JPH0657813A - Method of indicating telecamera moving speed - Google Patents

Abstract

PURPOSE:To grasp the traveling speed of a self-propelled vehicle visually and accurately by indicating the moving speed on the image of a telecamera mounted on the self-propelled vehicle making investigation of the condition such as pipe conduits in response to the moving distance. CONSTITUTION:A telecamera 1 is mounted on a self-propelled vehicle 2 used for investigation of cracks in pipe conduits 100, such as water supply and drainage pipes, gas pipes and sludge pipes, accumulation of sludge and the like. The moving speed of the telecamera 1 is indicated on the image displayed by the telecamera 1 in response to the distance of the movement made by the telecamera 1. This distance of movement is indicated after finding the traveling distance of the self-propelled vehicle 2 from the movement amount of a cable 3 connected to the self-propelled vehicle 2. The method of indicating the moving speed is such a one by digital indication per unit time, by indication according to a specified mark after dividing a stage into a plural number of stages, and by indication by means of bar cords and so on.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION The present invention relates to a water supply pipe, a sewer pipe,
The present invention relates to a method for displaying the moving speed of a television camera mounted on a self-propelled vehicle for investigation that investigates the presence or absence of cracks in pipelines such as gas pipes and sewage pipes that transport sewage, and the state of sludge accumulation.

[0002]

2. Description of the Related Art In recent years, the demand for housing has dramatically increased due to the phenomenon of centralization of large cities and the increase in population around large cities. This expansion of housing demand has contributed to the undeveloped development of residential land, and the phenomenon of narrowing of residential land has emerged, and the housing situation has become tight. In addition, the recent protection of the global environment is to collect and transport household wastewater such as kitchen drainage that has been directly flowing into the sewer pipe, from the method of separately purifying feces and urine by installing a septic tank in each home, An increasing number of local governments have adopted a centralized purification system that collectively purifies at one place. With this,
Considering the fact that sewerage is maintained, traffic on the road is severe, and sanitary points are taken into consideration, the method of burying underground sewer pipes, etc., that collects and transports wastewater discharged from each household is recommended. Has been taken.

The pipe material used in this pipe burying system includes ceramic pipes, centrifugal reinforced concrete pipes, reinforced plastic composite pipes (polycon FRP pipes) formed by inserting resin concrete between FRP layers, FRP pipes, steel pipes, There are asbestos cement pipes, etc., and there are other rigid vinyl chloride pipes, corrugated flexible polyethylene pipes (tufflets), etc.

The pipe thus selected is buried in the ground as a main sewer pipe. Household wastewater discharged from each household flows into this pipe. The domestic wastewater discharged from such households contains various kinds of filth, and these filth may settle on the bottom of the pipe, which may hinder the smooth flow of wastewater. Therefore, it is necessary to perform maintenance such as cleaning the inside of the pipe so that the flow of the sewer main is not obstructed by the sediment of such waste.

However, it is not always the case that the various wastes discharged from each home obstruct the flow of domestic wastewater discharged from each home. Over a long period of time, due to misalignment of pipes, construction mistakes during installation, etc., the packing of the joint part may protrude from the seal part and hang down inside the pipe, causing clogging. Sometimes. In addition, the concrete washings flowing out from the work site or the like may be accumulated and hardened on the bottom of the pipe for a long time, which may cause clogging. There is a protrusion inside the attachment pipe that connects to the sewer main for discharge from each household, which may cause clogging. Furthermore, the roots of the street flower beds etc. may enter the buried pipes through the gaps or cracks in the joints, which may cause clogging.

In order to eliminate the cause of clogging inside these pipes,
Conventionally, the water jet method has been used to inject high-pressure water into the inside of the pipe. However, with such a water jet method using high-pressure water, it is possible to squeeze out from the seal part of the packing of the joint part, wash concrete that has accumulated and accumulated at the bottom of the pipe, and drain sewerage to discharge from each household. There was a problem that it was not possible to remove such things as the protrusion of the mounting pipe connected to the main pipe and the intrusion of the roots of the flowerbeds of street trees.

Therefore, in recent years, a television camera has been mounted on a self-propelled vehicle so that various attachments can be attached to the tip of the self-propelled vehicle, depending on the cause of clogging inside the pipe.
A device for removing deposits in pipes has been developed, in which attachments such as a breaker for crushing, a digging lever, a packing cutting device, and a root cutting device are appropriately replaced.

[0008]

The pipelines of the water supply mains, the sewer mains, etc. buried in the ground are deteriorated by the use for many years, and the water supply mains, the sewer mains, etc. There may be cracks in the pipeline. Also, due to misalignment of the water supply mains, sewer mains, etc. over a long period of time, or due to construction errors when installing the water supply mains, sewer mains, etc. However, it may stick out from the seal part and hang down inside the pipeline, causing clogging.

The condition in such a conduit cannot be clarified without investigation. Therefore, a self-propelled vehicle is conventionally run in the pipeline, the condition inside the pipeline is investigated in advance by a TV camera mounted on the self-propelled vehicle, and the state inside the pipeline is recorded on a video tape. Then, the position of the deposit in the pipeline is confirmed based on the investigation result stored in the video tape, and the deposit is removed. As described above, since the deposits in the pipeline are removed based on the result of this survey, it is necessary to measure the traveling distance of the vehicle. For this reason, the distance traveled by the self-propelled vehicle is displayed in the image (video image) that the television camera mounted on the self-propelled vehicle traveling in this pipeline has moved out.

However, in the conventional self-propelled vehicle, in order to improve work efficiency, the self-propelled vehicle is run at a speed as high as possible. Since the speed of the self-propelled vehicle is so high, the image (video image) projected by the TV camera mounted on the self-propelled vehicle cannot be clearly projected, and the small cracks in the pipeline and the sewer book that occur over a long period of time There is a problem in that it may not be possible to find a deviation in the conduit such as a pipe.

The present invention is a television camera capable of displaying the traveling speed of a self-propelled vehicle in correspondence with the distance traveled by the self-propelled vehicle on the image (video image) captured by the television camera mounted on the self-propelled vehicle. It is intended to provide a moving speed display method for

[0012]

In order to achieve the above-mentioned object of the present invention, the method for displaying the moving speed of a television camera according to the present invention is such that the movement of the television camera is reflected in the image projected by the moving television camera as the vehicle travels. The speed is displayed according to the distance traveled by the TV camera.

The distance traveled by the television camera is
The traveling distance of the self-propelled vehicle is displayed by the amount of movement of the cable connected to the self-propelled vehicle.

The image projected by the television camera can be recorded on a video tape while the moving speed of the television camera is displayed.

Further, the moving speed of the TV camera is displayed on the image projected by the TV camera by a digital display of the moving speed per unit time.

Further, the moving speed of the TV camera is displayed on the image projected by the TV camera by dividing the moving speed into a plurality of steps and displaying a specific mark at each step. .

Furthermore, the moving speed of the TV camera can be displayed on the image projected by the TV camera by a bar code.

[0018]

According to the present invention, since the moving speed of the TV camera is displayed on the image projected by the TV camera which is moved by the traveling of the self-propelled vehicle in correspondence with the distance traveled by the TV camera, it is mounted on the self-propelled vehicle. The traveling speed of the self-propelled vehicle can be displayed on the image (video image) captured by the television camera that corresponds to the distance traveled by the self-propelled vehicle.

[0019]

EXAMPLES Examples of the present invention will be described below. FIG. 1 shows the presence / absence of cracks in pipelines in pipelines such as water supply pipes, sewer pipes, gas pipes, and sewage pipes that transport sewage to which the moving speed display method for a television camera according to the present invention is applied, and sludge. A television camera for investigating the accumulation state of No. 1 and a self-propelled vehicle for investigation on which the television camera is mounted are shown.

In the figure, reference numeral 1 denotes a television camera for photographing the presence or absence of cracks in the pipeline in the pipeline 100 such as a sewer pipe and a dirty water pipe for transporting dirty water and the like, and a sludge accumulation state. The television camera 1 has a special optical system for in-pipe inspection, so that direct view / side view of a wide field of view can be switched with one touch by remote control. Reference numeral 2 denotes a self-propelled vehicle, which is a caster that carries the television camera 1 and travels in the pipeline 100 to move the television camera 1. This self-propelled vehicle 2 is equipped with a television camera 1, and forward and backward movements within the service area are accurately remote-controlled by an operator from a work vehicle 300 on the ground. In addition, the speed of this self-propelled vehicle 2 can be adjusted by driving the motor, and the maximum speed is about 30.
It has a function of being capable of producing a speed of m / min and having a self-running distance of up to about 200 m.

Reference numeral 3 denotes a cable, which contains a power line for supplying electric power to the drive motor of the self-propelled vehicle 2 and a control line for controlling the self-propelled vehicle 2. The cable 3 can also include a signal line for controlling the television camera 1. The cable 3 has a distance measured by rotation of a roller 310 mounted on the work vehicle 300, and a speed per unit time can be detected. That is, a distance measuring device and a speed detector are attached to the roller 310. The distance measuring device and the speed detector can be easily manufactured by using, for example, a rotary encoder.

Reference numeral 200 denotes a manhole, which is a vertical hole formed in the conduit 100 and connected to the ground. This manhole 2
00 from the self-propelled vehicle 2 equipped with the TV camera 1 to the conduit 10
0 and placed on the conduit 100. As the material used for the pipe 100, a ceramic pipe, a centrifugal reinforced concrete pipe, a reinforced plastic composite pipe (polycon FRP pipe) formed by inserting resin concrete between FRP layers, and F
There are RP pipes, steel pipes, asbestos cement pipes, and the like.

Reference numeral 400 is a solid material, and the upper portion of the pipeline 100 is cracked and destroyed, and the earth and sand have collapsed and fallen into the pipeline 100. In FIG. 1, the solid 400
The pipeline 100 is blocked by the above, the sewage 500 does not flow, and the manhole 250 adjacent to the sewage 500 is rising.

The state in which the pipeline 100 is blocked by the solid 400 is detected while the self-propelled vehicle 2 equipped with the television camera 1 is run through the pipeline 100 and the interior of the pipeline 100 is observed by the television camera 1. To do. The traveling distance and traveling speed of the self-propelled vehicle 2 are controlled by a control circuit as shown in FIG. Reference numeral 10 denotes a CPU, which controls the traveling of the self-propelled vehicle 2 and also controls the television camera 1 mounted on the self-propelled vehicle 2, and is constituted by, for example, a microcomputer. 11
Is a distance / speed sensor, and the roller 310 mounted on the work vehicle 300 is rotated by the cable 3, and the distance is measured by the rotation of the roller 310.
From the rotational speed of 10, the speed of the vehicle 2 per unit time is detected.

Reference numeral 12 denotes a display, which displays an image in the conduit 100 captured by the television camera 1 and
The traveling distance of the vehicle 2 detected by the distance / speed sensor 11 and the traveling speed of the vehicle 2 are displayed. 1
Reference numeral 3 denotes a recording device, which records the image projected on the display 12, and is composed of, for example, a video deck. The recording device 13 is capable of repeatedly reproducing the image displayed on the display 12.

A distance setter 14 is used to determine the reference traveling position of the self-propelled vehicle 2 and to set the traveling distance of the self-propelled vehicle 2 from the reference position. The setting for determining the reference traveling position of the self-propelled vehicle 2 is set with the center position of the manhole 200 as a reference point, that is, "0" is set, and the packing of the joint portion of the pipeline 100 is sealed from this reference point. Count the distance to the position where it sticks out from the part and hangs down inside the pipe. Further, the setting for determining the reference traveling position of the self-propelled vehicle 2 is performed by, for example, the pipeline 10
It is also used when you want to know the distance from the position where the pipe 100 in 0 is cracked to the position where the packing of the joint part of the pipe 100 protrudes from the seal part and hangs inside the pipe, causing blockage. You can do it. In other words, after the position where the pipe 100 is cracked in the pipe 100 is set to "0", the packing of the joint portion of the pipe 100 protrudes from the seal portion and hangs down inside the pipe to cause a clogging. Count the distance to. In addition, the traveling distance of the vehicle 2 from the reference position is set, for example, to the first drooping position where the packing of the joint portion in the pipeline 100 protrudes from the seal portion and hangs down inside the pipeline 100. This is used for setup in which the deposit removing device is moved, the deposit removing device is further moved from the first hanging position to the depth of Tm, and the deposit removing work is performed at the second hanging position.

Reference numeral 15 is a maximum speed setting device. The maximum speed setting device 15 is in a state in which the image (video image) projected by the TV camera 1 mounted on the self-propelled vehicle 2 by running the self-propelled vehicle 2 at a speed as high as possible cannot be clearly projected. Is to avoid. That is, the maximum speed setting device 15 is used by the self-propelled vehicle 2 to propel itself.
The operator can set the speed within this range (for example, 15 m / min to 8 m / min), where the maximum speed is the speed at which the image (video image) projected by the television camera 1 mounted on the vehicle is clearly projected.

3 to 5 show how the traveling distance of the self-propelled vehicle 2 detected by the distance / speed sensor 11 and the traveling speed of the self-propelled vehicle 2 are displayed. FIG. 3 shows the display 1.
In addition to the image shown in FIG. 2, the traveling distance display unit 20 of the self-propelled vehicle 2 and the traveling speed display unit 21 of the self-propelled vehicle 2 are displayed on the screen. The mileage display unit 20 of the self-propelled vehicle 2 displays the mileage of the self-propelled vehicle 2 as a digital value that can be quickly read, similarly to the conventional mileage display. Further, the traveling speed display unit 21 of the self-propelled vehicle 2 digitally processes the traveling speed of the self-propelled vehicle 2 and displays it as a digital value that can be read quickly.

FIG. 4 shows, in addition to the image displayed on the display 12, a traveling distance display section 20 of the self-propelled vehicle 2 and a traveling speed display section 22 of the self-propelled vehicle 2.
The mileage display unit 20 of the self-propelled vehicle 2 displays the mileage of the self-propelled vehicle 2 as a digital value that can be quickly read, similarly to the conventional mileage display. In addition, the traveling speed display unit 22 of the self-propelled vehicle 2 divides the traveling speed of the self-propelled vehicle 2 into a plurality of stages (for example, three stages), and presently displays symbols such as Δ, ○, and ◎. It is intended to inform the traveling speed of the self-propelled vehicle 2.

FIG. 5 shows, in addition to the image displayed on the display 12, the traveling distance display section 20 of the self-propelled vehicle 2 and the traveling speed display section 23 of the self-propelled vehicle 2 on the screen.
The mileage display unit 20 of the self-propelled vehicle 2 displays the mileage of the self-propelled vehicle 2 as a digital value that can be quickly read, similarly to the conventional mileage display. Further, the traveling speed display unit 23 of the self-propelled vehicle 2 is intended to inform the traveling speed of the self-propelled vehicle 2 by a bar code to indicate the present traveling speed of the self-propelled vehicle 2.

[0031]

Since the present invention is constructed as described above, it has the following effects.

Since the moving speed of the TV camera is displayed corresponding to the distance traveled by the TV camera in the image projected by the TV camera moving as the self-propelled vehicle is running, the TV camera mounted on the self-propelled vehicle In the captured image (video image), it is possible to visually display the traveling speed of the self-propelled vehicle in a visually readable manner corresponding to the distance traveled by the self-propelled vehicle.

Further, since the distance traveled by the television camera is displayed by the travel distance of the self-propelled vehicle according to the amount of movement of the cable connected to the self-propelled vehicle, the wheels of the self-propelled vehicle are set within the pipeline. It is possible to accurately display the traveling distance of the self-propelled vehicle without affecting the traveling distance of the self-propelled vehicle even when traveling around the sky.

Since the image projected by the TV camera can be recorded on the video tape while the moving speed of the TV camera is being displayed, the speed at which the self-propelled vehicle was run when the video was reproduced later. Can be verified.

Furthermore, since the moving speed of the TV camera is displayed on the image projected by the TV camera, the moving speed is digitally displayed per unit time.
The traveling speed of the self-propelled vehicle can be accurately read by visual inspection.

Furthermore, since the moving speed of the TV camera is displayed on the image projected by the TV camera by dividing the moving speed into a plurality of stages and displaying a specific mark at each stage, It is possible to immediately read by visual inspection whether or not the traveling speed of the self-propelled vehicle is traveling at a speed within a specified range.

Furthermore, since the moving speed of the TV camera is displayed on the image projected by the TV camera so that the moving speed can be displayed by a bar code, the running speed of the self-propelled vehicle can be visually checked at a predetermined speed. It is possible to immediately read whether or not is exceeded.

[Brief description of drawings]

FIG. 1 is an overall configuration perspective view showing a state in which a self-propelled vehicle on which a TV camera moving speed display method according to the present invention is applied travels in a pipeline.

FIG. 2 is a block diagram of the display shown in FIG. 1 and a method for displaying the moving speed of a vehicle.

FIG. 3 is a diagram showing a display method of a display based on a moving speed display method of a television camera according to the present invention.

FIG. 4 is a diagram showing another display method of the display based on the moving speed display method of the television camera according to the present invention.

FIG. 5 is a diagram showing another display method of the display based on the moving speed display method of the television camera according to the present invention.

[Explanation of symbols]

1 ……………………………………………………………………
… TV camera 2 ……………………………………………………………………
… Self-driving car 3 ………………………………………………………………
… Cable 10 ……………………………………………………………………
… CPU 11 ……………………………………………………………………
… Distance / speed sensor 12 ……………………………………………………………………
… Display 13 ……………………………………………………………………
… Recording device 14 ………………………………………………………………
… Distance setter 15 ………………………………………………………………
… Maximum speed setting device 100 ………………………………………………………………
… Pipe 300 ………………………………………………………………
… Work vehicle 310 ………………………………………………………………
… Roller 400 ……………………………………………………………………
… Solids

Claims (6)

[Claims] 1. A moving speed of a TV camera, wherein the moving speed of the TV camera is displayed in an image projected by the moving TV camera according to the distance traveled by the TV camera. Display method. 2. A moving speed display method for a television camera, wherein the distance traveled by the television camera is such that the traveling distance of the vehicle is displayed by the amount of movement of a cable connected to the vehicle. 3. A moving speed display method for a TV camera, wherein the image projected by the TV camera can be recorded on a video tape while the moving speed of the TV camera is being displayed. 4. A moving speed display method for a TV camera, wherein the moving speed of the TV camera is displayed on the image projected by the TV camera by digital display of the moving speed per unit time. 5. The display of the moving speed of the TV camera on the image projected by the TV camera is performed by dividing the moving speed into a plurality of stages and displaying a specific mark at each stage. Moving speed display method. 6. A moving speed display method for a TV camera, wherein the moving speed of the TV camera is displayed on a video image projected by the TV camera by displaying the moving speed as a bar code.