JP7634858B2 - In-pipe inspection device, inspection assembly, and inspection section support structure - Google Patents

Description

The present invention relates to an inside-pipe inspection device, an inspection assembly , and an inspection unit support structure , and can be applied to the inspection of the inside of pipes such as sewer pipes buried underground.

Conventionally, there exists an inspection device (hereinafter referred to as an "in-pipe inspection device") that moves inside pipes such as sewer pipes and gas pipes buried underground and inspects them using an inspection device such as a camera.

A conventional pipe inspection device is described in Patent Document 1.

The pipe inspection device described in Patent Document 1 is designed to move inside the pipe using a movement mechanism that uses wheels that come into contact with the inner surface of the pipe.

JP 2018-40577 A

However, when using a pipe inspection device that uses a moving mechanism that comes into contact with the inner surface of the pipe, as in Patent Document 1, it may be difficult to use depending on the environment inside the pipe to be inspected.

For example, since wastewater and sludge exist inside sewer pipes, contamination of the pipe inspection device is unavoidable, and it is necessary to clean the dirt when recovering a used pipe inspection device. As described above, the inside of a sewer pipe is a harsh environment for machinery, and maintaining a high level of waterproofing is very costly. Furthermore, as described above, not only wastewater but also sludge may exist inside a sewer pipe, and the inner surface of the pipe may be corroded, so a mechanism using wheels, such as the pipe inspection device described in Patent Document 1, may have difficulty moving inside the pipe, and may even damage the inner surface of the pipe.

In view of the above problems, there is a demand for an inside-pipe inspection device, an inspection assembly , and an inspection unit support structure that can inspect the inside of a pipe more reliably at lower cost.

The first invention is an internal pipe inspection device for inspecting the inside of a pipe through which a fluid flows, comprising: (1) an inspection unit support structure including an inspection unit including at least a camera for photographing the inside of the pipe and an inspection unit support part for supporting the inspection unit; (2) a containment capsule having a cylindrical container for accommodating the inspection unit support structure and moving with the flow of the fluid within the pipe; (3) the inspection unit has a camera support part for supporting the camera, an illumination part for illuminating the surroundings, and a connecting part for connecting to the inspection unit support structure; (4) the inspection unit support structure has a base part placed on the bottom of the container, and an inspection unit support part for supporting the inspection unit by connecting to the connecting part of the inspection unit on the base part; (5) the shape of the bottom of the base part is a curved shape that is in contact with the inner surface of the container part of the containment capsule; and (6) the base part is not fixed to the inner surface of the containment capsule when contained within the containment capsule .

The second invention is (1) an inspection unit support structure that supports an inspection unit including a camera that photographs at least the inside of a pipe within a storage capsule having a cylindrical storage portion and moving with the flow of the fluid within the pipe through which the fluid flows, the structure having (2) a base portion placed on the bottom of the storage portion, and (3) an inspection unit support portion that supports the inspection unit on the base portion, (4) the shape of the bottom of the base portion is a curved shape that contacts the inner surface of the storage portion of the storage capsule, and (5) the base portion is not fixed to the inner surface of the storage capsule when stored within the storage capsule .

The third invention of the present invention is (1) an inspection assembly having a cylindrical storage portion and being stored in the storage portion of a containment capsule that moves with the flow of a fluid within a piping through which a fluid flows, (2) an inspection portion including a camera that takes images of at least the inside of the piping, and (3) an inspection portion support structure including an inspection portion support portion that supports the inspection portion, (4) the inspection portion support structure has a base portion placed on the bottom of the storage portion and an inspection portion support portion that supports the inspection portion on the base portion, (5) the shape of the bottom of the base portion is a curved shape that contacts the inner surface of the storage portion of the containment capsule, and (6) the base portion is not fixed to the inner surface of the containment capsule when stored in the containment capsule .

According to the present invention, it is possible to provide an inside pipe inspection device, an inspection assembly , and an inspection unit support structure that can inspect the inside of a pipe more reliably at lower cost.

1 is a side view of a pipe internal inspection device according to a first embodiment; FIG. 2 is a diagram showing a state in which the pipe inspection device according to the first embodiment is flown inside a sewer pipe. FIG. 1 is a diagram illustrating a configuration of an omnidirectional camera according to a first embodiment. 1 is a diagram showing a configuration of a testing instrument according to a first embodiment. FIG. 1 is a diagram illustrating a structure (structure of an inspection unit) for accommodating an omnidirectional camera according to a first embodiment in an imaging tool. FIG. 3A to 3C are diagrams illustrating a configuration of an inspection unit support unit according to the first embodiment. 1 is a diagram illustrating a structure in which an inspection unit support structure (inspection unit support portion) according to a first embodiment supports an inspection unit (an inspection tool equipped with a spherical camera). FIG. 1A and 1B are diagrams illustrating a structure of a containing capsule according to a first embodiment. 1 is a diagram showing a structure in which the inspection assembly according to the first embodiment is housed in a housing capsule to complete an internal pipe inspection device. FIG. 4A and 4B are diagrams showing a relationship between a containing capsule (containing portion) and an outer shape of a testing portion support structure according to the first embodiment. FIG. 11 is a side view of a pipe internal inspection device according to a second embodiment. 13A and 13B are diagrams showing a structure of a containing capsule according to a second embodiment. FIG. 11 is a side view of an internal pipe inspection device according to a third embodiment. 13A and 13B are diagrams showing a structure of a containing capsule according to a third embodiment. 13A and 13B are diagrams illustrating a configuration of an inspection unit support unit according to a third embodiment. FIG. 13 is a diagram showing a state in which the pipe inspection device according to the fourth embodiment is flowing inside a sewer pipe. FIG. 13 is a side view of an internal pipe inspection device according to a fourth embodiment. FIG. 13 is a diagram showing a state in which the pipe inspection device according to the fourth embodiment is flowing inside a sewer pipe. 13A and 13B are diagrams showing a structure of a containment capsule (part 1) according to a fourth embodiment. 13A and 13B are diagrams illustrating a lid attachment structure in a containment capsule (part 1) according to a fourth embodiment. 13A and 13B are diagrams showing a structure of a containing capsule (part 2) according to a fourth embodiment. FIG. 13 is a side view of an internal pipe inspection device according to a fifth embodiment. 13A and 13B are diagrams showing a structure of a containing capsule according to a fifth embodiment. FIG. 4 is a side view of the inside of a pipe inspection device according to the first modified embodiment. FIG. 11 is a side view of an inside-pipe inspection device according to a second modified embodiment. FIG. 13 is a side view of an inspection unit support structure according to a second modified embodiment. FIG. 13 is a side view of a pipe internal inspection device according to a third modified embodiment.

(A) First Embodiment Hereinafter, a first embodiment of an inside-pipe inspection device, an inspection assembly, and an inspection unit support structure according to the present invention will be described in detail with reference to the drawings.

(A-1) Configuration and Operation of the First Embodiment FIG. 1 is a side view of an internal pipe inspection device 10 according to this embodiment.

The pipe inspection device 10 is a device that inspects the inside of a pipe (e.g., taking pictures of the inside of the pipe with a camera) while moving inside the pipe through which a fluid such as a sewer flows.

The pipe inspection device 10 is configured such that an inspection assembly 60 including an inspection tool 30 equipped with a spherical camera 20 and an LED light 32 is inserted into a container capsule 40 formed from a transparent material.

The storage capsule 40 is bell-shaped (roughly bullet-shaped) and is provided with a guide wire connection part 70 for connecting (fixing) the guide wire 80. There are no limitations on the material of the storage capsule 40, but it is preferable that the material be transparent so as not to interfere with photography by the spherical camera 20 inside (photography of the inner surface of the sewer pipe). The material of the storage capsule 40 is preferably a transparent resin material such as PET (Polyethylene Terephthalate) or acrylic.

In this embodiment, the guide wire connection part 70 is described as a member formed in a ring shape, but the specific shape is not limited as long as the guide wire 80 can be connected (fixed) to the guide wire connection part 70. Metals such as iron and stainless steel can be used as the guide wire connection part 70. For example, the guide wire connection part 70 may be rod-shaped instead of ring-shaped. The guide wire 80 is a wire (thread) used when the user retrieves the pipe inspection device 10 from the pipe to be measured. One end of the guide wire 80 is connected (tied) to the guide wire connection part 70 of the containment capsule 40, and the other end is connected to the reel mechanism 90. The wire (thread) used as the guide wire 80 is not limited, but for example, fishing line or metal wire can be used.

The reel mechanism 90 is a mechanism for feeding and winding up the guide wire 80. For example, a fishing line reel can be used as the reel mechanism 90. The reel mechanism 90 may be either manual or electric.

Figure 2 shows the state in which the pipe inspection device 10 of this embodiment is flowing inside a sewer pipe T.

As shown in FIG. 2, the pipe inspection device 10 can be placed inside a sewer pipe T through which sewage (fluid) flows, and can move inside the pipe along with the flow of the sewage.

In Figure 2, the line WL represents the water level (water surface height) of the sewage in the sewer pipe T.

As described above, the piping inspection device 10 moves inside the sewer pipe T with the flow of sewage, and the LED lights 32 illuminate the inside of the sewer pipe T while the omnidirectional camera 20 captures images. Since the omnidirectional camera 20 can face its field of view in almost all directions, images can be captured (inspected, scanned) of the entire inside of the sewer pipe T (except for the part covered by sewage, etc.) even if the posture of the piping inspection device 10 changes inside the sewer pipe T. In addition, since the inspection tool 30 is cylindrical and has the LED lights 32 installed at approximately equal intervals on the outer circumferential surface, it can capture (scan) the inside of the sewer pipe T while illuminating the entire circumference (the inner surface of the sewer pipe T) evenly. Note that the inspection sensor (sensor device constituting the inspection unit) mounted on the piping inspection device 10 is not limited to the omnidirectional camera 20, and various sensors such as an infrared camera, an illuminance sensor, and a temperature sensor may be applied (multiple sensors may be mounted).

In FIG. 2, the direction in which the pipe inspection device 10 moves with the flow of sewage in the pipe (the direction of the sewage flow: hereinafter also referred to as the "travel direction") is indicated by arrow X. Hereinafter, the side of the pipe inspection device 10 in the travel direction will be referred to as the "front side," and the side opposite to the travel direction will be referred to as the "rear side."

In the following, when describing the configuration of the in-pipe inspection device 10, when the in-pipe inspection device 10 is placed in a pipe (e.g., in a sewer pipe) (e.g., when placed in a state in which the sewage surface WL and the traveling direction X are parallel as shown in FIG. 2), the direction parallel to the traveling direction (e.g., the left-right direction as seen from the perspective of FIG. 2) will be referred to as the "length direction", the direction parallel to the vertical direction (direction perpendicular to WL) (up-down direction as seen from the perspective of FIG. 2) will be referred to as the "height direction", and the direction perpendicular to the traveling direction above the liquid surface of the fluid (above the sewage surface WL in FIG. 2) (depth direction as seen from the perspective of FIG. 2) will be referred to as the "width direction". In the following, the upper side as seen from the perspective of FIG. 2 will be referred to as the "upper direction", the lower side as the "downward direction", the front side as the "frontward direction", and the rear side as the "rearward direction".

Next, the configuration of the spherical camera 20 will be explained using FIG. 3.

Figures 3(a) to 3(c) are a side view, a front view, and a bottom view, respectively, of the spherical camera 20.

The specific configuration of the omnidirectional camera 20 is not limited, but in this embodiment, an example will be described in which a so-called 360-degree camera manufactured by Ricoh Co., Ltd. (a camera of the RICOH THETA (registered trademark) series) is used as the omnidirectional camera 20.

As shown in FIG. 3, the main body of the omnidirectional camera 20 has a vertically long plate shape, and lenses 21 and 22 are arranged on both upper side surfaces (each plate surface). In addition, a screw hole 23 that can be connected to a device such as a tripod or a selfie stick is formed on the bottom surface of the omnidirectional camera 20. In FIG. 3, the dimensions of the longitudinal direction (length direction), transverse direction (height direction), and plate thickness (width direction) of the plate surface of the omnidirectional camera 20 are illustrated as L31, L32, and L33, respectively. In this embodiment, it will be described assuming that L31 = 130 mm, L32 = 45 mm, and L33 = 23 mm.

Here, it is assumed that the omnidirectional camera 20 is equipped with a battery and a data recording medium (not shown). Therefore, the omnidirectional camera 20 can start shooting video (shooting video that covers the entire surroundings within the field of view; so-called VR video shooting) in response to a user operation (for example, a button operation not shown or a remote operation using a wireless terminal such as a smartphone) and record the captured video data on the data recording medium.

In this embodiment, a spherical camera is used as the inspection sensor (inspection device), but a camera that does not have a spherical field of view may also be used. However, it is preferable that the field of view of the camera used in the internal pipe inspection device 10 is wide (with few blind spots).

Next, the configuration of the testing device 30 will be explained using Figure 4.

Figures 4(a) to 4(c) are a perspective view, a view from the front, and a view from the rear of the testing device 30, respectively.

The specific configuration of the inspection tool 30 is not limited, but in this embodiment, the imaging tool (panoramic imaging device) described in Reference 1 (Utility Model Registration No. 3212609) is described as being applied.

The inspection tool 30 has a cylindrical body with LED lights 32 installed at approximately equal intervals on the outer periphery. The front surface of the inspection tool 30 is provided with a camera housing hole 31 that houses (supports) the longitudinal half of the omnidirectional camera 20 (the side where the lenses 21 and 22 are not arranged) and allows the half of the inspection tool 30 including the lenses 21 and 22 (the longitudinal half) to protrude. The rear surface of the inspection tool 30 is provided with a screw hole 33 that can be connected to a device (a so-called camera accessory) such as a tripod or a so-called "selfie stick." The inspection tool 30 is equipped with a battery (not shown), and the battery supplies power to the LED lights 32.

In FIG. 4, the dimensions of the testing device 30 in the width direction and height direction (diameter of the cylindrical shape) are shown as L21, and the dimension in the length direction (height of the cylindrical shape) is shown as L22. In this embodiment, the following description will be given assuming that L21 = 95 mm and L22 = 80 mm.

The structure for housing the omnidirectional camera 20 in the inspection tool 30 (the structure of the inspection unit) will be described with reference to FIG. 5.

Figure 5(a) is a diagram showing the state before the omnidirectional camera 20 is accommodated (inserted) into the camera accommodation hole 31 of the inspection tool 30, and Figure 5(b) is a diagram showing the state after the omnidirectional camera 20 is accommodated (inserted) into the camera accommodation hole 31 of the inspection tool 30.

Next, the configuration of the inspection unit support structure 50 will be explained using Figures 6 and 7.

The inspection tool 30 is a device that supports the spherical camera 20 and is equipped with a lighting means for illuminating the inside of the piping.

Figures 6(a) to 6(e) are views of the inspection unit support structure 50 as seen from above, from the front side, from below, from the front side, and from the rear side, respectively.

The testing unit support structure 50 has a base portion 51 formed in a shape (a shape corresponding to the inner surface of the containing capsule 40) whose bottom surface (side surface) contacts the inner surface (bottom) of the containing capsule 40 (containing portion 41), and a testing unit support portion 52 that supports the testing instrument 30 above the base portion 51.

In FIG. 5, the bottom surface of the base portion 51 has a U-shape (a shape corresponding to the cylindrical inner surface of the containment capsule 40; a kamaboko shape with a flat upper surface) that contacts the cylindrical inner surface of the containment capsule 40. As shown in FIG. 5, the base portion 51 is placed on the bottom of the containment capsule 40 (containment portion 41). The inspection portion support structure 50 may be fixed detachably within the containment capsule 40 by various fixing means, locking means, etc.

Figure 7 shows the structure in which the inspection unit support structure 50 (inspection unit support part 52) supports (connects) the inspection tool 30 (inspection tool 30 equipped with the omnidirectional camera 20).

Figure 7(a) shows the state before the inspection tool 30 is connected to the inspection unit support structure 50, and Figure 7(b) shows the state after the inspection tool 30 is connected to the inspection unit support structure 50.

As described above, the inspection unit support part 52 is shaped to support the inspection tool 30 (the inspection tool 30 on which the omnidirectional camera 20 is mounted) on the upper side of the base part 51. Although the specific shape of the inspection unit support part 52 is not limited, in Figs. 5 and 6, the inspection unit support part 52 is shaped like a kamaboko fish, and a support screw 53 is formed on the front surface of the inspection unit support part 52, which supports the inspection tool 30 by screwing (connecting; connecting) the screw hole 33 of the inspection tool 30. In this embodiment, the inspection unit support part 52 and the inspection tool 30 are supported by screwing, but the structure in which the inspection unit support part 52 supports the inspection tool 30 is not limited to screwing, and various support structures can be applied. For example, a structure in which magnets are attached to each of the inspection unit support part 52 and the inspection tool 30 and they are supported (connected) by magnetic force may be used.

In this specification, the inspection tool 30 equipped (connected) with the omnidirectional camera 20 is also referred to as the "inspection unit." For example, if the containment capsule 40 is equipped with a lighting means other than the inspection tool 30, the inspection tool 30 is unnecessary, and therefore the omnidirectional camera 20 (threaded hole 23 on the underside) may be directly connected (screwed) to the inspection unit support unit 52 (support screw 53). In this case, the inspection unit is only the omnidirectional camera 20. As described above, the inspection unit connected to the inspection unit support structure 50 (inspection unit support unit 52) only needs to include at least the omnidirectional camera 20.

The shape of the upper surface of the inspection unit support part 52 must be such that it does not interfere with the cylindrical inner surface of the containment capsule 40 when inserted into the containment capsule 40. In Figures 5 and 6, the upper surface of the inspection unit support part 52 has a chamfered shape (a shape corresponding to the cylindrical inner surface of the containment capsule 40) so that it does not interfere with the cylindrical inner surface of the containment capsule 40 when inserted into the containment capsule 40.

As shown in FIG. 6(b), the inspection assembly 60 is formed by connecting (joining) the inspection unit support structure 50 (inspection unit support 52) to the inspection tool 30 (inspection tool 30 on which the omnidirectional camera 20 is mounted).

In FIG. 6, the height dimension of the inspection unit support structure 50 is shown as L41, and the length dimension is shown as L42. Also in FIG. 6, the height dimension of the base unit 51 is shown as L43.

Next, the details of the shape of the containment capsule 40 will be explained using Figure 8.

The storage capsule 40 has a cylindrical storage section 41 capable of storing the inspection assembly 60. The front opening of the storage section 41 is covered by a hemispherical dome, and a lid 42 is attached to the rear opening. As shown in FIG. 8, a guide wire connection section 70 is attached to the lid 42.

The storage section 41 has a threaded portion 411 formed on the outer edge of the rear end (the outer edge of the opening) for screwing with the lid 42. The inner peripheral surface of the lid 42 is also threaded for screwing with the threaded portion 411 of the storage section 41. As described above, in this embodiment, the storage section 41 and the lid 42 are structured to be detachably attached. The structure for detachably connecting (connecting) the storage section 41 and the lid 42 is not limited to the above-mentioned screwing, and various structures can be applied.

In FIG. 8, the inner diameter (height and depth) of the storage section 41 (cylindrical shape) is shown as L11, and the length (lengthwise) of the storage section 41 (cylindrical shape) is shown as L12.

The longer the length L42 of the inspection unit support structure 50, the more stable the position and posture of the inspection unit support structure 50 within the storage section 41 will be, but it goes without saying that the length L42 of the inspection unit support structure 50 must be equal to or less than the length L12 of the storage section 41. Also, the lengths L42 and L12 may be the same, but as shown in FIG. 7, if the front end of the inspection unit support structure 50 (the end of the base section 51) is formed to be located behind the lenses 21 and 22 of the omnidirectional camera 20, the field of view below the omnidirectional camera 20 will be improved.

Next, the structure in which the inspection assembly 60 is housed in the housing capsule 40 to complete the internal pipe inspection device 10 will be described with reference to FIG. 9.

9(a) is a diagram showing the state before the inspection assembly 60 is accommodated in the accommodation portion 41 of the accommodation capsule 40. FIG. 9(b) is a diagram showing the state in which the inspection assembly 60 is inserted from the opening of the accommodation portion 41 of the accommodation capsule 40. As shown in FIG. 9(a) and FIG. 9(b), the bottom surface (bottom surface of the base portion 51) of the inspection assembly 60 can be inserted from the opening of the accommodation capsule 40 (accommodation portion 41) while sliding against the inner surface (bottom portion) of the accommodation capsule 40 (accommodation portion 41). Then, with the inspection assembly 60 inserted inside the accommodation portion 41 of the accommodation capsule 40, the lid 42 is attached (attached by screwing) to the opening of the accommodation portion 41, thereby completing the pipe inspection device 10.

Next, we will explain the method for inspecting a sewer pipe T using the internal pipe inspection device 10.

When the user attaches the inspection unit (the inspection tool 30 equipped with the omnidirectional camera 20) to the inspection unit support structure 50, the inspection assembly 60 is completed. Furthermore, the user inserts the inspection assembly 60 into the storage capsule 40 (storage section 41) and attaches the lid 42. Note that, before the inspection assembly 60 is inserted into the storage capsule 40 (storage section 41), the user turns on the switch of the inspection tool 30 (LED light 32 is on) and starts capturing images with the omnidirectional camera 20. With the above, the pipe internal inspection device 10 is completed and is in a state where it can capture images while illuminating the surroundings and record the captured video images. In this state, the user flows the pipe internal inspection device 10 into the sewer pipe T to be inspected and later retrieves it downstream. After that, the user separates the inspection assembly 60 from the pipe internal inspection device 10 and removes the omnidirectional camera 20 from the inspection assembly 60. The spherical camera 20 (data recording medium, not shown) records video images (inspection results) of the inner surface of the sewer pipe T being inspected, so the user can check the video images (inspection results) using various playback means (e.g., playback means using a terminal such as a smartphone or PC). After the user retrieves the inside pipe inspection device 10 from the sewer pipe T, the user can easily separate only the containment capsule 40 and dispose of it (e.g., dispose of it, clean it, etc.).

Next, the design of the dimensions of the testing unit support structure 50 and the storage capsule 40 will be explained using Figure 10.

Figure 10 is a diagram showing the relationship between the containment capsule 40 (containment section 41) and the external shape (external shape in a plane perpendicular to the direction of travel) of the inspection section support structure 50. Figure 10 is a diagram showing the containment capsule 40 with the inspection assembly 60 (inspection section support structure 50) inserted, viewed from the rear (with the lid 42 removed). In Figure 10, the inspection section support structure 50 is shown hatched (diagonal lines).

Typically, the thinnest sewer pipe buried underground under a road has a diameter of about 20 cm. Therefore, in order to allow the in-pipe inspection device 10 (container capsule 40) to flow smoothly through the sewer pipe, it is desirable that the outer diameter of the containment capsule 40 be smaller than 20 cm (for example, about 12 cm to 16 cm). Therefore, for example, if the containment capsule 40 is made of a transparent resin with a thickness of 1 mm, it is desirable that the inner diameter L11 of the containment capsule 40 (container section 41) be about 11.8 cm to 15.8 cm. And, naturally, the height dimension L41 of the inspection section support structure 50 needs to be less than the inner diameter L11 of the containment capsule 40 (container section 41). For example, the height dimension L41 of the inspection unit support structure 50 may be a dimension obtained by subtracting about 2 mm to 4 mm from the inner diameter L11 of the containment capsule 40 (container 41) (i.e., L41 = L11 - α; α indicates an offset (slight gap) of about 1 mm to 4 mm). Setting α (slight gap) to a small value will stabilize the position and posture of the inspection unit support structure 50 within the containment capsule 40 (container 41) (reducing rattling, etc.), but if α is too small, it will be difficult to insert the inspection unit support structure 50 into the containment capsule 40, so it is desirable to set it to about 2 mm to 4 mm.

That is, in the inspection unit support structure 50, the bottom surface of the base portion 51 is shaped to correspond to the bottom of the storage portion 41 of the storage capsule 40 (U-shaped in this embodiment), and by applying the above-mentioned appropriate dimension to α (small gap), the outer shape of the inspection unit support structure 50 (outer shape formed by the base portion 51 and the inspection unit support portion 52; outer shape in a plane perpendicular to the direction of travel) can be shaped to correspond to the inner surface of the storage capsule 40 (storage portion 41) (a shape that is almost in contact with the inner surface of the storage capsule 40 (storage portion 41)). This makes it possible to stabilize the position and posture of the inspection unit support structure 50 within the storage capsule 40 (storage portion 41).

There are no limitations on the materials that can be used for the inspection unit support structure 50, and various resins, wood, metals, etc. can be used. The base portion 51 and the inspection unit support portion 52 can be hollow or solid.

(A-2) Advantages of the First Embodiment According to this embodiment, the following advantages can be achieved.

In the first embodiment, the inspection assembly 60 can be constructed simply by attaching the inspection tool 30 equipped with the omnidirectional camera 20 to the inspection unit support structure 50, and the internal pipe inspection device 10 can be constructed simply by inserting the inspection assembly 60 into the containment capsule 40 (containment unit 41) and attaching the lid 42. Also, in the first embodiment, it is possible to obtain video images (inspection data) of the inner surface of the sewer pipe T by simply running the internal pipe inspection device 10 through the sewer pipe T to be inspected and then recovering it downstream.

In addition, in the first embodiment, after the internal pipe inspection device 10 is flushed through the sewer pipe T, the inspection assembly 60 can be easily removed and recovered from the internal pipe inspection device 10.

(B) Second Embodiment Hereinafter, a second embodiment of the inside-pipe inspection device, inspection assembly , and inspection unit support structure according to the present invention will be described in detail with reference to the drawings.

(B-1) Configuration and operation of the second embodiment Fig. 11 is a side view of an internal pipe inspection device 10A according to this embodiment. In Fig. 11, the same or corresponding parts as those in Fig. 1 are denoted by the same or corresponding reference numerals.

The second embodiment of the pipe inspection device 10A differs from the first embodiment in that the containment capsule 40 is replaced with a containment capsule 40A.

Figure 12 shows the configuration of the containment capsule 40A of the second embodiment.

The storage capsule 40A has a cylindrical (columnar) storage section 41A, a lid 43 that covers the front side (opening) of the storage section 41A, and a lid 42 that covers the rear side (opening) of the storage section 41A. As shown in FIG. 12, a guide wire connection section 70 is attached to the rear lid 42.

Threaded portions 411, 412 are formed on the outer edge of both ends (the outer periphery of the opening) of the storage section 41A for screwing with the lids 42, 43, respectively. In addition, threads are formed on the inner periphery of the lids 42, 43 for screwing with the threaded portions 411, 412 of the storage section 41A, respectively. As described above, in this embodiment, the storage section 41A is structured such that the lids 42, 43 are detachably attached to both ends. The structure for detachably attaching the storage section 41A and the lids 42, 43 is not limited to the above-mentioned screwing, and various structures can be applied.

In the second embodiment, the storage capsule 40A can receive the inspection assembly 60 from one end (opening) of the storage section 41A. In the second embodiment, after the inspection assembly 60 is stored in the storage capsule 40A, the lids 42 and 43 are attached to configure the internal pipe inspection device 10A (as shown in FIG. 11).

In addition, for example, an existing pneumatic tube may be used as the storage capsule 40A. A pneumatic tube is a means of transporting cargo by placing it in a cylindrical container and using compressed air or vacuum pressure.

(B-2) Advantages of the Second Embodiment According to this embodiment, in addition to the advantages of the first embodiment, the following advantages can be achieved.

In the second embodiment, the shape of the containment capsule 40A can be made using an existing pneumatic tube, so if a pneumatic tube that matches the shape of the inspection assembly 60 exists, it is possible to construct the containment capsule 40A at a very low cost.

(C) Third Embodiment Hereinafter, a third embodiment of the inside-pipe inspection device, the inspection assembly , and the inspection unit support structure according to the present invention will be described in detail with reference to the drawings.

(C-1) Configuration and operation of the third embodiment Fig. 13 is a side view of an internal pipe inspection device 10B of this embodiment. In Fig. 13, the same or corresponding parts as those in Fig. 1 are denoted by the same or corresponding reference numerals.

The third embodiment of the pipe inspection device 10B differs from the first embodiment in that the containment capsule 40 and the inspection assembly 60 are replaced with a containment capsule 40B and an inspection assembly 60B, respectively.

Figure 14 shows the configuration of the storage capsule 40B of the third embodiment.

Figures 14(a) to 14(e) are views of the containment capsule 40B as seen from above, from the front, from below, from the front, and from the rear, respectively.

As shown in Figs. 13 and 14, the third embodiment differs from the first embodiment in that the shape of the bottom surface of the storage capsule 40B is similar to that of a ship. As shown in Fig. 14, the bottom surface (bottom surface of the ship shape) of the storage capsule 40B is approximately U-shaped, and has a tapered shape that gradually narrows toward both ends (front and rear ends) in the length direction. As shown in Fig. 14, the front end portion of the storage capsule 40B has a shape that forms an acute angle when viewed from above. Furthermore, as shown in Fig. 14, the front tip portion of the storage capsule 40B is formed in a shape that increases in slope from the bottom side (bottom surface) to the top side (top surface). In other words, the front end portion of the storage capsule 40B is formed in a shape (bow shape) based on the same idea as the so-called "High-chin spoon bow".

In the storage capsule 40B, the storage section 41B that stores the inspection assembly 60B also has a shape that corresponds to the outer shape. Here, as shown in FIG. 14, the storage section 41B has a cross section that is approximately U-shaped (a shape that corresponds to the outer shape of the storage capsule 40B; a bell shape with a flat upper side).

An opening 44 through which the inspection assembly 60B can be inserted and removed is provided on the top surface of the storage capsule 40B (the upper surface of the storage section 41B). A lid 45 that covers (closes) the opening 44 is attached detachably (openable and closable) to the top surface of the storage capsule 40B. There are no limitations on the structure for attaching the lid 45 detachably (openable and closable) to the opening 44, and various configurations can be applied.

The inspection assembly 60B of this embodiment differs from the first embodiment in that the inspection unit support structure 50 is replaced with an inspection unit support structure 50B.

Figure 15 shows the configuration of the inspection unit support structure 50B of the third embodiment.

Figures 15(a) to 15(e) are views of the inspection unit support structure 50B as seen from above, from the front side, from below, from the front side, and from the rear side, respectively.

The inspection unit support structure 50B differs from the first embodiment in that the base portion 51 and the inspection unit support portion 52 are replaced with a base portion 51B and an inspection unit support portion 52B. The bottom surface of the base portion 51B has a U-shape that is in contact with the shape of the bottom surface of the storage portion 41B (the inner bottom portion of the storage capsule 40B). As shown in FIG. 15, the upper surface of the inspection unit support portion 52B is a flat surface that corresponds to the upper surface of the storage portion 41B.

Figure 16 shows the state in which the pipe inspection device 10B of this embodiment is flowing inside a sewer pipe T.

As shown in FIG. 16, the pipe inspection device 10B is placed in a sewer pipe T through which sewage (fluid) flows, and moves within the pipe by riding on the flow of the sewage. FIG. 16 shows a state in which the water level WL (water level) in the sewer pipe T is shallow and sludge Z is present in the path of the pipe inspection device 10B. In this way, sludge that impedes the movement of the pipe inspection device 10B in the traveling direction X may be present in the sewer pipe T. However, the bottom surface of the containment capsule 40B of the pipe inspection device 10B has a shape that reduces resistance to the water level WL (for example, a shape with an acute tip) similar to the bow of a ship. As a result, the pipe inspection device 10B of the third embodiment can suppress the obstruction of movement in the traveling direction X by sludge Z, etc.

(C-3) Advantages of the Third Embodiment According to this embodiment, in addition to the advantages of the first embodiment, the following advantages can be achieved.

In the third embodiment of the pipe inspection device 10B, the bottom surface of the containment capsule 40B is shaped to reduce resistance to the water surface WL, thereby suppressing the obstruction of movement in the traveling direction X by sludge Z, etc.

(D) Fourth Embodiment Hereinafter, a fourth embodiment of the inside-pipe inspection device, the inspection assembly , and the inspection unit support structure according to the present invention will be described in detail with reference to the drawings.

(D-1) Configuration of the Fourth Embodiment Fig. 17 is a side view of an internal pipe inspection device 10C of this embodiment. In Fig. 17, the same or corresponding parts as those in Fig. 1 are denoted by the same or corresponding reference numerals.

The fourth embodiment of the pipe internal inspection device 10C differs from the first embodiment in that the containment capsule 40 is replaced with a containment capsule 40C, and a propulsion unit 100 is attached to the rear end of the containment capsule 40C. The propulsion unit 100 is a means (propulsion means, propulsion means) that generates a propulsive force that propels the pipe internal inspection device 10C (containment capsule 40C) in the traveling direction X by rotating a screw 102 in the sewage (fluid). The propulsion unit 100 has a motor 101 and a screw 102 that rotates by the driving force of the motor 101. For example, various small underwater motors can be used as the propulsion unit 100.

Figure 18 shows the state in which the pipe inspection device 10C of this embodiment is flowing inside a sewer pipe T.

As shown in FIG. 18, the pipe inspection device 10C is placed in a sewer pipe T through which sewage (fluid) flows, and can move within the pipe by riding on the flow of the sewage. FIG. 18 shows a state in which sludge Z is present in the path of the pipe inspection device 10C within the sewer pipe T. However, the pipe inspection device 10C is subjected to a propulsive force (biasing force) in the traveling direction X by the propulsion unit 100, which encourages the front end of the pipe inspection device 10C (containment capsule 40C) to push aside the sludge Z. In other words, the pipe inspection device 10C can suppress the obstruction of movement in the traveling direction X by the sludge Z due to the propulsive force (biasing force) of the propulsion unit 100.

Figures 19 and 20 show the configuration of the storage capsule 40C of the fourth embodiment.

Figures 19(a) to 19(e) are views of the containment capsule 40C as seen from above, from the front side, from below, from the front side, and from the rear side, respectively.

As shown in Figures 17 and 19, in the fourth embodiment, a tapered section 46 is formed on the rear side of the containment capsule 40C, the diameter of which gradually decreases (narrows) toward the rear end. The propulsion section 100 is attached to the tip (rear end) of the tapered section 46.

However, in the storage capsule 40C of the fourth embodiment, the shape of the storage section 41C itself is a tube shape (cylindrical shape) similar to that of the first embodiment. Therefore, the following description will be given assuming that an inspection assembly 60 having a shape similar to that of the first embodiment can be applied.

The rear side of the storage capsule 40C (storage section 41C) has an opening through which the inspection assembly 60 can be inserted and removed, and a lid 47 is removably attached to the opening. A guide wire connection section 70 is attached to the lid 47.

As shown in FIG. 20, the outer edge of the rear end of the storage section 41C (the outer edge of the opening) is formed with a threaded portion 413 for screwing with the lid 47. The inner peripheral surface of the lid 47 is also formed with threads for screwing with the threaded portion 413 of the storage section 41C. As described above, in this embodiment, the storage section 41C and the lid 47 are structured to be detachably attached. The structure for detachably connecting (connecting) the storage section 41C and the lid 47 is not limited to the above-mentioned screwing, and various structures can be applied.

In the fourth embodiment, the storage capsule 40C may be replaced with the storage capsule 40D shown in FIG. 21.

In the storage capsule 40C, not only the rear end portion but also the front end portion is formed in a tapered shape. For example, in the storage capsule 40D shown in FIG. 21, a tapered section 48 that gradually becomes smaller (narrows) in diameter toward the front end is formed not only on the rear side but also on the front side. In the storage capsule 40D shown in FIG. 21, the leading end portion 49 (the most forward end portion) of the tapered section 48 is formed to form an acute angle. In the storage capsule 40C, by forming a tapered section 48 on the front side as well, it is possible to suppress the resistance of the sludge Z present in the traveling direction X (to encourage pushing aside the sludge Z).

(D-2) Advantages of the Fourth Embodiment According to this embodiment, in addition to the advantages of the first embodiment, the following advantages can be achieved.

In the fourth embodiment of the pipe inspection device 10C, the propulsion force (biasing force) of the propulsion unit 100 can suppress the sludge Z from impeding movement in the traveling direction X.

(E) Fifth Embodiment Hereinafter, a fifth embodiment of the inside-pipe inspection device, the inspection assembly , and the inspection unit support structure according to the present invention will be described in detail with reference to the drawings.

(E-1) Configuration and Operation of Fifth Embodiment Fig. 22 is a side view of an internal pipe inspection device 10E of this embodiment. In Fig. 22, the same or corresponding parts as those in Fig. 1 are denoted by the same or corresponding reference numerals.

In the fourth embodiment of the pipe internal inspection device 10E, the containment capsule 40 is replaced with a containment capsule 40E. The containment capsule 40E differs from the first embodiment in that a propulsion unit 100 is attached to the rear end. The propulsion unit 100 is a means (propulsion unit, propulsion unit) that generates a propulsive force that propels the pipe internal inspection device 10C (containment capsule 40C) in the traveling direction X by rotating a screw 102 in the sewer. The propulsion unit 100 has a motor 101 and a screw 102 that is rotated by the motor 101.

In the fifth embodiment, a pump device 130 that takes in surrounding air, compresses it, and releases the compressed air is connected to a tube 120. The tube 120 is inserted into the interior of the containment capsule 40E from the rear end, and is connected to an outlet 410 (opening) provided at the front end (tip) of the containment capsule 40E. That is, in the fifth embodiment, the compressed air released from the pump device 130 is released from the outlet 410 (opening) at the front end of the containment capsule 40E via the tube 120.

Figure 23 is an oblique view of the containment capsule 40E.

As shown in FIG. 23, the lid 42E has a hole 421 for passing the tube 120 through. That is, the tube 120 extending from the pump device 130 is inserted into the containment capsule 40E through the hole 421 of the lid 42E.

As described above, sludge may be present inside the sewer pipe T, which may impede the movement of the internal pipe inspection device 10E in the traveling direction X. However, in the internal pipe inspection device 10E, compressed air (compressed air discharged from the pump device 130) is discharged from the outlet 410 (opening) at the front end. As a result, in this embodiment of the internal pipe inspection device 10E, the compressed air discharged from the outlet 410 (opening) at the front end is used to encourage the sludge Z present in the traveling direction X to be pushed aside.

(E-2) Advantages of the Fifth Embodiment According to this embodiment, in addition to the advantages of the first embodiment, the following advantages can be obtained.

In other words, in the pipe internal inspection device 10E, the compressed air released from the air outlet 410 (opening) at the front end can suppress the hindrance of movement of the sludge Z in the forward direction X. Also, in the pipe internal inspection device 10E, the propulsion force (biasing force) of the propulsion unit 100 can suppress the recoil caused by the compressed air being released from the front end, and promote movement in the new construction direction X.

(F) Other Embodiments The present invention is not limited to the above-described embodiments, and modified embodiments such as those exemplified below can also be mentioned.

(F-1) In each of the above embodiments, the pipe inspection device is equipped with an inspection tool 30 equipped with LED lights 32 as a lighting means for illuminating the inside of the sewer pipe, but the configuration of the lighting means is not limited and various configurations can be applied. For example, an LED tape with LED tape lights arranged at equal intervals around or on the inside of the containment capsule may be attached.

Figure 24 shows the configuration of the pipe internal inspection device 10F (first modified embodiment) according to the first modified embodiment.

24 illustrates a configuration (pipe internal inspection device 10F) in which the inspection tool 30 is removed from the pipe internal inspection device 10 of the first embodiment, and multiple LED tape lights 140 (three in FIG. 24) with LED lights 141 formed at equal intervals on the outer circumferential surface of the containment capsule 40 are wrapped around it. In FIG. 24, the omnidirectional camera 20 (threaded hole 23 on the lower surface) is directly connected (screwed) to the inspection unit support part 52 (support screw 53) of the inspection unit support structure 50. The LED tape light 140 can be an existing one (preferably one with waterproof performance). In FIG. 24, the power source of the LED tape light 140 is omitted, but a battery that supplies power to the LED tape light 140 may be mounted in the containment capsule 40 or the inspection unit support part 52. In FIG. 24, the configuration in which the LED tape light 140 is provided as the illumination means has been described, but it may be replaced with another illumination device (for example, a configuration in which multiple individual LED lights are attached). Similarly, the second to fourth embodiments of the internal pipe inspection devices 10B, 10C, and 10D may also be equipped with an LED tape light 140 as a lighting means.

(F-2) In the first to third embodiments of the internal pipe inspection device 10, 10B, 10C, the propulsion unit 100 may be attached to the rear end portion of the containment capsule 40, 40B, 40C, as in the fourth embodiment. Also, in the fourth embodiment of the internal pipe inspection device 10D, 10E, the propulsion unit 100 may be excluded from the containment capsule 40D, 40E.

(F-3) In each of the above embodiments, the storage capsule is provided with a guide wire connection part 70, but if the guide wire 80 is not required, the guide wire connection part 70 may be omitted from the storage capsule.

(F-4) In the first embodiment of the pipe inspection device, in order to stabilize the posture of the pipe inspection device 10 (spherical camera 20) inside the sewer pipe T, it is desirable for the center of gravity of the pipe inspection device 10 to be biased to one side (e.g., the lower side). For example, the inside of the base part 51 of the inspection unit support structure 50 may be configured as a weight housing part, and a weight may be appropriately placed inside to adjust the position of the center of gravity of the pipe inspection device 10.

Figure 25 shows the configuration of the pipe inspection device 10G (second modified embodiment) according to the second modified embodiment.

The piping inspection device 10G differs from the first embodiment in that the inspection unit support structure 50 is replaced with an inspection unit support structure 50G.

Figure 26 shows the configuration of the inspection unit support structure 50G in the second modified embodiment.

Figure 26(a) is a front view of the inspection unit support structure 50G, and Figure 26(b) is a side view (right side view) of the inspection unit support structure 50G. Figure 26(c) is an enlarged cross-sectional view of line A-A in Figure 26(b).

The inspection unit support structure 50G differs from the first embodiment in that the base portion 51 is replaced with a base portion 51G. In the inspection unit support structure 50G, the base portion 51G has a hollow structure, and a weight storage portion 511 for storing the weight WT is provided inside.

Figure 26 (d) shows an example of the configuration (example of the shape) of the weight WT.

In the inspection section support structure 50G, one or more weights WT may be arranged inside the weight storage section 511 of the base section 51G, making it possible to adjust the center of gravity and draft of the pipe inspection device 10.

The shape of the material of the weight housed in the weight housing 511 is not limited, but it is preferably a low-cost metal with a high specific gravity (e.g., an alloy containing lead). The shape of the weight WT may be, for example, a rod shape that is approximately the same as the length of the weight housing 511 in the longitudinal direction, as shown in FIG. 26(d). The weight WT shown in FIG. 26(d) has a rod shape with a circular cross section. The shape (shape and length of the cross section) of the weight WT is not limited. For example, the cross section of the weight WT may be a polygon (e.g., a square, a pentagon, a hexagon, an octagon, etc.) or an ellipse. By making the weight WT a rod shape that is approximately the same as the length of the weight housing 511 in the longitudinal direction, it is possible to reduce the deviation of the center of gravity in the longitudinal direction of the inspection unit support structure 50G.

As shown in FIG. 26(a), an opening 512 is provided on the front of the base 51G for inserting and removing the weight WT from the weight storage section 511. A lid 513 is attached to the opening 512 in a removable manner. There are no limitations on the position or shape of the opening 512 or the structure for attaching the lid 513 to the opening 512, and various structures (for example, a structure that allows the lid to be removed using screws, claws, etc.) can be used.

Here, as shown in FIG. 26(c), if the bottom of the weight housing 511 is U-shaped to correspond to the bottom surface of the base 51G, the weight WT in the weight housing 511 will gather at the bottom of the weight housing 511 due to gravity (its own weight). This allows the center of gravity of the inspection unit support structure 50G (i.e., the center of gravity of the entire internal pipe inspection device 10G) to be adjusted to the base 51G side (the weight housing 511 side; downward). This allows the overall posture of the internal pipe inspection device 10G to be stabilized.

In addition, in the inspection unit support structure 50G, the number of weights WT (amount of weights) accommodated in the base 51G (weight accommodating portion 511) can be used to adjust the dimension (width) of the draft (waterline) of the pipe inspection device 10, allowing the pipe inspection device 10 to flow stably. For example, in a sewer pipe T, when the water level WL is high (deep), the amount of weights accommodated in the base 51G (weight accommodating portion 511) can be increased to lengthen (increase) the draft dimension, and when the water level WL is low (shallow), the amount of weights accommodated in the base 51 (weight accommodating portion) can be decreased to shorten (reduce) the draft dimension.

In addition, in the inspection unit support structures 50A, 50B, 50C, and 50D of the second to fifth embodiments, a weight storage section may be provided in the base section to store the weight.

(F-5) In each of the above embodiments, the device may be provided with a means for acquiring location information of the device itself (hereinafter referred to as "location information acquisition means") and a means for communicating with the outside (wireless or wired communication) (hereinafter referred to as "communication means").

Figure 27 shows the configuration of the pipe inspection device 10H (third modified embodiment) according to the second modified embodiment.

The piping inspection device 10H differs from the first embodiment in that the inspection section support structure 50 is replaced with an inspection section support structure 50H.

The inspection unit support structure 50H shown in FIG. 27 has a configuration in which a position information acquisition means 150 and a communication means 160 are added to the inspection unit support section 52 of the inspection unit support structure 50 of the first embodiment.

The method by which the location information acquisition means 150 acquires location information is not limited. For example, the location information acquisition means 150 may be a means for acquiring location information based on radio waves received from an external source (e.g., a GPS satellite or a radio beacon, not shown).

The communication means 160 may be, for example, a computer (e.g., a microcomputer with a wireless interface) equipped with a wireless communication interface (e.g., an interface such as a wireless LAN).

For example, the communication means 160 may transmit the position information acquired by the position information acquisition means 150 and the image data (video data) acquired by the omnidirectional camera 20 to an external device (e.g., an external terminal or server) in real time, thereby outputting data linking the position in the pipe with the image data. Note that in the inspection section support structure 50H, the communication means 160 may be replaced with a computer equipped with a data recording function, thereby recording the data linking the position in the pipe with the image data.

10...pipe internal inspection device, 20...spherical camera, 21...lens, 22...lens, 23...screw hole, 30...inspection tool, 31...camera housing, 32...LED light, 33...screw hole, 40...housing capsule, 41...housing section, 411...threaded section, 42...lid, 50...inspection section support structure, 51...base section, 52...inspection section support section, 53...support screw, 60...inspection assembly, 70...guide wire connection section, 80...guide wire, 90...reel mechanism.

Claims (6)

In a pipe inspection device for inspecting the inside of a pipe through which a fluid flows,
An inspection unit support structure including an inspection unit including a camera that photographs at least the inside of the pipe and an inspection unit support part that supports the inspection unit;
a container capsule having a cylindrical container portion for accommodating the inspection unit support structure and moving with the flow of the fluid in the pipe;
The inspection unit has a camera support part that supports the camera, an illumination part that illuminates the surroundings, and a connection part that connects to the inspection unit support structure,
the inspection unit support structure includes a base portion placed on a bottom of the accommodation portion, and an inspection unit support portion that supports the inspection unit by connecting to the connecting portion of the inspection unit on the base portion,
a bottom portion of the base portion has a curved shape that contacts an inner surface of the containing portion of the containing capsule,
The base portion is not fixed to an inner surface of the containing capsule when the base portion is contained in the containing capsule.
A pipe internal inspection device. The housing portion is formed with an opening through which the inspection portion support structure can be inserted and removed,
The inside of a pipe inspection device according to claim 1 , wherein the container capsule further comprises a lid that is detachably attached to the opening. The pipe inspection device according to claim 1 or 2, characterized in that the front end of the storage capsule is formed with a tapered section whose width narrows toward the front. 4. The pipe internal inspection device according to claim 1, wherein the base portion is provided with a weight receiving portion capable of receiving a weight. An inspection unit support structure for supporting an inspection unit including a camera for photographing at least the inside of a pipe, the inspection unit being located in a containment capsule having a cylindrical container portion and moving with the flow of the fluid in the pipe through which the fluid flows, the inspection unit being located in the container portion, the inspection unit including the camera for photographing at least the inside of the pipe,
A base portion placed on a bottom of the storage portion;
an inspection unit support part that supports the inspection unit on the base part,
a bottom portion of the base portion has a curved shape that contacts an inner surface of the containing portion of the containing capsule,
The base portion is not fixed to an inner surface of the containing capsule when the base portion is contained in the containing capsule.
An inspection unit support structure comprising: An inspection assembly having a cylindrical housing portion and housed in a housing portion of a housing capsule that moves with the flow of a fluid in a pipe through which the fluid flows,
An inspection unit including a camera that photographs at least the inside of the pipe;
An inspection unit support structure including an inspection unit support part that supports the inspection unit,
the inspection unit support structure includes a base portion placed on a bottom of the accommodation portion and an inspection unit support portion that supports the inspection unit on the base portion,
a bottom portion of the base portion has a curved shape that contacts an inner surface of the containing portion of the containing capsule,
The base portion is not fixed to an inner surface of the containing capsule when the base portion is contained in the containing capsule.
13. An inspection assembly comprising:

Images