KR101109373B1 - Vehicle having a cctv camera for inspecting the inside of a high pressurized water pipe - Google Patents

Abstract

The present invention is produced in the inner surface of the high-pressure water pipe, such as a constant water pipe, which contains a high water pressure of 5-8kg / ㎠ about 5-8kg / ㎠ complete waterproof The present invention relates to a self-propelled vehicle in which a scale or a pollutant is taken as a video image signal, transmitted to the outside, and inspected for deterioration or damage of the inner surface of the tube.

The present invention includes a main body equipped with a camera, and includes a seal to block high pressure water from penetrating into the main body from the outside along the drive shaft of the main body, and the seal has a plurality of (double) chambers therein. It is formed along the axis, and the interior of the chambers are each embedded with a quad ring (Quadrant Rubber Ring) and oil (Oil). The quad ring and oil prevent water from leaking into the vehicle body by the high pressure water that is strongly pushed into the chamber through the wheel wheel rotation axis when the self-propelled vehicle is introduced into the pipe in the state of high water pressure. It produces an effect.

The waterproofing principle of the quad ring and oil is that when the strong hydraulic pressure is pushed into the chamber from the outside, the quad ring filling the inside of the chamber is deformed from the corner of the outer direction under the hydraulic pressure. The deformation of the ring creates an effect of tighter adhesion of the quad ring's adhesive surface to the inner surface of the chamber and the outer circumferential surface of the drive shaft, thereby fully sealing the gap between the chamber and the drive shaft, and filling the oil with the quad ring located inside the chamber. Through this to form a waterproof function to block the phenomenon that water flows into the vehicle body around the drive shaft.

According to the present invention, due to the many structural characteristics of the rotating shaft part, a general pipeline on the market where water easily penetrates into the vehicle body can raise the incomplete waterproof performance of CCTV survey vehicle to a perfect waterproof grade, and accordingly, it is a water pipe which has been previously determined to be impossible. Even inside the high-pressure water pipes such as the various scale status and aging of the inside of the pipeline in real time can be easily inspected for damage by transmitting images to the outside by CCTV.

Continuous water pipe, video recording self-driving car, camera, quad ring, oil

Description

VEHICLE HAVING A CCTV CAMERA FOR INSPECTING THE INSIDE OF A HIGH PRESSURIZED WATER PIPE}

The present invention is introduced into a high-pressure water pipe, such as a water inlet pipe containing a high pressure of about 5-8kg / ㎠, and the sludge or pollutants are taken to the outside and sent to the outside In particular, the present invention relates to a device for inspecting damage, and in particular, by using a seal of a dual oil defensive chamber structure, the waterproof performance is maximized by maximizing the waterproof performance of the wheel drive shaft and the camera drive shaft of the main body. The present invention relates to a self-propelled vehicle for imaging inside a high-pressure water pipe that can be inspected for damage by various CCTV images of the scale and aging of the inside of the pipeline in real time inside the water pipe.

In general, the biggest difference between the sewage pipe and the water supply pipe is that unlike the general sewage pipe, the sewage water pipe has a high pressure of 5-8 kg / cm 2 internally.

The fundamental reason for this difference is that the sewage pipeline uses the natural flow principle through the slope using the difference in the height of the sewage pipe to induce the flow of water. This is because it uses the principle of forcibly feeding pressure.

Due to these differences, CCTV cameras could be introduced into the sewer pipes, but there were virtually no input investigation cases in the water pipe. This is because there was no method to endure high water pressure inside the pipe in the inverted state even if it was to be put into the water supply pipe, and there was no robot in the past with strong waterproofness that can withstand the water pressure even once it was put in. .

As such, an important function of the image photographing device introduced into the high-pressure water pipe, such as the submersible water pipe, is waterproof performance, which should have superior waterproof performance compared to the conventional sewer pipe robot apparatus.

Conventional sewer pipeline equipment is operated in a partial submersion or temporary submersion environment rather than in a full submersion environment, so its waterproof performance is sufficiently guaranteed at IP67. Receive.

However, the operation environment of high pressure water pipes, such as water supply pipelines, must be operated under the condition of completely submerged in high pressure water of 5-8 kg / ㎠. There is no room. Therefore, there is a desperate need in the art for a robot or a device capable of taking pictures while completely waterproofing and freely moving inside the high-pressure water pipe.

And the recording and analysis of accurate than sites on the constant pipe inside the inner surface of the constant pipeline after due to not obscure the distinction between the upper and lower left and right lead made an investigation on the above point using the hasugwanro irradiation equipment in the singular state, unlike hasugwanro correspondence it's difficult.

Therefore, it is possible to precisely locate the specific part of the inner surface of the tube where the robot or device that irradiates the inside of the high-pressure water pipe by CCTV to develop the technology that can improve the accuracy and efficiency in the pipeline maintenance. It was required.

The technical problem to be achieved by the present invention is to maximize the waterproofing performance in real time by being completely waterproof in the pipeline, such as a constant water pipe having a high pressure of 5-8kg / ㎠ in the high pressure (Inner) The purpose of the present invention is to provide a self-propelled vehicle for imaging inside a high-pressure water pipe, which can be easily inspected for damage by taking images of various scales and ages of the inside of the pipeline by transmitting them to the outside by CCTV.

And another technical problem of the present invention in the process of photographing the inside of the pipeline by CCTV, by showing the exact position angle for the specific abnormal part of the inner surface of the pipeline on the screen using the arrow-type graphics on the inside surface of the exact damage site It is to provide a self-contained vehicle for imaging inside the high-pressure water pipe that can improve the accuracy and efficiency in pipeline maintenance by enabling the location of

In addition, the digital programming technology includes the automatic camera returning to the home, so that the camera always has the function to align the origin in the internal inspection of the constant conduit of which the distinction of top, bottom, left and right is unclear.

In addition, another technical problem of the present invention in the process of photographing the interior of the pipeline by CCTV, the camera position manipulation inside the pipeline is made easier to more easily shoot the interior of the pipeline with CCTV to send the image to the outside, damage to the pipeline It is to provide a self-propelled vehicle for imaging inside the high-pressure water pipe that can locate the location.

The high-pressure water pipe inside the image recording self-propelled vehicle according to an embodiment of the present invention for achieving the above technical problem is remotely controlled by a connection cable to an external controller, by shooting the sludge or contaminants while moving the inside of the pipeline to the outside An apparatus for transmitting and outputting an image to a monitor for inspecting whether there is damage in the conduit, the apparatus comprising: a body having a body insertable in the conduit, each of which has wheels mounted before and after the body; A photographing unit including a camera positioned in front of the main body, a side arm rotatably mounted to the camera, and an internal image of the high pressure water pipe photographed by the camera to an external controller; Rotating the wheels inside the main body to form the front and rear of the main body, the motor rotating the side arm in front of the main body to achieve the circumferential rotation of the camera, and the tilting rotation of the camera located inside the side arm A driving unit having a motor which implements movement of the main body, rotation and tilting of the camera; And a chamber respectively mounted between the body of the main body and a plurality of driving shafts rotated by a motor of the driving unit, and each having a chamber in which a quad ring and oil are filled, respectively, from the outside along the respective driving shafts. Sealing unit for blocking the high-pressure water penetrates to achieve a complete waterproof at the connection portion between the body and the drive shaft, and configured to take images while moving freely inside the pipeline.

Therefore, the present invention is a perfect waterproof in the pipeline, such as the water supply pipe inherent in the high pressure of 5-8kg / ㎠ about the various scales and aging of the interior of the pipeline in real time to CCTV By taking an image and transmitting it to the outside, it can be easily checked for damage.

The present invention preferably includes a plurality of chambers formed therein so that the quad ring and the oil are each embedded within each chamber, the first and second drive shafts each of which the wheels are fixed at both ends, The third drive shaft connected to the side arm and the body formed to surround the fourth drive shaft on which the camera is mounted on the inner side of the body and the concave mounting space of the side arm are respectively fixed by bolt coupling. Through such a structure, the present invention can periodically replace and mount the sealing part through a modular, so that high pressure of water of a pipe such as a water pipe is penetrated into the main body along a drive shaft. Can be completely prevented.

In addition, the present invention is preferably the quad ring each protruding in four directions while maintaining a 90 ° in the circumferential direction of the quad ring cross-section, each of the circular four-way corners of the inner surface of the chamber and the drive shaft It is in close contact with the outer circumferential surface, the circular edges are deformed by the pressure of high pressure water flowing into the chamber by the wheel shaft or the rotation axis of the camera, so that the quad rings are pressed against the inner circumferential surface of the chamber and the outer circumferential surface of the driving shaft, respectively. It is to completely seal the gap between the chamber and the drive shaft. Thus, the seal can be completely waterproof around the drive shaft through the quad ring and the filled oil located inside the chamber.

In addition, the present invention preferably is a sensor for detecting the rotation angle and the tilting angle of the camera, respectively, during the rotation and tilting operation of the camera, and based on the signal detected by the sensors of the external conduit The controller further includes a camera position display unit including a program for displaying a form and displaying a rotation and tilting position of the camera in the length and direction of the arrow inside the circle.

In addition, the present invention preferably the sensors are mounted on the back of the motor for rotating the side arm, respectively mounted on the back of the motor for tilting the camera, the drive shaft of the motor to detect the angle each rotated to the external controller It transmits by electric signal.

And the present invention preferably camera automatic alignment including a program for automatically returning to the initial position of the camera from the rotation and tilting position of the camera by the operation of pressing the reset button provided in the controller during the rotation and tilting operation of the camera Adds a wealth to the controller.

In addition, the present invention preferably the main body is formed to the inclined surface of the outer circumferential surface tapered along the inner diameter curvature of the conduit at each of the wheels to make the wheel contact area with the inner wall of the conduit is large, even upside down the inner wall of the conduit It is configured to move without being supported. Therefore, the self-propelled vehicle of the present invention is more freely moved and rotated inside the pipeline.

As described above, according to the image capturing autonomous vehicle inside the high-pressure water pipe according to the embodiment of the present invention, the waterproof performance can be maximized to achieve complete waterproof at the connection portion of the drive shaft protruding from the main body in which the electronic components and the drive motors are embedded. Therefore, it is free to move inside the pipe, such as the constant water pipe having a high pressure (High Pressure of Water) of about 5-8kg / ㎠ inside. As a result, the general sewage pipeline on the market where water is easily penetrated into the vehicle body due to the many structural features of the rotating shaft can raise the incomplete waterproofing performance of CCTV survey robot to the perfect waterproof grade, and accordingly, it has been judged that it is impossible Even inside the high-pressure water pipes such as the various state of the scale and the degree of aging inside the pipeline in real time by CCTV images can be transmitted to the outside, the effect can be easily inspected whether the internal water damage to the water pipe.

And according to the present invention can be accurately displayed on the screen of the monitor by using the arrow-type graphics in the process of transmitting the image to the outside by taking a picture of the inside of the pipeline by CCTV. . Therefore, the damage location of the pipeline can be identified more accurately, which can improve the accuracy and efficiency in pipeline maintenance.

In addition, the present invention can be easily aligned by pressing the reset button provided in the controller from the rotation and tilting position of the camera to the initial position of the camera during the rotation and tilting operation of the camera. Therefore, the camera's position can be easily manipulated so that the inside of the pipeline can be easily captured by CCTV to send images to the outside and identify the damage location of the pipeline.

DETAILED DESCRIPTION In order to fully understand the present invention, the operational advantages of the present invention, and the objects achieved by the practice of the present invention, reference should be made to the accompanying drawings which illustrate preferred embodiments of the present invention and the contents described in the drawings.

Hereinafter, exemplary embodiments of the present invention will be described in detail with reference to the accompanying drawings. Like reference numerals in the drawings denote like elements.

The high-pressure water pipe inner image recording self-propelled vehicle 100 according to the present invention, as shown in Figure 1 as a whole, is connected to the external controller 110 by a connection cable 120 is remotely controlled, as shown in Figure 6 As described above, the sludge or pollutants are photographed and transferred to the outside while the inside of the submersible water pipe (P) having a high pressure of about 5-8 kg / cm 2 exists inside the monitor 130. It is a device for inspecting the damage inside the pipeline P by outputting an image.

The high-pressure water pipe internal image capturing self-propelled vehicle 100 according to the present invention includes a body 142 that can be inserted into the inside of the pipe line P, and the main body on which the wheels W are mounted before and after the body 142, respectively. 140).

As shown in FIG. 2, the main body 140 includes first and second driving shafts 150a and 150b protruding out of the body 142, respectively, before and after the wheels W are mounted. The body 140 moves back and forth by the front and rear rotation of the wheel (W).

In addition, the main body 140 has a side cover 144 beyond the top cover method adopted by existing devices in consideration of waterproof performance in the structure of the body 142. The system is adopted. In addition, the connecting cable 120 at the rear of the main body 140 is also designed integrally with the body 142 to minimize the possibility of structural leak (Leak) that can leak to the main body 140.

In addition, the present invention includes a camera 162 positioned in front of the main body 140, and has side arms 170a and 170b rotatably mounted to the camera 162, the camera 162 is It is provided with a photographing unit 160 for transmitting the captured internal image of the high-pressure water pipe to the external controller (110).

The photographing unit 160 is equipped with a camera 162 for configuring the CCTV inside the side arms (170a, 170b), such a camera 162 by taking an image inside the pipeline (P) The controller 110 transmits to the controller 110 and displays the internal image of the pipeline P on the monitor 130.

In addition, the photographing unit 160 may include a third driving shaft 150c for rotating the camera 162 in the circumferential direction of the pipeline P with respect to the body 142 of the main body 140. And a fourth drive shaft 150d for tilting and rotating the camera 162 inside the side arms 170a and 170b.

In addition, the present invention has a drive unit 180 that implements the movement of the main body 140, the rotation and tilting of the camera 162 is embedded in the interior of the main body 140.

The driving unit 180 rotates the wheels W inside the main body 140 to form the motor 182 forward and backward of the main body 140 and the side arms 170a (front) of the main body 140 ( A motor 184 for rotating the camera 162 to circumferentially rotate the camera 162 and a motor 186 for tilting the camera 162 positioned inside the side arms 170a and 170b. do.

The motor 182 forming the forward and backward movements of the main body 140 is located at the center of the main body 140, for example, and the first and second drive shafts 150a and 150b are provided through a plurality of gears G. Connected to the wheels (W) forward and reverse rotation.

In addition, the motor 184 which makes the circumferential rotation of the camera 162 is located in front of the main body 140, and the side arms 170a and 170b are forward-reversely mounted through the third drive shaft 150c and mounted therein. The camera 162 is rotated.

The motor 186 which makes the tilting rotation of the camera 162 is mounted inside the side arms 170a and 170b and is connected to the fourth drive shaft 150d through the timing belt 188 so as to be connected to the side arm 170a. Tilt rotation of the camera 162 in the inner (170b).

As such, the driving unit 180 operates each of the motors 182, 184, and 186 to implement the forward and backward movement of the main body 140, the rotation and the tilting operation of the camera 162.

In addition, the present invention includes a sealing part 200 which blocks high-pressure water from penetrating from the outside into the body 140 along each of the drive shafts 150a, 150b, 150c, and 150d.

Such a sealing part 200 has a dual oil defense chamber structure, and the body 142 of the main body 140 and the plurality of motors 182 and 184 of the driving unit 180 ( Each of the plurality of drive shafts 150a, 150b, 150c, and 150d rotated by 186, respectively, is provided with a chamber 220 filled with a quad ring 210 and an oil 222, respectively. It is a structure.

Through the sealing portion 200 of the dual oil defense chamber structure such as a complete waterproof at the connecting portion of the body 142 and the drive shaft (150a) (150b) (150c) (150d), freely inside the pipe (P) It is possible to take an image while moving, the sealing unit 200 is using the tendency that the oil 222 and water is not mixed with each other, the drive shaft (150a) (150b) which is the most vulnerable to the waterproof of the main body 140 150c and 150d, respectively.

Such a sealing part 200 is provided with a chamber 220 surrounding the drive shafts 150a, 150b, 150c, and 150d therein, and filled with oil 222 in the chamber 220. It is a principle that pushes external water that penetrates into the driving shafts 150a, 150b, 150c, and 150d to the outside due to the internal pressure of the filled oil 222 inside the chamber 220. In addition, by arranging such a chamber 220 in a double, it is a principle of multiple defense against high pressure water penetrating from the outside to the inside.

As shown in FIGS. 3 and 4, the seal 200 has a quad ring 210 having a unique structure, which is mounted in the chamber 220, respectively. Each of the quad rings 210 has circular edges 212 protruding in four directions while maintaining 90 ° in the circumferential direction of the quad ring 210 cross-section, and the circular edges 212 are each chamber 220. It is a structure in close contact with the inner surface and the outer peripheral surface of the drive shaft (150a) (150b) (150c) (150d).

As shown in FIG. 5, the sealing part 200 is deformed by the high-pressure water flowing into the chamber 220, and the circular edges 212 are deformed, respectively, in the chamber 220. By pressing on the side surfaces and the outer peripheral surfaces of the drive shafts 150a, 150b, 150c and 150d, the gap between the chamber 220 and the drive shafts 150a, 150b, 150c and 150d is completely sealed.

In addition, through the oil 222 filled with the quad ring 210 located inside the chamber 220 to block the flow of water into the vehicle body around the drive shaft (150a) (150b) (150c) (150d) It will form a waterproof function.

More specifically, it is as if the ring is wrapped around the finger so as to surround the drive shafts 150a, 150b, 150c and 150d inside the body 142 through which the drive shafts 150a, 150b, 150c and 150d pass. The sealing portion 200 is fitted to the drive shafts 150a, 150b, 150c and 150d as if fitted, and fixed with a crossed pin (not shown).

In the chamber 220 of the sealing unit 200, a quad ring 210 is built in a portion that meets the driving shafts 150a, 150b, 150c, and 150d. Due to its characteristics, when the high pressure water is pushed through the drive shafts 150a, 150b, 150c, and 150d from the outside, the deformation naturally occurs, and as the lateral pressure is increased, the longitudinal deformation motion is obtained.

Therefore, the result is that the high pressure water pressure is brought into close contact with the inner surface of the chamber 220 and the outer circumferential surface of the driving shafts 150a, 150b, 150c, and 150d, and consequently, the water pushed into the chamber 220 The inside of the chamber 220 is trapped so that it does not have a direction of movement in the outward, inward or any direction.

In addition to the water-tightening strengthening action of the quad ring 210 by filling the oil 222 into the chamber 220, the water and the strong repulsive oil 222 forms a constant pressure inside the narrow chamber 220. Minimize the movement of water seeping in from the outside. Of course, even this structure may not completely prevent the penetration of water, for this purpose, the sealing portion 200 is made of a replaceable structure.

That is, the sealing part 200 includes first and second drive shafts 150a and 150b in which wheels W are fixed at both ends, respectively, and third drive shaft 150c to which side arms 170a and 170b are connected. The concave mounting space S of the body 142 and the side arms 170a and 170b formed to surround the fourth driving shaft 150d on which the camera 162 is mounted inside the side arms 170a and 170b is provided. Each bolt (B) is fixed within.

In FIG. 6, the structure in which the sealing part 200 is mounted on the first and second driving shafts 150a and 150b is shown in an enlarged state. In other words, it is fixed in the concave mounting space (S) formed in the body 142 of the main body 140, respectively, by bolts (B) coupling can be replaced by the bolt (B) detachment periodically to replace the sealing portion 200, as a result As a result, the water may never leak into the body 140. In addition, in order to secure the convenience of such a replacement operation, the sealing unit 200 is designed in a bolt (B) fixing method rather than a semi-permanent fixing method.

Therefore, the present invention is completely connected to the drive shafts 150a, 150b, 150c and 150d inside the sub-constant water pipe P containing a high pressure of 5-8 kg / cm 2. It can achieve waterproofing, and effectively prevent the high pressure of water of the secondary water pipe (P) from penetrating into the main body 140 along the drive shafts 150a, 150b, 150c, 150d. do.

In the present invention, when the rotation and tilting operation of the camera 162, the sensors 230a and 230b for detecting the rotation angle and the tilting angle of the camera 162, and the sensors 230a and 230b, respectively. The shape of the conduit P is displayed as a circle 240 on the external monitor 130 on the basis of the signal detected by the camera, and the camera 162 in the length and direction of the arrow 242 inside the circle 240. The controller 110 further includes a camera position display unit including a program for displaying a rotational and tilting position of the controller.

That is, the internal state of the high-pressure water pipe, such as the water supply pipe (P) has an internal structure in which up, down, left, and right are not easily distinguished because it is in the state of water. As a result, if any abnormality is found during the imaging test, the location may not be accurately determined. In the case of side close-up photography, it is difficult to monitor exactly what time it is being rotated by monitoring the screen.

Therefore, in the present invention, the camera position display unit is responsible for a CODS (Camera Operating Display on the Screen) program function that graphically displays information about the photographing position and the direction of the camera 162 in monitoring.

That is, in the graphic on the monitor 130 illustrated in FIG. 7, the circle 240 represents the cross section of the conduit P and the arrow 242 represents the photographing direction of the camera 162. Shortening means that the photographing angle of the camera 162 is gradually facing the front side, and if it is longer, it means that the angle is increasing when the photographing direction of the camera 162 is facing the side. This allows the inspector to accurately determine the extent and position of any deformation inside the pipeline (P).

To this end, sensors 230a and 230b are mounted on the main body 140 and the side arms 170a and 170b, respectively, and on the rear surface of the motor 184 for rotating the side arms 170a and 170b, a rotation sensor 230a is provided. ) Is mounted, and a tilting sensor 230b is mounted on the rear surface of the motor 186 for tilting the camera 162.

The rotation sensor 230a and the tilting sensor 230b detect angles at which the drive shafts 150c and 150d of the motors 184 and 186 rotate, respectively, and transmit the electrical signals to an external controller 110 as an electric signal. The controller 110 receives the values of the sensors 230a and 230b, and calculates the values to calculate an angle at which the tilting motor 186 and the rotation motor 184 rotate the driving shafts 150c and 150d. By the calculation value, as shown in FIG. 7, the camera 162 is currently facing, as shown in FIG. 7, on a side of the monitor 130 as a graphic of the circle 240 and the arrow 242. .

In addition, the present invention when the rotation and tilting of the camera 162, by pressing the reset button (not shown) provided in the controller 110 from the rotation and tilting position of the camera 162 of the camera 162 The controller 110 further includes a camera auto-alignment unit including a program for automatically returning to the initial position.

As shown in FIG. 8A, the camera automatic alignment unit may include a reset button (not shown) even if the camera 162 provided in the present invention is rotated in a side view to illuminate which direction during the inspection. By pressing), as shown in FIG. 8B, it is a kind of programming function that can be used to return the camera 162 to the front again. This feature has the advantage that it can be clearly identified with the naked eye apart from checking the position of the camera position display part in the graphic display state when any abnormality is found. Normally, once you've taken a side-by-side rotation shot, you can easily drive in a rearranged robot by pressing this button.

In the present invention, the main body 140 has an inclined surface Wa having a tapered outer circumference along the inner diameter curvature of the conduit P at the edges of the respective wheels W.

That is, as shown in Figure 9, the wheel (W) has a structure in which the outer peripheral surface in the cross-section formed an inclined surface (Wa). In such a structure, the contact area of the wheel (W) with the inner wall surface of the conduit (P) is made large so that it does not turn upside down on the inner wall of the conduit (P). Therefore, the self-propelled vehicle 100 of the present invention is freely made to move and rotate the inner pipe (P) more freely.

Reference numeral L denotes a lamp and C denotes a cover.

As described above, the high-pressure water pipe internal image capturing self-propelled vehicle 100 according to the present invention has first and second drive shafts 150a and 150b formed through the main body 140 and the side arms 170a and 170b connected thereto. The sealing part 200 is mounted to surround the third driving shaft 150c and the fourth driving shaft 150d on which the camera 162 is mounted inside the side arms 170a and 170b, respectively.

5, the circular edges 212 of the quad rings 210 are deformed by the pressure of the high pressure water flowing into the chamber 220 as shown in FIG. 5. The gap between the chamber 220 and the driving shafts 150a, 150b, 150c and 150d is completely sealed by being pressed against the inner surface of the 220 and the outer peripheral surfaces of the driving shafts 150a, 150b, 150c and 150d. Let's go.

In addition to the water-tightening strengthening action of the quad ring 210 to fill the oil 222 inside the chamber 220, water and strong repulsive oil 222 to form a constant pressure in the narrow chamber 220 Minimize the movement of water seeping in from the outside.

In addition, the sealing parts 200 are made of a replaceable structure by detaching the bolt (B), and if replaced periodically, the electronic parts and the driving motors 182, 184, and 186 are built in to maximize the waterproof performance. It is possible to achieve a completely waterproof at the connection portion of the drive shaft (150a) (150b) (150c) (150d) protruding from the main body 140.

Therefore, the present invention is free to move in the inner part of the constant water pipe (P) in which the high pressure (High Pressure of Water) of about 5-8kg / ㎠ in the various scale state inside the pipe (P) in real time and By photographing the degree of aging by CCTV and transmitting to the outside, it is easy to check the internal damage of the water pipe (P).

And the present invention is CODS (Camera Operating Display on the) to graphically display the information on the recording position and direction of the camera 162 in the process of transmitting the image to the outside by shooting the inside of the pipeline (P) by CCTV Screen) Since the program function is built in, the exact angle at which the camera 162 is located at a specific part of the tube surface can be accurately displayed on the screen of the monitor 130 using the graphic of the arrow 242 method. Therefore, it is possible to more accurately grasp the damage location of the pipeline (P) can improve the accuracy and efficiency in the maintenance of the pipeline (P).

In addition, the present invention, when the rotation and tilting operation of the camera 162, the built-in programming function of the Camera Position Automatic Return (Camera Position Automatic Return) built-in the initial position of the camera 162 from the rotation and tilting position of the camera 162 By pressing the reset button provided in the controller 110 can be easily aligned. Therefore, the position of the camera 162 can be easily manipulated so that the inside of the pipeline (P) can be more easily photographed by CCTV to send an image to the outside and determine the damage location of the pipeline (P).

As described above, optimal embodiments have been disclosed in the drawings and the specification. Although specific terms have been used herein, they are used only for the purpose of describing the present invention and are not intended to limit the scope of the invention as defined in the claims or the claims. For example, the sealing part 200 provided in the present invention has been described as being applied to the first to fourth driving shafts 150a, 150b, 150c and 150d, but the present invention is not limited thereto. That is, more structural improvements and functions have been added, so that a larger number of drive shafts 150a, 150b, 150c, 150d, or additional rotating shafts may be additionally provided, but the present invention provides a seal 200 on all such shafts. It is clear that) can be mounted. Therefore, those skilled in the art will understand that various modifications and equivalent other embodiments are possible therefrom. Therefore, the true technical protection scope of the present invention will be defined by the technical spirit of the appended claims.

BRIEF DESCRIPTION OF THE DRAWINGS In order to better understand the drawings cited in the detailed description of the invention, a brief description of each drawing is provided.

Figure 1 is an external perspective view showing the interior of the high-pressure water pipe photographing self-propelled vehicle according to the present invention.

Figure 2 is a plan view showing the internal structure of the high-pressure water pipe inner image shooting self-propelled vehicle according to the present invention.

Figure 3 is an exploded perspective view showing a sealing portion provided in the high-pressure water pipe inner image photographing self-propelled vehicle according to the present invention.

Figure 4 is a partially cut perspective view showing a quad ring of the sealing portion provided in the high-pressure water pipe inside the image-captured self-propelled vehicle according to the present invention.

5 is a cross-sectional view illustrating a mechanism of sealing in a sealing portion provided in the high-pressure water pipe inner image photographing self-propelled vehicle according to the present invention.

Figure 6 is a cross-sectional view showing a state in which the sealing portion provided in the high-pressure water pipe inner image photographing self-propelled vehicle is installed on the drive shaft with the wheel.

7 is an explanatory diagram showing a state of displaying the rotation and tilting position of the camera on the monitor through the camera position display unit in the high-pressure water pipe internal image capturing self-propelled vehicle according to the present invention.

8A is an explanatory view showing a state in which the camera is rotated in the lateral direction in the high-pressure water pipe inner image recording self-propelled vehicle according to the present invention.

8B is an explanatory view showing a state in which the cameras are aligned to the first position facing the front in the high-pressure water pipe inner image photographing self-propelled vehicle according to the present invention.

9 is a cross-sectional view showing a state in which the inclined surface formed on the wheel coincides with the inner diameter portion of the pipeline in the high-pressure water pipe inner image photographing self-propelled vehicle according to the present invention.

Description of the Related Art

100 ..... Internal video recording of high pressure water pipe

110 ..... Controller 120 ..... Connecting cable

130 ..... Monitor 140 ..... Main Unit

142 ..... Body 144 ..... Side cover

150a, 150b, 150c, 150d ... Drive Shaft 160 ..... Shooting Section

162 ..... Camera 170a, 170b .... Sidearm

180 ..... Drive 182, 184, 186 .... Motor

188 ..... Timing belt 200 ..... Seal

210 ..... Quadring 212 ..... Circular corners

220 ..... Chamber 222 ..... Oil

230a, 230b .... sensor 240 ..... won

242 ..... Arrow B ..... Bolt

C ..... Cover G ..... Gear

L ..... Lighting P ..... Pipeline

S ..... Mounting space W ..... Wheels Wa ..... Slope

Claims (7)

It is connected to the external controller 110 by a connection cable 120 and is remotely controlled. The scale state, sludge or contaminants are photographed and transferred to the outside while the inside of the pipeline P is moved, and the monitor 130 is provided. In the self-propelled vehicle for imaging inside the high-pressure water pipe to check the damage inside the pipeline (P) by outputting the image to the A main body 140 having a body 142 that can be inserted into the conduit P and having wheels W mounted before and after the body 142, respectively; A channel 162 having a camera 162 positioned in front of the main body 140, and having side arms 170a and 170b rotatably mounted with the camera 162, and having the camera 162 photographed therein; A photographing unit 160 which transmits the internal image of P) to the external controller 110; Rotating the wheels (W) in the interior of the main body 140 to form the front and rear of the main body 140 and the side arms (170a, 170b) in front of the main body 140 to rotate the camera ( The main body 140 is provided with a motor 184 for circumferential rotation of the 162 and a motor 186 for tilting the camera 162 located inside the side arms 170a and 170b. The driving unit 180 implements the rotation and tilting operation of the camera 162; And Mounted between the body 142 of the main body 140 and the plurality of drive shafts 150a, 150b, 150c, 150d rotated by the motors 182, 184, 186 of the drive unit 180, respectively. And a chamber 220 filled with the quad ring 210 and the oil 222, respectively, and the main body 140 from the outside along the respective drive shafts 150a, 150b, 150c, and 150d. Seal 200 to block the penetration of high-pressure water into the interior; including a complete waterproof at the connection portion of the body 142 and the drive shaft (150a) (150b) (150c) (150d), pipeline (P) Is configured to shoot video while moving freely inside The controller 110, when the rotation and tilting operation of the camera 162, the first operation of the camera 162 from the rotation and tilting position of the camera 162 by pressing the reset button provided in the controller 110 The high-pressure water pipe internal image capturing self-propelled vehicle 100, characterized in that it comprises a camera auto-alignment unit including a program for automatically returning to the position. According to claim 1, The sealing unit 200 has a plurality of chambers 220 are formed therein, the quad ring 210 and the oil 222 is each one embedded in each chamber 220, A third drive shaft 150c of the drive shafts to which the first and second drive shafts 150a and 150b and the side arms 170a and 170b are connected, among the drive shafts at which wheels W are fixed at both ends, respectively, The concave mounting space S of the body 142 and the side arms 170a and 170b formed to surround the fourth drive shaft 150d among the drive shafts on which the camera 162 is mounted inside the side arms 170a and 170b. ) Inside the high-pressure water pipe, characterized in that each is fixed by a bolt (B) coupling self-propelled vehicle (100). According to claim 2, The quad ring 210 is formed in each of the circular edges 212 protruding in four directions while maintaining 90 ° in the circumferential direction of the cross section of the quad ring (210), 212 are in close contact with the inner surface of the chamber 220 and the outer circumferential surfaces of the first to fourth drive shafts 150a, 150b, 150c, and 150d, respectively, and the first to fourth drive shafts 150a and 150b. The circular edges 212 are deformed by the pressure of the high-pressure water flowing into the chamber 220 by the 150c and 150d so that the quad rings 210 and the inner surface of the chamber 220 are respectively formed. By pressing the outer peripheral surface of the first to fourth drive shaft (150a) (150b) (150c) (150d) of the chamber 220 and the first to fourth drive shaft (150a) (150b) (150c) (150d) Inside the high-pressure water pipe, characterized in that to completely seal the gap between the self-propelled vehicle (100). According to claim 1, Sensors 230a and 230b for detecting the rotational angle and tilting angle of the camera 162 during the rotation and tilting operation of the camera 162, and the sensors 230a and 230b, respectively Receiving a signal detected by the device and displaying the shape of the conduit P as a circle 240 on the external monitor 130, and in the length and direction of the arrow 242 in the circle 240, the camera ( The internal position of the high-pressure water pipe (100), characterized in that the controller 110 further comprises a camera position display unit including a program for displaying the rotation and tilting position of the 162. 5. The sensor of claim 4, wherein the sensors (230a) (230b) are mounted to the rear of the motor (184) for rotating the side arms (170a) (170b), and the rear of the motor (186) for tilting the camera (162). High pressure, characterized in that each of the third and fourth drive shaft (150c) (150d) of the motor 184, 186 detects the angle of rotation and transmits to the external controller 110 as an electrical signal Imaging self-propelled car (100). delete According to claim 1, The main body 140 is formed on the inclined surface Wa of the outer circumferential surface tapered along the inner diameter curvature of the conduit P at the edge of each wheel (W) to the inner wall surface and the wheel of the conduit (P) (W) is a large contact area made of high-pressure water pipes inside the image pickup self-propelled vehicle (100), characterized in that configured to move without being upside down, even up the inner wall of the pipeline (P).

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