JP2018184045A - Investigation machine for inside of channel - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an investigation machine for the inside of a channel, which can be used regardless of a channel type and which can prevent a horizontal rotary vane and a mounted electronic apparatus from sinking under water even if the machine falls in a water channel.SOLUTION: In an investigator machine for the inside of a channel, which, while flying in the channel, such as a sewer or a tunnel, by remote control, investigates the inside of the channel, a machine body 1 formed in the shape of an air ship, which floats by floating gas, is provided with: a rotor 2 traveling in contact with the top surface of the channel and along the top surface; channel state investigating means 3 that investigates a state of the channel; and a horizontal rotary vane 4 that applies floating force to the machine body 1 together with the floating gas. The horizontal rotary vane 4 is disposed in a recessed part 5 formed upward from the bottom part of the machine body 1 and configured so as not to sink under water even if the machine body 1 lands on a water surface.SELECTED DRAWING: Figure 1

Description

  The present invention relates to an in-pipe inspection machine that checks the state of a pipe while flying in a pipe such as a pipe or a tunnel by remote control.

  Since pipe walls such as pipes and tunnels may crack or chip off due to deterioration over time, it is dangerous to leave them as they are, so periodic inspections and maintenance work are required.

  In recent years, in order to ensure the safety of workers in this pipeline inspection work, the operator does not enter the pipeline and remotely operates the unmanned survey machine from outside the pipeline, and the survey set up in this unmanned survey machine A method has been adopted in which internal information is acquired by equipment (for example, a camera or various sensors) and inspection work in the pipe is performed.

  As this unmanned investigation machine, for example, a type that travels along the pipe bottom as shown in Patent Document 1, a type that travels on the wall surface while stretching on the inner surface of the pipe wall as shown in Patent Document 2, Patent Document 3 is a ship type using a water flow in a pipeline as shown in FIG. 3, and a flight type is shown in Patent Document 4.

JP 2002-90146 A Japanese Patent Laid-Open No. 9-25478 Japanese Patent No. 4209276 Japanese Patent Laying-Open No. 2015-22395

  However, the type that travels along the bottom of the pipe line shown in Patent Document 1 cannot be used when the pipe line is a water channel. On the contrary, it can be used only when the pipeline is a water channel, and the usage environment is limited. In addition, the type that travels on the wall surface while being stretched against the inner surface of the pipe wall shown in Patent Document 2 can maintain the stretched state if the pipe diameter changes midway, the inner wall surface of the pipe line is uneven, or there is a step. There is a possibility that it will run out and become unable to run. Moreover, the flight type thing shown in patent document 4 is applicable to both a land route and a water channel, and also from patent document 1 at the point which moves stably without being influenced by the change of a pipe diameter, or a pipe inner wall surface state. Although it is applicable as compared with the type shown in Fig. 3, when flying in a narrow pipeline in a relatively unstable state of flight, the airframe, specifically, the horizontal rotary wing contacts the wall surface of the pipeline. There is a risk of crashing and crashing, and if it is used in a waterway (pipe) and it is dropped due to radio interference, equipment trouble, battery exhaustion, etc., the horizontal rotary blade drive device (motor etc.) and There is a risk that the mounted electronic devices (flight controller, various sensors, batteries, etc.) will be submerged and broken and cannot be used again.

  The present invention has been made in view of the many problems of such a conventional survey machine, and can be used regardless of whether it is a land line or a water line, and a change in pipe diameter or pipe. It can be moved stably in the pipeline without being affected by the wall surface condition in the road, and the horizontal rotor blades are prevented from contacting the pipe wall, and even if it falls into the water channel, An object of the present invention is to provide an in-pipe inspection machine with excellent practicality capable of avoiding submergence of rotating blades and mounted electronic devices.

  The gist of the present invention will be described with reference to the accompanying drawings.

  An in-pipe investigation machine for investigating the inside of the pipe line 20 while flying in the pipe line 20 such as a pipe or a tunnel by remote control, the airframe 1 formed in the form of an airship that floats by levitation gas, The rolling element 2 that contacts the top surface 21 of the pipe line 20 and travels along the top surface 21, the pipe state investigation means 3 that investigates the state of the pipe line 20, and the airframe 1 together with the levitation gas The horizontal rotary blade 4 is provided in a recessed portion 5 that is recessed upward from the bottom 1A of the fuselage 1. Further, the present invention relates to an in-pipe inspection machine characterized in that the airframe 1 is configured so as not to be submerged even when it lands on the water surface 22.

  Further, the airframe 1 is provided with a front projecting portion 6 projecting at least forward, and the horizontal rotary blade 4 with the lower space of the front projecting portion 6 as the recessed portion 5. 2. The pipe inspection device according to claim 1, wherein the pipe is suspended in a lower surface of the front projecting portion 6 so as to be disposed in the recessed portion 5. is there.

  The front projecting portion (6) is provided with a blowout portion (7) penetrating in the vertical direction, and the horizontal rotary blade (4) is disposed directly below the blowout portion (7). This relates to the in-pipe inspection machine described in 2.

  Further, the airframe 1 is provided with a front projecting portion 6 projecting forward and a rear projecting portion 8 projecting rearward, and the front projecting portion 6 and With the respective lower spaces of the rear projecting portions 8 as the recessed portions 5, the front rotary projecting portions 6 and the horizontal projecting blades 4 are disposed in the respective recessed portions 5. 2. The in-pipe inspection machine according to claim 1, wherein the rear projecting portion is provided in a suspended state on each lower surface.

  The front projecting portion 6 and the rear projecting portion 8 are each provided with a blow-through portion 7 penetrating in the vertical direction, and the horizontal rotary blade 4 is disposed immediately below the blow-through portion 7. It concerns on the in-pipe inspection machine of Claim 4 characterized by the above-mentioned.

  In addition, the horizontal rotor blade 4 is configured to be tiltable from at least a horizontal state to a front-falling inclined state, and when the horizontal rotor blade 4 is in a front-lowering inclined state, a propulsive force is exerted on the airframe 1 together with a levitation force. The rolling element 2 is configured to fly and move in the pipeline 20 so as to travel along the top surface 21 while the rolling element 2 is in contact with the top surface 21 of the pipeline. It concerns on the in-pipe investigation machine of any one of Claims 1-5 characterized by these.

  Moreover, the said rolling element 2 is provided in the upper surface part of the said body 1 in the state protruded upwards, The in-pipe investigation machine of any one of Claims 1-6 characterized by the above-mentioned. It is concerned.

  In addition, the pipeline state investigation means 3 detects the camera 3 that images the inside of the pipeline 20, an internal shape measuring device that measures the internal shape of the pipeline 20, or an object that exists in the pipeline 20. The in-pipe inspection machine according to any one of claims 1 to 7, wherein the in-pipe inspection machine comprises any one of a range sensor 16 for measuring a distance to the object or a combination thereof. Is.

  Since the present invention is configured as described above, it can be used regardless of whether the pipeline is a land route or a water channel, and is stable without being affected by a change in the pipe diameter or the inner wall surface state of the pipeline. In addition, it is possible to prevent the horizontal rotary blade from contacting the pipe wall, and even if it falls into the water channel, the horizontal rotary blade and the mounted electronic equipment can be submerged. It becomes an in-pipe inspection machine with excellent practicality that can be avoided.

It is a side view which shows a present Example. It is a description top view which shows a present Example. It is explanatory drawing which shows the horizontal rotation blade of a present Example, and the tilting mechanism which tilts this horizontal rotary blade. It is explanatory side view which shows the flight movement state of a present Example. It is explanatory front view which shows the flight movement state of a present Example. It is explanatory front view which shows the waterway landing state of a present Example.

  An embodiment of the present invention which is considered to be suitable will be briefly described with reference to the drawings showing the operation of the present invention.

  In the present invention, since the floating gas filled in the fuselage 1 and the horizontal rotary blade 4 provided in the fuselage 1 are levitated and moved in the pipeline 20 while flying by remote control, the pipeline 20 is a land route. It can be used regardless of the type of water channel. The remote operation in the present invention includes not only a remote operation using a pilot by a wireless communication or a wired communication, but also an operation based on this flight program by inputting a flight program in advance by a computer.

  In addition, since the levitation force for flying (levitation) of the airframe 1 is generated by the levitation gas filled in the airframe 1 and the horizontal rotary blade 4, the levitation force is generated only by the levitation gas. Compared to the small amount of levitation gas filling, the airframe 1 itself, which is the buoyant gas filling portion, can be reduced in size, thereby enabling the small pipe 20 to enter the small diameter pipe line. The survey machine can be easily designed and realized.

  That is, the airframe 1 of the present invention is equipped with general airplane materials (control unit 15) such as a flight controller and a gyro sensor necessary for flight in addition to the rolling element 2 and the pipe line state investigation means 3. When the aircraft 1 is lifted only by the levitation force generated by the buoyant gas filled in the interior, it is necessary to generate a large levitation force by filling a large amount of levitation gas. The size of 1 itself must be increased, and as a result, the airframe 1 has a size that makes it difficult or impossible to enter the small-diameter pipe line 20, but the weight of the present invention is increased. As a means for imparting levitation force to the fuselage 1, the size of the fuselage is not increased to increase the amount of levitation gas filling, but a horizontal rotary blade 4 is provided and the horizontal rotary blade 4 is used to impart levitation force. , The enlargement of the airframe 1 can be avoided, and the airframe 1 can be formed to be small enough to enter the small diameter pipe line 20.

  Further, according to the present invention, since the rolling element 2 provided in the fuselage 1 is brought into contact with the top surface 21 of the conduit by levitation in the conduit 20, the rolling element 2 moves the top surface 21 at the time of flight. As it travels and flies along the top surface 21 of this pipeline, there is almost no vertical movement at the time of flight, the movement state is stable, and a highly accurate in-pipe investigation can be performed. In the present invention, since a stable levitation force (a constant levitation force) is generated by the levitation gas, the levitation action during flight is stabilized, the vertical movement is reduced, the flight state is stabilized, and the rolling element 2 The abutting state of the pipe line 20 to the top surface 21 is stably maintained, and thereby, stable flight movement can be easily realized with a simple configuration.

  Furthermore, since the present invention is configured in the form of an airship (balloon) in which the airframe 1 is filled with levitation gas, even if the airframe 1 fluctuates in the flight state and the airframe 1 contacts the inner wall surface of the pipeline. The fuselage 1 itself becomes a cushion to prevent damage to the fuselage 1 as much as possible, and the cushioning fuselage 1 contacts the inner wall surface of the pipeline so that the horizontal rotor 4 contacts the inner wall surface of the pipeline. Is suppressed, and damage due to the wall contact of the horizontal rotary blade 4 is prevented.

  Furthermore, in the present invention, for example, since the levitation force is reduced and the flight state (the state where the air is levitating in the air) cannot be maintained, and the aircraft 1 floats on the water surface 22 even if it falls into the water channel (water surface 22), The airframe 1 itself does not have to worry about being submerged, and in the present invention, the airframe 1 is formed with a recessed portion 5 that is recessed upward from the bottom 1A, and the horizontal rotor blade 4 is disposed in the recessed portion 5. Therefore, when the airframe 1 lands on the water surface 22, submergence of the horizontal rotor blades 4 is avoided, damage to the horizontal rotor blades 4 is avoided, and re-levitation can be attempted.

  As described above, the present invention can be used regardless of the land line 20 or the water line 20 and can be stably used without being affected by the change in the pipe diameter or the state of the wall of the pipe. In addition, the airframe 1 with cushioning properties prevents the horizontal rotor blade 4 from contacting the inner wall surface of the pipe, and even if it falls into the water channel (water surface 22), it can rotate horizontally. A groundbreaking pipe with excellent practicality that can prevent submergence of the wing 4 and the electronic equipment (for example, the controller 15 such as the flight controller and gyro sensor) that can be submerged and can continue the investigation by re-levitation. It becomes an internal investigation machine.

  Specific embodiments of the present invention will be described with reference to the drawings.

  The present embodiment is an in-pipe inspection machine that investigates the inside of the pipe 20 while flying in the pipe 20 such as a pipe or a tunnel by remote control, and is formed in an airship form that floats by levitation gas. A rolling element 2 for contacting the top surface 21 of the pipe line 20 and traveling along the top surface 21, a pipe state investigation means 3 for investigating the state of the pipe line 20, and the levitation A horizontal rotor blade 4 that provides a levitation force to the airframe 1 together with gas is provided, and the horizontal rotor blade 4 is formed in a recessed portion 5 that is recessed upward from the bottom 1 </ b> A of the airframe 1. The airframe 1 is configured so as not to be submerged even when the airframe 1 lands on the water surface 22.

  Hereinafter, each component according to the present embodiment will be described in detail.

  The airframe 1 of the present embodiment is formed in the shape of an airship, and is filled with helium gas as a levitation gas, and the helium gas generates a levitation force and floats. In addition, the levitation gas with which the airframe 1 is filled is not limited to the above.

  In addition, as shown in the figure, the airframe 1 of the present embodiment has a bottom 1A formed in a curved surface, and even if it landed on the water channel (water surface 22), it floats on the water surface 22 and floats on the conventional ship. Similarly, the water surface 22 can be moved smoothly.

  More specifically, the bottom portion 1A of the airframe 1 of the present embodiment is formed on a curved surface having a large R (radius of curvature), and the contact area with the water surface 22 when landing on the water surface 22 is increased. The amount of sedimentation below the surface of the water is reduced, and the structure has both straight running stability, floating stability at the time of landing, and onboard equipment avoidance of submergence.

  In addition, regarding the shape of the bottom 1A of the airframe 1, for example, it may be formed on a flat surface. When the bottom 1A is formed on a flat surface, the straight running stability on the water surface 22 is inferior to the curved shape described above. However, when landing on the water surface 22, the occurrence of left-right shaking is suppressed as much as possible, and the stability of the floating state is improved.

  Further, the airframe 1 of the present embodiment has a recessed portion 5 that is recessed upward from the bottom portion 1 </ b> A. Specifically, the recessed portion 5 has a front end portion and a rear end portion of the airframe 1. Are provided in two places.

  More specifically, the airframe 1 of the present embodiment includes a front projecting portion 6 projecting forward and a rear projecting portion 8 projecting rearward. Each of the lower spaces of the portion 6 and the rear protruding portion 8 is configured as the recessed portion 5 described above. Specifically, the recessed portion 5 below the front protruding portion 6 located on the front side of the body 1 is A concave portion is formed upward from the bottom 1A on the front side of the airframe 1 and is formed inwardly from the front portion (front portion) of the airframe 1. The recessed portion 5 below the rear projecting portion 8 is formed so as to be recessed upward from the bottom portion 1A on the rear side of the body 1, and from the rear portion (back surface portion) of the body 1 inward. It is set as the structure by which the dent was formed.

  Furthermore, the airframe 1 of the present embodiment floats on the airframe 1 together with the buoyant gas filled in the airframe 1 on the front projecting portion 6 and the rear projecting portion 8 located above the recessed portion 5. The horizontal rotary blade 4 for applying force is provided (attached), and the horizontal rotary blade 4 provided on the front projecting portion 6 (rear projecting portion 8) is provided on the front projecting portion. It is configured to be provided in a suspended state on the lower surface of the portion 6 (rear projecting portion 8) and to be accommodated in the recessed portion 5 so as to be accommodated in the recessed portion 5.

  Further, the front projecting portion 6 and the rear projecting portion 8 of the present embodiment are each provided with a blow-through portion 7 penetrating in the vertical direction, and the horizontal rotary blade 4 is arranged directly below the blow-through portion 7. As shown, it is suspended from the front projecting portion 6 (rear projecting portion 8).

  Specifically, as shown in the drawing, a horizontal rotary blade mounting portion 9 is provided in the blow-off portion 7, and the horizontal rotary blade 4 is provided in a suspended state on the horizontal rotary blade mounting portion 9. Has been.

  That is, in this embodiment, the concave portions 5 are provided in the front-rear direction of the airframe 1, and the horizontal rotary blades 4 are respectively disposed in the concave portions 5. A large levitation force is generated, the front-rear balance of the airframe 1 is equalized, and stable flight movement can be realized. Further, in this embodiment, the front projecting portion 6 (rear projecting portion 8) is provided. ) Is provided with a blow-off portion 7 (through hole), so that the blow-through portion 7 becomes an air intake port of the horizontal rotary blade 4 disposed immediately below the front projecting portion 6 (rear projecting portion 8). Compared to the case where the projecting portion 6 (the rear projecting portion 8) does not have the blow-through portion 7, more air can be introduced into the horizontal rotating blade 4, so that the horizontal rotating blade 4 generates a greater levitation force. It is set as the structure which can be made to do.

  Further, in this embodiment, the horizontal rotary blade 4 has four machines, and two machines are arranged in the front concave part 5 and two machines are arranged in the rear concave part 5, respectively. .

  Specifically, the two horizontal rotary blades 4 on the front side and the rear side, respectively, are configured to be arranged in parallel in the left-right direction in the recessed portion 5 as shown in the figure. The levitation force is generated by the horizontal rotor blades 4 in total, two by two before and after this aircraft, and the levitation force by the horizontal rotor blades 4 and the levitation force by the helium gas filled in the airframe 1 are stabilized by the interaction. In addition, the airframe 1 can be freely turned in the left-right direction by adjusting the balance of the rotational force of the left and right horizontal rotary blades 4 arranged side by side.

  More specifically, the horizontal rotor blades 4 arranged at the front and rear are respectively configured to be tiltable in the front-rear direction by the tilting mechanism 10, and are in a state of being tilted forward and lowered to the body 1. A propulsive force that moves forward together with the levitation force is applied, and a propulsive force that moves backward is provided by being in a forwardly rising (rearward) inclined state.

  Further, the tilting mechanism 10 of this embodiment for tilting the horizontal rotating blade 4 is a rod-shaped horizontal rotating blade support 11 that is swingably suspended from the front protruding portion 6 (rear protruding portion 8). And a swinging means 12 that swings the horizontal rotary blade support 11 in the front-rear direction. In this embodiment, the swinging means 12 provided so as to be able to move forward and backward moves backward. The swinging means 12 pulls down the horizontal rotating blade support 11 (the horizontal rotating blade 4 mounting side), and the swinging means 12 pulls the horizontal rotating blade support 11 swings backward, As the horizontal rotor blade support 11 swings backward, the horizontal rotor blade 4 is tilted forward and a propulsive force is generated that moves forward. The swinging means 12 pushes the lower side of the horizontal rotating blade support 11 (the horizontal rotating blade 4 mounting side), and the swinging means 12 pushes the horizontal rotating blade 12 horizontally. The blade support 11 is swung forward, and the horizontal rotating blade 4 is swung forward by the horizontal rotating blade support 11 so that the horizontal rotating blade 4 is tilted forward (downward) and moved backward. Is configured to occur.

  As described above, in this embodiment, the horizontal rotary blade 4 that imparts a levitation force to the airframe 1 exerts a forward and backward propulsive force on the airframe 1, and also exhibits an operational effect as a steering unit that rotates the airframe 1. As a result, levitation, flight, and turning operations can be operated by the horizontal rotary wing 4, so it is necessary to separately provide a means for imparting a moving driving force to the airframe 1 and a turning steering mechanism. Therefore, the airframe 1 can be made compact accordingly, and the design is simple and the design can be easily realized.

  Further, as described above, the machine body 1 of the present embodiment is provided with the rolling element 2 and the pipe line state investigation means 3.

  As shown in the figure, the rolling element 2, specifically, the wheel 2, is configured to be rotatably provided on a wheel mounting portion 13 that is provided on the upper surface of the airframe 1 so as to protrude upward. .

  In addition, the wheel 2 of the present embodiment is configured by an elastically deformable member, specifically, a sponge member. Accordingly, in the present embodiment, the inner wall surface of the pipe line 20 is bumpy or a stepped portion. Even if there is, the deformation of the wheel 2 absorbs the impact on the airframe 1 due to irregularities and steps, and suppresses the vertical movement of the airframe 1 as much as possible, so that highly accurate investigation (measurement) is stable. It is configured to be able to continue.

  Further, in this embodiment, a camera 3 for imaging the inside of the pipe 20 is provided as the pipe state investigation means 3 in the front part of the machine body 1, and the image in the pipe 20 acquired by the camera 3 is used. This embodiment is configured so that it can be remotely operated or visually inspected for the presence or absence of an abnormality in the pipeline 20. Further, the pipe line state investigation means 3 is not limited to the above, and may be configured to measure the inner shape of the pipe line 20 by employing, for example, an inner shape measuring device described in Japanese Patent No. 5554372, The camera 3 and the inner shape measuring device may be provided.

  Furthermore, the airframe 1 of the present embodiment is also provided with a range sensor 16 that detects an object existing in the pipe line 20 and measures the distance to the object. The range sensor 16 is configured to detect an object existing ahead by laser irradiation and measure the distance to the object. In the present embodiment, the range sensor 16 includes a pipe 20 It is provided in the airframe 1 for the purpose of detecting an obstacle when traveling in flight and measuring the position of itself (in-pipe inspection machine) in the pipe 20.

  In the figure, reference numeral 14 denotes a lighting device 14 (specifically, an LED bar is used in this embodiment), and reference numeral 15 denotes a plurality of flight control components such as a flight controller, a gyro sensor, and a battery. The control unit 15 is provided.

  In the present embodiment, the recessed portions 5 are provided in the front-rear direction of the body 1 and the horizontal rotary blades 4 are disposed in the recessed portions 5. However, the recessed portions are provided only on the front side of the body 1. It is good also as a structure which provided 5 and provided the horizontal rotary blade 4 in this recessed part 5. FIG.

  The present invention is not limited to the present embodiment, and the specific configuration of each component can be designed as appropriate.

DESCRIPTION OF SYMBOLS 1 Airframe 1A Bottom part 2 Rolling body 3 Pipeline state investigation means, camera 4 Horizontal rotary blade 5 Recessed part 6 Front side protruding part 7 Blow-through part 8 Rear side protruding part
16 Range sensor
20 pipelines
21 Top
22 Water surface

Claims (8)

  An in-pipe inspection machine for investigating the inside of a pipe, such as a pipe or a tunnel, by remote control, wherein the machine is formed in the form of an airship that is levitated by levitation gas. A rolling element that contacts the top surface and travels along the top surface, a conduit state investigation means that investigates the state of the conduit, and a horizontal rotary blade that imparts levitation force to the airframe together with the levitation gas; The horizontal rotary wing is disposed in a recessed portion formed to be recessed upward from the bottom of the airframe, and is configured not to be submerged even when the airframe lands on the water surface. In-pipe inspection machine characterized by being.   The airframe is provided with at least a front projecting portion projecting forward, and the horizontal rotary blade is disposed in the recessed portion with the space below the front projecting portion as the recessed portion. The in-pipe inspection machine according to claim 1, wherein the in-pipe inspection machine is provided in a suspended state on a lower surface of the front projecting portion so as to be disposed.   3. The duct according to claim 2, wherein the front projecting portion is provided with a blow-through portion penetrating in a vertical direction, and the horizontal rotary blade is disposed immediately below the blow-through portion. Survey machine.   The airframe is provided with a front projecting portion projecting forward and a rear projecting portion projecting rearward, the front projecting portion and the rear projecting portion. With the respective lower spaces as the recessed portions, the horizontal rotary blades are suspended from the lower surfaces of the front protruding portions and the rear protruding portions so as to be disposed in the recessed portions. The in-pipe inspection machine according to claim 1, wherein the in-pipe inspection machine is provided.   Each of the front projecting portion and the rear projecting portion is provided with a blow-through portion penetrating in the vertical direction, and the horizontal rotary blade is disposed immediately below the blow-through portion. An in-pipe inspection machine according to claim 4.   The horizontal rotary blade is configured to be tiltable from at least a horizontal state to a forward-falling inclined state, and when the horizontal rotary blade is in a forward-lowering inclined state, a propulsive force is applied to the airframe together with a levitation force, The rolling element is configured to fly and move in the pipeline so as to travel and move along the top surface in a state of being in contact with the top surface of the pipeline. An in-pipe inspection machine according to any one of the above.   The in-pipe inspection machine according to any one of claims 1 to 6, wherein the rolling element is provided on the upper surface of the machine body so as to protrude upward.   The pipeline state investigation means detects a camera that images the inside of the pipeline, an internal shape measuring device that measures the internal shape of the pipeline, or an object that exists in the pipeline, and determines the distance to the object. The in-pipe inspection machine according to any one of claims 1 to 7, wherein the in-pipe inspection machine is configured by any one of a range sensor to be measured or a combination thereof.

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