JP3133667U - Self-propelled in-pipe inspection robot - Google Patents

Abstract

[PROBLEMS] To provide a simple structure with a small number of parts, excellent mass productivity, no need to operate from the outside using wiring, autonomous driving, no need for dedicated operators or large-scale equipment, and excellent handling. Even if there are irregularities, depressions, seam misalignment, branch pipe openings, etc. in the pipe, or if there are tree roots or other obstacles, you can step over them and have excellent running stability, and the pipe is inclined Even when bent or bent, it can run reliably along the tube toward the exit, and it can shoot the surface of the inner wall in a short time and efficiently, and is self-propelled with excellent reliability and efficiency of inspection work. Provision of in-pipe inspection robots.
Left and right endless track portions arranged in a U-shape at the bottom of the frame, a camera disposed at a tip portion on the traveling direction side of the frame, an illumination unit that illuminates the traveling direction, and a camera A storage unit that stores the captured image, a drive motor that drives the endless track unit, and a battery that supplies power to the drive motor are provided.
[Selection] Figure 1

Description

  The present invention relates to a self-propelled in-pipe inspection robot that travels in a sewer pipe and images the surface of the inner wall of the sewer pipe. In particular, the self-propelled capable of autonomous running without the need for external operation using wiring. This relates to a type in-pipe inspection robot.

2. Description of the Related Art Conventionally, a self-propelled in-pipe inspection robot that travels in a sewer pipe and photographs and measures the inner wall surface has been proposed in order to confirm the occurrence of cracks and cracks on the inner wall surface of the sewer pipe.
For example, (Patent Document 1) states that “a movement command from an operator and a movement command generated by the robot itself according to the surrounding situation of the robot itself are coordinated to enable stable remote control by the operator and autonomous movement of the robot itself. A remote-controlled robot apparatus that can perform such movement is disclosed.
Further, (Patent Document 2) discloses “a traveling device for a pipe inner surface inspection device in which an endless belt is stretched between a driving pulley and a driven pulley”.
(Patent Document 3) states that “a work cart provided with magnet wheels that are attracted to the inner surface of a pipe can be driven by a travel motor, a video camera is mounted on the work cart, and the travel direction of the work cart is An arm is provided so that it can turn and move back and forth in a plane perpendicular to the surface, and a thickness measurement sensor is provided on the arm so that the thickness measurement sensor can be brought into contact with the inner surface of the pipe by moving the arm forward and backward. A pipe inspection apparatus characterized by the above has been disclosed.
JP-A-6-155350 Japanese Utility Model Publication No. 63-50224 JP 2001-12934 A

However, the above conventional technique has the following problems.
(1) (Patent Document 1) requires not only a large amount of capital investment but also a dedicated and skilled operator who has to travel to the site by a car equipped with large-scale equipment for remote operation. This requires a lot of work, increases labor costs, requires a parking space at the time of work, and blocks roads, resulting in poor handling.
(2) In Patent Document 2, the contact surface of the endless belt stretched between the driving pulley and the driven pulley to the inner surface of the pipe is formed in an arc shape in the belt width direction, but the left and right endless belts are parallel to each other. Therefore, there is a problem that the contact area with the inner surface of the tube is narrow, it is difficult to stably travel on the inner surface of the cylindrical tube, and the posture stability during traveling is lacking. In addition, the endless belt must be formed in an arc shape, which lacks mass productivity, and an endless belt having a different arc dimension depending on the inner diameter of the tube must be used, which leads to lack of versatility. Was.
(3) (Patent Document 3) includes a magnet wheel that is attracted to the inner surface of a pipe, so that when the pipe is made of a magnetized metal, stable running is possible, but the pipe is made of concrete. In the case of a product made of synthetic resin or the like, there was a problem that the magnet wheel could not be adsorbed and the running stability was lacking.
(4) In-pipe inspection robots that run on wheels cannot run due to the wheel being caught if there are irregularities, depressions, seam misalignment, branch pipe openings, or tree roots or other obstacles in the pipe. It had a problem that it was easy to become and lacked in running ability.

  The present invention solves the above-mentioned conventional problems, has a simple structure with a small number of parts, is less likely to fail, is excellent in mass productivity and maintainability, and does not need to be operated from the outside using wiring, and is stable. Can operate autonomously, does not require a dedicated operator or large-scale equipment, is easy to handle, has irregularities, depressions, seam misalignment, branch pipe openings, etc., tree roots and other obstacles Even if there are objects, you can step over them, and even if the track is temporarily shifted due to obstacles, you can naturally go back to the initial track and have excellent running stability. Even if it is inclined or bent, it can travel to the exit reliably along the pipe, and the surface of the inner wall can be photographed efficiently in a short time, and the reliability of the inspection work, Self-efficiency And an object thereof is to provide a formula pipe inspection robot.

In order to solve the above conventional problems, the self-propelled in-pipe inspection robot of the present invention has the following configuration.
A self-propelled in-pipe inspection robot according to claim 1 of the present invention is a self-propelled in-pipe inspection robot that travels in a sewer pipe and photographs the surface of the inner wall of the sewer pipe, and includes a frame and the frame. The left and right endless track portions arranged in a C shape at the lower part of the frame, the camera disposed at the front end portion on the traveling direction side of the frame, the illuminating portion that illuminates the traveling direction, and an image captured by the camera Is stored, a drive motor that drives the endless track portion, and a battery that supplies electric power to the drive motor.
With this configuration, the following effects can be obtained.
(1) Since the left and right endless track portions arranged in a U-shape are provided at the lower part of the frame, the endless track portion can be reliably brought into contact with the surface of the circular sewer pipe to stably support the frame. It is possible to reliably photograph the surface of the inside of the tube with a camera, and the reliability of the in-tube inspection is excellent.
(2) By arranging the endless track part in a square shape, avoiding water and foreign matter collected at the center of the bottom of the pipe, or the opening of a branch pipe generally connected to the bottom or side of the pipe. It is possible to drive the vehicle and minimize the contact between the vehicle body and the obstacle, stable driving with less vibration and high-quality image shooting are possible, and the image quality is highly reliable.
(3) Even if there are irregularities, depressions, steps or tree roots or other obstacles inevitable in the pipe, it is possible to run over them by the endless track part, and the running power is excellent.
(4) Since the endless track portion can be used even in a gap that is half the full length, a part of a step such as a branch opening or a depression or a misalignment of the pipe joint overlaps the position of the endless track portion. Even if it happens, it can move reliably toward the exit without being caught by them, and is excellent in straightness.
(5) Even when the sewage pipe is bent, the endless track part arranged in a C-shape can be reliably brought into contact with the obliquely lower side surface part of the pipe wall, and automatically exits along the pipe wall. It is easy to handle because it requires no artificial operation from the outside.
(6) By arranging the endless track part in a square shape and increasing the contact area with the surface of the sewage pipe, it is possible to maintain an appropriate gripping force, and advance reliably even when the pipe is inclined. It can be excellent in running stability.
(7) Since it has a camera disposed at the front end of the frame in the traveling direction and an illuminating unit that illuminates the traveling direction, it illuminates the shooting location while traveling in the traveling direction to ensure the surface inside the tube. Can be photographed, and the efficiency of in-tube inspection is excellent.
(8) By having a storage unit that stores images taken by the camera, it is possible to reliably store images taken during traveling, and after traveling through the inspection location, images are taken out from the storage unit and summarized. Therefore, it is possible to check the occurrence of cracks and cracks on the inner surface of the pipe, so that the work at the site and the work at the desk can be completely separated, and the work time at the site can be shortened. Excellent workability and efficiency of inspection.
(9) By providing a drive motor that drives the endless track section and a battery that supplies power to the drive motor, wiring is not required and autonomous traveling is possible. While running and moving to the exit, the inside of the tube can be photographed efficiently in a short time, and the handling is excellent.
(10) Since the left and right endless track sections are arranged in a C shape at the bottom of the frame, the vehicle height can be lowered while sufficiently securing the volume of the vehicle body, and protrusions, obstacles, etc. When climbing over, the upper end of the frame is not attached to the upper surface of the tube, and obstacles do not interfere with the bottom of the frame. Excellent in properties.
(11) Since the endless track portion is arranged in a square shape, the distance between fulcrums that support the frame can be increased, and it passes through steps due to vertical and horizontal misalignment at the joint of pipes. When you do this, you will not be caught or overturned, and even if the track temporarily deviates, you can return to the initial track naturally and run easily, maintaining a horizontal posture, Excellent.

Here, the frame may be any frame as long as the left and right endless track portions can be fixed in a square shape, and a frame having a substantially L-shaped or rectangular shape is preferably used. By arranging the endless track portions on two adjacent sides of a frame formed in an L shape, a B shape, or the like, the left and right endless track portions can be arranged in a C shape. As a material of the frame, in addition to a metal such as aluminum, a synthetic resin such as polycarbonate, a fiber reinforced plastic such as FRP or FRTP, or the like is preferably used.
Depending on the inner diameter of the tube to be inspected, several types of dimensions of the frame can be prepared and appropriately selected for use. By changing only the dimensions of the frame, it is possible to cope with various inner diameters, and the same endless track can be used, so that complex parts can be used in common for mass production and design flexibility. Excellent.

As the endless track portion, a belt-like crawler plate or chain wound between the starting wheel and the idle wheel is preferably used. When a wide belt-shaped shoe is used, the contact area with the pipe surface can be increased, and the running stability is excellent. Even if the surface of the footwear plate has irregularities, the tube is made of resin, or the surface of the tube is wet with water and slippery, or even when the tube is tilted, it can maintain an appropriate grip force and travel Excellent stability. The footboard may be made of synthetic rubber, synthetic resin, or metal. However, since the synthetic rubber is difficult to slip and the surface of the tube is difficult to be damaged, it is excellent in reliability.
The angle formed by the left and right endless track portions can be selected as appropriate, but 90 degrees is particularly preferable. The distance between the endless track sections that support the frame (vehicle width) is maximized, and the left and right endless track sections can support the frame reliably and perform stable running, and obstacles such as joints and steps inside the pipe This is because it is possible to overcome the problem. In addition, because the center of gravity is lower than the center of the pipe and between the left and right endless track parts, even if the body leans about 45 degrees when overcoming obstacles, it will not fall down and run autonomously Excellent reliability.

A camera, a storage unit, a battery, and the like can be housed inside the frame. By covering the frame with a cover that can be opened and closed and / or detachable, the camera, the storage unit, the battery, and the like can be protected from water and external impacts. In addition, the camera, the storage unit, the battery, etc. can be easily replaced and maintained, and the handleability is excellent.
Cameras with waterproof properties are preferably used, but in particular, by providing a lens cover that protects the lens, the lens can be reliably protected from water and impact to prevent damage and reliability and durability Excellent.
The position of the camera lens can be selected as appropriate according to the inner diameter of the tube to be inspected, but when the camera lens is placed near the center of the sewer pipe, the entire surface inside the tube should be photographed without any spots. And is excellent in in-tube inspection reliability.
By illuminating the shooting portion in the traveling direction with the illumination unit in accordance with the camera viewing angle, it is possible to reliably shoot with a camera even in a dark tube. As the illumination unit, a light emitting diode excellent in power saving and long life is preferably used. When a plurality of lamps, light emitting diodes, and the like are arranged on the outer periphery of the lens of the camera on the circumference, the illumination unit can reliably illuminate the inside of the tube and take an image, and the image quality is excellent.

The storage unit may be any unit as long as it can store images taken by the camera, but a storage unit such as an SD memory card or a memory stick that is detachable from the main body of the storage unit is preferably used. Only the storage medium can be exchanged easily, and it is easy to handle, and by preparing a plurality of storage media in advance, the imaging work in the tube by the self-propelled in-pipe inspection robot and the storage medium are stored. This is because the confirmation operation of the captured image can be performed independently and in parallel, and the efficiency of the operation is excellent. In the case where a hard disk integrated with the storage unit is provided as a storage medium, the storage unit or the storage unit and the camera can be detached from the frame and replaced.
By using a camera that can shoot a moving image, the inside of the inspection target pipe can be photographed over the entire length while the self-propelled in-pipe inspection robot is running, and the defect detection reliability is excellent.
In addition, instead of preparing the camera and the storage unit separately, a video camera in which the camera, the storage unit, and the monitor are integrated can be used.

The drive motor may be any motor that can rotate at least the endless track portion in one direction. When a DC motor capable of switching between forward and reverse rotation is used, forward and backward can be switched as necessary, and the versatility is excellent.
The self-propelled in-pipe inspection robot can run completely autonomously without any external operation, but in the case where it becomes impossible to move forward due to obstacles, etc., the drive motor is operated remotely (wirelessly) If the forward / reverse rotation is made switchable, the self-propelled in-pipe inspection robot can be retracted and collected by itself, and the handling is excellent. Moreover, by attaching a lifeline to the self-propelled in-pipe inspection robot, it can be easily dragged back to the entrance side by hand. At this time, even when the drive motor is rotating, the endless track portion has an appropriate grounding force, so that it can be pulled back stably without damaging the self-propelled in-pipe inspection robot or the inside of the pipe. Moreover, the forward movement can be started again only by loosening the lifeline in the middle of pulling back, and the retry running can be easily performed. In addition, it can also collect | recover with other in-pipe travel vehicles.
A rechargeable battery is preferably used as the battery. This is because it can be recharged and used repeatedly when not in use, and has excellent long life and resource saving.

The invention described in claim 2 is the self-propelled in-pipe inspection robot according to claim 1, wherein the distance from the ground contact surface of the endless track portion to the lens of the camera is equal to the inner radius of the sewer pipe. have.
With this configuration, in addition to the operation obtained in the first aspect, the following operation can be obtained.
(1) By making the distance from the ground contact surface of the endless track part equal to the inner radius of the sewer pipe, the lens can always be stably held at the center of the sewer pipe during running. In addition to being excellent in stability, the entire surface inside the tube can be photographed without any spots, and the reliability of in-tube inspection is excellent.

The invention described in claim 3 is the self-propelled in-pipe inspection robot according to claim 1 or 2, and has a configuration including a storage medium detachably disposed in the storage unit.
With this configuration, in addition to the operation obtained in the first or second aspect, the following operation can be obtained.
(1) By having a storage medium that is detachably disposed in the storage unit, only the storage medium can be easily replaced, and the photographing operation in the tube and the confirmation operation of the captured image stored in the storage medium can be performed. They can be performed independently and in parallel, and work efficiency and handling are excellent.

  Here, the storage medium is preferably a small and light-weight medium such as an SD memory card or a memory stick because of its excellent handleability. The image stored in the storage medium can be easily reproduced by a personal computer or the like, and can be easily edited and processed using general-purpose software, so that the image confirmation workability is excellent. In addition, the photographed image can be stored and stored in a CD, DVD, or the like, and the record storability is excellent.

Invention of Claim 4 is a self-propelled in-pipe inspection robot of any one of Claims 1 thru | or 3, Comprising: It has the structure provided with the monitor arrange | positioned at the said memory | storage part. Yes.
With this configuration, in addition to the action obtained in any one of claims 1 to 3, the following action is obtained.
(1) Since a monitor is provided in the storage unit, an image stored in the storage unit (storage medium) can be easily confirmed on the spot without using a personal computer or the like. If there is a defect, the inspection can be restarted immediately, the inspection in the pipe can be performed reliably without waste, and the reliability and efficiency of the inspection work are excellent.

A fifth aspect of the present invention is the self-propelled in-pipe inspection robot according to any one of the first to fourth aspects, wherein the frame is covered with the frame so as to be openable and detachable. And a cover portion.
With this configuration, in addition to the action obtained in any one of claims 1 to 4, the following action is obtained.
(1) By having a cover part that can be opened and closed and / or detachably attached to the frame, the camera part, the storage part, the battery, and the like housed in the frame are protected from water and external impacts. In addition, the camera unit, the storage unit, the battery, and the like can be easily replaced and maintained, and the durability and handling are excellent.

  Here, the cover part may be pivotally fixed to the frame with a hinge or the like, or may be slidably fixed by forming a ridge and a groove that engage with each other on the frame and the cover part. Also good.

As described above, according to the self-propelled in-pipe inspection robot of the present invention, the following advantageous effects can be obtained.
According to the device of the first aspect, the following advantageous effects can be obtained.
(1) No wiring is required for manual operation from the outside, it can run autonomously from the inlet to the outlet of the pipe, no dedicated operator or large-scale equipment is required, excellent handling, and efficiency in a short time Well, it is possible to provide a self-propelled in-pipe inspection robot excellent in reliability and efficiency of inspection work capable of photographing the surface of the inner wall.
(2) No complicated mechanism required, simple structure, small number of parts, excellent mass productivity and maintainability, no need for advanced operations, easy use by anyone, It is possible to provide a self-propelled in-pipe inspection robot excellent in handling and reliability that can improve the efficiency and reliably prevent the sewage pipe from malfunctioning.

According to the invention described in claim 2, in addition to the effect described in claim 1, the following advantageous effects can be obtained.
(1) The reliability of in-pipe inspection that can always hold the lens of the camera stably in the center of the sewer pipe while driving, has excellent driving stability, and can capture the entire surface of the pipe without any spots. It is possible to provide a self-propelled in-pipe inspection robot excellent in

According to the invention described in claim 3, in addition to the effect described in claim 1 or 2, the following advantageous effect can be obtained.
(1) Only the storage medium detachably disposed in the storage unit can be easily replaced, and the photographing work in the tube and the confirmation work of the photographed image stored in the storage medium are performed independently and in parallel. It is possible to provide a self-propelled in-pipe inspection robot with excellent work efficiency and handling.

According to the invention described in claim 4, in addition to the effect described in any one of claims 1 to 3, the following advantageous effects can be obtained.
(1) The image stored in the storage unit (storage medium) can be easily confirmed on-site by the monitor, and if there is a defect in the image, the inspection can be restarted immediately, ensuring no waste. In addition, it is possible to provide a self-propelled in-pipe inspection robot excellent in the reliability and efficiency of the inspection work capable of inspecting the inside of the pipe.

According to the invention described in claim 5, in addition to the effect described in any one of claims 1 to 4, the following advantageous effects can be obtained.
(1) With a cover part that is openably and closably and / or detachably attached to the frame, it is possible to protect the camera, storage unit, battery, and the like housed inside the frame from water and external impacts. In addition, it is possible to provide a self-propelled in-pipe inspection robot excellent in durability and handling that can easily perform replacement and maintenance of a camera, a storage unit, a battery, and the like.

Hereinafter, a self-propelled in-pipe inspection robot according to an embodiment of the present invention will be described with reference to the drawings.
(Embodiment 1)
1 is a perspective view of the self-propelled in-pipe inspection robot according to the first embodiment, and FIG. 2 is a front view showing a running state in the sewage pipe of the self-propelled in-pipe inspection robot according to the first embodiment. FIG. 3 is a view taken in the direction of arrow A in FIG. 2.
In FIG. 1 to FIG. 3, reference numeral 1 denotes a self-propelled in-pipe inspection robot according to the first embodiment that travels through a sewer pipe and images the surface of the inner wall 20 a of the sewer pipe 20, and 2 denotes a self-propelled in-pipe inspection robot 1. Aluminum frames, 3a, 3b are left and right endless track sections of the self-propelled in-pipe inspection robot 1 arranged in a square shape so as to form 90 degrees below the frame 2, and 4 is substantially U-shaped. A plurality of pulleys of the endless track portions 3a and 3b formed on the lower end of the frame 2 and fixed to the endless track portions 3a and 3b of the left and right endless track portions 3a and 3b. Reference numeral 5 denotes a synthetic rubber, and a belt-like footwear plate of endless track portions 3a and 3b wound around a plurality of pulleys 4a, 5a is a ridge portion formed on the front and back of the footwear plate 5, and 6 is left and right Self-propelled in-pipe inspection robot that drives each of the endless track portions 3a and 3b , 6a is a pinion gear for transmitting the rotation of the drive motor 6, 6b is a driven gear engaged with the pinion gear 6a, 6c is a rotary shaft penetrating the driven gear 6b, and 6d is a rotary shaft 6c. An endless track portion 3a, 3b on which the crawler plate 5 is wound, 6e is an endless track portion 3a on which the crawler plate 5 is wound. , 3b, 7 is a camera disposed at the front end of the frame 2 in the traveling direction, 8 is a lens cover for protecting the lens of the camera 7, and 9 is disposed on the outer periphery of the lens of the camera 7. A lighting unit 10 for illuminating the traveling direction of the self-propelled in-pipe inspection robot 1 by a plurality of light emitting diodes 9a is formed in a substantially L shape, and is slidably covered on the frame 2 and can be opened / closed and attached / detached. Cover section of in-pipe inspection robot 1, 20 is self-propelled Sewer to inspect the inner inspection robot 1 (see FIG. 2), 20a inner wall of the sewer pipe 20, 21 is a branch pipe vertically connected to the left and right of the sewage pipe 20 to be inspected.

Next, the details of the internal structure of the self-propelled in-pipe inspection robot will be described.
FIG. 4 is a perspective view showing a state where the cover portion of the self-propelled in-pipe inspection robot in Embodiment 1 is removed.
In FIG. 4, reference numeral 2 a denotes a block body of the frame 2 which is formed in a cross-sectionally-shaped cross section and is divided and disposed on the front side and the rear side of the self-propelled in-pipe inspection robot 1. A peripheral opening formed on the surface, 2c is a central opening formed in the center of the block body 2, and 7a is a self-propelled in-pipe inspection robot 1 connected to the camera 7 and held between the front and back block bodies 2a. The storage unit 7b is detachably attached to the storage unit 7a and is a storage medium such as an SD memory card or a memory stick for storing images taken by the camera 7, and 7c is provided in the storage unit 7a and stored in the storage medium 7b. A monitor 11 that can reproduce the stored image is a rechargeable battery 11 of the self-propelled in-pipe inspection robot 1 that is held between the front and rear block bodies 2 a and supplies power to the drive motor 6.

By forming the outer peripheral opening 2b and the central opening 2c in the block body 2, the entire frame 2 is reduced in weight.
As the endless track portions 3a and 3b, those obtained by winding a belt-like footwear plate 5 made of synthetic rubber between the starting wheel 6d and the idler wheel 6e were used. By using the belt-shaped crawler plate 5 formed wide, the contact area with the pipe surface can be increased, and the running stability is excellent. In particular, even if the sewage pipe 20 is made of resin or the surface of the sewage pipe 20 is wet with water and is slippery or the sewage pipe 20 is inclined by forming the ridges 5a on the surface of the footwear plate 5. It can hold an appropriate grip force and has excellent running stability. In addition, the synthetic rubber footwear 5 is difficult to slip, and the surface of the sewer pipe 20 is hardly damaged, so that the reliability is excellent.
The angle formed by the left and right endless track portions 3a and 3b was 90 degrees. As a result, the distance (vehicle width) between the endless track portions 3a and 3b that support the frame 2 can be maximized, and the left and right endless track portions 3a and 3b can reliably support the frame 2 and perform stable running. Thus, obstacles such as joints and steps in the sewage pipe 20 can be reliably overcome. Also, the position of the center of gravity is lower than the center of the sewer pipe 20 and is between the left and right endless track portions 3a and 3b, so that even if the vehicle body is tilted by about 45 degrees, it will fall over when it gets over the obstacle. There is no, and it is excellent in the reliability of autonomous driving.

The drive motor 6 is not limited as long as it can rotate the endless track portions 3a and 3b at least in the direction in which the self-propelled in-pipe inspection robot 1 moves forward, but a DC motor capable of switching between forward and reverse rotation is used. In this case, it is possible to switch between forward and reverse as necessary, and the versatility is excellent.
The self-propelled in-pipe inspection robot 1 can run completely autonomously without being manually manipulated from the outside. However, if the drive motor 6 can be switched between forward and reverse rotation by remote control (wireless). When the forward movement becomes impossible due to an obstacle or the like, the drive motor 6 can be reversely rotated, and the self-propelled in-pipe inspection robot 1 can be retracted and collected by itself, which is excellent in handling. In addition, a lifeline that is easy to attach and detach and cannot be easily detached may be attached to the rear end portion of the self-propelled in-pipe inspection robot 1, or a rescue in-pipe traveling vehicle (robot) may be provided.
The camera 7 having a waterproof property is preferably used. In particular, by providing the lens cover 8 that protects the lens, the lens 7 can be reliably protected from water and impact and can be prevented from being damaged. Excellent durability.
By using the light emitting diode 9a as the illumination of the illuminating unit 9, power saving and long life are excellent.
Moreover, by using the rechargeable battery 11, it can be recharged and used repeatedly when not in use, and is excellent in long life and resource saving.

A method of using the self-propelled in-pipe inspection robot according to Embodiment 1 configured as described above will be described.
The drive motor 6 of the self-propelled in-pipe inspection robot 1, the camera 7, the storage unit 7a, and the illumination unit 9 are switched on and placed on the pipe wall on the inlet side of the sewage pipe to be inspected.
As shown in FIG. 2, the footboards 5 of the left and right endless track portions 3 a, 3 b come into contact with the inner wall 20 a of the sewer pipe 20, and the self-propelled in-pipe inspection robot 1 runs toward the outlet of the sewer pipe 20. The self-propelled in-pipe inspection robot 1 captures the surface of the inner wall with the camera 7 while moving along the inner wall 20a of the sewage pipe, and stores the captured image in the storage medium 7b.

The operator waits for the self-propelled in-pipe inspection robot 1 at the outlet of the sewage pipe 20, collects the self-propelled in-pipe inspection robot 1 that comes out, and switches off the drive motor 6, the camera 7, and the illumination unit 9.
The monitor 7c confirms the image stored in the storage unit 7a. If there is no problem, the storage medium 7b is extracted from the storage unit 7a. If there is a defect in the image, the self-propelled in-pipe inspection robot 1 can be run again for inspection.
The image stored in the extracted storage medium 7b is separately reproduced by a personal computer or the like, and the state of occurrence of cracks or cracks on the surface of the inner wall 20a is confirmed.
If the inspection is continued elsewhere, the same operation is repeated. At this time, the battery 11 is charged or exchanged as necessary. When the storage medium 7b has a sufficient capacity, the same storage medium 7b may be used continuously, or the storage medium 7b may be replaced for each inspection place.

In the present embodiment, the left and right endless track portions 3a and 3b have sufficient rigidity due to the U-shaped endless track fixing portion 4 having a U-shaped cross section. Two block bodies 2a are arranged to fix the endless track portions 3a and 3b. Thereby, the frame 2 can be comprised by the minimum required block body 2a, and the self-propelled in-pipe inspection robot 1 can be reduced in weight. Note that the shape and configuration of the frame 2 are not limited to this, and any frame can be used as long as the left and right endless track portions 3a and 3b can be fixed in a square shape. For example, the frame 2 may be formed in an L shape, and the endless track portions 3a and 3b may be disposed on each surface.
The dimensions of the frame 2 can be appropriately selected according to the inner diameter of the tube to be inspected. By changing the mounting position of the endless track portions 3a and 3b in accordance with the inner diameter of the tube and changing the dimensions of the frame 2 and the mounting position of the camera 7 so that the camera 7 is positioned at the center of the tube, various inner diameters can be obtained. Since it can respond, parts other than the frame 2 can be made common, and it is excellent in mass productivity and design flexibility.
Further, the endless track portions 3a and 3b may use a chain instead of using the belt-like track board 5.
In the present embodiment, the cover portion 10 is slidably covered with respect to the frame 2, but the cover portion 10 is not limited to this, and can be opened and closed and / or detachable with respect to the frame 2. I just need it. For example, one end portion of the cover portion 10 may be rotatably fixed to the frame 2 with a hinge or the like.

Since the self-propelled in-pipe inspection robot according to Embodiment 1 is configured as described above, the following operation is obtained.
(1) Since the left and right endless track portions 3a and 3b are arranged in a C shape at the lower part of the frame 2, the endless track portions 3a and 3b are surely brought into contact with the surface of the inner wall 20a of the circular sewer pipe 20. Thus, the frame 2 can be stably supported, and the state of the surface inside the tube can be surely photographed by the camera 7, and the reliability of the in-tube inspection is excellent.
(2) Branches connected to the bottom and sides of the sewer pipe 20 by arranging the endless track portions 3a and 3b in a C-shape so that the water and foreign matter collected at the center of the bottom of the sewer pipe 20 It is possible to travel avoiding the opening of the tube 21 and the like, the contact between the vehicle body and the obstacle can be minimized, stable traveling with less vibration and high-quality image shooting are possible, and image quality Excellent reliability.
(3) Even when there are irregularities, depressions, steps, tree roots or other unavoidable obstacles in the sewage pipe 20, the endless track portions 3a and 3b can be used to step over them and have excellent running power. .
(4) Since the endless track portions 3a and 3b can get over even a gap that is half of the total length, the position of the endless track portions 3a and 3b is such that a branch opening such as a branch pipe 21 is depressed or a pipe joint is displaced. Even if some of the steps of the two parts overlap, they can be reliably moved toward the exit without being caught by them, and are excellent in straightness.
(5) Even when the sewage pipe 20 is bent, the endless track portions 3a and 3b arranged in a C-shape can be reliably brought into contact with the side surface obliquely below the inner wall 20a of the pipe. It is possible to travel automatically toward the exit along the line, and no wiring is required for performing an artificial operation from the outside.
(6) By arranging the endless track portions 3a and 3b in a square shape and increasing the contact area with the surface of the inner wall 20a of the sewage pipe 20, an appropriate grip force can be maintained and the pipe is inclined. Even if it is, it can move forward reliably and has excellent running stability.
(7) Since the camera 7 having a lens disposed at the front end portion on the traveling direction side of the frame 2 and the illumination unit 9 that illuminates the traveling direction, the photographing part is illuminated while traveling in the traveling direction. The surface of the tube can be reliably photographed, and the efficiency of the tube inspection is excellent.
(8) Since it has a storage unit 7a for storing an image taken by the camera 7, it is possible to reliably store an image taken at the time of running, and after taking the inspection location, the image is taken out from the storage unit 7a. Since the occurrence of cracks and cracks on the inner surface of the sewage pipe 20 can be confirmed together, the work on the site and the work on the desk can be completely separated, and the work time on the site is shortened. It is excellent in workability and efficiency of pipe inspection.
(9) Since the drive motor 6 that drives the endless track portions 3a and 3b and the battery 11 that supplies power to the drive motor 6 are provided, wiring for operating from the outside is unnecessary, and autonomous traveling is possible. It is possible to take an image of the sewage pipe 20 efficiently in a short period of time while moving to the outlet only by being placed at the entrance of the sewage pipe 20 to be inspected, and excellent in handleability.
(10) Since the left and right endless track portions 3a and 3b are arranged in a C shape at the lower part of the frame 2, the vehicle height can be lowered while sufficiently securing the volume of the vehicle body, When climbing over an obstacle or the like, the upper end side of the frame 2 is not attached to the upper surface side of the sewer pipe 20, and the obstacle does not interfere with the bottom of the frame 2. It is excellent in driving reliability and handling.
(11) Since the endless track portions 3a and 3b are arranged in a square shape, the distance between the fulcrums supporting the frame 2 can be increased, and the vertical and horizontal displacements at the joints of the tubes When passing the step, the vehicle will not get caught or fall down, and even if the trajectory is temporarily shifted, it can travel back to the initial trajectory naturally, maintain a horizontal posture, and run autonomously. Excellent stability.
(12) When the distance from the contact surfaces of the endless track portions 3a and 3b to the lens of the camera 7 is made equal to the inner radius of the sewer pipe 20, the lens of the camera 7 is always stabilized at the center of the sewer pipe 20 during traveling. It is excellent in running stability and the entire surface of the tube can be photographed without any spots, and the reliability of the in-tube inspection is excellent.
(13) Since the illumination unit 9 is disposed on the outer peripheral portion of the lens of the camera 7, the illumination unit 9 can reliably illuminate the inside of the sewer pipe 20 without any spots, and can capture images. Excellent quality.
(14) By having the storage medium 7b detachably disposed in the storage unit 7a of the camera 7, only the storage medium 7b can be easily replaced, and the photographing operation in the tube is stored in the storage medium 7b. This makes it possible to check the captured images independently and in parallel, and is excellent in work efficiency and handling.
(15) Since the monitor 7c is provided in the storage unit 7a, an image stored in the storage unit 7a (storage medium 7b) can be easily confirmed on the spot without using a personal computer or the like. Therefore, if there is a defect in the image, the inspection can be performed again immediately, the inspection in the pipe can be performed reliably without waste, and the reliability and efficiency of the inspection work are excellent.
(16) Since the frame 2 has the cover portion 10 that can be opened and closed and / or detachably attached, the camera 7, the storage portion 7 a, the battery 11, and the like housed in the frame 2 can be removed from water or the outside. While being able to protect from an impact etc., replacement, maintenance, etc. of the camera 7, the memory | storage part 7a, the battery 11, etc. can be performed simply, it is excellent in durability and a handleability.

  The present invention has a simple structure with a small number of parts, is not prone to failure, is excellent in mass productivity and maintainability, does not need to be operated from the outside using wiring, can perform stable autonomous driving, and is dedicated The operator and large-scale equipment is unnecessary, and it is easy to handle, and even if there are irregularities, depressions, branch pipe openings etc. in the pipe or there are tree roots and other obstacles, you can step over them, Even if the track is temporarily deviated by an obstacle, it can travel back to the initial track naturally, has excellent running stability, and even if the tube is inclined or bent, Providing a self-propelled in-pipe inspection robot that can reliably travel toward the exit along the way, can shoot the surface of the inner wall quickly and efficiently, and is excellent in reliability and efficiency of inspection work. Because you can Such as local governments can adjust the inspection posture sewer budget, improve the efficiency of sewer inspection, it is possible to reliably prevent troubles sewer.

The perspective view of the self-propelled in-pipe inspection robot in Embodiment 1 The front view which shows the driving | running state in the sewer pipe of the self-propelled in-pipe inspection robot in Embodiment 1 A view in the direction of arrow A in FIG. The perspective view which shows the state which removed the cover part of the self-propelled in-pipe inspection robot in Embodiment 1. FIG.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Self-propelled in-pipe inspection robot 2 Frame 2a Block body 2b Peripheral opening part 2c Center opening part 3a, 3b Endless track part 4 Endless track fixed part 4a Pulley 5 Footplate 5a Projection part 6 Drive motor 6a Pinion gear 6b Follower gear 6c Rotating shaft 6d Starting wheel 6e Idle wheel 7 Camera 7a Storage unit 7b Storage medium 7c Monitor 8 Lens cover 9 Illumination unit 9a Light emitting diode 10 Cover unit 11 Battery 20 Sewage pipe 20a Inner wall 21 Branch pipe

Claims (5)

A self-propelled in-pipe inspection robot that travels through a sewer pipe and photographs the surface of the inner wall of the sewer pipe, and a frame and left and right endless track portions disposed in a C shape at the bottom of the frame A camera disposed at the tip of the frame on the traveling direction side, an illumination unit that illuminates the traveling direction, a storage unit that stores an image captured by the camera, and a drive motor that drives the endless track unit A self-propelled in-pipe inspection robot comprising: a battery for supplying electric power to the drive motor. The self-propelled in-pipe inspection robot according to claim 1, wherein a distance from the ground contact surface of the endless track portion to the lens of the camera is equal to an inner radius of the sewer pipe. The self-propelled in-pipe inspection robot according to claim 1, further comprising a storage medium that is detachably disposed in the storage unit. The self-propelled in-pipe inspection robot according to any one of claims 1 to 3, further comprising a monitor disposed in the storage unit. The self-propelled in-pipe inspection robot according to any one of claims 1 to 4, further comprising: a cover portion that covers the frame so as to be freely opened and closed and / or detachable.

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