JP6004267B2 - Mobile object and exploration device using the same - Google Patents

Description

  The present invention relates to a moving body using fluid pressure.

  Gas pipes that have been buried underground for many years may break or crack due to corrosion. For this reason, it is necessary to periodically inspect the inside of the gas pipe, but there is a demand for a method of acquiring an internal image without digging up the pipe from the viewpoint of cost. Conventionally, a push-in type camera has been used as an inspection method for piping.

  In addition, bokame and fiberscopes are currently used as methods for exploring the rescuers who underlayed houses that were destroyed by a disaster.

  Regarding the inspection inside the gas pipe, although the conventional push-in camera is effective for a straight path, it is difficult to sufficiently explore the inside of the complicated curved pipe often found in actual gas pipes. It was. In addition, it is difficult to invade deep inside the narrow and complicated rubble with the bokame and fiberscope.

  For this reason, there is a need for the development of a movable body that can explore the inside of narrow terrain, a conduit that cannot be penetrated by a conventional push-in camera, bokame or fiberscope.

  The present invention has been made in such a situation, and one of the exemplary purposes of an aspect thereof is to provide a movable body that can be propelled in a complicated pipeline or narrow terrain.

  One embodiment of the present invention relates to a moving object. The moving body has a flexible hollow tube folded at the slide portion and a stopper for narrowing or blocking the flow path of the slide portion of the hollow tube. When the flow path of the hollow tube is pressurized from one end, the slide portion is A slide head configured to be slidable toward the other end of the hollow tube; (i) a first state in which a flow path of the hollow tube is pressurized from the first end and the second end is opened; and (ii) a hollow And a drive unit that alternately repeats a second state in which the flow path of the tube is pressurized from the second end and the first end is opened.

  In the first state, by pressing the hollow tube from the first end, the stopper receives pressure and the slide head is pushed out in the propulsion direction. At this time, if the first end side is fixed, the second end side of the hollow tube is pulled out in the propulsion direction by the slide head. In the second state, the slide head is pushed in the propulsion direction by pressurizing the hollow tube from the second end. At this time, if the second end side is fixed, the first end side of the hollow tube is pulled out in the propulsion direction. By repeating this alternately, the slide head can be propelled along the inner wall of the terrain and the obstacle even in a complicated pipeline or narrow terrain.

The drive unit (i-1) physically fixes one point on the first end side from the slide portion of the hollow tube in the first state, and (ii-1) from the slide portion of the hollow tube in the second state. Also, one point on the second end side may be physically fixed.
Thereby, a slide head can be sent out.

The drive unit (i-2) physically fixes one point on the second end side from the slide portion of the hollow tube in the first state, and (ii-2) from the slide portion of the hollow tube in the second state. Also, one point on the first end side may be physically fixed.
Thereby, the slide head can be pulled back.

The slide portion of the hollow tube on which the slide head slides may be formed of a flexible flat tube that has a flat cross-sectional shape in a non-pressurized state and a substantially circular cross-sectional shape in a pressurized state.
In this case, since the drag force that the slide head receives from the hollow tube can be reduced, the driving force can be increased.

The moving body of a certain aspect is provided in at least one of a location closer to the slide portion on the first end side than the slide portion of the hollow tube and a location closer to the slide portion on the second end side than the slide portion of the hollow tube. The steering actuator may be further provided. The steering actuator may include a plurality of guide members that are provided in parallel to each other and that can be independently extended, contracted, or rigidly controlled by an external control.
When one or a plurality of guide members are expanded and contracted, when the hollow tube is pressurized, the hollow tube bends in the direction of the expanded and contracted guide member. Further, when one or a plurality of guide members are extended or rigidized, when the hollow tube is pressurized, the hollow tube bends in the opposite direction to the extended guide member.
According to this aspect, the slide head can be propelled in an arbitrary direction in a complicated pipeline or narrow terrain.

The moving body of a certain aspect may further include a plurality of ladder hollow tubes and a plurality of slide units. The plurality of ladder hollow tubes are provided in a ladder shape with respect to the folded hollow tube. The plurality of ladder hollow tubes communicate the flow path of the hollow tube at a plurality of locations on the first end side from the slide portion of the hollow tube and a plurality of corresponding locations on the second end side from the slide portion of the hollow tube. Each of the plurality of slide units is provided for each ladder hollow tube, and each has a stopper that narrows or blocks the flow path of the corresponding ladder hollow tube. When the flow path of the hollow tube is pressurized from one end, the ladder hollow tube Is configured to be slidable toward the other end of the hollow tube.
According to this aspect, in addition to the slide head, a propulsive force can be generated for each of the plurality of slide units. Therefore, the propulsive force can be maintained even when the amount of extension of the slide portion is increased.

  The moving body of a certain aspect may further include a plurality of first restraining members and a plurality of second restraining members arranged alternately in a ladder shape with respect to the folded hollow tube. One end of the first restraining member is fixed at one location between the slide portion and the first end of the hollow tube, and the other end is slidably attached to a portion between the slide portion and the second end of the hollow tube. One end of the second restraining member is fixed at one place between the slide portion and the second end of the hollow tube, and the other end is slidably attached to a portion between the slide portion and the first end of the hollow tube.

  According to this aspect, in the first state, the tube on the second end side relative to the slide portion of the hollow tube can be propelled forward using the drag from the tube on the first end side, and the second In the state, the tube on the first end side with respect to the slide portion of the hollow tube can be propelled forward using the drag from the tube on the second end side. According to this aspect, the slide head can be reliably propelled in a duct or narrow terrain when the drag received by the hollow tube from the inner wall or obstacle is small, or even in free space.

The moving body may further include a cable drawn from the slide head in the downstream direction. The cable is not restrained with respect to the hollow tube over a predetermined length from the slide head, and may be fixed to the hollow tube downstream thereof.
According to this aspect, the amount of propulsion of the cable and the amount of propulsion of the hollow tube can be matched in the downstream portion excluding the predetermined length near the slide head.

  Another aspect of the present invention relates to an exploration device. The exploration device includes the above-described moving body, a sensor attached to the slide head of the moving body, and a covering tube that covers a cable and a hollow tube connected to the sensor.

  Note that any combination of the above-described components is also effective as an aspect of the present invention.

  According to an aspect of the present invention, it is possible to provide a moving body that can be propelled in complicated pipelines and narrow terrain.

It is a figure which shows the whole structure of the moving body which concerns on embodiment. FIGS. 2A to 2D are diagrams showing the configuration of the slide portion of the hollow tube and the slide head. FIGS. 3A and 3B are diagrams showing another configuration example of the slide head. 4 (a) to 4 (f) are diagrams illustrating the operation of the moving body when moving forward. FIGS. 5A and 5B are diagrams illustrating a configuration of a moving body capable of steering control. It is a figure which shows the search apparatus provided with a moving body. It is a figure which shows the structure of the moving body which concerns on a 1st modification. It is a figure which shows the structure of the moving body which concerns on a 2nd modification.

  The present invention will be described below based on preferred embodiments with reference to the drawings. The same or equivalent components, members, and processes shown in the drawings are denoted by the same reference numerals, and repeated descriptions are omitted as appropriate. The embodiments do not limit the invention but are exemplifications, and all features and combinations thereof described in the embodiments are not necessarily essential to the invention.

  FIG. 1 is a diagram illustrating an overall configuration of a moving body 2 according to an embodiment. The moving body 2 includes a hollow tube 10, a slide head 20, and a drive unit 30.

  The hollow tube 10 has flexibility and is folded at a slide portion 12 (hatched) located at the head in the propulsion direction. The first end E <b> 1 and the second end E <b> 2 of the hollow tube 10 communicate with each other via a flow path 14 inside the hollow tube 10. As a material of the hollow tube 10, deformable Teflon (registered trademark), silicon, or the like is desirable, but not particularly limited.

  In order to reduce the friction between the hollow tube 10 and the movement path, the tube wall, the obstacle, etc. when the hollow tube 10 is pulled out in the traveling direction, the hollow tube 10 is made of a low friction coating such as a nylon blade. It is preferable to cover with a tube (not shown). When a sensor, a camera, or the like is mounted on the slide head 20, communication and power supply lines are also passed through the inside of the coated tube.

  The slide head 20 is slidably attached to the slide portion 12 of the hollow tube 10 along the slide portion 12. The slide head 20 has a stopper 22 that blocks or narrows the flow path 14 in the hollow tube 10, and when the hollow tube 10 is pressurized from one end E1 (or E2) thereof, the other end E2 (or the other end of the hollow tube 10) It is configured to be slidable toward E1).

The drive unit 30 includes a pump 32, a housing unit 34, a fixing unit 36, and an actuator controller 38.
The pump 32 includes (i) a first state φ1 in which the flow path 14 of the hollow tube 10 is pressurized from the first end E1 and the second end E2 is opened, and (ii) the second flow path 14 of the hollow tube 10 is second. The second state φ2 in which pressure is applied from the end E2 and the first end E1 is opened is alternately repeated.

  The hollow tube 10 is accommodated by the accommodating means 34, and the accommodated hollow tube 10 is pulled out as the slide head 20 is propelled.

  When the slide means 20 is sent out, the fixing means 36 is physically synchronized with the pump 32, and (i-1) in the first state φ1, the one point on the first end E1 side of the slide portion 12 of the hollow tube 10 is physically (Ii-1) In the second state φ2, one point on the second end E2 side of the slide portion 12 of the hollow tube 10 is physically fixed.

  On the contrary, when the slide means 20 is pulled back, the fixing means 36 is synchronized with the pump 32 and (i-2) a point on the second end E2 side of the slide portion 12 of the hollow tube 10 in the first state φ1. (Ii-2) In the second state φ2, one point on the first end E1 side of the slide portion 12 of the hollow tube 10 is physically fixed.

  The actuator controller 38 will be described later. The above is the overall configuration of the moving body 2.

  2A to 2D are diagrams showing the configuration of the slide portion 12 and the slide head 20 of the hollow tube 10. The slide portion 12 is formed of a flat tube. The flat tube has flexibility, and when the flow path 12 in the inside thereof is in a non-pressurized state, the cross section is flat as shown in FIG. As shown in 2 (d), the cross section is deformed so as to be substantially circular. Of the hollow tube 10, it is preferable to use a circular tube having a substantially circular cross section instead of a flat tube for a portion other than the slide portion 12 corresponding to the range in which the slide head 20 slides. In this case, the hollow tube 10 is formed by connecting two circular tubes on both sides of one flat tube.

  The slide head 20 forms a bent portion 16 in the slide portion 12 that is a flat tube, and is movable along the slide portion 12. The flow path 14 of the hollow tube 10 is blocked or narrowed at the bent portion 16.

  Specifically, the slide head 20 has a stopper 22 for forming the bent portion 16. The hollow tube 10 is folded back at the flat slide portion 12 with the stopper 22 as a fulcrum. The roller 24 is provided to reduce sliding friction when the slide portion 12 is fed out. The roller 26 is provided in order to reduce friction between the slide head 20 and a movement path, a tube wall, an obstacle, and the like when the slide head 20 moves. In FIG. 2B, the flow path 14 of the hollow tube 10 is pressurized from one side, and the flat tube is deformed into a substantially circular cross section on the upstream side of the bent portion 16, and on the downstream side of the bent portion 16. The state which maintained the flat shape is shown.

  FIGS. 3A and 3B are diagrams showing another configuration example of the slide head 20. In the slide head 20 of FIG. 3A, a stopper 22 is fixed so as to be rotatable with respect to a shaft 23 of the head body. The roller 24 is provided to reduce sliding friction when the slide portion 12 is fed out, and to reduce friction between the moving path, the tube wall, an obstacle, and the like when the slide head 20 moves. The guide 28 restricts the movable range of the slide portion 12 of the hollow tube 10.

  In the slide head 20 of FIG. 3B, a spherical stopper 22 is provided inside the flow path 14 of the hollow tube 10.

  According to those skilled in the art, it is understood that the configuration of the slide head 20 is not limited to FIGS. 2A, 3 </ b> A, and 3 </ b> B, and can take other configurations having the same function.

  The above is the configuration of the moving body 2. Next, the operation of the moving body 2 will be described. FIGS. 4A to 4F are diagrams illustrating an operation when the moving body 2 moves forward (feeds out). 4A to 4F show a state in which the moving body 2 propels in the pipeline 4.

4A to 4D show the first state φ1, and FIGS. 4E and 4F show the second state φ2.
In the first state φ1, the first end E1 of the hollow tube 10 is fixed. In the initial state, the slide head 20 is located at the end of the slide portion 12 on the first end E1 side. In this state, the flow path 14 is pressurized from the first end E1 (FIG. 4A).

  As a result, the hollow tube 10a on the first end E1 side relative to the slide head 20, in other words, on the upstream side of the flow of the fluid (for example, air) bends in the conduit 4 and becomes rigid in that state. Thereby, the hollow tube 10a is fixed with respect to the inner wall of the pipe line 4 (FIG.4 (b)).

  If pressure is continued from the first end E1 in this state, the cross section of the flat tube is deformed into a substantially circular shape on the upstream side of the bent portion 16 of the flat tube. Here, for convenience, a portion between the bent portion 16 and the first end E1 to be pressurized is referred to as an upstream tube, and a portion between the bent portion 16 and the opened second end E2 is referred to as a downstream tube. . When the pressurization is continued, the stopper 22 is pushed forward (Z direction) by the upstream side tube, and the downstream side tube is entrapped upstream at the same time. Then, the slide head 20 is extended by extending the length of the upstream side tube (FIG. 4C). The upstream hollow tube 10a also expands (FIG. 4D). The slide head 20 stops when it moves to the end of the slide portion 12 on the second end E2 side.

  Therefore, when the length of the slide head 20 is L, the slide head 20 moves forward by a length L at the maximum by the operations shown in FIGS.

  Subsequently, the state is switched to the second state φ2. In the second state φ2, the second end E2 of the hollow tube 10 is fixed and pressurized. As a result, the hollow tube 10b on the second end E2 side of the hollow tube 10 relative to the slide head 20, that is, on the upstream side of the fluid flow is bent in the conduit 4 and is stiffened in that state. Thereby, the hollow tube 10 b is fixed to the inner wall of the pipe line 4. If pressurization is continued from the second end E2 in this state, the slide head 20 moves in the propelling direction Z. As the slide head 20 moves, the hollow tube 10a closer to the first end E1 than the slide head 20 is pulled out in the Z direction (FIG. 4 (f)). The slide head 20 stops when it moves to the end of the slide portion 12 on the first end E1 side.

  Even in the second state, the slide head 20 moves forward by a length L at the maximum.

By repeating the above operation, the slide head 20 can be sent forward.
4 (a) to 4 (f), the straight pipe 4 is shown, but the slide head 20 moves along the inner wall of the pipe 4 even when the pipe 4 is bent. , The slide head 20 can be advanced.

  Moreover, the mobile body 2 has the following advantages regarding the movement of the pipe line 4 extending in the vertical direction of the ground. The conventional movable body movable in the vertical direction requires a mechanism for pressing the inner wall of the pipe in addition to the mechanism for propulsion, and is structurally flexible like the movable body 2 according to the present embodiment. Is difficult to realize. On the other hand, according to the moving body 2, a part of the hollow tube 10 comes into contact with the inner wall of the pipe line 4 as shown in FIGS. 4B and 4E when moving in the vertical direction. That is, the deformation of the hollow tube 10 functions as a mechanism for pressing the inner wall of the tube. Thereby, in the moving body 2, the movement of a perpendicular direction and structural flexibility are realizable, and the movement of a complicated path | route is attained by this.

  Next, the backward movement of the moving body 2 will be described. When the slide head 20 is moved in the negative direction of the Z-axis, in other words, when the slide head 20 is pulled back to the drive unit 30 side, the operation of the accommodating means 34 of the drive unit 30 is reversed from that during feeding. That is, the second end E2 side is fixed in the first state φ1, and the first end E1 side is fixed in the second state φ2. Thereby, the slide head 20 can be moved in a complicated route.

  Thus, according to the mobile body 2 which concerns on embodiment, it becomes possible to move the inside of the pipe line 4 and complicated narrow terrain.

  Further, the propulsive force can be increased by configuring the slide portion 12 of the hollow tube 10 with a flat tube. This advantage becomes clear by contrast with the case where the slide portion 12 is formed of a circular tube. When the slide portion 12 is a circular tube, the slide head 20 slides while the circular tube is crushed by the stopper 22, and thus receives a drag force from the circular tube. On the other hand, when a flat tube is used, since the tip of the stopper 22 of the slide head 20 is crushed from the beginning (flattened), it does not receive useless drag. The above is the reason why a high driving force can be obtained by using a flat tube.

  In the moving body 2 according to the embodiment, the slide head 20 moves only in the range of the slide portion 12. Therefore, a new mechanism can be added to the hollow tube 10 other than the slide portion 12 as long as flexibility is not impaired. By utilizing this advantage, a steering function can be implemented in the moving body 2 as described below.

  FIGS. 5A and 5B are diagrams showing the configuration of the moving body 2a capable of steering control. Fig.5 (a) is a perspective view of the hollow tube 10, FIG.5 (b) is the sectional view on the AA line of Fig.5 (a). The moving body 2a includes a steering actuator 40 in addition to the moving body 2 of FIG.

  The steering actuator 40 is closer to the slide portion 12 on the first end E1 side than the slide portion 12 of the hollow tube 10, and is closer to the slide portion 12 on the second end E2 side than the slide portion 12 of the hollow tube 10. It is provided in at least one of the locations. The steering actuator 40 includes a plurality of (three) guide members 42a to 42c that are provided in parallel to each other and can be independently expanded, contracted, or rigidly controlled by an external control.

  As shown in FIG. 5 (b), the three guide members 42a to 42c are arranged along the hollow tube 10 having a substantially circular cross section at equal intervals as viewed from the cross section, that is, at equal intervals of 120 °. The hollow tube 10 and the plurality of guide members 42 a to 42 c are covered with a protective tube 44. The protective tube 44 is divided into a plurality of chambers so that the hollow tube 10 and the guide members 42a to 42c are separated from each other. Actually, the protective tube 44 covers up to the tip portions of the guide members 42a to 42c.

  The guide member 42 is made of a material that can control the amount of expansion or contraction or the presence or absence of rigidity by controlling pressure, electrical signal, temperature, or the like. Examples of such materials include balloon materials (for example, latex tubes), shape memory alloys, biometals, and the like that are stretched or stiffened by pressurization.

  In the present embodiment, the guide member 42 is a latex tube that expands or stiffens like a balloon when pressurized. One end of each latex tube is connected to the actuator controller 38 of the drive unit 30 so that the pressure state can be controlled independently. When the guide member 42 is a latex tube, the actuator controller 38 can be constituted by a pump. When the guide member 42 is electrically controlled, the actuator controller 38 can be configured by a current source, a voltage source, or the like. When the guide member 42 is controlled by temperature, the actuator controller 38 can be configured by a heat source.

  The hollow tube 10 and the steering actuator 40 are covered with the covering tube 18.

The above is the configuration of the steering actuator 40. Next, the operation will be described.
For example, in FIG. 5B, when the slide head 20 is steered in the Y direction, the guide member 42b and the guide member 42c located on the opposite side to the steering direction are pressurized and expanded. When one end E1 of the hollow tube 10 is pressurized in this state, the hollow tube 10 generates a force that bends in the guide member 42a side, that is, in the Y direction. Thereby, the slide head 20 can be propelled in the Y direction.

  By selecting one or a plurality of guide members 42a to 42c according to the direction in which the slide head 20 is to be propelled and appropriately controlling the pressure applied to them, the slide head 20 can be steered in an arbitrary direction. it can.

  Next, the exploration device 1 using the moving body 2 will be described. FIG. 6 is a diagram illustrating the exploration device 1 including the moving body 2. The exploration device 1 includes a sensor 50 attached to the slide head 20 of the moving body 2 and a sensor cable 52 in addition to the moving body 2 described above. In FIG. 6, the steering actuator 40 and the like are not shown. In addition, the slide head 20 may be provided with illumination such as an LED.

  Examples of the sensor 50 include a camera, a gas sensor, a temperature sensor, and a microphone. Information acquired by the sensor 50 or a control signal for controlling the sensor 50 is transmitted via the cable 52. One end of the cable 52 is connected to the sensor 50 and is pulled out from the slide head 20 of the moving body 2 in the downstream direction.

  Preferably, the cable 52 is not restrained with respect to the hollow tube 10 from the slide head 20 over a predetermined length d, and is fixed with respect to the hollow tube 10 downstream thereof. The length d is preferably substantially the same as or longer than the length L of the slide portion 12. For example, the cable 52 may pass inside the covering tube 18 or inside the protective tube 44 of FIG.

  The above is the configuration of the exploration device 1. According to this exploration device 1, the slide head 20 can be freely propelled in a complicated pipeline or narrow terrain, and information can be acquired.

  In addition, since the cable 52 is freely movable with respect to the hollow tube 10 in the vicinity of the slide head 20, the hollow tube 10 does not hinder the propulsion operation associated with the slide of the slide head 20. Furthermore, the cable 52 is fixed to the hollow tube 10 in the downstream portion excluding the predetermined length d near the slide head 20, so that the propulsion amount of the cable 52 and the propulsion amount of the hollow tube 10 are matched in the downstream portion. The friction between the cable 52 and the hollow tube 10 can be reduced, and the driving force can be increased.

  The present invention has been described based on the embodiments. This embodiment is an exemplification, and it will be understood by those skilled in the art that various modifications can be made to combinations of the respective constituent elements and processing processes, and such modifications are within the scope of the present invention. is there. Hereinafter, such modifications will be described.

(First modification)
The mobile body 2 of the embodiment generates a propulsive force only at the slide head 20 and the slide portion 12, that is, at the head portion in the propulsion direction. Therefore, the propulsive force may decrease as the amount of the hollow tube 10 fed out increases. In the first modification, a moving body 2b capable of generating a propulsive force at a place other than the head will be described.

  FIG. 7 is a diagram showing a configuration of the moving body 2b according to the first modification. The moving body 2b includes a plurality of ladder hollow tubes 60 and a plurality of slide units 62 in addition to the moving body 2 according to the embodiment.

  Each of the plurality of ladder hollow tubes 60 is provided in a ladder shape with respect to the folded hollow tube 10. Specifically, each of the plurality of ladder hollow tubes 60 includes a plurality of locations p1, p2,... On the first end E1 side 10a from the slide portion 12 of the hollow tube 10, and a second end E2 from the slide portion 12 of the hollow tube 10. The flow path 14a of the hollow tube 10a and the flow path 14b of the hollow tube 10b communicate with each other between a plurality of corresponding locations p1 ′, p2 ′. The ladder hollow tube 60 is preferably a flat tube like the slide portion 12 of the hollow tube 10.

  Each of the plurality of slide units 62 is provided for each ladder hollow tube 60. The i-th slide unit 62_i has a stopper that narrows or blocks the flow path of the corresponding ladder hollow tube 60_i. When the flow path 14 of the hollow tube 10 is pressurized from one end E1 (E2), the ladder hollow tube 60_i is The hollow tube 10 is configured to be slidable toward the other end E2 (E1). The slide unit 62 can be configured similarly to the slide head 20.

  According to the first modification, independent propulsive force can be generated at each of the plurality of locations P1, P2,... Where the pair of the ladder hollow tube 60 and the slide unit 62 is provided. As a result, even if the feeding amount of the hollow tube 10 becomes long, it is possible to suppress a decrease in propulsive force.

(Second modification)
In the moving body 2 according to the embodiment, when the hollow tube 10 is pressurized, the hollow tube 10 is deformed and comes into contact with an inner wall or an obstacle of the pipeline, and uses a drag force from the wall or the obstacle. The slide head 20 was propelled. In this case, in the situation where there are no walls or obstacles, the propulsive force may be significantly reduced or the propulsion direction may be unpredictable. In the second modification, a moving body 2c that can be used in free space will be described.

  FIG. 8 is a diagram showing a configuration of the moving body 2c according to the second modification. The moving body 2c includes a plurality of first restraining members 70 and a plurality of second restraining members 72 in addition to the above-described moving body 2.

One end of each of the plurality of first restraining members 70 is fixed at one location 10a between the slide portion 12 of the hollow tube 10 and the first end E1, and the other end is the second portion of the slide portion 12 of the hollow tube 10 and the second end. A part between the ends E2 is slidably attached.
One end of each of the plurality of second restraining members 72 is fixed at one location 10b between the slide portion 12 of the hollow tube 10 and the second end E2, and the other end is the first portion of the slide portion 12 of the hollow tube 10 and the first portion. It is slidably attached to the portion 10a between the ends E1. The first restraining members 70 and the second restraining members 72 are alternately arranged with respect to the propulsion direction Z.

  According to the moving body 2c, in the first state φ1, the tube 10b closer to the second end E2 than the slide portion 12 of the hollow tube 10 is moved forward using the drag from the tube 10a on the first end side. In the second state φ2, the tube 10a closer to the first end E1 than the slide portion 12 of the hollow tube 10 is propelled forward using the drag from the tube 10b closer to the second end E2. Can be made. Therefore, the slide head 20 can be reliably propelled in a duct or narrow terrain when the drag received by the hollow tube from the inner wall or obstacles is small, or even in free space.

  Although the present invention has been described using specific terms based on the embodiments, the embodiments only illustrate the principles and applications of the present invention, and the embodiments are defined in the claims. Many variations and modifications of the arrangement are permitted without departing from the spirit of the present invention.

DESCRIPTION OF SYMBOLS 1 ... Exploration apparatus, 2 ... Moving body, 4 ... Pipe line, 10 ... Hollow tube, 12 ... Slide part, 14 ... Flow path, 16 ... Bending part, 18 ... Covered tube, E1 ... 1st end, E2 ... 2nd End, 20 ... Slide head, 22 ... Stopper, 24 ... Roller, 30 ... Drive unit, 32 ... Pump, 34 ... Storage mechanism, 36 ... Fixing mechanism, 38 ... Actuator controller, 40 ... Steering actuator, 42 ... Guide member, 44 ... protection tube, 50 ... sensor, 52 ... cable, 60 ... ladder hollow tube, 62 ... slide unit, 70 ... first restraining member, 72 ... second restraining member.

Claims (9)

A flexible hollow tube folded at the slide part located at the beginning of the propulsion direction;
It has a stopper for narrowing or blocking the flow path of the slide portion of the hollow tube, and when the flow path of the hollow tube is pressurized from one end, the slide portion can be slid toward the other end of the hollow tube A slide head,
(I) a first state in which the flow path of the hollow tube is pressurized from a first end and the second end is opened; (ii) the flow path of the hollow tube is pressurized from a second end; A driving unit that alternately repeats the second state in which one end is opened; and
With
The drive unit (i) physically fixes one point on the first end side with respect to the slide portion of the hollow tube in the first state, and (ii) in the second state, features and to that moving body that physically secures one point of the second end side of the slide portion. The drive unit (i) physically fixes one point on the second end side with respect to the slide portion of the hollow tube in the first state, and (ii) in the second state, The moving body according to claim 1 , wherein the moving body can be switched to another operation mode in which one point on the first end side of the slide portion is physically fixed. A flexible hollow tube folded at the slide part located at the beginning of the propulsion direction;
It has a stopper for narrowing or blocking the flow path of the slide portion of the hollow tube, and when the flow path of the hollow tube is pressurized from one end, the slide portion can be slid toward the other end of the hollow tube A slide head,
(I) a first state in which the flow path of the hollow tube is pressurized from a first end and the second end is opened; (ii) the flow path of the hollow tube is pressurized from a second end; A driving unit that alternately repeats the second state in which one end is opened; and
With
The drive unit (i) physically fixes one point on the second end side with respect to the slide portion of the hollow tube in the first state, and (ii) in the second state, moving body characterized by physically securing the one point of the first end side of the slide portion.   The slide portion of the hollow tube is formed of a flexible flat tube having a flat cross-sectional shape in a non-pressurized state and a substantially circular cross-sectional shape in a pressurized state. The moving body according to any one of the above. At least one of a location closer to the slide portion on the first end side than the slide portion of the hollow tube and a location closer to the slide portion on the second end side than the slide portion of the hollow tube. A steering actuator provided;
5. The steering actuator according to claim 1, wherein the steering actuator includes a plurality of guide members that are provided in parallel to each other and that can be independently extended, contracted, or rigidly controlled by an external control. Moving body. A plurality of ladder hollow tubes provided in a ladder shape with respect to the folded hollow tube, and a plurality of locations on the first end side from the slide portion of the hollow tube, and the slide of the hollow tube A plurality of ladder hollow tubes communicating with the flow path of the hollow tube at a plurality of corresponding locations on the second end side from the portion;
Provided for each ladder hollow tube, each of which has a stopper for narrowing or blocking the flow path of the ladder hollow tube, and pressurizing the flow path of the hollow tube from one end, the ladder hollow tube of the hollow tube It is configured to be slidable toward the other end, and a plurality of slide units;
The moving body according to claim 1, further comprising: A plurality of first restraining members and a plurality of second restraining members arranged alternately in a ladder shape with respect to the folded hollow tube,
One end of the first restraining member is fixed at one place between the slide portion and the first end of the hollow tube, and the other end is a portion between the slide portion and the second end of the hollow tube. Slidably attached to the
One end of the second restraining member is fixed at one place between the slide portion and the second end of the hollow tube, and the other end is a portion between the slide portion and the first end of the hollow tube. The mobile body according to claim 1, wherein the mobile body is slidably attached to the mobile body. Further comprising a cable drawn in a downstream direction from the slide head of the moving body,
The cable is not restrained with respect to the hollow tube over a predetermined length from the slide head, and is fixed to the hollow tube downstream thereof. The moving body according to any one of the above. A moving object according to any one of claims 1 to 7,
A sensor attached to the slide head of the moving body;
A sheathing tube covering the sensor cable and the hollow tube;
An exploration device comprising:

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