JPH09254782A - Channel investigation robot - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a channel investigation robot which can investigate a channel of not only medium bore but large bore even when it is a relatively small one capable of entering through a manhole. SOLUTION: An investigation device 32 is loaded on a car body 13, running means 14 are fitted to a plurality of leg parts 31 capable of being extended and contracted, an elevatable device 33 is provided between the car body 13 and a device base 49, the two leg parts 31 are provided on the lower end of the body 13 so as to open right and left by about 120 degrees, and when an extending/contracting device is driven so as to extend the leg parts 31, the width between both running means 14 is spread, and the contact positions with the inner wall of a channel 12 are raised up to the positions not contacted with sludge or water. Next they are moved to an investigation place, and the elevatable device 33 is extended and various sensors are raised to the nearly contact positions with the pipe wall of the channel 12. Simultaneously guide wheels 30 are elevated so as to contact with the pipe wall. By a remote operating device with a monitor on the ground part, advance and retreat of the car body 13, and operation of the various sensors are performed, so as to take investigation data.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a sewer survey robot for investigating the inside of a sewer pipe for flowing sewage, rainwater and the like.

[0002]

2. Description of the Related Art Sewer pipes include sewage pipes for flowing sewage from ordinary households and factories, and rainwater pipes for storm water such as roads. Sediment, dirt, and various other substances clog the inside of this sewer to prevent it from flowing, cracks in the sewer, deterioration and water leakage, and toxic gas generation in the sewer. I have something to do. Therefore, the water level in the pipe, the thickness of sediment, the condition of cracks / damages / joints in the pipe, the slope / meander of the pipe, the deterioration of the pipe material, the concentration of sulfur gas in the pipe, etc. It is investigated in various ways.

In order to investigate the inside of such a pipe 12, as shown in the central portion of FIG. 8, the pipe 12 is a small-diameter pipe 12a having a diameter of about 250 mm, and 800m as shown on the right side of FIG. 7 and FIG.
In the case of a medium-diameter pipe 12b having a diameter of about m, the manhole 10 is equipped with a small survey robot 23 adapted to the diameter of the pipe 12.
While being self-propelled by the traveling wheels 14 of the vehicle body 13 controlled by the control unit 22, the TV camera 15, the ultrasonic velocity measuring device 16, the neutralization layer depth measuring device 17, the pipe inner diameter The necessary data was detected by the measuring device 18, the repulsion measuring device 19, the distance measuring device 20, the inclination measuring device 21 and the like, and transmitted to the ground.

However, since the manhole 10 has a normal diameter of 600 mm, and the large size is limited to 900 mm, the pipe 12 has a diameter of 1 m to 2 m or more as shown on the left side of FIG. In the case of such a large-diameter conduit 12c, a large-scale investigation robot cannot be inserted from the manhole 10, so that a person directly enters the conduit 12 and conducts an investigation.

[0005]

When a person enters the pipe 12 and directly investigates, if a toxic gas is generated in the pipe 12, the water level rises suddenly, or the pipe wall collapses. It is extremely dangerous and should be avoided if possible. In addition, the small-sized survey robot 23 is installed so as to fill the pipes of the small-diameter pipes 12a and the medium-diameter pipes 12b in order to inspect the pipe wall. Therefore, sediment and sludge are accumulated in the pipes. If so, the vehicle cannot be self-propelled by the traveling wheels 14. In order to solve this, not only is it necessary to perform the cleaning such as removing sediment such as earth and sand in advance, and then to drive the small survey robot 23, but it is necessary to investigate the thickness of the deposit. There was a problem that I could not do it.

It is an object of the present invention to obtain a comparatively small pipe inspection robot that can enter a manhole so that it can inspect not only medium-diameter pipes but also large-diameter pipes. .

[0007]

According to the present invention, a survey device 32 is mounted on a device base 49 of a vehicle body 13, and a plurality of traveling means 14 provided on the vehicle body 13 are used to survey the inside of a pipe 12 while traveling. In the pipe survey robot, the traveling means 14
Is a plurality of extendable and retractable legs 31 provided on the vehicle body 13.
Attached to the end of the, between the vehicle body 13 and the equipment stand 49,
An elevating device 33 for elevating an equipment stand 49 on which the surveying equipment 32 is mounted is provided, and two leg portions 31 are provided at the lower end of the vehicle body 13, and these two leg portions 31 are 90 to 180 left and right with respect to each other.
Open at an angle of 2 and connect the two leg pieces 35 to the connecting pin 3.
6 is a duct survey robot that is formed into a pantograph shape that expands and contracts while cross-connecting in an X shape.

[0008]

The leg 31 and the lifting device 33 are folded and inserted from the manhole 10 into the conduit 12. Or lifting device 3
3 and the equipment stand 49 are mounted after inserting the vehicle body 13 with the traveling means 14 into the pipe 12 from the manhole 10.
Next, when the extension / contraction drive device 39 is driven to extend the leg portion 31, the width of the traveling means 14 on both sides is widened.
2 The position in contact with the inner wall gradually moves upward. The leg portion 31 is extended so that the contacting position of the traveling means 14 does not contact the sludge 25 and the water 24, for example, the position where the height is about 30% of the pipe diameter from the bottom. When the traveling position of the traveling means 14 is determined, the self-propelled device 34 moves to the survey location. When the inspection point is reached, the self-propelled device 34 is stopped and the motor 46
Drive the elevator to extend the elevating device 33 so that various sensors are
2 Raise to a position where it is almost in contact with the pipe wall. At the same time, the guide wheel 30 is raised and brought into contact with the pipe wall. On the ground,
A remote control device with a monitor is installed to move the vehicle body 13 forward,
Reverse, operate CCD camera 53 and other sensors,
Collect survey data.

[0009]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS A first embodiment of the present invention will be described with reference to FIGS. FIG. 1 and FIG. 2 show a state in which the duct survey robot is extended according to the size of the duct 12, and FIG.
4 and FIG. 4 show a state in which the pipe inspection robot is reduced for insertion from the manhole 10. In these drawings, a pipe survey robot according to the present invention includes a vehicle body 13, traveling wheels 14, legs 31, a survey instrument 32, and a lifting device 3.
3, a self-propelled device 34, a guide wheel 30, and the like.

The vehicle body 13 has a width of 2 so that the pipe inspection robot can be inserted into the manhole 10 in a contracted state.
It is a rectangular parallelepiped or a cylindrical body having a length of about 5 to 40 cm and a length of about 60 to 80 cm. 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 on the exposed parts of various sensors, the communication cable connector, and the drive rotating part, which will be described later.

On the lower surface of the vehicle body 13, there is provided a traveling device including traveling wheels 14 as traveling means, legs 31, a self-propelled device 34 and the like. Since the traveling wheels 14 may be submerged when the amount of water 24 in the pipe is large,
It is desirable to be composed of a material having water resistance. Body 1
3 may be a wheel system, a crawler (endless track zone) system, a ship system, a rope tow system, etc., but due to the efficiency of movement, the moving mechanism, and the situation in which water 24 flows through the pipe 12, The system that travels in the upper space above the water surface is adopted.
The method of attaching 4 was adopted. However, the traveling means
Not limited to wheels, crawlers (track tracks)
Of course, other traveling means such as

Two legs 31 are provided on the lower surface of the vehicle body 13 at an angle of about 60 degrees with respect to the vertical line, and run while being stretched on the inner surface of the pipe wall of the pipe 12. This leg portion 31 has two leg pieces 35 connected by a connecting pin 36 at the center and both ends so that the leg portion 31 can be folded and extended when being carried in and out of the manhole 10.
It is connected like a letter in two stages so that it can expand and contract, and is configured like a pantograph. The base end of one leg 35 serves as a fixed end 37 rotatably connected to the vehicle body 13, and
The base end portion of the other leg piece 35 is connected to a piston rod 40 of a telescopic drive device 39 attached to the vehicle body 13 via a guide ring 41, and slides along the guide rod 42 so that a sliding end 38 is formed. Has become. The leg piece 35
Wheels 14 for traveling are respectively attached to the tip ends of the motors, and are connected to a self-propelled device 34 including a motor. The self-propelled device 34 has at least 1 on each of the left and right legs 31.
Provided one by one. The traveling stability control is performed using a gyro. The drive source is equipped with a storage battery, and the drive device is
A 24V DC motor is used. Alternatively, an AC device may be mounted as a drive device, and the drive source may supply AC power from the ground by a power cord.

The elevating device 33 is constructed like a pantograph in which two arms 44 are connected by a connecting pin 45 so as to extend and contract in an X shape at the center. The upper end of one arm 44 and the lower end of the other arm 44 serve as fixed ends 37 that are rotatably connected to the equipment base 49 and the vehicle body 13, respectively, and the lower end of one arm 44 has a screw shaft. It is connected to a nut 51 screwed to 48, and the upper end of the other arm 44 is connected to a ring 52 slidably fitted on a guide shaft 50. The screw shaft 48 is used for the vehicle body 1.
The motor 46 attached to the motor 3 is connected via a speed reducer 47. The elevating device 33 in this example shows a case of being configured in an X shape, but is not limited to this, and may be a case of connecting two or more stages of the X shape.

The survey equipment 32 includes an image capturing device 55 consisting of a CCD camera 53 and an illumination lamp 54 mounted on a device stand 49, an ultrasonic velocity measuring device 16, a neutralized layer depth measuring device 17, and a gas detecting device. 56, pipe material strength inspection device 57,
It is configured by a deposit detection device 58 including a probe 60 and a cylinder 61 that are provided so as to hang down from the lower surface of the vehicle body 13, an inclination measuring device 21 mounted on the vehicle body 13, and the like.

On the equipment base 49, a guide wheel 30 is connected to a cylinder 64 and a piston rod 63, and a limit switch 62 with a damper is attached. Further, the vehicle body 13 is equipped with a control unit 22 such as a control circuit and a power supply.

The respective devices mounted on the pipe draining robot according to the present invention do not require any troublesome setting, and can be remotely controlled from the road with a minimum road occupying area, and can efficiently remove the sediment in a bad environment. It is required to have a mechanism that does not cause any failures. In particular, the survey device 32 needs to sufficiently satisfy the performance, weight, size, price, durability in the duct 12, and the like. For that purpose, it is desirable that each of the survey devices 32 be as shown below.

Image capturing device 55: The image capturing data is necessary for confirming the running condition in the pipe 12 and for investigating the pipe internal conditions such as cracks / damages / joint condition / penetration of the pipe 12 from the ground. . In order to achieve these objects, a CCD camera, an ultrasonic camera, an infrared camera, a laser device, an image pickup tube, etc. are conceivable.
The CCD camera 53 is optimal because of its advantages such as light weight, high reliability, no image sticking, little afterimage, relatively inexpensive, improved performance, and measurement by a scale linked to the lens. This CCD camera 53 is
It is preferable to mount two types, one for front monitoring capable of monitoring up to 3 meters and one for wall monitoring capable of monitoring up to 3 meters of a wall surface, and having a zoom function of about 5 times and a scale setting function.

Further, the illuminating lamp 54 is necessary to secure the illuminance enough to illuminate the inside of the tube and capture an image, and a halogen bulb, an argon bulb, a krypton bulb, a reflection type bulb, an LED or the like is considered. Halogen bulbs are most suitable because of their advantages such as high efficiency, long life, abundant usage record, high performance, and many general-purpose products.

Gas detector 56: Uses a gas sensor to detect poisonous gas (at least four kinds of hydrogen sulfide, combustible gas, carbon monoxide, and oxygen concentration) in the pipe, and measures the presence or absence of gas and the gas concentration. I do. The gas detection level is the limit of the permissible concentration, that is, the limit of the concentration that does not cause any health problems even if daily work is continued for about 8 hours in a workplace where toxic gases are present in the air. The heat conduction type gas sensor and the diaphragm galvanic cell type gas sensor are preferable because they can detect a gas having a value equal to or higher than the value recommended by the Japan Society for Occupational Health. The thermal conductivity type gas sensor has a wide measurable concentration range, is stable over time, and can be measured even in the absence of oxygen.For the diaphragm galvanic cell type gas sensor, measure the oxygen concentration. It is due to being effective. In addition to these two methods, there are a contact combustion method, a semiconductor method, a constant potential method, and the like.

Pipe material strength inspection device 57: Since it is mounted on a robot, the device must be small and lightweight. The contents of the investigation by this device 57 are for the purpose of measuring the material deterioration and the neutralization depth of the concrete pipe 12. 1 on the wall surface
A so-called ultrasonic non-destructive inspection device that measures the propagation velocity of a pulse between two points by closely contacting a pair of ultrasonic sensors, makes a hole in the pipe wall with a drill, etc., and sprays a phenolphthalein solution to check for discoloration A so-called neutralization test device was selected to judge the neutralization depth. In addition, there is also a so-called Schmidt hammer type in which the inner surface of the pipe is hit with a hammer to obtain the rebound hardness, and a destructive inspection type in which a concrete wall is extracted in a column shape and the compressive strength is inspected on the ground.

Deposit detection device 58: For investigating the cleaning place of the sewer pipe 12 and for checking the cleaning time, the amount of sludge deposited on the pipe bottom is investigated. In the present invention, the device using the probe 60 was selected because the surveyed data is to be transmitted to the ground for continuous observation. This is because the measurement principle is mechanical, the reliability of the measured value is high, and the measurement is possible even in the anhydrous state. In addition, an ultrasonic type, a flow velocity detecting type, a photoelectric type and the like can be considered. Generally, cleaning is required when the earth and sand deposit about 10% of the pipe diameter. Therefore, the upper limit of measurement by the probe 60 is 20% of the pipe diameter, and the structure is such that measurement can be performed at intervals of 5 mm.

Inclination measuring device 21: The inclination and differential settlement of the sewer pipe 12 affect the flow-down state of the water 24 in the pipe and the accumulation of sludge 25. Therefore, since a device for investigating the inclination and differential settlement in the pipe is mounted, the gyro-type inclination detection device is selected in the present invention. This is because there is no need for an external measurement standard, high-accuracy measurement is possible, and it is possible to measure uneven settlement of pipes and meandering. In addition, a water pressure gauge type, a tilt sensor type, and the like can be considered.

With the above-mentioned structure, the leg portion 31 and the elevating device 33 are folded as shown in FIGS. 3 and 4 and inserted from the manhole 10 into the pipe 12. If manhole 10
When the diameter is small, the lifting device 33 and the equipment stand 49
Is mounted after inserting the vehicle body 13 with the traveling means 14 into the pipe 12 from the manhole 10. Next, the extension / contraction drive device 39 is driven to extend the leg portion 31. By extending the leg portion 31, the positions of the traveling wheels 14 on both sides in contact with the inner wall of the conduit 12 are gradually moved upward. The leg portion 31 is extended so that the contact position of the traveling wheel 14 does not contact the sludge 25 or the water 24, for example, the position of about 30% of the pipe diameter from the bottom. When the position of the traveling wheel 14 is determined, the self-propelled device 34 moves to the survey location. When the inspection point is reached, the self-propelled device 34 is stopped, the motor 46 is driven to extend the elevating device 33, and the various sensors are elevated to a position where they are substantially in contact with the pipe wall of the duct 12. At the same time, the guide wheel 30 is raised and brought into contact with 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, and the CCD camera 53 and other sensors are operated.

The data detected by the above-mentioned methods by the various sensors is sent to the ground by the transmission device, and the data is analyzed and the control of the conduit survey robot is performed. This transmission device may be a copper cable, but is preferably an optical communication cable that is not easily affected by noise and enables highly efficient transmission. Further, the transmission method is not limited to the wired transmission method, but may be a wireless transmission method.

FIG. 5 shows a second embodiment of the present invention. In the first embodiment, the traveling means 14 is attached to the lower side of the vehicle body 13 via the two telescopic legs 31.
The guide wheels 30 are provided on the equipment base 49 on the upper side of the vehicle body 13. On the other hand, in the second embodiment shown in FIG.
The guide wheel 30 is attached to the lower side of the device via two telescopic legs 31, and the traveling means 14 for driving while being in contact with the inner wall of the pipe 12 is provided on the upper side (longitudinal direction) of the equipment base 49. It is installed.

FIG. 6 shows a third embodiment of the present invention. In this example, the guide wheel 30 is attached to the lower side of the vehicle body 13 via two extendable leg portions 31, and the vehicle body is Thirteen
A traveling means 1 for driving while being in contact with the inner wall of the pipe 12 via two telescopic legs 31 on both sides (lateral direction) of the
4 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 and the sludge 25. it can. In particular, it is suitable for the case where the inner wall of the pipe 12 is in a good condition without irregularities or deposits.

In the above-mentioned embodiments, the tubular conduit 1 has a cylindrical shape.
Although the case of No. 2 has been described, the present invention is not limited to this, and as shown in FIG. 7, a rectangular tube-shaped conduit 12 or a polygonal or elliptical shape can be used. can do. In this case, the traveling means 14 with the self-propelled device 34 at the tip of the leg piece 35 is attached by bending the leg piece 35 from the middle to a vertical or other angle so that the traveling means 14 with the self-propelled device 34 contacts the floor surface of the pipe 12 at a right angle, The sloping leg 35 is made flexible. Of course, the bent leg piece 35 may be configured to be expandable and contractible. 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 contaminated with water or sludge.

In the above embodiment, the traveling means 14 with the self-propelled device 34 uses a circular wheel system such as a wheel with tires, but it may be a crawler system having 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 pipe 12, even if there is a flow of water 24, sediment, sludge 25, etc. in the pipe 12, these resistances It can run without being hit and deposits 25
It is possible to investigate without cleaning such as removing water and water 24. 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 there is a large amount of water 24 in the pipe 12,
The traveling means 14 may travel while submerged in water, but there is no problem if the traveling means 14 is made of a water-resistant material or the traveling means 14 is attached in an upward direction or a lateral direction.

(2) Since the vehicle body 13 can be formed into a cylindrical shape or a dolly shape, it can be carried in by effectively utilizing the inner shape of the manhole 10 which is a carry-in port. Also,
Compared with the rectangular shape, the step area becomes larger and the mounting capacity becomes larger.

(3) The traveling means 14 is not limited to the wheel system, but the system using wheels has a simpler mechanism than the crawler system and can be reduced in weight. Therefore, the driving power is small, and the action distance of the pipe survey robot is extended.

[Brief description of drawings]

FIG. 1 is a front view showing a first embodiment of a pipe inspection robot according to the present invention in a state in which a leg portion 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 a leg portion 31 and an elevating device 33 are contracted in the conduit inspection robot according to the present invention.

FIG. 4 is a side view of FIG. 3;

FIG. 5 is a front view showing a second embodiment of the pipe inspection robot according to the present invention in a state in which a leg portion 31 and a lifting device 33 are extended.

FIG. 6 is a front view showing a third embodiment of the pipe inspection robot according to the present invention in a state in which a leg portion 31 and a lifting device 33 are extended.

FIG. 7 is a front view showing a fourth embodiment of the duct survey robot according to the present invention in a state in which a leg portion 31 and an elevating device 33 are extended.

FIG. 8 is an explanatory diagram showing a survey state by a conventional small survey robot 23.

FIG. 9 800 mm by a conventional small survey robot 23
It is explanatory drawing which shows the investigation state in the inside diameter pipe 12b of a grade.

[Explanation of symbols]

10 ... Manhole, 11 ... Sewage basin, 12 ... Pipe, 13 ...
Vehicle body, 14 ... Traveling means, 15 ... TV camera, 16 ... Ultrasonic velocity measuring instrument, 17 ... Neutralization layer depth measuring instrument, 18 ... Pipe inner diameter measuring instrument, 19 ... Repulsion degree measuring instrument, 20 ... Distance measuring instrument Two
DESCRIPTION OF SYMBOLS 1 ... Inclination measuring device, 22 ... Control part, 23 ... Small investigation robot, 24 ... Water, 25 ... Sludge, 30 ... Guide wheel, 31 ... Leg part, 32 ... Investigation device, 33 ... Lifting device, 34 ... Self-propelled device , 35 ... Leg pieces, 36 ... Connecting pin, 37 ... Fixed end, 38
... Sliding end, 39 ... Telescopic drive device, 40 ... Piston rod, 41 ... Guide ring, 42 ... Guide rod, 44 ...
Arm, 45 ... Connection pin, 46 ... Motor, 47 ... Reducer, 48 ... Screw shaft, 49 ... Equipment stand, 50 ... Guide shaft, 5
1 ... Nut, 52 ... Ring, 53 ... CCD camera, 54
... Illumination lamp, 55 ... Image capturing device, 56 ... Gas detection device, 57 ... Pipe material strength inspection device, 58 ... Deposit detection device, 60 ... Probe, 61 ... Cylinder, 62 ... Damper limit switch, 63 ... Piston rod, 64 ... Cylinder.

Continuation of front page (51) Int.Cl. ⁶ Identification number Office reference number FI Technical display location E03F 7/00 B62D 57/02 J (71) Applicant 591043581 2-8-1, Nishishinjuku, Shinjuku-ku, Tokyo, Tokyo No. (71) Applicant 592239394 1 1 Miyamoto-cho, Kawasaki-ku, Kawasaki-shi, Kanagawa Prefecture, Kawasaki City (71) Applicant 596053046 Kazumata Katsumata 2785-31, Shimotsuruma, Yamato City, Kanagawa Prefecture 596053057 Myoko Ohara Isogo-ku, Yokohama City, Kanagawa Prefecture 8-2-14 Okamura (71) Applicant 591225110 3-1-1 Sannomaru, Naka-ku, Nagoya-shi, Aichi prefecture, Aichi prefecture (71) Applicant 596053068 12, Higashikujo-Higashisannocho, Higashikujo, Minami-ku, Kyoto city, Kyoto prefecture, Kyoto prefecture (71 ) Applicant 591030499 1-3-20 Nakanoshima, Kita-ku, Osaka-shi, Osaka-shi, Osaka (71) Applicant 594087274 Kobe-shi, Hyogo Prefecture 6-5-1, Kano-cho, Chuo-ku, Kobe-shi (71) Applicant 596053079 Hiroshima-shi, Hiroshima-ken 1-6-34, Kokutaiji-cho, Naka-ku, Hiroshima-shi (71) Applicant 593175419 Kitakyushu City, Kitakyushu-shi, Fukuoka Prefecture 1 Kurauchi-ku, Kokurakita-ku No. 1 (71) Applicant 594206163 Fukuoka City 1-8-1 Tenjin, Chuo-ku, Fukuoka, Fukuoka Prefecture (71) Applicant 000230571 Japan Sewer Works 6-20 Akasaka, Minato-ku, Tokyo (71) Applicant 593153532 New Sewerage Technology Promotion Foundation 1-22-8, Nishiikebukuro, Toshima-ku, Tokyo (71) Applicant 000230973 Nippon Koei Co., Ltd. 5--4, Kojimachi, Chiyoda-ku, Tokyo (72) Inventor Shigeo Shibuya Sorachi-gun, Hokkaido 254, Tosei, Kurizawa-machi (72) Inventor Takashi Minosaki 2-20-3 Tomizawa, Taishiro-ku, Sendai City, Miyagi Prefecture (72) Kazuo Ishihara 2437, Kanayago, Oamishirasato-cho, Sanmu-gun, Chiba Prefecture (72) Inventor Teruo Okuda 1-353, Higashishinmachi, Itabashi-ku, Tokyo (72) Inventor Shugo Taiji 4-4 Kinugasakaemachi, Yokosuka City, Kanagawa Prefecture (72) Inventor, Kazunobu Katsumata 2785-31, Shimotsuruma, Yamato City, Kanagawa Prefecture ( 72) Inventor Akira Ohara 8-2-14 Okamura, Isogo Ward, Yokohama City, Kanagawa Prefecture (72) Inventor Hiroaki Miwa 8-11, Shirayama, Moriyama Ward, Nagoya City, Aichi Prefecture Ground (72) Inventor Kiyohiko Hayashi 2-17-12, Akutagawa-cho, Takatsuki-shi, Osaka Prefecture (72) Inventor Takehiro Yashita 1-7-16 -402 (72) Inventor Hata, Nagayoshi Nagahara Hirano-ku, Osaka-shi, Osaka Prefecture Keisuke 52-1522-1,213 Naka, Koyo-cho, Higashinada-ku, Kobe-shi, Hyogo Prefecture (72) Inventor Hitoshi Kaeda 8-27, Enamihoncho, Naka-ku, Hiroshima-shi, Hiroshima Prefecture (72) Inventor ▲ Matsu ▼ Masaki Takeda 2-6-5 Kiyota, Yawatahigashi-ku, Kitakyushu, Fukuoka (72) Inventor Makoto Takagi 4176-3 Misawa, Ogori-shi, Fukuoka (72) Inventor Daijiro Fukuchi 1-5-5, Kishimachi, Urawa-shi, Saitama (72) Inventor Minoru Sasaki 2-5-3, Kotoni, Nishi-ku, Sapporo-shi, Hokkaido (72) Inventor Shigeru Suzuki 3-10-11 Masago, Masahama, Mihama-ku, Chiba Prefecture (72) Inventor Kotatsu Kashimura Hatoyama Town, Hiki-gun, Saitama Prefecture Kega 3-chome 880-275 (72) Inventor Taiji Akasaka 70-203 Miyahana, Higashimatsuyama City, Saitama Prefecture

Claims (7)

[Claims] 1. A pipe scavenging robot for surveying the inside of a culvert 12 while traveling by means of a traveling means 14 provided on the vehicle body 13, wherein a survey equipment 32 is mounted on an equipment stand 49 provided on the vehicle body 13. At least one of 14 and the equipment stand 49 is provided so as to be extendable / contractible with respect to the vehicle body 13, and a pipe survey robot. 2. A pipe survey robot in which a survey device 32 is mounted on a device base 49 provided on a vehicle body 13 and the inside of the duct 12 is surveyed while traveling by a traveling means 14 provided on the vehicle body 13. 14 is attached to the ends of a plurality of telescopic legs 31 provided on the vehicle body 13,
A drainage channel investigation robot, characterized in that an elevating device 33 for elevating and lowering the equipment table 49 carrying the investigation equipment 32 is provided between the equipment 3 and the equipment table 49. 3. A pipe ditch survey in which a survey device 32 is mounted on a device base 49 provided on the upper side of the vehicle body 13 and the inside of the ditch 12 is surveyed while traveling by a traveling means 14 provided on the lower side of the vehicle body 13. In the robot, two telescopic legs 31 are provided on the lower side of the vehicle body 13 so as to be opened at right and left sides at an angle of 90 to 180, and the traveling means 14 is attached to each of the leg portions 31, and the vehicle body 13 and A drainage channel survey robot comprising an elevating device 33 for elevating and lowering the equipment table 49 on which the investigation equipment 32 is mounted, between the equipment table 49. 4. A pipe dwelling survey robot in which a survey device 32 is mounted on a device stand 49 provided on a vehicle body 13 and the inside of the ditch 12 is surveyed while traveling by a traveling means 14 provided on the vehicle body 13. Two expandable leg portions 31 are provided on the lower side of the left and right sides at an angle of 90 to 180 with respect to each other.
The guide wheels 30 traveling on the inner wall of the pipe 12 are attached to the legs 31, respectively, and between the vehicle body 13 and the equipment base 49,
An elevating device 33 for elevating and lowering the equipment table 49 on which the investigation equipment 32 is mounted is provided, and a traveling means 14 for driving while being in contact with the inner wall of the conduit 12 is attached to the upper side of the equipment table 49. A pipe survey robot. 5. A pipe dwelling survey robot in which a survey device 32 is mounted on a device stand 49 provided on a vehicle body 13 and the inside of the ditch 12 is surveyed while traveling by a traveling means 14 provided on the vehicle body 13. Two expandable leg portions 31 are provided on the lower side of the left and right sides at an angle of 90 to 180 with respect to each other.
The guide wheels 30 traveling on the inner wall of the pipe 12 are attached to the legs 31, respectively, and between the vehicle body 13 and the equipment base 49,
An elevating device 33 for elevating and lowering the equipment stand 49 on which the investigation equipment 32 is mounted is provided, and the pipe 12 is provided on the side of the vehicle body 13.
A conduit survey robot, characterized in that a traveling means (14) for driving while being in contact with the inner wall is attached. 6. The pipe according to claim 3, 4 or 5, wherein the leg portion 31 is formed by forming two leg pieces 35 into a pantograph shape which expands and contracts while being cross-connected with a connecting pin 36 in an X shape. Survey robot. 7. The survey device 32 is an image capturing device 5.
5. The gas detector 56, the pipe material strength inspection device 57, the neutralization layer depth measuring device 17, the deposit detection device 58, and the inclination measuring device 21 are provided. The described pipe survey robot.