JPH0520964Y2 - - Google Patents

Description

[Detailed explanation of the invention] (1) Industrial application field This invention relates to a pipe inspection device, and is particularly used to investigate the size of gaps in joints of underground pipes such as sewer pipes and gas pipes, damage to the surrounding walls, and the like. This invention relates to an in-pipe investigation device for accurately measuring the position of a pipe.

(2) Prior Art As this type of in-service inspection device, the applicant previously proposed the one disclosed in Japanese Utility Model Application Publication No. 159156/1983. As shown in FIGS. 4 and 5, this pipe inspection device 1 includes a front box 10 and a rear box 11. A support ring 41 is provided on the outer periphery of the front end of the front case 10.
is rotatably fitted, and a plurality of sleds 13a are fixed to this support ring 41, which have a tendency to spread so as to come into contact with the peripheral wall of a pipe 2 such as a sewer pipe. A sled 13b similar to the sled 13a is fixed to the outer periphery of the rear end of the rear case 11. Front box 10
The front end face is closed with a direct viewing window 19 made of a transparent plate, and inside the front case 10, in order from the direct viewing window 19 toward the rear, there are a direct viewing illumination 20, a semicircular level 21, a plane mirror 22, and a television camera 23 are provided. Moreover, on the side of the front case 10,
A side viewing window 30 made of a transparent plate is provided at a position facing the plane mirror 22. On the opposite side of the plane mirror 22 across the side viewing window 30 on the outside of the front case 10, a transparent measuring plate 31 with a length scale is attached at one end to the outer periphery of the front case 10. Pantograph 32 that urges 31 outward
It is installed and arranged at the other end of the In addition, in the drawing, 3a and 3b are manholes, 4a and 4b are wires, 5a and 5b are winches, 6 is a power cable for TV cameras and lighting, 7 is a VTR device,
8 is a monitor TV, 9 is a controller, 14 is a wheel,
Reference numerals 16, 28, 29, and 33 are drive motors, and 25 is a circular mounting plate on which the spirit level 21 is pivotally supported via a pin 26, which is fixed to the direct viewing illumination mounting plate 24.
35 is a pulley fixed to the rotating shaft 34 of the drive motor 33; 36 is a steel wire whose one end is attached to the pulley 35 and the other end is attached to the mounting base of the measurement plate 31.

The operation of the device 1 is as follows.

With the plane mirror 22 positioned horizontally as shown by the solid line and the television camera 23 looking directly ahead, the investigation device 1 is pulled by the wire 4a and attached to the pipe 2.
Run inside. The investigation device 1 is stopped when it reaches the measuring position inside the tube 2, and at this time, since each image of the level 21 and its mounting plate 25 is selected by the television camera 23, the level indicated on the level 21 is horizontal. The angle scale of the mounting plate 25 indicated by the instruction line is displayed on the monitor television 8, and by reading this, the inclination angle of the television camera 23 with respect to the horizontal is measured.

Next, when the motor 28 is driven, the plane mirror 22 swings to the inclined position shown by the chain line. At this time, the plane mirror 22 reflects the peripheral wall of the tube 2 through the side viewing window 30. The image is selected by the television camera 23. Then motor 1
When 6 is driven, the front box 10 rotates relative to the tube 2, and when the measuring plate 31 and the measuring part on the peripheral wall of the tube 2 face each other, the rotation is stopped. The rotation angle of the front case 10, that is, the rotation angle of the television camera 23, is digitally displayed on the panel of the controller 9, and the circumference of the measuring section in the tube 2 is determined from the sum or difference between this rotation angle and the above-mentioned inclination angle. A directional position is determined. Next, when the motor 33 is driven, the steel wire 36 is rewound and the pantograph 32 is extended, so that the measuring plate 31 comes into contact with the peripheral wall of the tube 2, and in this contact state, the measuring plate 31 is displayed on the monitor television 8.
By reading the scale, the size of the gap and the size of the flaw can be measured.

This completes the measurement of one measurement section, but the measurement of the tube 2
When measuring other parts having the same longitudinal position but different circumferential positions, the motor 33 is reversely driven to wind up the steel wire 36, and then the front case 10 is rotated to the desired part. In addition, when measuring a portion of the tube 2 whose position in the length direction is different, the steel wire 36 is wound up, the motor 28 is driven in reverse to return the plane mirror 22 to the horizontal position, and the motor 16 is driven in the reverse direction to move the plane mirror 22 back to the horizontal position. After the body 10 is inverted to its original position, the investigation device 1 is moved to a desired position.

(3) Problems to be solved by the invention By the way, in the device 1, the measuring plate 31
During measurement, the motor 33 unwinds and winds the steel wire 36, and the pantograph 32 brings the measuring plate 31 into contact with the circumferential wall of the tube 2. However, the unwinding and winding may not go well and the pantograph 32 may not expand or contract normally. Furthermore, since the motor 33 is relatively small,
It wears out rapidly and must be replaced with a new one as soon as possible. Therefore, in order to correct the twist in the steel wire 36 or replace the motor 33, it is necessary to interrupt the measurement and transport the investigation device 1 from inside the pipe 2 to the ground. When measuring the size of the gap between the joint portions of No. 2, there were problems in that it was not possible to perform the measurement work smoothly and the work took a long time.

Therefore, the technical problem of this invention is to enable smooth and quick measurement without any troubles caused by the steel wire or motor.

(4) Means for solving the problems In order to solve the above problems, this invention is characterized by adopting the following technical means. That is, a measuring member having a flat length measuring part facing the length direction of the pipe and having a tendency to spread so that the length measuring part comes into contact with the peripheral wall of the pipe,
At least three measurement units are fixed to the support ring at equal intervals in the circumferential direction so that they can be positioned facing the mirror in the circumferential direction on the opposite side of the mirror across the window on the side surface of the box, and A television camera is adapted to observe the situation in front of the tube and the spirit level when the mirror is in a horizontal position, and to observe the circumferential wall of the tube and the measuring part of the measuring member when the mirror is in an inclined position. That's true.

(5) Effect The investigation device is moved inside the pipe, and when the measuring part of the measuring member that contacts the peripheral wall of the pipe reaches the measurement position, which is the gap in the joint of the pipe or the flaw in the peripheral wall, the traveling is stopped. In this stopped state, the inclination angle of the television camera with respect to the horizontal is measured using a spirit level. Next, the mirror is placed in an inclined position so that the peripheral wall of the tube can be viewed through the side window of the box with a television camera, and then the box is rotated relative to the tube and the measurement is performed at the measuring position. By sequentially observing the measuring parts of the member with a television camera, the sizes of gaps and flaws in the joints of the pipes and their positions can be measured.

(6) Embodiment In this embodiment, the same parts as those of the conventional device will be given the same reference numerals, and the explanation will be omitted, and the explanation will mainly be given to the different parts.

In FIGS. 1 and 2, 50a, 50b, and 50c are three transparent sled-shaped measuring scales fixed to the support ring 41 at equal intervals in the circumferential direction, facing in the opposite direction to the sled 13a. has flat measurement portions 51a to 51c facing the length direction of the tube 2 and having graduated length dimensions at positions facing the plane mirror 22 in the circumferential direction;
51c is given a tendency to spread so that it is always in contact with the peripheral wall of the tube 2. In the above, the measuring scale 50a~
Although the entire portion 50c is transparent, only the measuring portions 51a to 51c may be transparent, and the others may be opaque or semitransparent.

Measuring work using the measuring rods 50a to 50c,
Next, measurement of the size of the gap at the joint of the pipe 2 will be explained as an example.

Measuring units 51a to 51c of a measuring rod provided in the investigation device 1 that runs inside the pipe 2 by wires 4a and 4b
However, when it reaches the measurement position, which is the gap between the joints of the pipes 2, the investigation device 1 stops traveling. In this stopped state, it is displayed on monitor TV 8.
The angle of inclination of the television camera 23 with respect to the horizontal is measured by reading the angle scale on the mounting plate 25 indicated by the horizontal indicator line of the spirit level 21.

Next, the motor 28 is driven to swing the plane mirror 22 to the tilted position, and the plane mirror 22 is moved through the side viewing window 3.
0 so that the peripheral wall of the tube 2 can be selected with the television camera 23, the motor 16 is driven to rotate the front box 10 relative to the tube 2, and the front case 10 is rotated relative to the tube 2, so that the peripheral wall of the tube 2 can be selected by the TV camera 23. By sequentially selecting the measuring parts 51a to 51c of the measuring scales 50a to 50c and reading the scales of the measuring parts 51a to 51c, the size of the gap between the joints in the circumferential direction of the pipe 2 is measured. Ru.

When measuring the size of the gap between the joints, first, as shown in FIG.
Measure the gap sizes A, B, and C at points b and c, and find the minimum value X and maximum value Y of the gap size on the circumference.
and its position α are calculated using the following formula.

A=2・ha・sinθ/2+x …(1) B=2・hb・sinθ/2+x …(2) C=2・hc・sinθ/2+x …(3) ha=R+Rcosα=R(1+cosα) …(4 ) hb=R+Rcos(120−α)=R{1+cos(120−
α)} …(5) hc=R+Rcos(120+α)=R{1+cos(120+
α)} …(6) where cos (α±β) = cosα・cosβ+sinα・sinβ
From the formulas (5) and (6), hb=R{1+(cos120°・cosα+sin120°・sinα
)}=R−0.5R・cosα+√3/2R・sinα…(5′) hb=R{1+(cos120°・cosα−sin120°・sinα
)}=R−0.5R・cosα−√3/2R・sinα…(6′). Then, (1) (4), (2) (5′),
Substituting (6') into (3), A=2Rsinθ/2+2Rcosα・sinθ/2+x …(7) B=2Rsinθ/2−Rcosα・sinθ/2+√3Rs
inα・sinθ/2+x…(8) C=2Rsinθ/2−Rcosα・sinθ/2−√3Rs
inα・sinθ/2+x…(9) Solving this, B−C=2√3Rsinα・sinθ/2…(10) 2A−(B+C)=6Rcosα・sinθ/2sinθ/
2=2A-(B+C)/6Rcosα...(11) Substituting equation (11) into equation (10), B-C=2√3(2A-B-C)/6・tanα ∴α=tan ^-1 √3(B-C)/2A-B-C Also, from equation (10), θ=2sin ^-1 B-C/2√3sinα・R From equation (7), x=A-2Rsinθ/2-2Rcosα・sinθ/ 2 Y=4Rsinθ/2+x is obtained.

However, when B-C=0, α=0, that is, point A is the maximum gap, so θ=2×sin ^-1 A-B/3R Also, when 2A-B-C=0, hc=R+Rcosγ=R(1+cosγ) ha=R+Rcos(γ-120°)=R{1+cos(γ-
120°)} hb=R+Rcos(γ+120°)=R{1+cos(γ+
120°)} Substituting this into equations (1), (2), and (3), C=2Rsinθ/2+2Rcosγ・sinθ/2+x A=2Rsinθ/2−Rcosγ・sinθ/2+√3
Rsinγ・sinθ/2+x B=2Rsinθ/2−Rcosγ・sinθ/2−√3
Rsinγ・sinθ/2+x Solving this (because equations (7), (8), and (9) are simply replaced) γ=tan ^-1 √3・A−B/2C−A−B ∴ γ=α+120° α=tan ^-1 √3・A−B/2C−A−B−120° θ=2・sin ⁻¹ A−B/2√3sinγ・R ∴θ=2・sin ⁻¹ A− B/2√3sin(α+120°)・R is obtained.

In this way, the positions of the minimum value X and maximum value Y are determined on the circumference by correcting the angle of inclination of the measurement point with respect to the horizontal of the television camera 23 measured as described above with the spirit level 21.

By determining the minimum value By determining the positions of the value X and the maximum value Y on the circumference, the degree of bending, bending direction, etc. at the joint portion of the pipe 2 can be confirmed.

In the above embodiment, the measurement of the size of the gap at the joint of the pipe 2 has been described, but it goes without saying that the size of the flaw on the peripheral wall of the pipe 2 can also be measured as in the conventional method.

(7) Effects of the invention Since this invention is constructed as described above, it is possible to eliminate the troubles caused by conventional steel wires and motors, and to adjust the gap size, maximum value, minimum value, and position of pipe joints. Measurements etc. can be carried out smoothly and quickly. In addition, at least three measuring members are fixed in the circumferential direction of the support ring, each of which has a tendency to spread so that the measuring part comes into contact with the circumferential wall of the tube. In addition to being simple in structure and easy to manufacture, it also has excellent operability.

[Brief explanation of drawings]

FIG. 1 is a longitudinal sectional front view showing an embodiment of this invention.
Fig. 2 is a longitudinal cross-sectional side view taken along the - line in Fig. 1, Fig. 3 is a schematic diagram for explaining the operation, Fig. 4 is a schematic diagram showing the operating state of the conventional example, and Fig. 5 is a longitudinal cross-sectional view of the same as above. It is a front view. 1...Pipe investigation device, 2...Pipe, 4a, 4b...
...Wire, 6...Cable, 7...VTR device,
8...Monitor TV, 9...Controller, 10...
Front box, 11... Rear box, 16, 28, 29
... Motor, 19 ... Direct view window, 21 ... Level,
22...Plane mirror, 23...TV camera, 30...
...Side view window, 41...Support ring, 50a, 50
b, 50c...Measuring rule, 51a, 51b, 51c
...Measurement section.

Claims (1)

[Scope of utility model registration request] A plurality of sled members are attached to a support ring that is rotatably fitted around the outer periphery and have a tendency to spread out so as to come into contact with the circumferential wall of the tube. A window made of a transparent plate is provided on the front end face and side face of the box which is designed to rotate relative to the other hand, and a window made of a transparent plate is provided inside the box at a position opposite to the side window. A pipe inspection device is equipped with a movable mirror, a television camera behind the mirror, and a level made of a transparent plate between the front window and the television camera. A measuring member having a flat length measuring section facing the direction and having a tendency to spread so that the length measuring section comes into contact with the peripheral wall of the tube is attached to the support ring so that the measuring section is attached to the side surface of the box. On the opposite side of the mirror across the window, at least three television cameras are fixed at equal intervals in the circumferential direction so that they can be positioned facing the mirror in the circumferential direction. A pipe inspection device characterized in that it is configured to check the situation in front of the pipe and a level, and also to check the circumferential wall of the pipe and the measuring part of the measuring member when the mirror is in an inclined position.