JP3594273B2 - Sewer sewer survey robot - Google Patents

Description

[0001]
[Industrial applications]
The present invention relates to sewage Kanmizo survey robot to investigate sewage, the inside sewer for the flow of rainwater.
[0002]
[Prior art]
The sewage pipe includes a sewage pipe for flowing sewage from general households and factories, and a storm water pipe for flowing rainwater from roads. In this sewer, sediment, dirt and other various things are clogged and cannot flow, cracks occur in the sewer, water leaks due to deterioration, and toxic gas is generated in the sewer. Sometimes.
For this reason, the water level in the sewer, the sedimentation thickness of the sediment, the crack / breakage / joint condition of the sewer, the gradient / meandering of the sewer, the deterioration of the sewer material, the concentration of sulfide gas in the sewer, etc. Investigated in various ways.
[0003]
In order to investigate the inside of such a sewer 12, as shown in the center of FIG. 8, the sewer 12 is a small-diameter sewer 12 a having a diameter of about 250 mm, or the right of FIG. As shown in FIG. 9 and FIG. 9, in the case of a medium-diameter sewer 12b of about 800 mm, a small survey robot 23 corresponding to the diameter of the sewer 12 is inserted from the manhole 10 into the control unit 22. Camera 15, ultrasonic velocity measuring device 16, neutralization layer depth measuring device 17, pipe inner diameter measuring device 18, rebound resilience measuring device 19 while self-propelled by the traveling wheels 14 of the vehicle body 13 controlled by The necessary data is detected by a distance measuring device 20, a tilt measuring device 21, and the like, and transmitted to the ground.
[0004]
However, since the manhole 10 has a normal diameter of 600 mm and is limited to 900 mm even in a large size, as shown on the left side of FIG. In the case of the culvert 12c, since a large investigative robot cannot be entered from the manhole 10, a person directly enters the culvert 12 and conducts an investigation.
[0005]
[Problems to be solved by the invention]
It is extremely dangerous for humans to enter the sewer 12 and conduct direct investigations when toxic gas is generated, the water level rises suddenly, or the pipe wall collapses. desirable.
In addition, the small investigation robot 23 is provided so as to be substantially full in the pipes of the small-diameter pipe 12a and the medium-diameter pipe 12b for investigating the pipe wall. Therefore, sediment and sludge are accumulated in the pipe. In this case, self-propelling by the running wheels 14 cannot be performed. In order to solve this, it is not only time-consuming to drive the small inspection robot 23 after cleaning such as removing sediment such as earth and sand in advance, but also to investigate the thickness of the sediment. There was a problem that it became impossible.
[0006]
SUMMARY OF THE INVENTION An object of the present invention is to provide a robot capable of investigating not only a medium-diameter pipe but also a large-diameter pipe, even if the robot is a comparatively small pipe investigation robot that can enter from a manhole.
[0007]
[Means for Solving the Problems]
The present invention relates to a culvert investigation robot in which the investigation device 32 is mounted on an equipment stand 49 of the vehicle body 13 and the interior of the culvert 12 is inspected while traveling by a plurality of traveling means 14 provided on the vehicle body 13. 14 is attached to the ends of a plurality of extendable and retractable legs 31 provided on the vehicle body 13, and an elevating device for raising and lowering the equipment table 49 on which the investigation device 32 is mounted between the vehicle body 13 and the equipment table 49. 33, two leg portions 31 are provided at the lower end of the vehicle body 13, and these two leg portions 31 are provided to be opened to the right and left at an angle of 90 to 180, and two leg pieces 35 are connected. This is a pipe investigation robot that is formed in a pantograph shape that expands and contracts while being cross-connected in an X shape with pins 36.
[0008]
[Action]
The leg 31 and the elevating device 33 are folded and inserted into the sewer 12 from the manhole 10. Alternatively, the elevating device 33 and the equipment table 49 are attached after inserting the vehicle body 13 with the traveling means 14 from the manhole 10 into the sewer 12.
Next, when the leg portion 31 is extended by driving the telescopic drive device 39, the width of the traveling means 14 on both sides increases, and the position in contact with the inner wall of the sewer 12 gradually moves upward. The leg 31 is extended so that the position where the traveling means 14 comes in contact with the sludge 25 or the water 24, for example, the position which is about 30% of the pipe diameter from the bottom.
When the running position of the running means 14 is determined, the self-propelled device 34 moves to the inspection location. Upon reaching the investigation point, the self-propelled device 34 is stopped, the motor 46 is driven to extend the elevating device 33, and the various sensors are raised to a position where the sensors are substantially in contact with the pipe wall of the sewer 12. At the same time, the guide wheel 30 is raised to contact the pipe wall.
A remote control device with a monitor is installed on the ground, and the vehicle body 13 is moved forward and backward, the CCD camera 53 and other sensors are operated, and survey data is collected.
[0009]
【Example】
A first embodiment of the present invention will be described with reference to FIGS.
1 and 2 show a state in which the sewer survey robot is extended to fit the size of the sewer 12, and FIGS. 3 and 4 show a reduced sewer robot for insertion from the manhole 10. The state is shown.
In these figures, the sewer survey robot according to the present invention comprises a vehicle body 13, running wheels 14, legs 31, survey equipment 32, a lifting device 33, a self-propelled device 34, a guide wheel 30, and the like.
[0010]
The vehicle body 13 is a rectangular parallelepiped or a cylinder having a width of about 25 to 40 cm and a length of about 60 to 80 cm so that the conduit investigation robot can be inserted into the manhole 10 in a reduced state. The vehicle body 13 is made of an aluminum alloy so as to have sufficient durability against corrosion by sewage. Sufficient sealing measures are taken for the exposed portions, communication cable connectors, and drive rotating portions of various sensors described below.
[0011]
On the lower surface of the vehicle body 13, there is provided a traveling device including traveling wheels 14, legs 31, a self-propelled device 34, and the like as traveling means. The traveling wheel 14 may be submerged when the amount of water 24 in the pipe is large, and therefore, it is desirable that the traveling wheel 14 be made of a water-resistant material.
For the movement of the vehicle body 13, a wheel system, a crawler (crawler belt) system, a ship system, a traction system using a rope, and the like can be considered. However, from the movement efficiency, the movement mechanism, and the situation where water 24 flows through the sewer 12. Therefore, a method in which the vehicle travels in a space above the water surface is employed, and therefore, a method in which the traveling wheel 14 is attached to the extendable leg 31 is employed. However, the traveling means is not limited to wheels, but may be other traveling means such as a crawler (infinite track zone).
[0012]
Two legs 31 are provided on the lower surface of the vehicle body 13 at an angle of approximately 60 degrees with respect to a vertical line, respectively, and run while sticking to the inner surface of the pipe wall of the sewer 12. The two leg pieces 35 can be freely extended and contracted in two stages in an X-shape at the center and both end portions by connecting pins 36 so that the leg portions 31 can be folded or extended at the time of loading or unloading from the manhole 10. And is configured like a pantograph. The base end of one leg 35 is a fixed end 37 rotatably connected to the vehicle body 13, and the base end of the other leg 35 is a telescopic drive device 39 attached to the vehicle body 13. It is connected to a piston rod 40 via a guide ring 41 and slides along the guide rod 42 to form a sliding end 38.
The traveling wheels 14 are attached to the distal ends of the leg pieces 35, respectively, and are connected to a self-propelled device 34 composed of a motor. At least one self-propelled device is provided on each of the left and right legs 31.
The running stability control is performed using a gyro. The driving source is equipped with a storage battery, and the driving device uses a DC24V motor.
Note that an AC device may be mounted as a driving device, and the driving source may supply AC power from the ground using a power cord.
[0013]
The elevating device 33 is configured like a pantograph in which two arms 44 are connected at a central portion thereof so as to be able to expand and contract in an X-shape with connecting pins 45. The upper end of one arm 44 and the lower end of the other arm 44 are fixed ends 37 that are rotatably connected to the equipment table 49 and the vehicle body 13, respectively. The lower end of one arm 44 is a screw shaft. The upper end of the other arm 44 is connected to a ring 52 that is slidably and loosely fitted on the guide shaft 50. The screw shaft 48 is connected to a motor 46 mounted on the vehicle body 13 via a speed reducer 47.
Although the elevating device 33 in this example is shown as being configured in an X-shape, the invention is not limited to this, and may be a configuration in which two or more X-shapes are connected.
[0014]
The investigation device 32 includes an image capturing device 55 including a CCD camera 53 and an illumination lamp 54 mounted on a device stand 49, an ultrasonic velocity measuring device 16, a neutralization layer depth measuring device 17, a gas detecting device 56, a tube It is composed of a material strength inspection device 57, a deposit detection device 58 composed of a probe 60 and a cylinder 61 which are suspended from the lower surface of the vehicle body 13, an inclination measuring device 21 mounted on the vehicle body 13, and the like.
[0015]
The device table 49 is provided with the guide wheel 30 connected to a cylinder 64 and a piston rod 63, and a limit switch 62 with a damper.
In addition, a control unit 22 such as a control circuit and a power supply is mounted on the vehicle body 13.
[0016]
Each device mounted on the sewer investigation robot according to the present invention can be remotely operated from the road with a minimum road occupation area without troublesome setting, and efficiently removes sediment in a poor environment, and It is required that the mechanism has little.
In particular, the survey equipment 32 needs to sufficiently satisfy performance, weight, size, price, durability in the sewer 12 and the like. To this end, it is desirable that each of the survey devices 32 be as follows.
[0017]
Image capturing device 55:
The image capture data is necessary for confirming the running state in the conduit 12 and for investigating the state of the conduit from the ground, such as cracking, breakage, joint state, and invasion of tree roots. To achieve these objectives, CCD cameras, ultrasonic cameras, infrared cameras, laser devices, image pickup tubes, etc. can be considered, but they are small, lightweight, highly reliable, have no burn-in, have few afterimages, The CCD camera 53 is the most suitable because of its advantages such as low cost, improvement in performance, and measurement using a scale linked to the lens. The CCD camera 53 is equipped with two types, one for forward monitoring capable of monitoring up to 10 meters ahead and the other for wall monitoring capable of monitoring up to 3 meters, and preferably has a zoom function and a scale setting function of about 5 times. .
[0018]
The illuminating lamp 54 is necessary to illuminate the inside of the tube and secure enough illuminance to capture an image, and a halogen bulb, an argon bulb, a krypton bulb, a reflective bulb, an LED, and the like can be considered. Halogen bulbs are the most suitable because of their advantages such as high life, long life, abundant track record, high performance, and many general-purpose products.
[0019]
Gas detector 56:
A gas sensor is used to detect a toxic gas (at least four types of hydrogen sulfide, flammable gas, carbon monoxide, and oxygen concentration) in the pipe, and the presence or absence of the gas and the gas concentration are measured. The level of gas detection is defined as the allowable concentration in Japan, ie, the limit of concentration that does not affect health at all even if you continue working for about 8 hours a day every day in a workplace where toxic gases and the like are present in the air. Since a gas equal to or more than the value indicated in a recommendation form by the Japan Society for Occupational Health can be detected, a heat conduction type gas sensor and a diaphragm galvanic cell type gas sensor are preferable. The thermal conductivity type gas sensor has a wide measurable concentration range and is stable over time, and can be measured without oxygen.For the membrane galvanic cell type gas sensor, the oxygen concentration can be measured. This is because it is effective. In addition to these two types, there are a catalytic combustion type, a semiconductor type, a constant potential type, and the like.
[0020]
Pipe material strength inspection device 57:
In order to be mounted on a robot, the device needs to be small and lightweight. The content of the investigation by this device 57 is intended to measure the material deterioration and the neutralization depth of the concrete pipe 12. A so-called ultrasonic non-destructive inspection device that makes a pair of ultrasonic sensors adhere to the tube wall surface and measures the propagation speed of the pulse between two points. A hole is made in the tube wall with a drill, etc., and a phenolphthalein solution is sprayed. A so-called neutralization test device that determines the depth of neutralization from the presence or absence of discoloration was selected. In addition, there is a so-called Schmitt hammer type in which the inner surface of a pipe is hit with a hammer to determine the rebound hardness, and a destructive inspection type in which a concrete wall is extracted in a cylindrical shape and the compressive strength is inspected on the ground.
[0021]
Sediment detector 58:
A survey of the amount of sludge deposited at the bottom of the sewer is performed to investigate the cleaning place of the sewer 12 and to check the cleaning time. Since the surveyed data is transmitted to the ground and can be continuously observed, in the present invention, an apparatus using the probe 60 is selected. This is because the measurement principle is mechanical, the reliability of the measured value is high, and the measurement can be performed even under anhydrous conditions. In addition, an ultrasonic type, a flow velocity detecting type, a photoelectric type, and the like can be considered.
In general, cleaning is required when soil and sand accumulate about 10% of the pipe diameter. Therefore, the upper limit of the measurement by the probe 60 is set to 20% of the pipe diameter, and the structure is such that measurement can be performed at intervals of 5 mm.
[0022]
Tilt measuring device 21:
The inclination and uneven settlement of the sewage pipe 12 affect the flow of water 24 in the pipe and the accumulation of sludge 25. For this reason, a gyro-type inclination detecting device is selected in the present invention because a device for investigating inclination and uneven settlement in the pipe is mounted. This is because there is no need for an external measurement standard, high-precision measurement is possible, and measurement of uneven settlement of pipes, meandering, etc. is possible. In addition, a water pressure gauge type, an inclination sensor type, and the like can be considered.
[0023]
In the above configuration, the leg 31 and the lifting device 33 are folded as shown in FIGS. 3 and 4 and inserted from the manhole 10 into the sewer 12.
If the diameter of the manhole 10 is small, the elevating device 33 and the equipment table 49 are attached after inserting the vehicle body 13 with the traveling means 14 from the manhole 10 into the sewer 12.
Next, the leg 31 is extended by driving the expansion / contraction drive 39. By extending the legs 31, the positions of the traveling wheels 14 on both sides contacting the inner wall of the conduit 12 gradually move upward. The leg 31 is extended so that the position where the traveling wheel 14 comes into contact with the sludge 25 or the water 24, for example, a position about 30% of the pipe diameter from the bottom is contacted.
When the position of the traveling wheel 14 is determined, the self-propelled device 34 moves to the inspection location. Upon reaching the investigation point, the self-propelled device 34 is stopped, the motor 46 is driven to extend the elevating device 33, and the various sensors are raised to a position where the sensors are substantially in contact with the pipe wall of the sewer 12. At the same time, the guide wheel 30 is raised to contact the pipe wall.
A remote control device with a monitor is installed on the ground unit to move the vehicle body 13 forward and backward, and to operate the CCD camera 53 and other sensors.
[0024]
The data detected by the above-described methods by the various sensors is sent to the ground by the transmission device, where data analysis, control of a sewer survey robot, and the like are performed. This transmission device may be a copper cable, but is preferably an optical communication cable that is less susceptible to noise and is capable of highly efficient transmission.
Further, the transmission method is not limited to the wired transmission method, but may be a wireless transmission method.
[0025]
FIG. 5 shows a second embodiment of the present invention.
In the embodiment of the first embodiment, the traveling means 14 is attached to the lower side of the vehicle body 13 via two extendable legs 31, and the guide wheel 30 is provided on the equipment table 49 on the upper side of the vehicle body 13.
On the other hand, in the second embodiment shown in FIG. 5, the guide wheel 30 is attached to the lower side of the vehicle body 13 via the two extendable legs 31, and A traveling means 14 for driving while being in contact with the inner wall of the sewer 12 is attached.
[0026]
FIG. 6 shows a third embodiment of the present invention. In this embodiment, guide wheels 30 are attached to the lower side of the vehicle body 13 via two extendable legs 31 and both sides of the vehicle body 13 On the side (lateral direction), a traveling means 14 for driving while being in contact with the inner wall of the duct 12 via two telescopic legs 31 is attached.
As shown in FIGS. 5 and 6, when the traveling means 14 is mounted at a position higher than the horizontal, the motor and other mechanical parts constituting the traveling means 14 are completely prevented from being immersed in the water 24 or the sludge 25. it can. In particular, it is suitable for the case where the inner wall of the sewer 12 is in a good condition with no irregularities, deposits and the like.
[0027]
In the above embodiments, the case of the cylindrical sewer 12 has been described, but the present invention is not limited to this, and as shown in FIG. Also, polygons, ellipses and the like can be used. In this case, the traveling means 14 with the self-propelled device 34 at the tip of the leg piece 35 attaches the leg piece 35 perpendicularly from the middle so as to be in contact with the floor surface of the sewer 12 at right angles, and at other angles, The portion of the inclined leg piece 35 is made elastic. Of course, the bent leg piece 35 may be configured to be extendable and contractible. Further, the traveling means 14 with the self-propelled device 34 may be attached to the guide wheel 30 at the upper end and the guide wheel 30 at the lower end so as not to be stained with water or sludge.
[0028]
In the above embodiment, the traveling means 14 with the self-propelled device 34 uses a circular wheel system such as wheels with tires, but may use a crawler system including an endless track zone.
[0029]
【The invention's effect】
(1) Since the traveling means 14 travels at a position sufficiently higher than the bottom of the sewer 12, even if there is a flow of water 24 in the sewer 12, earth and sand, sludge 25, etc., these resistances are maintained The vehicle can travel without receiving it, and the investigation can be performed without cleaning such as removing the sediment 25 and the water 24 as in the related art. Further, since the vehicle body 13 is located on the water 24, the durability of the traveling means 14 and various sensors can be improved.
If the amount of water 24 in the sewer 12 is large, the running means 14 may run while being submerged. However, the running means 14 may be made of a water-resistant material, or the running means 14 may be mounted upward or laterally. If you do, there is no problem.
[0030]
(2) Since the vehicle body 13 can be formed into a cylindrical shape or a bogie shape, it can be carried in by effectively utilizing the inner shape of the manhole 10, which is a carry-in entrance. In addition, the step area is increased as compared with the rectangular shape, and the mounting capacity is increased.
[0031]
(3) The traveling means 14 is not limited to the wheel type, but the type using wheels has a simpler mechanism and can be reduced in weight as compared with the crawler type. Therefore, less driving power is required, and the operable distance of the sewer survey robot is extended.
[Brief description of the drawings]
FIG. 1 is a front view of a first embodiment of a sewerage investigation robot according to the present invention, showing a state in which a leg 31 and a lifting device 33 are extended.
FIG. 2 is a side view of FIG.
FIG. 3 is a front view showing a state in which the leg 31 and the elevating device 33 are reduced in the sewerage investigation robot according to the present invention.
FIG. 4 is a side view of FIG. 3;
FIG. 5 is a front view of a second embodiment of the sewage pipe investigation robot according to the present invention in a state where the legs 31 and the elevating device 33 are extended.
FIG. 6 is a front view of a third embodiment of the robot for investigating sewerage according to the present invention, in a state where the legs 31 and the elevating device 33 are extended.
FIG. 7 is a front view showing a fourth embodiment of the sewerage investigation robot according to the present invention, in a state where the legs 31 and the lifting / lowering device 33 are extended.
FIG. 8 is an explanatory diagram showing an investigation state by a conventional small investigation robot 23.
FIG. 9 is an explanatory diagram showing an investigation state in a medium-diameter sewer 12b of about 800 mm by a conventional small investigation robot 23.

Claims (5)

An investigation device 32 is mounted on an equipment stand 49 provided on the vehicle body 13, and the sewage sewer investigation robot for inspecting the inside of the cylindrical sewer sewer 12 while traveling by the traveling means 14 provided on the vehicle body 13. The two legs 31 are provided at approximately 60 degrees downward and to the right and left with respect to the vertical line from substantially the center of the lower surface of the vehicle. The means 14 is attached, and an elevating device 33 for elevating and lowering the equipment table 49 is removably attached to the upper surface of the vehicle body 13. The investigation equipment 32 is attached to the equipment table 49 on the inner wall of the top of the sewer pipe 12. A sewage sewer investigation robot characterized in that a guide wheel 30 for fixing the position of the investigation equipment 32 in contact with the inner wall of the sewer sewer 12 to be fixed is provided so as to face the sewer sewer 12. . An investigation device 32 is mounted on an equipment stand 49 provided on the vehicle body 13, and the sewage sewer investigation robot for inspecting the inside of the cylindrical sewer sewer 12 while traveling by the traveling means 14 provided on the vehicle body 13. The two legs 31 are provided at approximately 60 degrees downward and to the left and right from the vertical line, respectively, from substantially the center of the lower surface of the left side. An X-shape is connected at the center and both ends so as to be extendable and contractible at 36 at the center, and a base end of one leg 35 is a fixed end 37 rotatably connected to the vehicle body 13 and a base of the other leg 35. The end is connected to a piston rod 40 of a telescopic drive device 39 attached to the vehicle body 13 and slidably provided as a sliding end 38 so as to extend and contract, and is provided at an end of each of the right and left leg pieces 36. Attaching the traveling means 14, the vehicle body An elevating device 33 for elevating and lowering the equipment table 49 is removably attached to the upper surface of the apparatus 3, and the investigation equipment 32 is mounted on the equipment table 49 so as to face the inner wall of the top of the sewer pipe 12, and A sewage sewer investigation robot, wherein a guide wheel 30 for fixing the position of the investigation equipment 32 in contact with the inner wall of the sewer top of the sewer 12 is telescopically attached . An investigation device 32 is mounted on an equipment stand 49 provided on the vehicle body 13, and the sewage sewer investigation robot for inspecting the inside of the cylindrical sewer sewer 12 while traveling by the traveling means 14 provided on the vehicle body 13. The two legs 31 are provided at approximately 60 degrees downward and to the right and left with respect to the vertical line from substantially the center of the lower surface of the vehicle. A means 14 is attached, and an elevating device 33 for elevating and lowering the equipment table 49 is detachably attached to the upper surface of the vehicle body 13. The upper end of one arm 44 and the lower end of the other arm 44 are fixed ends rotatably connected to the equipment stand 49 and the vehicle body 13, respectively. Lower end The upper end of the other arm 44 is connected to a ring 52 slidably fitted on a guide shaft 50, and the screw shaft 48 is attached to the vehicle body 13. Connected to the motor 46 via a speed reducer 47, and the survey equipment 32 is mounted on the equipment stand 49 so as to face the inner wall of the pipe top of the sewer 12, and the inner wall of the pipe top of the sewer 12 is mounted. A sewer culvert investigation robot, characterized in that a guide wheel 30 for fixing the position of the investigation device 32 in contact with the vehicle is telescopically attached . An investigation device 32 is mounted on an equipment stand 49 provided on the vehicle body 13, and the sewage sewer investigation robot for inspecting the inside of the cylindrical sewer sewer 12 while traveling by the traveling means 14 provided on the vehicle body 13. The two legs 31 are provided at approximately 60 degrees downward and to the left and right from the vertical line, respectively, from substantially the center of the lower surface of the left side. An X-shape is connected at the center and both ends so as to be extendable and contractible at 36 at the center, and a base end of one leg 35 is a fixed end 37 rotatably connected to the vehicle body 13 and a base of the other leg 35. The end is connected to a piston rod 40 of a telescopic drive device 39 attached to the vehicle body 13 and slidably provided as a sliding end 38 so as to extend and contract, and is provided at an end of each of the right and left leg pieces 36. Attaching the traveling means 14, the vehicle body 3 of the upper surface, attaching a lifting device 33 for lifting the device base 49 detachably, the lifting device 33 is telescopically coupled to the X-shaped two arms 44 at the center by the coupling pin 45 The upper end of one arm 44 and the lower end of the other arm 44 are fixed ends that are rotatably connected to the equipment stand 49 and the vehicle body 13, respectively, and the lower end of one arm 44 is a screw shaft 48. The upper end of the other arm 44 is connected to a ring 52 slidably fitted on a guide shaft 50, and the screw shaft 48 is connected to a motor 46 mounted on the vehicle body 13. The investigation device 32 is mounted on the equipment stand 49 so as to face the inner wall of the top of the sewer 12 and is in contact with the inner wall of the top of the sewer 12. Fix the position of the investigation equipment 32 Sewage Kanmizo survey robot, characterized in that the guide wheel 30 mounted telescopically for. The investigation device 32 is a hole neutralization test device for making a hole in the inner wall of the tube top and spraying a phenolphthalein solution to determine the depth of neutralization from the presence or absence of discoloration, and irradiating the inside of the tube with an illumination lamp 54 to detect the discoloration. The sewer sewer investigation robot according to claim 1, 2, or 3 , further comprising a device 55 for capturing the presence or absence as an image .

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