JP2017226259A - Flying object for inspecting pipeline facility and system for inspecting pipeline facility using the same - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a flying object for inspecting a pipeline facility and a system for inspecting the pipeline facility using the same capable of acquiring information on pipe diameters and water depths for inspecting the pipeline facility.SOLUTION: A flying object for inspecting pipeline facility comprises: imaging means for imaging an inside of a pipeline; illumination means for emitting light in the pipeline; a flying object body provided with the imaging means and the illumination means, and flying inside the pipeline; an upper distance sensor disposed on an upper surface of the flying object body; side distance sensors disposed on side surfaces of the flying object body; flight control means, disposed in the flying object body, for controlling a flight direction of the flying object body in the pipeline on the basis of values measured by the upper distance sensor and the side distance sensors; and calculation means for calculating a pipe diameter or a pipe width according to a shape of a cross section of the pipeline on the basis of the value measured by the upper distance sensor and the side distance sensors.SELECTED DRAWING: Figure 3

Description

The present invention, for example, is a pipeline facility inspection vehicle that flies in a pipeline facility such as a sewage pipeline, acquires an image, and grasps the state of the inner surface of the pipeline facility, and a pipeline facility inspection system using the same About.

Currently, there is a problem of aging sewer pipes as a typical pipe line facility. As aging progresses, abnormalities such as cracks, breakage, and corrosion occur. As a result, the function of separating and flowing the liquid in the pipe from the outside of the pipe decreases, and earth and sand enter the pipe from the outside of the pipe, creating a void in the ground, which may cause a road collapse accident. is there.

Therefore, a technology for grasping abnormalities in sewage pipes due to aging is required. In response to such needs, for example, Patent Document 1 describes a technique of running a small self-propelled vehicle equipped with a TV camera in a sewer pipe and monitoring the state in the pipe.

Japanese Patent Laid-Open No. 9-226570

In Patent Document 1, an image is acquired with a TV camera of a self-propelled vehicle placed in a sewage pipeline. A person enters the sewage pipeline in advance, receives the self-propelled vehicle from the ground, and enters the sewage pipeline. Installation work is required. Although sewage usually flows through the sewage pipes, there are some places where people cannot enter because the water level of the sewage is high and the flow velocity is high. Even in such a place, if there is a space in the upper part, there is a method of acquiring an image of the upper part of the inner surface of the pipeline using a flying object. When an abnormality is grasped on the basis of an image obtained by a flying object, information on the diameter of the pipe and the depth of water is required in drafting a countermeasure plan. However, there are cases where such information cannot be obtained sufficiently in places where people cannot enter.

  The present invention has been made in view of this problem, and the object of the present invention is a pipeline facility inspection vehicle capable of acquiring information on the diameter and water depth of a tube when inspecting the pipeline facility, It is to provide a pipeline facility inspection system using the same.

The pipeline facility inspection aircraft according to the present invention includes an imaging means for imaging the inside of the pipeline, an irradiating means for irradiating light in the pipeline, the imaging means and the irradiating means, and flies in the pipeline. Arranged on at least two side surfaces of the flying body, an upper distance sensor that is disposed on the upper surface of the flying body, and measures a vertically upward distance between the pipe and the flying body in the pipe. A lateral distance sensor for measuring a distance between a duct and a flying object in the duct in a direction perpendicular to a traveling direction of the flying object, and a side distance sensor disposed on the flying object body, According to the flight control means for controlling the flight direction of the aircraft body in the pipeline based on the measurement value of the distance sensor, and on the shape of the cross section of the pipeline based on the measurement values of the upper distance sensor and the lateral distance sensor. And a calculation means for calculating a pipe diameter or a pipe width. To.
Further, the pipeline facility inspection system of the present invention is a transmission / reception device that is arranged on the ground and wirelessly receives an image photographed by the pipeline facility inspection aircraft, and via an antenna suspended from the ground on a manhole, And a display device connected to the transmission / reception device and displaying at least one of the tube diameter, the tube width and the water depth calculated by the calculation means.

  According to the present invention, when the pipe facility is inspected, the presence of an operator in the pipe line is unnecessary, and information on the diameter and water depth of the pipe can be stably acquired.

It is the side view and top view of the pipeline facility inspection vehicle which concerns on one Example of this invention. It is a block diagram which shows the pipeline facility inspection system using the pipeline facility inspection vehicle shown in FIG. It is a radial direction cross-sectional schematic diagram at the time of the pipeline facility inspection flying body which concerns on one Example of this invention flying in the inside of a sewer pipe with a circular cross section. It is the axial direction sectional view which looked at the state in case the advancing direction of the pipeline facility inspection vehicle which concerns on one Example of this invention is not parallel to the axial direction of a pipeline facility from the perpendicular | vertical upper direction. The sum of the measurement values of two distance sensors that measure the distance in the opposite direction to the angular deviation between the flight direction of the pipeline facility inspection aircraft and the axial direction of the pipeline facility according to an embodiment of the present invention; It is a schematic diagram which shows the relationship. It is an example of the screen display at the time of targeting the circular tube which concerns on one Example of this invention. It is a radial direction cross-sectional schematic diagram at the time of the pipeline facility inspection flying body which concerns on one Example of this invention flying in the inside of a sewer pipe with a rectangular cross section. It is an example of the screen display at the time of targeting the rectangular tube which concerns on one Example of this invention. It is the side view and top view at the time of the pipe line facility inspection vehicle which concerns on one Example of this invention provided with the front distance sensor and the back distance sensor. It is an example of the screen display at the time of adding the display which looked at the surroundings situation of the pipeline facility inspection aircraft concerning one example of the present invention from the side.

  The pipeline facility inspection vehicle of the present invention is a vehicle that flies through the pipeline facility and is used for checking cracks and cracks. Examples of pipeline facilities include sewage pipes, gas pipes, tunnels, collecting pipes, water pipes that have been extracted and replaced with gas, steam pipes, oil pipes, overhang pipes, discharge pipes, manholes, etc. Is not to be done.

  Hereinafter, as a specific example, an embodiment in the case of a sewage pipe will be described with reference to the drawings.

  FIG. 1 is a side view and a top view of a pipeline facility inspection aircraft 10 according to an embodiment of the present invention. The pipeline facility inspection aircraft 10 includes a propeller 18, an imaging unit 20, an irradiation unit 22, an upper distance sensor 12, a side distance sensor 14, a lower distance sensor 15, and a flight control unit 24 arranged on the aircraft body 30. Yes. In order to actually fly, a motor, a battery, and the like are required, but all of them are provided in the flying body 30. Further, the inspection of the sewage pipe requires a wireless transmission device 35 that wirelessly transmits an image captured by the imaging means 20, a battery that drives them, and the like. To do.

  The pipeline facility inspection vehicle 10 rotates the propeller 18 to fly inside the sewer pipe. The irradiation means 22 irradiates light on the inner surface of the sewer pipe, and the imaging means 20 images the inner surface of the sewer pipe. The pipeline facility inspection aircraft 10 proceeds with the side on which the imaging means 20 is provided as the front. When photographing the wall surface, ceiling, or bottom of the sewer pipe in more detail, the imaging means 20 may be installed so that it can photograph a direction perpendicular to the traveling direction of the pipeline facility inspection aircraft 10, or a plurality of imaging means 20 may be provided. Also good. In order to prevent the pipeline facility inspection aircraft 10 from colliding with the ceiling, wall surface, bottom surface, or water surface of the sewer pipe as it travels, the pipeline facility inspection aircraft 10 is moved in the vertical direction by controlling the rotation speed of the propeller 18. Move forward and backward, left and right and rotate. Specifically, the measured values of the upper distance sensor 12 and the lateral distance sensor 14 are given to the flight control means 24 (for example, a microcomputer) in the aircraft body 30, and the output calculated by the flight control means 24 is sent to each propeller 18. This is applied to the motor that is the power source of the motor to control movement and rotation. In addition, the rotation mentioned here means changing only the direction of the flying object 10 without changing the position of the pipeline facility inspection flying object 10.

  The lateral distance sensor 14 is a sensor that measures the distance between the sewer pipe and the flying object 10 in the sewer pipe, and the flying object body 30 can measure the distance in the direction perpendicular to the traveling direction of the flying object 10. Are installed on both sides (see FIG. 1). In any case, it is desirable that the distance is measured in a direction perpendicular to the traveling direction, but the measuring direction may not be parallel to the traveling direction.

  The upper distance sensor 12 is a sensor that measures the distance between the sewer pipe and the flying object 10 in the sewer pipe, and is installed on the upper surface of the flying body 30 so as to measure the vertically upward distance. A plurality of different upper distance sensors 12 that measure the distance in the upward direction from the horizontal may be installed. An alternative is possible by incorporating in the flight control means 24 an algorithm for calculating the distance from the vertical upward direction based on the measured values of the plurality of upward distance sensors 12.

  The downward distance sensor 15 is a sensor that measures the distance between the bottom of the sewer pipe or the water surface and the flying object 10 in the sewer pipe, and is installed on the lower surface of the flying body 30 so that the vertically downward distance can be measured.

  As the above-described distance sensors 12, 14, and 15, it is desirable to use an ultrasonic sensor or an infrared sensor that is inexpensive, lightweight, and has low power consumption. However, other than these, it is possible to realize inexpensive, lightweight, and low power consumption. Any sensor that can output a distance as a numerical value may be used. It is desirable to be able to measure the distance to the liquid in addition to the distance to the solid such as the ceiling or wall surface in the sewer pipe facility.

  Although the number of propellers 18 is four in FIG. 1, the number of propellers 18 is not limited to this, and may be six, eight, or two when taking the shape of a counter-rotating propeller.

  The pipeline facility inspection vehicle 10 may be any aircraft that can float and move in the air, such as a drone or a device called UAV (Unmanned Aerial Vehicles), a small helicopter, a balloon or an airship.

  The imaging means 20 may be either a camera that shoots a still image or a video camera that shoots a moving image, but is preferably configured with equipment capable of shooting a moving image.

  The irradiation means 22 is not particularly limited, although it is desirable to reduce the weight of the battery to be loaded as much as possible. Since an operator may visually check the image, it is desirable to use a white light source.

  FIG. 2 is a diagram schematically showing a pipeline facility inspection system using the pipeline facility inspection vehicle 10 shown in FIG. The pipeline facility inspection vehicle 10 is flying in the sewer pipe 16. A wireless transmission device 35 that wirelessly transmits an image captured by the imaging unit 20 is disposed in the pipeline facility inspection vehicle 10. An image taken by the flying object 10 is transmitted and received from the wireless transmission device to the antenna 32 hung from the ground on the manhole 31 and the transmitting / receiving device 33 connected thereto, and displayed on the display device 34 on the ground. On the display device 34, a worker on the ground can check the photographed image at the same time as photographing.

  In general, the sewer pipe 16 is disposed substantially in parallel with the ground shape and is connected to the manhole 31 at a substantially right angle. Therefore, even when a high-frequency radio wave having high straightness is sent to the sewer pipe 16 via the manhole 31, the radio wave is greatly attenuated at the bent portion connected from the manhole 31 to the sewer pipe 16, and the radio wave may be difficult to reach. On the other hand, by arranging the antenna 32 in the manhole 31, even if it is a high-frequency radio wave having high straightness, the radio wave can be easily transmitted through the sewer pipe 16 and can communicate with the flying object 10 more stably. Can do.

  The antenna 32 is configured by covering a conductor with a resin, and is preferable in terms of working properties that can be wound in a cable shape. In FIG. 2, the antennas 32 are arranged in the manhole 31 on the entrance side and the manhole 31 on the exit side, respectively, but only the entrance side or the exit side may be used.

  In the above description, the case of transmitting an image captured wirelessly is described. However, the present invention is not limited to wireless transmission, and the image may be transmitted by wire.

  The display device 34 is not particularly limited, and may be a mobile device such as a stationary PC monitor such as a liquid crystal display, a plasma display, or a cathode ray tube, a business monitor, a smartphone, or a tablet.

FIG. 3 is a schematic cross-sectional view in the radial direction when the pipeline facility inspection vehicle 10 is flying inside the sewer pipe 16 installed in the horizontal direction. Sewage 26 flows through the sewage pipe 16. The upper distance sensor 12 measures the distance y ₁ from the ceiling of the sewer pipe 16, and the two side distance sensors 14 provided measure the distances x ₁ and x ₂ from the wall surface of the sewer pipe 16. It is shown that. The downward distance sensor 15 indicates that the distance y ₂ between the bottom surface of the sewer pipe 16 and the water surface is being measured. In this figure, the traveling direction is the other side of the page, and the pipeline facility inspection vehicle 10 is shown rearward. In the inspection work, the pipeline facility inspection aircraft 10 flies in the sewer pipe 16 in the axial direction while keeping the distance y ₁ , the distance x ₁ , and the distance x ₂ constant without colliding with the wall surface. It is desirable to be able to do it.

In this case, it will be equipped with a distance sensor in three directions different in the upper direction and the side direction, but if the distance y _{1 to the} ceiling and the distances x ₁ and x ₂ to the wall surface can be calculated, As described above, a larger number of distance sensors may be provided. However, an increase in the number of distance sensors leads to an increase in cost, weight, and power consumption, so it is sufficient to have distance sensors in 10 directions at most.

FIG. 4 is an axial cross-sectional view of a state where the pipeline facility inspection vehicle 10 is flying in the pipeline facility installed in the horizontal direction as viewed from above. Among these, (a) is a desirable state in which the pipeline facility inspection vehicle 10 is flying in the axial direction. (b) is an unfavorable state in which the flight direction of the pipeline facility inspection vehicle 10 is tilted to the right with respect to the axial direction, and (c) is the flight direction of the pipeline facility inspection vehicle 10 with respect to the axial direction. Shows an unfavorable state of tilting to the left. If it is possible to fly in the state of (a), the pipeline facility inspection vehicle 10 does not collide with the wall surface and can take an image that is easy to analyze in a fixed direction. (b) As shown in (c), the image becomes difficult to analyze and there is a risk that the pipeline facility inspection aircraft 10 will collide with the wall surface. Therefore, when the states (b) and (c) are reached, it is necessary to rotate the pipeline facility inspection vehicle 10 to the state (a). In the cases (b) and (c), the sum of the distance x ₁ and the distance x ₂ is longer than that in the case (a). A difference in direction between the traveling direction of the pipeline facility inspection aircraft 10 and the axial direction of the sewer pipe 16 is defined as an angle deviation θ.

FIG. 5 is a graph schematically showing the relationship between the angle deviation θ and the value of x ₁ + x ₂ . The angle deviation θ is 0 when x ₁ + x ₂ is a minimum value. By utilizing this relationship and controlling the rotation of the pipeline facility inspection vehicle 10 so that the value of x ₁ + x ₂ becomes the minimum value, it is possible to fly while maintaining the flight direction of FIG. It becomes possible.

However, as shown in FIG. 3, when the sewer pipe 16 is a circular pipe, flight control is performed under the condition that x ₁ + x ₂ is made small, and when x ₁ + x ₂ approaches 0, it moves to the ceiling or bottom. The possibility of collision. That is, it is necessary to perform the rotation control of the pipeline facility inspection vehicle 10 under the condition that the value of the distance y _{1 from} the ceiling of the sewer pipe 16 is constant. On the other hand, even when the sewer pipe is a rectangular pipe, it is desirable to perform the rotation control of the pipeline facility inspection vehicle 10 under the condition that the value of the distance y ₁ is constant. In this way, the flight control means 24 is provided with an algorithm that rotates so that x ₁ + x ₂ becomes a minimum value under the condition that the value of the distance y ₁ is constant.

In the above, the example in which the value of x ₁ + x ₂ is minimal has been described. However, the calculation formula is not limited to this, and the index value obtained using x ₁ and x ₂ as inputs satisfies the target range. It may be. For example,
It may be a condition that the value of k ₁ · x ₁ + k ₂ · x ₂ multiplied by the coefficient is a minimum, or a condition that the value of 1 / (x ₁ + x ₂ ) is a maximum. Alternatively, the condition may be such that x ₁ is within the target range and x ₂ is maintained within the target range. In any case, it is only necessary that the index value obtained using x ₁ and x ₂ as an input satisfies the minimum, maximum, or a value within a predetermined target range.

When the values of x ₁ , x ₂ and the distance y ₁ after rotating so that x ₁ + x ₂ becomes the minimum value as described above are obtained, the sewer pipe in which the pipeline facility inspection vehicle 10 is flying is obtained. If 16 is a circular tube, the tube diameter 2r can be uniquely determined analytically by the following equation.
2r = (x ₁ ² + x ₂ ² + y ₁ ² + ((x ₁ ² + x ₂ ² ) / y ₁ ² ) ^0.5 ... (1)
Here, y ₁ ≠ 0. y ₁ = 0 is a state in which the pipeline facility inspection vehicle 10 is in contact with the ceiling of the sewer pipe 16. That is, if the pipeline facility inspection vehicle 10 is not in contact with the ceiling of the sewage pipe 16, the pipe diameter 2r can be obtained by the equation (1).

When the horizontal flight position of the pipeline facility inspection vehicle 10 is controlled so that x ₁ = x ₂ , the pipeline facility inspection vehicle 10 is placed on the bisecting line of the circle that is the cross section of the sewer pipe 16. Will be located. When there is no water surface below, the sum of the distance y _{1 to} the ceiling and the distance y ₂ to the bottom is equal to 2r. However, since the normally have sewage flows to the bottom of the sewer pipe 16, the smaller the value of the distance y ₂ of the bottom surface. The difference corresponds to the water depth d. That is,
d = 2r −y ₁ −y ₂ ... (2)
The water depth can be obtained.

On the other hand, when the horizontal flight position of the pipe facility inspection vehicle 10 is x ₁ ≠ x ₂ , the distance from the ceiling to the pipe bottom may be different from 2r, and the value of the water depth d is obtained by the equation (2). It is not possible. In such a case, the water depth can be calculated as follows.
The relative position between the pipeline facility inspection vehicle 10 and the center of the circle of the sewer pipe 16 cross section can be analytically obtained by the following equation.
X = (x ₂ − x ₁ ) / 2 (3)
Y = (y ₁ ² − x ₁・ x ₂ ) / (2 ・ y ₁ ) (4)
Here again, it is assumed that the pipeline facility inspection vehicle 10 is not in contact with the ceiling of the sewer pipe 16. By using this Y, the distance y ₂ ′ to the tube bottom when it is assumed that the pipeline facility inspection vehicle 10 has moved horizontally to the position of x ₁ = x ₂ can be obtained by the following equation.
y ₂ '= r − Y (5)
Here, r is a value obtained by the equation (2). If there is a water surface below, the value of the distance y ₂ immediately below becomes smaller by that amount, so that the difference becomes the water depth value d of the sewer pipe 16. That is, the value of d can be obtained by the following equation.
d = y ₂ '-y ₂ ... (6)

The values obtained as described above are preferably displayed as numerical values and figures on the display device 34 described above. In addition to the pipe diameter 2r and the water depth d, x ₁ , x ₂ , y ₁ , and y ₂ that are relative positions to the circle that is a cross section of the sewer pipe 16 of the pipeline facility inspection vehicle 10 may be displayed.

  FIG. 6 shows an example of screen display. In this example, assuming that the two imaging means 20 are mounted on the pipeline facility inspection aircraft 10, images obtained by the respective imaging means 20 are displayed on the upper half of the screen. In the lower left, a small screen of the surrounding situation of the pipeline facility inspection aircraft 10 is displayed, but this may be a separate screen. This small screen is a view of the pipeline facility inspection vehicle 10 as viewed from the back, and includes a central sphere representing the pipeline facility inspection vehicle 10, an upper distance sensor 12, a lower distance sensor 15, and a lateral distance sensor. The relative positional relationship with the solid / liquid surface at the distance measured at 14 is illustrated. The location of the water surface should also be shown. In addition, specific distance values are preferably displayed on the left side and the lower side.

  By taking such a screen configuration, the inspector is viewing the image obtained by the imaging means 20 and where the pipeline facility inspection aircraft 10 is flying with respect to the cross section of the sewer pipe 16 at the present time. Can be grasped sensorially and quantitatively. As a result, the flight position can be set more appropriately so that the pipeline facility inspection vehicle 10 does not collide with the wall surface or the water surface.

  Moreover, it is better to display the tube shape obtained as a result of the calculation as a numerical value. In FIG. 6, the pipe diameter and the water depth are displayed as numerical values on the right side of the small screen described above, but this may also be displayed on a separate screen.

  In the first embodiment, the case where the circular pipe whose cross section of the sewage pipe 16 is a circle is described, but a rectangular pipe having a square cross section may be actually used as the sewage pipe 16. FIG. 7 is a schematic radial cross-sectional view when the above-described pipe facility inspection vehicle 10 is flying in a rectangular tube.

As in the case of the circular tube described above, when the values of x ₁ , x ₂ and the distance y ₁ after rotation so that x ₁ + x ₂ becomes the minimum value are obtained, the pipeline facility inspection vehicle 10 You can see the specifications of the sewage pipe 16 in flight. The tube width can be obtained from the value of the distance sensor in the pipeline facility inspection vehicle 10. If the tube width is w, this value can be calculated by the following equation.
w = x ₁ + x ₂ ... (7)
When the cross section of the rectangular tube is known to be square, the water depth d can be obtained by the following equation.
d = w − (y ₁ + y ₂ ) (8)

The values obtained as described above are preferably displayed as numerical values and figures on the display device 34 described above. In addition to the pipe width w and the water depth d, x ₁ , x ₂ , y ₁ , and y ₂ that are relative positions to the quadrangle that is a cross section of the sewer pipe 16 of the pipeline facility inspection vehicle 10 may be displayed.

  FIG. 8 shows an example of the lower half of the screen display. In the upper half of the screen, images obtained by the respective imaging means 20 are preferably displayed as in FIG. In the lower left, a small screen of the surrounding situation of the pipeline facility inspection aircraft 10 is displayed, but this may be a separate screen. This small screen is a view of the pipeline facility inspection vehicle 10 as viewed from the back, and includes a central sphere representing the pipeline facility inspection vehicle 10, an upper distance sensor 12, a lower distance sensor 15, and a lateral distance sensor. The relative positional relationship with the solid / liquid surface at the distance measured at 14 is illustrated. Specific distance values should be displayed on the left and bottom.

  By taking such a screen configuration, the inspector is viewing the image obtained by the imaging means 20 and where the pipeline facility inspection aircraft 10 is flying with respect to the cross section of the sewer pipe 16 at the present time. Can be grasped sensorially and quantitatively. As a result, the flight position can be set more appropriately so that the pipeline facility inspection vehicle 10 does not collide with the wall surface or the water surface.

  Moreover, it is better to display the tube shape obtained as a result of the calculation as a numerical value. In FIG. 8, the tube width of the rectangular tube and the distance from the water surface to the ceiling are displayed as numerical values on the right side of the small screen described above, but this may also be displayed on a separate screen.

  In addition, when it is not known beforehand whether the sewer pipe 16 to be inspected by the pipeline facility inspection vehicle 10 is a circular pipe or a rectangular pipe, the shape is determined using the measurement values obtained by the upper distance sensor 12 and the side distance sensor 14. It may be determined automatically. For this reason, distance measurement values at least at two different points in the horizontal direction or the vertical direction are used. It is preferable to provide a calculation unit that determines that the tube is a rectangular tube if the measured value of the upper distance sensor 12 is constant when moving horizontally in a direction different from the axial direction of the tube, and a circular tube if it changes. Alternatively, it is preferable to provide a calculation unit that determines that the measured value obtained by the lateral distance sensor 14 when moving in the vertical direction is a rectangular tube if the measured value is constant, and a circular tube if it changes.

  FIG. 9 shows a pipeline facility provided with a front distance sensor 37 for measuring the distance to the obstacle in front of the pipeline facility inspection vehicle 10 and a rear distance sensor 39 for measuring the distance to the obstacle in the horizontal rear. FIG. 2 is a side view and a top view of the inspection aircraft 10.

  By providing the front distance sensor 37 and the rear distance sensor 39, the pipeline facility inspection vehicle 10 can measure the distance to obstacles in all six directions, front, rear, left, right, and up. Therefore, when there is an obstacle in the traveling direction, it can be detected, and operation or control for preventing a collision between the obstacle and the pipeline facility inspection vehicle 10 is possible. Even when the pipeline facility inspection vehicle 10 is moved in and out of the manhole, if the distance between the front, rear, left and right can be measured, the operation or control for preventing the collision with the manhole pipe and the handrail becomes possible. The measurement values obtained by the front distance sensor 37 and the rear distance sensor 39 are also preferably displayed on the display device 34 as numerical values and figures.

  An example of the lower half of the screen display is shown in FIG. In the upper half of the screen, images obtained by the respective imaging means 20 are preferably displayed as in FIG. In the lower left, a small screen of the surrounding situation of the pipeline facility inspection aircraft 10 is displayed, but this may be a separate screen. This small screen is a view of the pipeline facility inspection vehicle 10 as viewed from the back, and includes a central sphere representing the pipeline facility inspection vehicle 10, an upper distance sensor 12, a lower distance sensor 15, and a lateral distance sensor. The relative positional relationship with the solid / liquid surface at the distance measured at 14 is illustrated. Specific distance values should be displayed on the left and bottom. In addition, on the right side, a diagram of the pipeline facility inspection vehicle 10 as viewed from the side is displayed. In this figure, the center sphere representing the pipeline facility inspection vehicle 10 is relative to the solid / liquid surface at the distances obtained by the upper distance sensor 12, the lower distance sensor 15, the front distance sensor 27, and the rear distance sensor 39. A typical positional relationship is shown. Specific distance values should be displayed on the left and bottom.

  By taking such a screen configuration, the inspector is viewing the image obtained by the imaging means 20 and where the pipeline facility inspection aircraft 10 is flying with respect to the cross section of the sewer pipe 16 at the present time. Can be grasped sensorially and quantitatively. As a result, the flight position can be set more appropriately so that the pipeline facility inspection vehicle 10 does not collide with the wall surface or the water surface.

DESCRIPTION OF SYMBOLS 10 ... Pipe line inspection vehicle 12 ... Upper distance sensor 14 ... Side distance sensor 15 ... Lower distance sensor 16 ... Sewage pipe 18 ... Propeller 20 ... Imaging means 22 ... Irradiation means 24 ... Flight control means 26 ... Sewage 30 ... Flight Body body 31 ... Manhole 32 ... Antenna 33 ... Transmission / reception device 34 ... Display device 35 ... Wireless transmission device 37 ... Front distance sensor 39 ... Back distance sensor

Claims (9)

An imaging means for imaging the inside of the pipeline;
Irradiating means for irradiating light in the pipeline;
A vehicle body that arranges the imaging unit and the irradiation unit and flies in a pipeline;
An upper distance sensor that is disposed on the upper surface of the flying body and that measures a vertically upward distance between the pipe and the flying object in the pipe;
A lateral distance sensor that is disposed on at least two side surfaces of the aircraft body and that measures a distance between a pipeline and the aircraft in the pipeline in a direction perpendicular to the traveling direction of the aircraft;
A flight control means disposed on the flying body for controlling the flying direction of the flying body in the pipeline based on the measured values of the upper distance sensor and the lateral distance sensor;
Based on the measured values of the upper distance sensor and the lateral distance sensor, the calculation means for calculating the pipe diameter or the pipe width according to the shape of the pipe cross section,
A pipeline facility inspection vehicle characterized by comprising:   2. The pipe facility according to claim 1, wherein the calculation means calculates the pipe diameter when the shape of the pipe cross section is circular, and calculates the pipe width when the pipe cross section is rectangular. Inspection aircraft.   3. The lower distance sensor according to claim 1, further comprising a downward distance sensor that is disposed on a lower surface of the flying body and that measures a vertically downward distance between a water surface in the pipeline and the flying body. And a calculating means for calculating a water depth on the basis of the pipe facility inspection vehicle.   4. The vehicle according to claim 1, wherein a front distance sensor that is disposed on a front surface of the flying body and that measures a distance from an obstacle in front of the flying body is disposed on a rear surface of the flying body. A rear distance sensor for measuring the distance from the horizontal rear obstacle, and a calculation means for calculating the distance to the obstacle based on the measurement value of the front distance sensor and the rear distance sensor. Characteristic pipeline facility inspection vehicle. A pipeline facility inspection vehicle according to any one of claims 1 to 4,
A transmission / reception device that is arranged on the ground and wirelessly receives an image taken by the pipeline facility inspection vehicle, and is hung from a ground to a manhole;
A pipe facility inspection system, comprising: a display device connected to the transmission / reception device and displaying at least one of a pipe diameter, a pipe width, a water depth and a distance from an obstacle calculated by the calculation means; .   6. The display device according to claim 5, wherein the display device is based on the measured values of the lower distance sensor, the upper distance sensor, and the lateral distance sensor, and the relative distance between the upper and lower solid portions or the liquid portion in the pipe and the pipeline facility inspection aircraft. A pipeline facility inspection system characterized by displaying a graphical positional relationship as a diagram.   6. The display device according to claim 5, wherein the display device displays the relative positional relationship between the front and rear solid portions and the pipeline facility inspection vehicle as a diagram based on the measurement values of the front distance sensor and the rear distance sensor. Characteristic pipeline facility inspection system.   8. The pipeline facility inspection system according to claim 1, wherein the distance sensor is an ultrasonic sensor or an infrared sensor.   9. The pipeline facility inspection system according to claim 1, wherein the pipeline is a sewage pipeline.

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