JP6957381B2 - In-pipe inspection system - Google Patents

Description

The present invention relates to an in-pipe inspection system including an in-pipe traveling device that travels while capturing an image of the traveling direction in the pipe with an on-board imaging unit.

In recent years, as a device for investigating the laying state of a hollow tubular member (hereinafter referred to as "pipe") and observing and inspecting the internal state of the pipe, an in-pipe traveling device that travels while imaging the inside of the pipe. Proposals have been made in various ways.

For example, some pipes such as water pipes and gas pipes that are buried in the soil have passed a considerable amount of time since they were buried, so there are concerns about problems due to aging. There is a request to observe and inspect the internal state.

In addition, some of these pipes such as water pipes and gas pipes have unknown burial routes, etc., because there are cases where materials, etc. during burial work are scattered or lost.

Therefore, when performing maintenance work on these pipes, it is necessary to specify the burial place, and for that reason, there is also a request to investigate the current laying state of these pipes.

Further, many of these pipes have a small internal diameter and are usually formed with bends over a long distance. Therefore, it is configured so that it can freely travel inside the pipe according to the situation, can receive drive control from an external control device, or can autonomously travel by a control unit built in itself. Proposals have been made for so-called self-propelled in-pipe traveling devices in this form.

In the conventional self-propelled in-pipe traveling device, a technique for performing traveling control based on its own distance information and attitude information with respect to the inner wall surface of the pipe and its own position information (for example, latitude / longitude information) is well known.

For example, when the in-pipe traveling device travels inside the pipe, it is controlled to smoothly travel in a desired direction along the bent portion or the branched portion without colliding with the inner wall surface at the bent portion or the branched portion of the pipe. is required. For this purpose, the conventional in-pipe traveling device is controlled to determine a bent portion or a branch portion inside the pipe, set a traveling route, and at the same time control its own posture during traveling.

By the way, the in-pipe traveling device is equipped with an imaging unit that captures an image of the traveling direction, and since this imaging unit is fixed to the in-pipe traveling device, as shown in FIG. 10A, the display unit (monitor) 101 The captured image in the pipe (hereinafter referred to as "in-pipe image") displayed in is the image in the pipe and the image in the pipe if the device axes set in the vertical direction of the in-pipe traveling device 10 are aligned with the direction of gravity. It coincides with the direction of gravity. However, as shown in FIG. 3B, for example, when the in-pipe traveling device 10 is rotated 180 [deg] around the optical axis of the imaging unit, the in-tube image displayed on the monitor is upside down with the direction of gravity upward. An image of the inside of the pipe is displayed.

As a result, for example, as shown in FIG. 10A, the scratch s detected in the lower left of the screen in the pipe is caused by the rotation of the pipe traveling device 10 in the direction around the optical axis, and the display unit 101 in FIG. It is displayed in the upper right corner of the screen, which makes it difficult for the observer to grasp the position.

As a countermeasure, for example, in Patent Document 1 (Japanese Unexamined Patent Publication No. 2006-129391), in an imaging device such as a digital camera, an acceleration sensor is used to calculate the rolling inclination of the imaging device with respect to the gravity direction, and the rolling inclination is offset. A technique for correcting an image to a horizontal state by tilting the in-pipe image in a direction is disclosed.

Japanese Unexamined Patent Publication No. 2006-129391

However, pipes such as water pipes and gas pipes not only extend in the horizontal direction, but are often bent upward or downward to extend. As a result, when the in-pipe traveling device travels along the extending direction above or below the pipe, if the in-pipe traveling device rotates in the roll direction, the accelerometer does not function and the in-pipe image may be corrected. I can't do it. As a result, the in-pipe image displayed on the monitor rotates with the rotation of the traveling device, which makes it difficult to easily recognize the in-pipe image.

In view of the above circumstances, in view of the above circumstances, when the in-pipe traveling device travels in the pipe, even if the in-pipe traveling device rotates around the optical axis of the imaging unit, the predetermined direction and the display direction of the captured image of the pipe are defined. Provided is an in-pipe traveling system in which the direction of the captured image in the pipe with respect to the in-pipe traveling device is easily recognized by always setting the direction to a constant direction.

The present invention is an in-pipe traveling device that includes an image pickup unit that images the inside of a pipe and an attitude detection unit that measures the rotation angle of the image pickup unit around the optical axis, and can travel along the pipeline in the pipe. A reference axis set for forming an image acquired from the imaging unit into an image perpendicular to the optical axis of the imaging unit in the in-pipe inspection system including the above, and the reference projected on the in-pipe traveling device. From the difference between the storage unit that stores the axis, the reference axis stored in the storage unit, and the rotation angle around the optical axis of the image pickup unit detected by the attitude detection unit when the in-pipe traveling device is traveling. Based on the output of the attitude change calculation unit that calculates the amount of attitude change around the optical axis of the in-pipe traveling device with respect to the reference axis and the output of the attitude change calculation unit, the display direction of the captured image with respect to the reference axis becomes constant. As described above, the display direction determining unit for determining the display direction of the captured image is provided.

According to the present invention, when the in-pipe traveling device travels in the pipe, even if the in-pipe traveling device rotates around the optical axis of the imaging unit, the captured image in the pipe is always in a fixed direction with respect to the in-pipe traveling device. Is displayed as a reference, so that the direction of the captured image with respect to the in-pipe traveling device can be easily recognized.

Schematic configuration diagram of an in-pipe inspection system including an in-pipe traveling device Block diagram showing the control system of the in-pipe inspection system Perspective view of the in-pipe traveling device Perspective view of the in-pipe traveling device in a state where the drive wheels are steered 90 [deg] with respect to the traveling direction. Side view of the in-pipe traveling device Front view of the in-pipe traveling device Explanatory drawing which shows the traveling state of the pipe traveling device traveling in a pipe (A) is a schematic view showing a state in which the reference axis initially set in the pipe and the device axis set in the in-pipe traveling device are matched, and (b) is an image captured in the pipe displayed on the display unit and traveling in the pipe. Schematic diagram showing the positional relationship with the device (A) is a schematic view showing a state in which the device axis of the in-pipe traveling device is rotated by a predetermined angle with respect to the reference axis, and (b) is displayed in a state where the device axis of the in-pipe traveling device is set upward on the display unit. Explanatory drawing of the captured image in the pipe, (c) is an explanatory view of the captured image displayed in a state where the initially set reference axis is set upward on the display unit. A conventional example is shown, (a) is an explanatory view of an image taken in a pipe displayed in a state where the vertical direction of the in-pipe traveling device is matched in the direction of gravity, and (b) is an explanatory view of an image taken in the pipe, and (b) is rotating the in-pipe traveling device by 180 [deg]. Explanatory drawing of the image taken in the pipe displayed at the time

Hereinafter, the present invention will be described with reference to the illustrated embodiments. Each drawing used in the following description is schematically shown, and in order to show each component in a size that can be recognized on the drawing, the dimensional relationship and scale of each member are made different for each component. May be shown. Therefore, the present invention relates only to the illustrated form with respect to the quantity of each component, the shape of each component, the size ratio of each component, the relative positional relationship of each component, etc. described in each drawing. It is not limited.

Reference numeral 1 in FIG. 1 is an in-pipe inspection system for observing and inspecting the internal state of a relatively small-diameter pipe 100 such as a water pipe or a gas pipe, or investigating the laying state of the pipe 100 itself. .. The in-pipe inspection system 1 includes an in-pipe traveling device 10, a cable operating device 20, and an out-of-pipe control device 30 that can travel in the pipe 100 along the pipeline.

The in-pipe traveling device 10 has a device main body (hereinafter, referred to as “traveling device main body”) 10a having a substantially rectangular parallelepiped appearance, and is provided at the center of a front portion of the traveling device main body 10a provided in the traveling direction indicated by an arrow F. An imaging unit 12 that images the front in the traveling direction is arranged, and a plurality of illumination units 13 that illuminate the front are arranged around the imaging unit 12. Further, a pair of drive wheels (upper drive wheel 14a and lower drive wheel 14b) are provided at line-symmetrical positions in the front portion of the traveling device main body 10a at the upper portion and the lower portion, and the upper rear wheel 14c and the lower rear wheel 14d are provided at the rear portion. And are provided.

Further, a cable 50 formed by bundling signal cables, power cables, and the like, which is unwound from the cable operating device 20, is connected to the rear portion of the traveling device main body 10a in a state of being held by the cable guide unit 40. The cable guide unit 40 is swingably supported at the rear portion of the traveling device main body 10a in the vertical direction of the traveling device main body 10a as shown by an arrow R in FIG. Due to the movement, when the traveling device main body 10a travels inside the pipe 100, the cable 50 can be smoothly fed out following the traveling device main body 10a.

The cable operating device 20 has a cable drum 20a around which the cable 50 is wound, and the cable drum 20a is connected to a drive motor (not shown). The cable 50 wound around the cable drum 20a is unwound or wound up in accordance with the progress of the in-pipe traveling device 10 by the operation of a drive motor (not shown). At that time, the extension direction is guided by the cable guide portion 20b provided at the front portion of the cable operation device 20. Since this cable operating device 20 is well known, detailed description thereof will be omitted.

The in-pipe traveling device 10 will be described in more detail with reference to FIGS. 3 to 5. The traveling device main body 10a of the in-pipe traveling device 10 has a main frame 10b extending horizontally in the front-rear direction. Further, the upper link base 10c and the lower link base 10d are arranged to face each other in the vertical direction sandwiching the main frame 10b, and the respective link bases 10c and 10d and the main frame 10b are connected via the link mechanism 10e. It is installed. A posture detection sensor 22, which will be described later, is mounted on the main frame 10b.

Further, an observation substrate portion 11 is arranged at the front end of the main frame 10b. The above-mentioned image pickup unit 12 and a plurality of illumination units 13 arranged around the image pickup unit 12 are mounted on the observation board unit 11, and various sensors such as a distance measuring sensor 15 are arranged.

On the other hand, the upper drive wheels 14a and the lower drive wheels 14b are provided at the front portions of the link bases 10c and 10d arranged vertically, and the upper rear wheels 14c and the lower rear wheels 14d are provided at the rear portions. Both drive wheels 14a and 14b are supported by an upper steering portion 16a and a lower steering portion 16b, and the steering portions 16a and 16b are rotatably supported by the link bases 10c and 10d. Further, the support shafts that support both the steering portions 16a and 16b are set on a common line, and the device shaft y'is set on the line connecting the support shafts. Further, the device axis y'is set in a vertical direction (upward in the present embodiment) orthogonal to the traveling direction when the traveling device main body 10a travels straight.

Further, the rear wheels 14c and 14d are rotatably supported by the upper wheel holder 17a and the lower wheel holder 17b, and the wheel holders 17a and 17b are attached to the link bases 10c and 10d and the rear wheels 14c and 14d. Is fixed in the direction of travel.

Further, an upper first actuator 18a and a lower first actuator 18b for driving the drive wheels 14a and 14b are fixedly provided to the steering portions 16a and 16b. Further, an upper second actuator 19a and a lower second actuator 19b for steering the steering portions 16a and 16b are fixed to the link bases 10c and 10d, respectively. In the straight path, the first actuators 18a and 18b advance and retreat the in-pipe traveling device 10 along the inner wall surface 100a of the pipe 100 by rotating the drive wheels 14a and 14b in symmetrical directions (see FIG. 3). Operate (see FIG. 7 [A]). Further, the second actuators 19a and 19b can steer the steering portions 16a and 16b 90 [deg] to the left and right around the front-rear direction of the traveling device main body 10a (see FIGS. 3 and 4). ..

Further, as shown in FIG. 2, communication units 51a and 51b are provided in the traveling device main body 10a and the out-of-tube control device 30, and both communication units 51a and 51b are mutually connected via the signal cable of the cable 50. It is connected freely.

Further, the out-of-tube control device 30 is provided with an instruction unit (controller) 30a and a display unit (monitor) 30b, and an image processing unit 30c is connected to the display unit 30b. The image processing unit 30c processes an image (image in the pipe) in front of the pipe 100 imaged by the image capturing unit 12 mounted on the traveling device main body 10a in the traveling direction, and displays the image on the display unit 30b. .. Further, the image processing unit 30c is provided with a display direction determining unit 30c1 for determining the display direction of the in-pipe image so that the display direction of the in-pipe image with respect to the reference axis y described later is always constant.

The operator operates the instruction unit 30a while recognizing the image in the pipe 100 displayed on the display unit 30b, moves the pipe traveling device 10 forward and backward along the pipe 100, and inspects the inside of the pipe 100. .. The instruction unit 30a is a pointing device such as a keyboard and a mouse, and may be provided with Joyce Tech.

The traveling device main body 10a is provided with a traveling control unit 21 that controls the traveling of the in-pipe traveling device 10 according to a command signal from the indicating unit 30a. The travel control unit 21 is mainly composed of a microcomputer and its peripheral devices, and includes a well-known CPU, ROM, RAM, and non-volatile memory. A program executed by the CPU and fixed data are stored in the ROM.

The travel control unit 21 has a posture determination unit 21a, a reference axis storage unit (buffer) 21b, a posture change calculation unit 21c, a direction change unit 21d, and a function for controlling and executing the travel of the pipe traveling device 10. It includes a motor drive unit 21e.

The posture determination unit 21a is based on the signal detected by the posture detection sensor 22, and is based on the current posture of the in-pipe traveling device 10, that is, around the optical axis x (see FIGS. 3 and 4) of the imaging unit 12 of the traveling device main body 10a (see FIGS. 3 and 4). Hereinafter, the amount of change in posture (rotation angle) in the "roll direction") is detected. In this embodiment, a gyro sensor is used as the posture detection sensor 22, and the clockwise rotation in the traveling direction is set to plus (+). Therefore, the posture detection sensor 22 and the posture determination unit 21a constitute the posture detection unit of the present invention.

However, the posture detection sensor 22 may be other than the gyro sensor. For example, the rotation angle is calculated from a combination of a rotation speed sensor that detects the rotation speed of the upper drive wheel 14a or the lower drive wheel 14b and a steering angle sensor that detects the steering angle of the upper steering unit 16a or the lower steering unit 16b. It is also possible. That is, the attitude determination unit 21a includes the rotation speed of the upper drive wheel 14a or the lower drive wheel 14b detected by the rotation speed sensor, the steering angle of the upper steering unit 16a or the lower steering unit 16b detected by the steering angle sensor, and the inside of the pipe. The rotation angle in the roll direction is obtained based on the elapsed time after the steering of the traveling device 10.

When starting the inspection in the pipe 100, the reference axis storage unit 21b sets the direction of the device axis y'when the pipe traveling device 10 is set in the pipe to 0 [deg], and stores this data as the reference axis y. .. That is, the reference axis y is set to form an in-tube image acquired from the imaging unit 12 into an image perpendicular to the optical axis X of the imaging unit 12, and is projected onto the in-pipe traveling device 10 to be an apparatus. Compared to axis y'. In the image processing unit 30c described later, the reference axis y is set vertically above the display unit 30b (see FIG. 8). Therefore, when the reference axis y when the in-pipe traveling device 10 rotates by a predetermined angle during traveling is defined as the device axis y', the device axis y'is a line connecting the support shafts supporting the steering portions 16a and 16b. Match.

The posture change calculation unit 21c is generated by the movement of the pipe traveling device 10 with the reference axis y as a reference (0 [deg]) based on the rotation angle of the pipe traveling device 10 in the roll direction detected by the posture determination unit 21a. The amount of change in attitude (rotation angle) θr [deg] of the device axis y'is detected (see FIG. 9A).

The direction changing unit 21d sends an operation signal for operating the first actuators 18a and 18b and the second actuators 19a and 19b to the motor driving unit 21e based on the instruction signal from the instruction unit 30a provided in the extratube control device 30. Output to. The operation signal generated by the direction changing unit 21d will be described in detail later.

The motor drive unit 21e outputs a drive signal corresponding to the operation signal from the direction changing unit 21d to the first actuators 18a and 18b and the second actuators 19a and 19b, and these actuators 18a, 18b, 19a and 19b. The drive wheels 14a and 14b and the steering portions 16a and 16b are driven via the above.

That is, when the pipeline in the pipe 100 is traveling straight and it is desired to travel straight along the pipe 100, the steering portions 16a and 16b are fixed in the traveling direction as shown in FIG. 7A, and the steering portions 16a and 16b are fixed in the traveling direction. The upper drive wheel 14a is rotated counterclockwise in the figure, and the lower drive wheel 14b is rotated clockwise in the figure. Then, the in-pipe traveling device 10 travels straight along the axial direction of the pipeline of the pipe 100.

On the other hand, when there is a bent portion 100b that bends in the device axis y'direction of the traveling device main body 10a in front of the pipe 100, for example, as shown in FIG. 7B, the upper steering portion 16a and the lower steering portion 16b Is steered by a predetermined angle in a direction symmetrical with respect to the device axis y'. Then, the in-pipe traveling device 10 advances while rotating in a spiral shape.

Then, as shown in FIG. 7C, when the drive wheels 14a and 14b and the rear wheels 14c and 14d of the in-pipe traveling device 10 change to a posture horizontal to the bending direction of the bending portion 100b. Both steering portions 16a and 16b are returned in the direction in which the in-pipe traveling device 10 travels straight. As shown in FIG. 7, when the bent portion 100b is bent and formed with a constant curvature, the outer curvature is smaller than the inner curvature in the bending direction, but the side orthogonal to this is the central axis of the pipeline. It has the same curvature as H. Therefore, the in-pipe traveling device 10 is rotated so that the left and right sides of the traveling device main body 10a are directed in the bending direction of the bending portion 100b.

As a result, the in-pipe traveling device 10 is stable without causing differential rotation of both drive wheels 14a and 14b by steering both steering portions 16a and 16b along the curvature of the central axis H of the bent portion 100b. It is possible to pass the bent portion 100b in the bent posture. As shown in FIG. 7D, after the in-pipe traveling device 10 passes through the bent portion 100b, the vehicle advances while maintaining the current posture until the next bent portion is detected, and the bent portion is detected. If so, the steering portions 16a and 16b are steered and controlled according to the bending direction of the bent portion.

By the way, as shown in FIG. 8A, the pipe traveling device 10 is set in the pipe 100, and the link mechanism 10e (see FIGS. 3 and 5) is driven to drive both the driving wheels 14a and 14b and both. When the rear wheels 14c and 14d are pressed against the inner wall surface 100a to travel, the display unit 30b of the out-of-tube control device 30 is displayed on the front inside the pipe 100 imaged by the imaging unit 12 as shown in FIG. The captured image (in-pipe image) 100a'is displayed. Since the in-pipe image 100a'is an image captured by the imaging unit 12, as shown in FIG. 9A, when the in-pipe traveling device 10 rotates in the roll direction inside the pipe 100, as shown in FIG. 9B. In addition, the display unit 30b displays an image of the inside of the pipe with the device axis y'upward.

Therefore, as described above, in FIGS. 7B to 7C, when the in-pipe traveling device 10 rotates in a spiral shape, the in-pipe image 100a'displayed on the display unit 30b as shown in FIG. 9B. Rotates relatively. As a result, the scratch s displayed in the lower left of the in-pipe image 100a'displayed on the display unit 30b in FIG. 8B rotates in the clockwise direction in the figure as the in-pipe traveling device 10 rotates. In FIG. 9B, it is moved to the lower part of the screen. Similarly, the in-pipe image (in-pipe image of the bent portion) 100b'of the bent portion 100b of the pipe 100 also rotates in the same direction.

Therefore, the display direction determination unit 30c1 provided in the image processing unit 30c refers to the in-tube image 100a'image-processed by the image processing unit 30c and the reference axis y detected by the posture change calculation unit 21c (0 [deg]]. ) Is read, and the in-pipe image 100a'is rotated and corrected in the direction in which the attitude change amount θr is 0 [deg] to determine the display direction. This rotation correction is performed, for example, by performing a trimming process based on the posture change amount θr and setting the posture change amount θr to 0 [deg].

As a result, as shown in FIG. 9C, the in-pipe image 100a'in which the reference axis y is the upper portion in the vertical direction of the display unit 30b is displayed on the display unit 30b.

At that time, as shown by the broken line in FIG. 9C, the display unit 30b may display the in-pipe traveling device image 10'showing the actual posture of the in-pipe traveling device 10. Alternatively, the device axis y'may be displayed instead of the in-pipe traveling device image 10'. Alternatively, the operator may select whether or not to display the in-pipe traveling device image 10'or the device axis y'on the display unit 30b by operating the instruction unit 30a.

Next, the operation of the in-pipe traveling device 10 at the time of inspection in the pipe 100 performed by the operator will be described. The operator confirms the in-pipe image 100a'displayed on the display unit 30b, operates the mouse or Joyce Tech provided in the instruction unit 30a of the out-of-tube control device 30, and the in-pipe traveling device 10 is inside the pipe 100. Both steering portions 16a and 16b are steered so as to travel along the axial direction of the pipeline. At that time, as shown in FIG. 9C, the display unit 30b shows the in-pipe image 100a ′ with the reference axis y as the upward direction regardless of the position of the in-pipe traveling device 10 in the roll direction. Is displayed, the operator can easily grasp the traveling path in the pipe.

Further, the operator operates the mouse or Joyce Tech to indicate the traveling direction of the pipe traveling device 10 while checking the pipe image 100a'displayed on the display unit 30b. Then, the instruction unit 30a outputs an instruction signal of the instruction angle θt with the reference axis y as a reference (0 [deg]) to the direction change unit 21d of the travel control unit 21 via the communication units 51a and 51b.

The direction changing unit 21d sets a value obtained by adding the posture change amount θr to the input indicated angle θt as the target posture change amount θrt (θrt = θt + θr). The motor drive unit 21e drives the upper second actuator 19a and the lower second actuator 19b to steer the upper drive wheel 14a and the lower drive wheel 14b in symmetrical directions about the device axis y', and changes the posture. Attitude control is performed so that the amount θr becomes the target attitude change amount θrt. As a result, the operator can advance the in-pipe traveling device 10 in the direction instructed by himself / herself.

On the other hand, the operator is displayed in black based on the in-tube image 100a'displayed on the display unit 30b, because the in-tube image 100b'in the bent portion (the illumination light from the illuminating unit 13 does not reach in the bending direction). ) Is confirmed, the mouse or Joyce Tech is operated to indicate the traveling direction of the in-pipe traveling device 10, and the conversion switch (for example, the main button of the mouse) is turned on (for example, the main button is double-clicked). Instructs the passage of the bent portion 100b.

Then, the direction changing unit 21d sets the above-mentioned target posture change amount θrt to a value that passes through the bent portion 100b, that is, as shown in FIG. 7C, the in-pipe traveling device 10 is in a state where the bent portion 100b is turned sideways. It is converted into a target posture change amount θrt for passing. By steering by the motor drive unit 21a, both steering units 16a and 16b are steered so that the attitude change amount θr becomes the target attitude change amount θrt.

Then, the operator confirms the bending pipe image 100b'displayed on the display unit 30b, operates the mouse or Joyce Tech, and instructs the pipe traveling device 10 in the bending direction of the bending portion 100b, whereby both steerings are steered. The portions 16a and 16b are steered so that the bent portions 100b can pass smoothly. Next, after passing through the bent portion 100b, the in-pipe traveling device 10 is allowed to travel straight in the same posture (state of FIG. 7D).

Even in this state, the in-pipe image with the reference axis y upward is displayed on the display unit 30b confirmed by the operator. Therefore, an captured image is displayed on the screen as if the image was taken by going straight in the pipeline, and the operator does not care at all which direction the in-pipe traveling device 10 is in the roll direction. While checking the displayed bent portion in-pipe image 100b', the in-pipe traveling device 10 can be easily moved along the bent portion 100b by operating the mouse or Joyce Tech.

The present invention is not limited to the above-described embodiment, and the in-pipe traveling device may autonomously travel along the axial direction of the pipeline by automatic control. Even in this case, since the image with the reference axis y facing upward is displayed on the display unit 30b, even when the in-pipe traveling device 10 rotates in the roll direction to pass through the bent portion, Since the image inside the pipe does not rotate, the situation inside the pipe can be easily grasped.

Further, the image processing unit 30c including the display direction determining unit 30c1 may be provided on the traveling device main body 10a side. Further, the device axis y'may be set in any direction as long as it intersects or is orthogonal to the optical axis x.

1 ... In-pipe inspection system,
10 ... In-pipe traveling device,
10'... In-pipe traveling device image,
10a ... Traveling device body,
10b ... Mainframe,
10c ... Upper link base,
10d ... Lower link base,
10e ... Link mechanism,
11 ... Observation board part,
12 ... Imaging unit,
13 ... Lighting unit,
14a ... Upper drive wheel,
14b ... Lower drive wheel,
14c ... Upper rear wheel,
14d ... Lower rear wheel,
15 ... Distance measurement sensor,
16a ... Upper steering section,
16b ... Lower steering section,
17a ... Upper wheel holder,
17b ... Lower wheel holder,
18a ... Upper first actuator,
18b ... Lower first actuator,
19a ... Upper second actuator,
19b ... Lower second actuator,
20 ... Cable operating device,
20a ... Cable drum,
20b ... Cable guide part,
21 ... Travel control unit,
21a ... Posture determination unit,
21b ... Reference axis storage unit,
21c ... Posture change calculation unit,
21d ... Direction change unit,
21e ... Motor drive unit,
22 ... Posture detection sensor,
30 ... Out-of-tube control device,
30a ... Indicator,
30b ... Display unit,
30c ... Image processing unit,
40 ... Cable guide unit,
50 ... Cable,
51a, 51b ... Communication unit,
100 ... plumbing,
100a ... Inner wall surface,
100a'... image in the jurisdiction,
100b ... Bent part,
100b'... Image of the bent part in the pipe,
101 ... Display unit,
H ... Central axis,
x ... optical axis,
s ... scratches,
y ... Reference axis,
y'... device axis,
θr ... Posture change amount,
θt ... indicated angle,
θrt ... Target posture change amount

Claims (7)

An in-pipe inspection including an in-pipe traveling device that is equipped with an image pickup unit that images the inside of a pipe and an attitude detection unit that measures the rotation angle of the image pickup unit around the optical axis and can travel along the pipe line. In the system
A reference axis set for forming an image captured from the imaging unit into an image perpendicular to the optical axis of the imaging unit, and a storage unit that stores the reference axis projected on the in-pipe traveling device. ,
From the difference between the reference axis stored in the storage unit and the rotation angle around the optical axis of the imaging unit detected by the posture detection unit when the in-pipe traveling device is traveling, the in-pipe traveling device with respect to the reference axis is used. Attitude change calculation unit that calculates the amount of attitude change around the optical axis of
A display direction determination unit that determines the display direction of the captured image so that the display direction of the captured image with respect to the reference axis is constant based on the output of the posture change calculation unit.
An in-pipe inspection system characterized by being equipped with. The in-pipe inspection system includes the in-pipe traveling device and a display unit that is outside the pipe and displays the captured image.
The in-pipe inspection system according to claim 1, wherein the storage unit, the posture change calculation unit, and the display direction determination unit are arranged in either the in-pipe traveling device or the display unit. The display direction determination unit sets the posture change amount of the captured image to 0 [deg] with respect to the reference axis based on the posture change amount detected by the posture change calculation unit when the in-pipe traveling device moves. ] The in-pipe inspection system according to claim 1, wherein the rotation is corrected in the direction of. The in-pipe inspection system according to claim 2, wherein the image capture image in which the posture change amount is 0 [deg] with respect to the reference axis is displayed on the display unit. The in-pipe traveling device has a pair of drive wheels at vertically symmetrical positions.
When the reference shaft when the in-pipe traveling device rotates by a predetermined angle with respect to the reference shaft is defined as the device shaft, the device shaft is a line connecting the support shafts supporting both drive wheels. The in-pipe inspection system according to claim 4, wherein they match. It has an instruction unit that indicates the traveling direction of the in-pipe traveling device, and has an indicator unit.
When the reference axis and the device axis do not match the instruction direction output from the instruction unit, the direction in which the instruction angle corrected for the angle rotated by the in-pipe traveling device during traveling is output to the motor drive unit. The in-pipe inspection system according to claim 5, further comprising a conversion unit. The direction changing unit sets a value obtained by adding the posture change amount calculated by the posture change calculation unit to the input indicated angle as the target posture change amount, and the posture change amount becomes the target posture change amount. The in-pipe inspection system according to claim 6, wherein an operation signal is output to the motor drive unit.

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