JP3153584U - Illuminated wide-angle lens and in-pipe inspection apparatus having the same - Google Patents

Abstract

It is possible to shoot while uniformly illuminating a wide range from the side of the lens to the front, and to detect defects such as fine scratches and cracks with certainty. Providing illuminated wide-angle lenses with excellent reliability. A casing 5 includes a linear reflecting portion 5a whose outer peripheral surface is linearly expanded from a rear end side to a front end side to be formed in a conical shape or a polygonal pyramid shape, and a front end side of the linear reflecting portion. A curved reflecting portion 5b that extends forward and is formed in a curved shape is provided. The outer peripheral portion 5c of the front end of the casing 5 is positioned on the inner side of the outer periphery of the light emitting portion of the annular illumination portion 2, so that the light emitted from the annular illumination portion and the direct light directly applied to the surface of the object to be photographed are linear. Straight line reflected light that is reflected by the reflecting part and irradiated on the surface of the object to be photographed, and curved part reflected light that is reflected by the curved surface reflecting part and partially overlaps the direct light or the straight part reflected light on the surface of the object to be photographed. The illuminated wide-angle lens is configured so as to be dispersed. [Selection] Figure 1

Description

  The present invention provides a wide-angle lens with illumination that can illuminate the inner wall surface of a sewer pipe and the like without any spots, and can shoot the inner wall surface all around the circumference reliably and efficiently. The present invention relates to an in-pipe inspection apparatus capable of efficiently inspecting inner wall surfaces such as sewage pipes in a short time and reliably detecting defects.

2. Description of the Related Art Conventionally, in order to check the occurrence of cracks and cracks on the inner wall surface of a sewage pipe or the like, various inspection apparatuses have been proposed that run inside the pipe and shoot and measure the inner wall surface.
Various studies have also been conducted on an in-tube inspection camera device and an illumination device used when photographing the inside of the tube.
For example, (Patent Document 1) discloses an in-tube inspection camera device including a plurality of light emitting diodes in which an illumination unit is disposed around a camera unit.
(Patent Document 2) includes a first illuminating device that illuminates the front of the inside of the tube to be inspected with condensed illumination, and a second illuminating device that illuminates the side of the tube with diffuse illumination. An illumination device for an in-tube inspection camera is disclosed.

JP-A-8-35933 JP 2007-303872 A

In (1) (Patent Document 1), by using a light emitting diode as a light source, it is possible to easily adjust the amount of light with a longer life compared to a halogen lamp, and to reduce power consumption and heat generation. Yes, the mechanical strength is high, energy saving and durability are excellent, but since the light from the illumination unit is irradiated toward the front of the traveling direction, the light irradiation position is away from the camera, and the amount of light tends to decrease, There was a problem that the irradiation range of light was narrowed, the shooting range was also limited, there was a possibility of overlooking defects such as fine scratches and cracks, and inspection reliability, reliability, and efficiency were lacking . In particular, when combined with a wide-angle lens that can shoot a wide area at once, it is possible to illuminate only a part of the shooting range, it is difficult to shoot from a close range, visibility is easy to deteriorate, and usability It had the problem of lacking.
(2) In (Patent Document 2), the first illumination device and the second illumination device can illuminate the front and the side in the tube to be inspected by the condensed illumination and the diffuse illumination, respectively. When shooting the front of the camera and when shooting the side of the tube, you can always illuminate each part of the tube with the optimal illuminance at the front and side of the tube in both cases. The shooting range is narrow, and lighting must be switched depending on which location to shoot from which position, which can be cumbersome and can lead to omissions, handling, and inspection efficiency. It had the problem of lacking in nature. Even if a wide-angle lens capable of photographing a wide area at a time is combined and the front and the side are photographed at the same time, the area illuminated by the first illumination device and the second illumination device are illuminated depending on the size of the tube. There are areas where the illumination does not reach or where the amount of light is low, and it is difficult to illuminate the entire imaging area without any spots, and there is a problem of lack of reliability and certainty of inspection. Was.

  The present invention solves the above-described conventional problems, and can shoot while uniformly illuminating a wide range from the side of the lens to the front, and reliably detects defects such as fine scratches and cracks. By providing a wide-angle lens with illumination that has excellent visibility and reliability of image quality, and by providing it, the inner wall surface can be reliably secured over the entire circumference regardless of the diameter of the sewage pipe etc. Take a picture, record the location of the defect easily and reliably, and inspect it efficiently in a short time. The pipe is excellent in operability, handling, inspection reliability, and work efficiency. The purpose is to provide an inspection device.

In order to solve the above conventional problems, the illuminated wide-angle lens of the present invention and the in-pipe inspection apparatus including the same have the following configurations.
A wide-angle lens with illumination according to claim 1 of the present invention has an annular illumination part having a light emitting part formed or arranged in an annular shape, and is disposed so as to protrude forward from the central part of the annular illumination part. A illuminated wide-angle lens having a casing in which a wide-angle lens is disposed,
The casing has a linear reflecting portion whose outer peripheral surface linearly expands from the rear end side to the front end side and is formed in a conical shape or a polygonal pyramid shape, and extends forward from the front end side of the linear reflecting portion. A curved reflection portion formed to expand into a curved shape, and the tip outer peripheral portion of the casing is located on the inner side of the outer periphery of the light emitting portion of the annular illumination portion, from the annular illumination portion Irradiated light is reflected directly on the surface of the object to be imaged, reflected linearly on the surface of the object to be imaged and reflected on the surface of the object to be imaged, and reflected on the curved surface of the object. It has a configuration in which it is dispersed on the surface of the object to be photographed into the direct light or the curved-surface reflected light that partially overlaps the straight-line reflected light.
With this configuration, the following effects can be obtained.
(1) The annular illumination part has a light emitting part formed or arranged in an annular shape, and the wide-angle lens is arranged at the center of the front end of the casing that protrudes forward from the central part of the annular illumination part. Therefore, the light emitted from the light-emitting part can be illuminated almost uniformly on the entire circumference of the inner wall surface of the sewer pipe or the like to illuminate the entire inside of the pipe, and there is no shadow on the casing. Excellent quality.
(2) Since the casing in which the wide-angle lens is disposed protrudes and is disposed in front of the central portion of the annular illumination unit, it is possible to photograph a wide range from the side to the front of the casing at once with the wide-angle lens. It is possible and it is excellent in shooting efficiency.
(3) Since the casing has a linear reflecting portion whose outer peripheral surface expands linearly from the rear end side to the front end side and is formed in a conical shape or a polygonal pyramid shape, the light emitted from the light emitting portion of the annular illumination portion Is reflected in the outer periphery of the casing by the linear reflector and irradiated to the entire inner wall of the sewage pipe around the casing to eliminate blind spots. It is possible to shoot reliably without omission, etc., and it has excellent shooting reliability.
(4) Since the casing has a curved reflection part that extends forward from the front end side of the linear reflection part and expands into a curved shape, a part of the light emitted by the light emitting part of the annular illumination part is generated. The curved reflection part reflects the front of the outer periphery of the casing and irradiates a wide area of the inner wall surface such as a sewer pipe to widen the photographing range of the wide-angle lens, which is excellent in photographing efficiency.
(5) Since the outer peripheral portion of the front end of the casing is located on the inner side of the outer periphery of the light emitting portion of the annular illumination portion, a part of the light emitted from the light emitting portion of the annular illumination portion is directly irradiated on the far inner wall surface. Can be taken in a short time from the side of the casing to the front, and the shooting efficiency is excellent.
(6) The light emitted from the annular illumination unit is directly applied to the surface of the imaging target, the linear part reflected light reflected from the linear reflecting unit and applied to the surface of the imaging target, and the curved reflection The light is reflected on the surface of the object to be photographed and is directly or directly reflected on the surface of the object to be curved. In this way, it is possible to shoot in a short time, detect defects such as fine scratches and cracks without omission, and have excellent illumination uniformity, visibility and image quality reliability.

Here, the outer shape of the annular illumination part may be circular or polygonal. Depending on the shape of the annular illumination part, the light emitting part itself may be formed in an annular shape or a rectangular shape, or a plurality of light emitting parts may be arranged in an annular shape or an annular shape. For the light emitting part, a light emitting diode excellent in power saving and long life is suitably used.
The linear reflecting portion of the casing can be formed in a conical shape, a polygonal pyramid shape such as a quadrangular shape, a hexagonal shape, an octagonal shape or the like according to the outer shape of the annular illumination portion. The angle and length for expanding the linear reflecting part depends on the width of the annular part of the annular illumination part, the light intensity, the light irradiation angle of the light emitting part, the viewing angle of the wide-angle lens, the diameter of the tube to be observed, etc. Depending on the situation, it can be selected appropriately.
The cross section of the curved reflecting portion is preferably formed in an arc shape, but the curvature and length thereof can be appropriately selected in the same manner as the angle and length of the linear reflecting portion.
By determining the size and shape of each part so that the direct light, the straight part reflected light, and the curved part reflected light overlap each other on the surface of the imaging target, it is possible to reliably illuminate a wide range without any spots. In particular, since the casing has a curved reflecting portion, it is possible to prevent a region where no light is irradiated between the direct light and the linear portion reflected light on the surface of the object to be photographed, and the illumination uniformity is excellent.

An in-pipe inspection apparatus according to a second aspect of the present invention has a configuration including the illuminated wide-angle lens according to the first aspect.
With this configuration, the following effects can be obtained.
(1) The illuminated wide-angle lens can shoot a wide area of the inner wall of the sewage pipe, etc., which is the subject of photography, illuminating in a short period of time and accurately record the location of the defect, It is possible to detect cracks and the like without leakage, and it is excellent in inspection efficiency and reliability.

Invention of Claim 3 is the in-pipe inspection apparatus of Claim 2, Comprising: The flame | frame with which the said wide-angle lens with illumination was arrange | positioned in the front-end | tip part of the advancing direction front side, and the advancing direction front side of the said frame A configuration comprising a pair of left and right running parts disposed in a C shape from the lower part of the frame toward the outside lower side as viewed from the side, and a pair of left and right drive parts for driving each of the running parts. Have.
With this configuration, in addition to the operation obtained in the second aspect, the following operation can be obtained.
(1) Since the frame has a pair of left and right traveling parts arranged in a C shape from the lower part of the frame toward the outer sides and lowers when viewed from the front side in the traveling direction of the frame, the frame is stably supported by the traveling part. Therefore, it is possible to reliably photograph the state of the inner wall surface while traveling in the tube, and the reliability of the in-tube inspection is excellent.
(2) By arranging a pair of left and right running parts in a square shape, water or foreign matter collected at the center of the bottom of the pipe, or an opening of a branch pipe generally connected to the bottom or side of the pipe, etc. It is possible to travel while avoiding the contact, minimizing the contact between the frame and the obstacle, enabling stable traveling with less vibration and high-quality image shooting, and excellent image quality reliability.
(3) Even when there are irregularities, depressions, steps, tree roots or other unavoidable obstacles in the pipe, it is possible to run over them by the running part, and the running power is excellent.
(4) When the bottom of the frame is raised by placing the traveling part in a square shape at the bottom of the frame, and foreign matter (obstacles) such as earth and sand or dirt is accumulated in the pipe Even when the tube bottom is flat, the bottom surface of the frame does not interfere with foreign matter or the tube bottom, and can be applied to a tube having a small inner diameter, and is excellent in running reliability and stability.
(5) Even when the pipe is bent, at least a part of the traveling portion arranged in a C-shape can be reliably brought into contact with the pipe wall and can be run along the pipe. It is possible to cope with various pipe lines, and it is excellent in selectability of inspection objects and traveling reliability.
(6) Since a wide-angle lens with illumination is disposed at the front end portion in the traveling direction of the frame, it is possible to shoot from a close distance while illuminating the surrounding inner wall surface while traveling toward the front side in the traveling direction. It is excellent in reliability and reliability of defect detection.

Here, 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. It should be noted that it is preferable to seal the joints and opening / closing portions of the frame to provide waterproofness. Even when a large amount of water is accumulated in the pipe or when traveling in the water, water does not enter the inside of the frame, and it is possible to prevent the occurrence of a short circuit, which is excellent in safety and operational reliability.
In the traveling portion, a plurality of tires may be arranged to form a tire row, or an endless track including a belt-like track board or chain may be arranged. When tires are used, the number of tires per row of tires can be appropriately selected according to the length of the frame, the tire diameter, and the like. When using a tire with a circular pipe contact part that touches an arcuate wall surface and a flat road contact part that contacts a flat road, the bottom part can run not only in an arc pipe, but also on a flat road. Excellent in properties. In addition, both the circular pipe line contact part and the flat path contact part may be formed in a flat shape or may be formed in an arc shape. In particular, when the circular pipe contact portion and the flat road contact portion are formed in a continuous arc shape, the tire and the pipe wall can be reliably brought into contact with each other regardless of the curvature (inner diameter) of the pipe bottom. And excellent running stability.

As a drive part which drives each traveling part, it is preferable to use the DC motor which can switch forward / reverse rotation. When remote control is performed by transmitting a control signal from the outside, not only can forward and backward be switched as necessary, but one drive unit is stopped and only the other drive unit is rotated to make a right or left turn Or, one drive unit can be rotated forward and the other drive unit can be rotated reversely to be turned on the spot, which is excellent in mobility and versatility. As a result, even if it becomes impossible to move forward due to obstacles, etc., the in-pipe inspection device can be moved backward and moved forward, changed in direction and moved forward, or moved backward and collected. Excellent in usability.
Note that straightness can be improved by adjusting the rotational speed difference between the left and right DC motors. Moreover, when using a tire for a driving | running | working part, it is preferable to drive all-wheels by the tire row unit on either side. Even if a specific tire position overlaps a step such as a foreign body or a branch opening such as a branch pipe, a depression, or a misalignment of a pipe seam, it is not caught by the driving force of other tires. This is because it can surely move toward the exit and is excellent in running ability and straightness of obstacles. In addition, since the axle that connects the left and right tires facing each other is not necessary, even if foreign matter such as earth and sand is accumulated on the bottom of the tube, it does not hinder the running, and the tire driving reliability and running Excellent stability.
The angle formed by the left and right traveling units can be selected as appropriate, but 90 degrees is particularly preferable. The distance (vehicle width) between the running parts that support the frame is maximized, and the right and left running parts can support the frame reliably and perform stable running, ensuring obstacles such as joints and steps inside the pipe. It is because it can get over.

  The frame contains a control board for controlling each part of the in-pipe inspection apparatus. The power for the drive unit and the illumination unit may be supplied with a battery built in the frame, or may be supplied from an external power source through a power cable. When power is supplied from an external power supply, it is preferable to incorporate a power supply unit that adjusts the voltage value of the supplied power in the frame. By setting the voltage value higher than the required voltage according to the amount of voltage drop caused by the length of the power cable and transmitting from the external power supply, it is possible to always supply the necessary power to each part without excess or deficiency. This is because the inspection can be surely performed even in a long pipeline, and the operation stability and the reliability of the inspection are excellent. The camera body may be built in the frame, or may be connected outside the tube by a cable. When the in-pipe inspection device and the display unit arranged outside the tube are connected with a cable, the captured image can be received immediately outside the tube and inspected in real time, causing problems in the in-pipe inspection device. It is possible to deal with it immediately, and the inspection efficiency and reliability are excellent. In addition, as a display part, displays, such as a liquid crystal and organic EL, are used suitably.

The in-pipe inspection device is connected to the operation unit outside the tube with a cable to switch forward / reverse and stop of each drive unit, adjust the rotation speed, switch illumination on / off, adjust brightness, etc. A control signal can be transmitted. As the operation unit, an operation unit operated by a push button or a joystick is preferably used. In particular, those that send control signals corresponding to normal rotation, reverse rotation, and stop by pressing the selected push buttons to the left and right drive units are extremely easy to operate and do not require a dedicated operator. The working time can be shortened, and the usability and workability are excellent. In addition, although a display part and an operation part may be comprised separately, by integrating as a controller, it is easy to carry and is excellent in compactness and handleability, which is preferable. Further, the in-tube inspection apparatus can be easily operated with the operation unit while confirming the photographed image on the display unit, and the operability and inspection workability are excellent.
By marking the controller cable, the current position and travel distance of the in-pipe inspection apparatus can be known at a glance, and the usability is excellent. Alternatively, the amount of rotation of the drive unit (motor) may be detected using an encoder, and the amount of movement (position) of the in-pipe inspection apparatus may be obtained from that value.

The captured image is stored in the storage unit, and a storage medium such as an SD memory card or a memory stick is preferably used as the storage unit. 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 in-pipe inspection device and the captured image stored in the storage medium This is because the confirmation work can be performed independently and in parallel, and the work efficiency is excellent. In addition, when a camera capable of shooting a moving image is used, it is possible to continuously take a picture of the inside of the inspection target tube without any leakage while traveling, and the defect detection reliability is excellent. Instead of preparing the camera and the storage unit separately, a camera body with a built-in storage unit or a camera body with a storage medium detachably mounted can be used.
In addition, when the voice input unit is connected to the storage unit, the operator confirms the inspection status on the display unit outside the tube, while operating the in-pipe inspection device on the operation unit, the inspection date, the person in charge of the inspection, the inspection location, Necessary information such as the inspection status and the occurrence status of defects can be blown from the voice input unit and stored together with the image, and the inspection efficiency, workability, and data reliability are excellent. Furthermore, since the voice input from the voice input unit and the image taken by the camera can be stored at the same time in one storage unit, it is possible to easily check the inspection status etc. simply by reproducing the image later. This eliminates the need to input necessary information with characters and the like, and is excellent in data work efficiency and efficiency.

Invention of Claim 4 is the in-pipe inspection apparatus of Claim 3, Comprising: It has the structure provided with the imaging | photography position adjustment part which sets the height direction position and elevation angle of the said illuminated wide angle lens. .
With this configuration, in addition to the operation obtained in the third aspect, the following operation can be obtained.
(1) By having a photographing position adjustment unit that sets the height direction position and elevation angle of the illuminated wide-angle lens, the height direction position and elevation angle of the illuminated wide-angle lens can be easily adjusted according to the size of the tube diameter. In particular, when an illuminated wide-angle lens is placed near the center of the tube and facing forward in the direction of travel, the inner wall surface of the tube can be photographed all over the entire circumference without any spots, and the efficiency of in-tube inspection Excellent in properties.

  Here, the photographing position adjustment unit may be any unit that can set the height position and the elevation angle of the illuminated wide-angle lens. The height position is set by sliding the illuminated wide-angle lens in the vertical direction using a combination of rack and pinion, etc., extending and retracting the support legs that support the illuminated wide-angle lens, and arm holding the illuminated wide-angle lens. This can be performed using a device that rotates the portion around a horizontal axis. The elevation angle can be set by rotating the illuminated wide-angle lens around the horizontal axis. The height direction position and elevation angle setting by the imaging position adjustment unit may be performed manually before being put into the investigation target such as a sewer pipe, or the position adjustment drive unit such as a motor is operated from the operation unit outside the tube. You may do it.

The invention described in claim 5 is the in-pipe inspection apparatus according to claim 4, wherein the imaging position adjusting unit is disposed on the arm unit and the frame, and the arm unit is parallel to the width direction of the frame. A pivoting part for height adjustment that is rotatably held around a horizontal axis, and the illuminated wide-angle lens disposed at the tip of the arm part is rotatable about a horizontal axis parallel to the width direction of the frame. And an elevation angle adjusting shaft support portion held in the head.
With this configuration, in addition to the operation obtained in the fourth aspect, the following operation can be obtained.
(1) The imaging position adjusting unit includes an arm unit and a height adjusting shaft support unit that is disposed on the frame and rotatably holds the arm unit around a horizontal axis parallel to the width direction of the frame. The height of the illuminated wide-angle lens can be adjusted by rotating the part, so that it can cope with various tube diameters, and is excellent in versatility.
(2) The photographing position adjustment unit includes an elevation angle adjustment shaft support unit that is disposed at the distal end of the arm unit and holds the illuminated wide-angle lens so as to be rotatable about a horizontal axis parallel to the width direction of the frame. The shooting direction can be adjusted by rotating the illuminated wide-angle lens, and the selection of the shooting location is excellent.
(3) By rotating the arm part around the height adjusting shaft support part to adjust the illuminated wide angle lens to a desired height, and then turning only the illuminated wide angle lens around the elevation angle adjusting shaft support part. The shooting position can be adjusted so that the illuminated wide-angle lens faces directly in front. Regardless of the tube diameter, the illuminated wide-angle lens is positioned in the vicinity of the center of the tube so that the entire circumference of the surrounding inner wall surface is free of spots. It can shoot reliably while illuminating uniformly, and has excellent flexibility in selecting inspection targets, efficiency and reliability of in-tube inspection.
Here, one or two arm portions may be used, but when two arm portions are arranged on both sides of the frame and the wide-angle lens with illumination is sandwiched from both sides, the support stability of the wide-angle lens with illumination is stable. Excellent in properties and preferable.

As described above, according to the illuminated wide-angle lens of the present invention and the in-tube inspection apparatus including the same, the following advantageous effects can be obtained.
According to the device of the first aspect, the following advantageous effects can be obtained.
(1) Direct light that directly irradiates the surface of the object to be photographed with light emitted from the annular illumination unit, linear reflected light that is reflected by the linear reflecting part of the casing and irradiates the surface of the object to be photographed, and a curved surface of the casing The reflected light is reflected on the surface of the object to be photographed and directly reflected on the surface of the object to be photographed, or the curved surface reflected light that partially overlaps with the reflected light from the straight part, and the wide area from the side of the casing to the front is illuminated securely. Providing a wide-angle lens with illumination that is capable of shooting in a short period of time and that can detect fine defects such as scratches and cracks without any omissions, with excellent illumination uniformity, visibility, and image quality reliability can do.

According to the invention described in claim 2, the following advantageous effects can be obtained.
(1) The illuminated wide-angle lens can shoot a wide area of the inner wall of the sewage pipe, etc., which is the subject of photography, in a short period of time while illuminating it without any spots. It is possible to provide an in-pipe inspection apparatus that is capable of detecting cracks and the like without omission and that is excellent in inspection efficiency, reliability of defect detection, and reliability.

According to the invention described in claim 3, in addition to the effect described in claim 2, the following advantageous effects can be obtained.
(1) The reliability and reliability of fault detection that enables shooting from a close distance while illuminating the surrounding inner wall surface while traveling by the illuminated wide-angle lens disposed at the front end of the frame in the traveling direction. An in-pipe inspection apparatus having excellent properties can be provided.

According to the invention described in claim 4, in addition to the effect described in claim 3, the following advantageous effects can be obtained.
(1) The position and elevation angle of the illuminated wide-angle lens can be easily adjusted according to the size of the tube diameter, etc., by the photographing position adjustment unit, and in particular, the illuminated wide-angle lens travels near the center of the tube. An in-pipe inspection device with excellent in-pipe inspection efficiency that can be taken while illuminating the inner wall of the tube around the illuminated wide-angle lens around the entire circumference at once without any spots Can be provided.

According to the invention described in claim 5, in addition to the effect described in claim 4, the following advantageous effects can be obtained.
(1) The arm portion is turned around the height adjusting shaft support portion, and the illuminated wide angle lens is turned around the elevation angle adjusting shaft support portion, so that the illuminated wide angle lens faces directly in front at a desired height. Regardless of the tube diameter, the illuminated wide-angle lens is positioned near the center of the tube, so that the entire circumference of the surrounding inner wall surface is illuminated uniformly and without any spots. Therefore, it is possible to provide an in-pipe inspection apparatus having excellent selectability of inspection targets, efficiency of in-pipe inspection, and excellent reliability.

The main part cross-sectional schematic side view which shows the wide angle lens with illumination of Embodiment 1, and its illumination range FIG. 3 is a plan view of an in-pipe inspection apparatus including the illuminated wide-angle lens according to the first embodiment. Side view of in-pipe inspection apparatus provided with illuminated wide-angle lens according to Embodiment 1 Front view of in-pipe inspection apparatus provided with illuminated wide-angle lens according to Embodiment 1 (A) Front view showing an imaging position adjustment state of the in-tube inspection device provided with the illuminated wide-angle lens of Embodiment 1 (b) Imaging position adjustment state of the in-tube inspection device provided with the illuminated wide-angle lens of Embodiment 1 Side view showing

Hereinafter, an illuminated wide-angle lens and an in-pipe inspection apparatus including the same according to an embodiment of the present invention will be described with reference to the drawings.
(Embodiment 1)
FIG. 1 is a cross-sectional schematic side view of an essential part showing the illuminated wide-angle lens of Embodiment 1 and its illumination range.
In FIG. 1, 1 is a wide-angle lens with illumination according to the first embodiment, 2 is an annular illumination portion of the illuminated wide-angle lens 1 formed in a circular shape, and 3 is a plurality of light emitting diodes (LEDs) according to the shape of the annular illumination portion 2. ) 3a and 3b are arranged in an annular shape, 3c is an outer periphery of the light emitting unit 3, 4 is a light-transmitting illumination unit cover that is formed in an annular shape with glass or the like and is covered by the light emitting unit 3, and 5 is an annular shape. The casing 5a of the illuminated wide-angle lens 1 is provided so as to protrude forward from the center of the illuminating unit 2. The casing 5a has a conical shape with the outer peripheral surface linearly expanding from the rear end side to the front end side. The linear reflecting portion 5b extends forward from the front end side of the linear reflecting portion 5a, and is formed by expanding the curved reflecting portion 5c, and 5c is the light emitting portion 3 of the annular illumination portion 2. A tip outer peripheral portion of the casing 5 located inside the outer periphery 3c, 6 is a casing Of the central end portion disposed in the wide-angle lens, 6a is a lens cover of Kutsugae設 been light-transmitting wide-angle lens 6 is formed in a hemispherical shape in PET or the like.

An illumination range by the illuminated wide-angle lens according to the first embodiment configured as described above will be described.
In FIG. 1, when the illuminated wide-angle lens 1 is disposed at the center of a pipe such as a sewage pipe, how the light emitted from the light emitting part 3 of the annular illumination part 2 travels, reflects, and irradiates the wall surface. Showed what will be done. r _{1 to} r ₄ indicate the inner radius of the tube.
A part of light emitted from the light emitting unit 3 (mainly the inner LED 3a) of the annular illumination unit 2 is obtained by positioning the tip outer peripheral unit 5c of the casing 5 on the inner side of the outer periphery 3c of the light emitting unit 3 of the annular illumination unit 2. It becomes direct light directly irradiated onto the surface of the object to be imaged.
Further, most of the light emitted from the light emitting unit 3 (inner and outer LEDs 3a and 3b) of the annular illumination unit 2 is reflected by the linear reflecting unit 5a and becomes linear portion reflected light that is irradiated onto the surface of the object to be photographed.
Furthermore, a part of the light emitted from the light emitting unit 3 (inner and outer LEDs 3a and 3b) of the annular illumination unit 2 is reflected by the curved reflecting unit 5b and partially reflected directly or linearly on the surface of the subject to be photographed. Overlapping curved surface reflected light.
As is apparent from FIG. 1, the overlapping state of the direct light, the straight portion reflected light, and the curved portion reflected light varies depending on the inner radii r _{1 to} r ₄ of the tube, but in any case, the region irradiated with light. In this case, the respective lights are overlapped with each other, and illumination without spots can be performed over a wide range regardless of the inner radii r _{1 to} r ₄ of the tube.
In particular, due to the presence of curved surface reflected light, a region where light is not irradiated or a region where the amount of light is insufficient is generated between a region where direct light is irradiated and a region where linear portion reflected light is irradiated. Therefore, it is possible to prevent deterioration in image quality and defect detection capability, and improve the efficiency of in-tube inspection.

In the present embodiment, the annular illumination part 2 is formed in an annular shape, and the linear reflection part 5a of the casing 5 is formed in a conical shape. However, the present invention is not limited to this. It may be formed in a rectangular ring shape such as a rectangular shape or an octagonal shape, and correspondingly, the linear reflecting portion 5a of the casing 5 may be formed in a polygonal pyramid shape. In this embodiment, two rows of LEDs 3a and 3b are arranged inside and outside the light emitting unit 3 of the annular illumination unit 2, but the arrangement and number of the LEDs 3a and 3b are appropriately determined depending on the light intensity, the irradiation angle, and the like. Can be selected.
In the present embodiment, the outer surface of the casing 5 is anodized to adjust the intensity of reflected light. However, depending on the material of the casing 5, the light intensity of the annular illumination unit 2, the material of the observation object, the tube diameter, and the like. Accordingly, necessary surface treatment can be appropriately performed on the outer surface of the casing 5 to scatter and disperse the reflected light.

Next, the in-pipe inspection apparatus provided with the illuminated wide-angle lens according to the embodiment will be described.
2 is a plan view of the in-pipe inspection apparatus including the illuminated wide-angle lens according to the first embodiment, and FIG. 3 is a side view of the in-pipe inspection apparatus including the illuminated wide-angle lens according to the first embodiment. FIG. 2 is a front view of an in-tube inspection apparatus including the illuminated wide-angle lens according to the first embodiment.
2 to 4, reference numeral 11 denotes an in-pipe inspection apparatus provided with the illuminated wide-angle lens 1 according to the first embodiment, which travels in the sewer pipe 20 or the like and photographs the surface of the inner wall 20 a, and 12 denotes the in-pipe inspection apparatus 11. An aluminum frame, 12a is a handle for carrying the in-pipe inspection apparatus 11 disposed on the upper surface of the frame 12, and 13 is a lower side of the frame 12 as viewed from the front side in the direction of travel of the frame 12 and downwards on both outer sides. A pair of left and right running portions (see FIG. 4) arranged in a square shape, 13a is a tire holding portion (see FIG. 4) of each running portion 13, and 14 is a plurality of tires 15 each having a tire holding portion 13a. A pair of left and right tire rows (see FIG. 3) formed by being arranged on the inner surface of the left and right sides, 16 is a left and right using a DC motor that drives a plurality of tires 15 of the traveling unit 13 in units of left and right tire rows 14. A pair of drive units, 17 A power transmission unit cover 18 that is disposed outside each tire holding unit 13a and incorporates a power transmission shaft, a screw gear, etc. (not shown) that transmits the power of each driving unit 16 to each tire 15; An imaging position adjustment unit 18a for setting the height direction position and the elevation angle of the illuminated wide-angle lens 1, 18a is an approximately U-shaped arm portion of the imaging position adjustment unit 18 disposed on both sides of the frame 12, 18b is A height-adjusting shaft support (see FIG. 3) disposed on both sides of the frame 12 and rotatably holding the arm 18a around a horizontal axis parallel to the width direction of the frame 12, 18c is the tip of the arm 18a. And an angle adjustment shaft support (see FIG. 3) for holding the illuminated wide-angle lens 1 rotatably about a horizontal axis parallel to the width direction of the frame 12, 18d projecting on both outer sides of the frame 12 Each arm 1 A stopper portion (see FIG. 3) that engages with a notch portion 18e formed on the lower side of a to support the arm portion 18a in the lowest position, 19 is a wide angle lens with illumination from an external power source (not shown) 1 is a power cable for supplying power to the annular illumination unit 2 and the drive unit 16, and a video cable for transmitting an image from the illuminated wide-angle lens 1 to a display unit (not shown) outside the tube. A cable (see FIG. 2) in which a signal cable or the like for transmitting a control signal for switching forward / reverse or stop of the unit 16 from an operation unit (not shown) outside the tube is combined (see FIG. 2), 19a is illuminated A connection in which a power cable for supplying power to the annular illumination unit 2 of the wide-angle lens 1 and a video cable for transmitting an image from the illuminated wide-angle lens 1 to a display unit (not shown) outside the tube are combined. Cable, 20 inspect A circular pipe line (see FIG. 4) such as a sewer pipe, 20a is an inner wall (see FIG. 4) of the circular pipe line 20.

As a material of the frame 12, 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 can be used. In addition, it is preferable that the joint of the frame 12, an opening / closing part, and the like are sealed so as to be waterproof. Even when a large amount of water is accumulated in the pipe or when traveling in the water, the water does not enter the inside of the frame 12 and the occurrence of a short circuit can be prevented, and the safety and reliability of the operation are excellent.
The frame 12 incorporates a control board for controlling each part of the in-pipe inspection apparatus 11 and a power supply unit for adjusting the voltage value of power supplied from an external power supply. In accordance with the amount of voltage drop caused by the length of the power cable, a voltage value is set higher than the necessary voltage and transmitted from the external power source, and the annular illumination unit 2 and the driving unit 16 of the wide-angle lens 1 with illumination by the power unit. By adjusting to the required voltage value, it is possible to always supply the power necessary for each part without excess or deficiency, and it is possible to perform inspections reliably even with long pipelines, and operational stability and inspection reliability. Excellent.

The tire holding part 13a should just be what can fix each tire 15 of the tire row | line | column 14 rotatably. In the present embodiment, three tires 15 are arranged per row of tire rows 14, but the number of tires 15 per row of tire rows 14 is not limited to this, and the length of the frame 12 According to the diameter of the tire 15, etc., it can select suitably.
The left and right tire holding portions 13a are arranged symmetrically so that the angle formed by the left and right tire holding portions 13a is 90 degrees. As a result, the distance (vehicle width) between the tire rows 14 that support the frame 12 can be maximized, and the left and right tire rows 14 can reliably support the frame 12 and perform stable running. You can reliably overcome obstacles such as internal joints and steps.

As the drive unit 16, a DC motor capable of switching between forward and reverse rotation of each tire row 14 was used. When remote control is performed by transmitting a control signal from an external operation unit, not only can forward and backward be switched as necessary, but one tire row 14 is stopped and only the other tire row 14 is rotated. It is possible to make a right or left turn or to rotate one tire row 14 forward and reverse the other tire row 14 to turn on the spot, which is excellent in mobility and versatility. As a result, even when an advancement is impossible due to an obstacle, the in-pipe inspection device 11 can be moved backward and moved forward, changed in direction and moved forward, or moved backward and collected. It is excellent in usability.
A power transmission shaft or screw gear (not shown) that transmits the power of each drive unit 16 to each tire 15 is covered with a power transmission unit cover 17, so that external impacts, foreign objects, etc. are caught, water Can be prevented, and the running stability is excellent.
In the present embodiment, the drive unit 16 is arranged on the rear side in the traveling direction of the frame 12, but the arrangement of the drive unit 16 is not limited to this and can be appropriately selected. In addition, instead of forming a plurality of tires 15 by forming a plurality of tires 15 in the traveling unit 13, an endless track having a belt-like track board or chain may be arranged.

Next, the imaging position adjustment unit 18 of the in-pipe inspection apparatus 11 will be described.
FIG. 5A is a front view showing an imaging position adjustment state of the in-pipe inspection apparatus including the illuminated wide-angle lens according to the first embodiment, and FIG. 5B includes the illuminated wide-angle lens according to the first embodiment. It is a side view which shows the imaging position adjustment state of the in-pipe inspection apparatus.
In FIG. 5A, reference numeral 20b denotes an inner wall of a circular pipe path having a larger inner diameter than the circular pipe path 20 shown in FIG.
As shown in FIG. 5, after the arm portion 18a of the photographing position adjusting portion 18 is rotated around the height adjusting shaft support portion 18b, the illuminated wide-angle lens 1 is adjusted to a desired height (near the center of the tube). By rotating only the illuminated wide-angle lens 1 around the elevation angle adjusting shaft 18c, the photographing position can be adjusted so that the illuminated wide-angle lens 1 faces directly in the vicinity of the center of the tube. As a result, the illuminated wide-angle lens 1 can be positioned near the center of the tube regardless of the tube diameter, and as described with reference to FIG. Therefore, it is excellent in the flexibility of selecting the inspection object, the efficiency and reliability of the in-pipe inspection.
Since the stopper portions 18d are provided on both outer sides of the frame 12, even when the arm portion 18a moves downward due to vibration, external force, etc., the stopper portion 18d engages with the notch portion 18e to The portion 18a can be reliably supported, and the illuminated wide-angle lens 1 can be prevented from contacting the tube bottom or the like.

A method of using the in-pipe inspection apparatus including the illuminated wide-angle lens according to Embodiment 1 configured as described above will be described.
The in-pipe inspection apparatus 11 is turned on and placed on the pipe wall on the inlet side of the circular pipe line 20 to be inspected.
When the operator operates the operation unit from the outside of the circular pipe line 20 and causes the left and right drive units 16 to rotate forward, the in-pipe inspection apparatus 11 starts running. The in-pipe inspection apparatus 11 photographs the surface of the inner wall 20a with the illuminated wide-angle lens 1 while moving along the inner wall 20a of the circular pipe line 20, and transmits the photographed image to the storage unit on the operation unit side through the cable 19. At this time, the operator can check the photographed image in real time on the display unit outside the tube. As a result, it is possible not only to confirm that the inspection has been performed reliably, but also to immediately cope with a failure occurring in the in-pipe inspection apparatus 11, and the inspection efficiency and reliability are excellent. In addition, the in-tube inspection apparatus 11 can be easily operated by the operation unit while confirming the transmitted image on the display unit, and the operability and inspection workability are excellent.
The image stored in the storage unit can be separately reproduced by a personal computer or the like, and the occurrence state of cracks or cracks on the surface of the inner wall 20a can be confirmed.

In the present embodiment, power for the annular illumination unit 2 and the drive unit 16 of the illuminated wide-angle lens 1 is supplied from an external power source (not shown) through a power cable. At this time, the feeding amount of the power cable changes depending on the amount of movement of the in-pipe inspection apparatus 11, but the total length of the power cable does not change. The voltage can be adjusted to the standard voltage, so that the voltage exceeding the standard is not applied or the voltage is insufficient, and the operation stability is excellent. Instead of supplying power from the external power supply, a battery may be built in the frame 12, and in that case, the power supply unit can be omitted.
If a voice input unit is provided on the operation unit side, the operator confirms the inspection status on the display unit outside the tube and operates the in-pipe inspection apparatus 11 on the operation unit while checking the inspection date, the person in charge of the inspection, the inspection Necessary information such as location, inspection status and occurrence status of defects can be blown in from the voice input unit and stored in the storage unit together with the image, and the inspection efficiency, workability, and data reliability are excellent. In addition, since the voice input from the voice input unit and the photographed image can be stored simultaneously in one storage unit, it is possible to easily check the inspection status etc. by simply playing the image later, It is possible to save the trouble of inputting necessary information with characters and the like, and the workability and efficiency of data organization are excellent.

As described above, since the illuminated wide-angle lens according to Embodiment 1 is configured, the following effects can be obtained.
(1) The annular illumination part has a light emitting part formed or arranged in an annular shape, and the wide-angle lens is arranged at the center of the front end of the casing that protrudes forward from the central part of the annular illumination part. Therefore, the light emitted from the light-emitting part can be illuminated almost uniformly on the entire circumference of the inner wall surface of the sewer pipe or the like to illuminate the entire inside of the pipe, and there is no shadow on the casing. Excellent quality.
(2) Since the casing in which the wide-angle lens is disposed protrudes and is disposed in front of the central portion of the annular illumination unit, it is possible to photograph a wide range from the side to the front of the casing at once with the wide-angle lens. It is possible and it is excellent in shooting efficiency.
(3) Since the casing has a linear reflecting portion whose outer peripheral surface expands linearly from the rear end side to the front end side and is formed in a conical shape or a polygonal pyramid shape, the light emitted from the light emitting portion of the annular illumination portion Is reflected in the outer periphery of the casing by the linear reflector and irradiated to the entire inner wall of the sewage pipe around the casing to eliminate blind spots. It is possible to shoot reliably without omission, etc., and it has excellent shooting reliability.
(4) Since the casing has a curved reflection part that extends forward from the front end side of the linear reflection part and expands into a curved shape, a part of the light emitted by the light emitting part of the annular illumination part is generated. The curved reflection part reflects the front of the outer periphery of the casing and irradiates a wide area of the inner wall surface such as a sewer pipe to widen the photographing range of the wide-angle lens, which is excellent in photographing efficiency.
(5) Since the outer peripheral portion of the front end of the casing is located on the inner side of the outer periphery of the light emitting portion of the annular illumination portion, a part of the light emitted from the light emitting portion of the annular illumination portion is directly irradiated on the far inner wall surface. Can be taken in a short time from the side of the casing to the front, and the shooting efficiency is excellent.
(6) The light emitted from the annular illumination unit is directly applied to the surface of the imaging target, the linear part reflected light reflected from the linear reflecting unit and applied to the surface of the imaging target, and the curved reflection The light is reflected on the surface of the object to be photographed and is directly or directly reflected on the surface of the object to be curved. In this way, it is possible to shoot in a short time, detect defects such as fine scratches and cracks without omission, and have excellent illumination uniformity, visibility and image quality reliability.

As described above, since the in-pipe inspection apparatus including the illuminated wide-angle lens according to Embodiment 1 is configured, the following operation is obtained.
(1) The illuminated wide-angle lens can shoot a wide area of the inner wall of the sewage pipe, etc., which is the subject of photography, illuminating in a short period of time and accurately record the location of the defect, It is possible to detect cracks and the like without leakage, and it is excellent in inspection efficiency and reliability.
(2) Since the frame has a pair of left and right traveling parts arranged in a C shape from the lower part of the frame to the lower side of the outer side when viewed from the front side in the traveling direction of the frame, the frame is stably supported by the traveling part. Therefore, it is possible to reliably photograph the state of the inner wall surface while traveling in the tube, and the reliability of the in-tube inspection is excellent.
(3) By arranging a pair of left and right running parts in a square shape, water or foreign matter collected at the center of the bottom of the pipe, or an opening of a branch pipe generally connected to the bottom or side of the pipe, etc. It is possible to travel while avoiding the contact, minimizing the contact between the frame and the obstacle, enabling stable traveling with less vibration and high-quality image shooting, and excellent image quality reliability.
(4) Even when there are irregularities, depressions, steps, tree roots, or other unavoidable obstacles in the pipe, it is possible to run over them by the running part, and the running power is excellent.
(5) When the traveling part is placed in a square shape at the bottom of the frame, the height of the bottom part of the frame is increased, and foreign matter (obstacles) such as earth and sand or dirt is accumulated in the pipe Even when the tube bottom is flat, the bottom surface of the frame does not interfere with foreign matter or the tube bottom, and can be applied to a tube having a small inner diameter, and is excellent in running reliability and stability.
(6) Even when the pipe is bent, at least a part of the traveling portion arranged in a C-shape can be reliably brought into contact with the pipe wall and traveled along the pipe. It is possible to cope with various pipe lines, and it is excellent in selectability of inspection objects and traveling reliability.
(7) Since a wide-angle lens with illumination is disposed at the front end of the frame in the traveling direction, it is possible to shoot from a close distance while illuminating the surrounding inner wall surface while traveling toward the front in the traveling direction. It is excellent in reliability and reliability of defect detection.
(8) By having a photographing position adjustment unit that sets the height direction position and elevation angle of the illuminated wide-angle lens, the height direction position and elevation angle of the illuminated wide-angle lens can be easily adjusted according to the size of the tube diameter. In particular, when an illuminated wide-angle lens is placed near the center of the tube and facing forward in the direction of travel, the inner wall surface of the tube can be photographed all over the entire circumference without any spots, and the efficiency of in-tube inspection Excellent in properties.
(9) The photographing position adjusting unit includes an arm unit and a height adjusting shaft support unit that is disposed on the frame and rotatably holds the arm unit around a horizontal axis parallel to the width direction of the frame. The height of the illuminated wide-angle lens can be adjusted by rotating the part, so that it can cope with various tube diameters, and is excellent in versatility.
(10) The photographing position adjustment unit includes an elevation angle adjustment shaft support unit that is disposed at the tip of the arm unit and holds the illuminated wide-angle lens so as to be rotatable about a horizontal axis parallel to the width direction of the frame. The shooting direction can be adjusted by rotating the illuminated wide-angle lens, and the selection of the shooting location is excellent.
(11) By rotating the arm part around the height adjustment shaft support part to adjust the illuminated wide angle lens to a desired height, and then turning only the illuminated wide angle lens around the elevation angle adjustment shaft support part. The shooting position can be adjusted so that the illuminated wide-angle lens faces directly in front. Regardless of the tube diameter, the illuminated wide-angle lens is positioned in the vicinity of the center of the tube so that the entire circumference of the surrounding inner wall surface is free of spots. It can shoot reliably while illuminating uniformly, and has excellent flexibility in selecting inspection targets, efficiency and reliability of in-tube inspection.

  The present invention can shoot while uniformly illuminating a wide area from the side of the lens to the front, and can reliably detect defects such as fine scratches and cracks. By providing a wide-angle lens with illumination that is highly reliable and equipped with it, regardless of the diameter of the sewage pipe, etc., the inner wall surface can be reliably photographed over the entire circumference, and trouble spots can be easily obtained. In addition, it is possible to record reliably and perform inspection efficiently within a short time, and to provide an in-pipe inspection apparatus with excellent operability, handleability, inspection reliability, and work efficiency. Therefore, each local government can arrange the inspection system such as the sewage pipe with a low budget, improve the efficiency of the inspection, and reliably detect and improve the malfunction of the sewage pipe.

DESCRIPTION OF SYMBOLS 1 Wide angle lens with illumination 2 Annular illumination part 3 Light emission part 3a, 3b Light emitting diode (LED)
3c outer periphery 4 illumination part cover 5 casing 5a linear reflection part 5b curved reflection part 5c outer peripheral part 6 wide-angle lens 6a lens part cover 11 in-pipe inspection device 12 frame 12a handle part 13 running part 13a tire holding part 14 tire row 15 tire 16 Driving unit 17 Power transmission unit cover 18 Imaging position adjusting unit 18a Arm unit 18b Height adjusting shaft supporting unit 18c Elevating angle adjusting shaft supporting unit 18d Stopper unit 18e Notch unit 19 Cable 19a Connection cable 20 Circular pipes 20a, 20b Inner wall

Claims (5)

A wide angle with illumination having an annular illumination part having a light emitting part formed or arranged in an annular shape, and a casing that protrudes forward of the central part of the annular illumination part and has a wide-angle lens arranged at the center of the tip. A lens,
The casing has a linear reflecting portion whose outer peripheral surface linearly expands from the rear end side to the front end side and is formed in a conical shape or a polygonal pyramid shape, and extends forward from the front end side of the linear reflecting portion. A curved reflection portion formed to expand into a curved shape, and the tip outer peripheral portion of the casing is located on the inner side of the outer periphery of the light emitting portion of the annular illumination portion, from the annular illumination portion Irradiated light is reflected directly on the surface of the object to be imaged, reflected linearly on the surface of the object to be imaged and reflected on the surface of the object to be imaged, and reflected on the curved surface of the object. A wide-angle lens with illumination, which is dispersed on the surface of the object to be photographed into the direct light or the curved surface reflected light that partially overlaps the reflected light from the linear portion. An in-pipe inspection apparatus comprising the illuminated wide-angle lens according to claim 1. A frame in which the illuminated wide-angle lens is disposed at the front end portion in the traveling direction, and a C-shape disposed from the lower part of the frame toward the outer sides as viewed from the front side in the traveling direction of the frame. The in-pipe inspection apparatus according to claim 2, further comprising a pair of left and right traveling units and a pair of left and right driving units that drive each of the traveling units. The in-pipe inspection apparatus according to claim 3, further comprising a photographing position adjustment unit that sets a height direction position and an elevation angle of the illuminated wide-angle lens. The photographing position adjusting unit includes an arm unit, a height adjusting shaft support unit which is disposed on the frame and holds the arm unit around a horizontal axis parallel to the width direction of the frame, and the arm unit. 5. An elevation angle adjusting shaft supporting portion, which is disposed at a tip end portion of the lens and holds the illuminated wide-angle lens so as to be rotatable about a horizontal axis parallel to the width direction of the frame. The in-pipe inspection device described.

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