is forcibly bent.

  When the storage member 34 becomes substantially parallel to the water flow, the feeding roller 34a is rotationally driven by the feeding roller motor 35a, and the first underwater cable 42 is fed out. At this time, the rotation of the cable drum 33a is made free. When the water flow is large, the in-pipe inspection device 20 is flown to reach a position corresponding to the feed amount of the first submersible cable 42, and when the water flow is small, the thruster 22 is rotated by the motor 28 to generate a propulsive force. This propulsive force reaches a position corresponding to the feed amount of the first underwater cable 42.

  The in-pipe investigation device 20 is moved to an arbitrary investigation position of the water main 10 by the amount of feeding of the first underwater cable 42, and the inner wall of the water main 10, the joint 11, etc. are controlled by the camera turning device 27. The image is taken with the observation camera 25 under the illumination of the LED lamp 26 while changing the above. On the ground, an operator operates the in-pipe investigation device 20 while watching the inside of the water main 10 with the TV monitor 52 of the control and monitoring device 50 installed on the ground through the first underwater cable 42 and the first connection cable 41, and images. Record. Moreover, ascending / descending and posture control are performed using the buoyancy adjusting device 24 as necessary.

  When the survey is completed, the winding motor 33b is driven to rotate the cable drum 33a and wind up the first underwater cable 42. At the time of winding, if necessary, the feeding roller 34a is reversely rotated to promote winding. By this winding, the in-pipe inspection device 20 connected to the tip of the first underwater cable 42 is pulled and stored in the storage member 34. At the time of storing, the rotation of the cable drum 33a is stopped.

  Thereafter, while rotating the cable drum 33 a, the insertion rod 36 is raised, and the storage member 34 storing the in-pipe inspection device 20 is drawn into the insertion tube 31. At this time, the cable bear 34b, which is a bending member, becomes straight from the bent state and is drawn into the insertion tube 31. In the state where the insertion rod 36 has reached the upper end, the storage member 34 is completely in the insertion tube 31, so the repair valve 14 is closed, the drain cock 31 c is opened, and the water in the insertion recovery device 30 is opened. Then, the insertion / recovery device 30 is removed. Then, after installing a fire hydrant or an air valve (not shown), the repair valve 14 is restored. Thereafter, the manhole cover 13 is closed to complete the investigation.

  According to the lighting method and the submerged investigation device in the submerged inspection device 1 in the water pipe inspection system 1 described above, the field of view of the observation camera 25 can be changed separately from the posture of the submerged investigation device 20 and the number of LED illumination lamps 26 can be changed. The increase in fluid resistance and weight of the airframe 21 of the in-pipe inspection device 20 can be suppressed, and the control can be simplified.

  Further, a partition wall 21b that does not transmit light is provided between a portion 21aa of the transparent walls 21aa and 21ab of the in-pipe inspection device 20 as a field of view of the observation camera 25 and a portion 21ab through which illumination light is transmitted. By preventing the propagation of light inside the 21ab, it is possible to prevent troubles in photographing due to light continuously reflected in the transparent walls 21aa and 21ab.

It is a figure which shows the structure of the inspection system in a water pipe using the cable drawing | feeding-out mechanism to the submerged investigation apparatus and the cable feeding method to the submerged investigation apparatus in embodiment of this invention. It is front sectional drawing which shows the structure of the insertion collection | recovery apparatus which shows the cable drawing | feeding-out mechanism to the submerged investigation apparatus. It is a sectional side view which shows the structure of the insertion collection | recovery apparatus which shows the cable drawing | feeding-out mechanism to the investigation apparatus in liquid. It is a side view of in-pipe investigation equipment. It is a plane sectional view of an in-pipe investigation device. It is an expansion plane sectional view of an observation camera and a LED illumination light part. It is a front view of in-pipe investigation equipment. It is a rear view of an in-pipe investigation apparatus.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Inspection system in water pipe 10 Water main pipe 11 Joint 14 Repair valve 20 In-pipe investigation equipment 21 Airframe 21aa Transparent wall (part taken as imaging field of observation camera)
21ab Transparent wall (the part through which the illumination light of the LED illumination light passes)
21b Partition wall that does not allow light to pass through (edge of reflected light)
25 Observation camera (camera)
26 LED lighting (lighting equipment)
DESCRIPTION OF SYMBOLS 27 Camera turning apparatus 27a Direction change member 27b Turning drive apparatus 30 Insertion collection apparatus 31 Insertion pipe 32 Winding apparatus storage member 50 Control and monitoring apparatus

Claims (6)

  In the lighting and imaging method of the submerged survey equipment to be investigated in the liquid seal state, the camera and the lighting device are placed inside the transparent wall formed on part or all of the body of the submerged survey equipment to illuminate. A method for illuminating a submerged investigation device, characterized in that illumination is performed by changing the illumination direction of the device in conjunction with the direction of view of the camera.   A partition that prevents light from passing through is provided between the part of the submerged inspection device that is used as the camera's field of view of the transparent wall and the part through which illumination light is transmitted to prevent light from propagating inside the transparent wall. The method for illuminating an in-liquid investigation device according to claim 1.   The method for illuminating a submerged investigation device according to claim 1, wherein the camera images a side of the submerged investigation device.   In a submerged survey device to be investigated in a liquid seal state, a part or all of the body of the submerged survey device is formed with a transparent wall, and the camera and lighting device are placed in the same direction inside the transparent wall. An in-liquid investigation device characterized by being arranged on a conversion member and configured to simultaneously change the direction of view of a camera and the illumination direction of an illumination device.   In the transparent wall of the submerged inspection device, a partition wall that prevents light from passing through the transparent wall between a portion that is a field of view of the camera and a portion that transmits illumination light. The in-liquid investigation device according to claim 4, which is provided.   The submerged inspection device according to claim 4, wherein the camera is arranged so as to photograph a side of the submerged inspection device.

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