In-pipe mobile robot

Abstract

A pipe-mounted mobile robot (1) is configured to include a robot body (10) comprising at least three telescopic units that expand radially and contract axially upon fluid supply, the telescopic units moving within the pipe by peristaltic motion in a predetermined pattern. The pipe-mounted mobile robot (1) includes: a camera (40) mounted on the tip end (20) of the robot body (10); a transparent cover (50) mounted on the tip end (20) and covering the camera (40); a nozzle (60) having an outlet (61) opening on the outer side of the tip end of the cover (50) facing the shooting direction side of the camera (40); and a fluid supply source (14) connected to the nozzle (60) via a pipe (62) and supplying fluid to the nozzle (60), and removing dirt adhering to the outer side of the cover (50) by means of the fluid discharged from the outlet (61).

Description

Technical Field

[0001] This invention relates to an in-pipe mobile robot that moves inside a pipe. Prior Technology

[0002] For example, there is a known type of in-pipe mobile robot configured to move inside curved ducts such as air ducts used in air conditioning systems in office buildings, factories, detached houses, etc. This type of in-pipe mobile robot is used for various purposes, such as internal pipe inspection.

[0003] Traditionally, such in-pipe mobile robots are known to be configured to include multiple telescopic units that expand radially and contract axially when fluid is supplied, and the multiple telescopic units move inside the pipe by performing peristaltic movements in a predetermined pattern (see, for example, Patent Document 1). [Existing Technical Documents] [Patent Literature]

[0004] [Patent Document 1] Japanese Patent Publication No. 2018-69125 Summary of the Invention

[0005] [Problem to be solved by the invention] Some of these tube-mounted mobile robots have cameras installed at their front ends, so that when the tube-mounted mobile robot moves inside the pipe, the state inside the pipe can be confirmed through the images captured by the cameras.

[0006] However, this type of in-pipe mobile robot has the following problems: when moving inside the pipe, dust, foreign objects, liquids, and other contaminants from inside the pipe adhere to the camera, which may obstruct the camera's ability to capture images of the pipe's interior. In this case, it is necessary to pull the in-pipe mobile robot out of the pipe, clean the contaminants from the camera, and then move the robot back to its original position inside the pipe, a rather complicated operation.

[0007] The present invention was made in view of the above-mentioned problems, and its purpose is to provide a pipe-moving robot that can prevent dirt from obstructing the visibility of the inside of the pipe through camera images while moving inside the pipe. [Technical means to solve the problem]

[0008] The in-pipe mobile robot of the present invention comprises a robot body including at least three telescopic units that expand radially and contract axially upon fluid supply, the telescopic units moving within the pipe by peristaltic motion in a predetermined pattern. The in-pipe mobile robot includes: a camera mounted on the tip of the robot; a transparent cover mounted on the tip and covering the camera; a nozzle having an outlet opening onto the outer side of the tip portion of the cover that covers the camera's shooting direction; and a fluid supply source connected to the nozzle via piping and supplying fluid to the nozzle, wherein the fluid exiting from the outlet removes dirt adhering to the outer side of the cover.

[0009] The in-pipe mobile robot of the present invention preferably further includes, in the above configuration: a telescopic piping for connecting the fluid supply source to the telescopic unit; and an exhaust valve disposed on the telescopic piping, which can be switched to a state in which fluid inside the telescopic piping is discharged from the outlet to the outside of the telescopic piping, and a state in which the outlet is closed, wherein the nozzle piping is connected to the outlet, and the fluid supply source is connected to the nozzle via the telescopic piping, the exhaust valve, and the nozzle piping.

[0010] The in-tube mobile robot of the present invention preferably further includes, in the above configuration: an elastic connecting portion disposed between the robot body and the tip end, connecting the robot body and the tip end and capable of elastic deformation; and a pair of elastic bodies, each being a generally annular or polygonal ring centered on the axis of the tip end, protruding radially outward from the outer peripheral surface of the tip end and spaced apart from each other along the axial direction, wherein the cover and the nozzle are housed within the range of a virtual sphere inscribed in the entire circumference of the outer peripheral ends of the pair of elastic bodies.

[0011] The in-tube mobile robot of the present invention preferably has, in the above configuration, a flat planar portion perpendicular to the axis provided on the outer side of the cover, and the viewing angle of the camera is set within the range of the planar portion.

[0012] In the tube-moving robot of the present invention, it is preferable that, in the above configuration, the outlet is oriented in a direction that is inclined at an angle of 5 to 10 degrees toward one side of the planar portion relative to the direction perpendicular to the axis. [The effects of the invention]

[0013] According to the present invention, a pipe-moving robot can be provided that can prevent dirt from obstructing the visibility of the inside of the pipe through camera images during movement inside the pipe. Simple Explanation of the Diagram

[0014] [Figure 1] is an oblique view of the tube-moving robot of the first embodiment of the present invention. [Figure 2] is a side view of the mobile robot inside the tube shown in Figure 1, omitting a portion of it. [Figure 3] is a schematic diagram showing the movement pattern of the telescopic unit of the mobile robot in the tube shown in Figure 1 during peristaltic motion. [Figure 4] is a cross-sectional view of the portion of the in-tube mobile robot shown in Figure 1, including the tip. [Figure 5] is a front view of the tip shown in Figure 4. [Figure 6] is a cross-sectional view of the modified example with a nozzle at the tip. [Figure 7] is a side view of the tube-mounted mobile robot of the second embodiment of the present invention, omitting a portion thereof. [Figure 8] is a side view of the portion including the tip of the tube-mounted mobile robot according to the third embodiment of the present invention. [Figure 9] is a diagram showing the state of the tip of the in-pipe mobile robot in the third embodiment moving in the bend of the pipe. [Fig. 10] shows the tip of other variations, (a) is a cross-sectional view, and (b) is a front view. [Figure 11] is a cross-sectional view along line AA in Figure 10. Implementation

[0015] The following describes the tube-mounted mobile robot of the present invention in detail with reference to the drawings.

[0016] Figure 1 shows a first embodiment of the present invention, which is configured to move inside a curved pipe, such as an air duct for an air conditioning device installed in an office building, factory, or detached house.

[0017] The in-tube mobile robot 1 has a robot body 10, a tip 20, an elastic connecting part 30, a cover 50, a nozzle 60, and a control device C.

[0018] The robot body 10, also known as an earthworm-like robot or a worm-like robot, has an elongated shape extending along axis O. The robot body 10 is capable of moving axially within the pipe, i.e., along axis O. That is, the robot body 10 can move forward within the pipe. Alternatively, the robot body 10 can also be configured to move forward and backward within the pipe.

[0019] The robot body 10, serving as the driving source for movement within the pipe, includes at least three telescopic units 11. In this embodiment, the robot body 10 includes seven telescopic units 11 (only four telescopic units 11 are shown in Figure 1). Furthermore, as long as the robot body 10 includes at least three telescopic units 11, the number of telescopic units 11 can be appropriately varied.

[0020] The telescopic unit 11 is also called an artificial muscle. The telescopic unit 11 has a cylindrical portion 11a formed from various elastomers such as rubber, centered on an axis O. Both axial ends of the cylindrical portion 11a are closed. Inside the cylindrical portion 11a, multiple fiber bundles (not shown) with high tensile strength are arranged axially. This allows the cylindrical portion 11a to elastically deform radially, but its elastic deformation in the axial direction is limited. Therefore, when a fluid such as compressed air is supplied to the inside of the cylindrical portion 11a, the telescopic unit 11 expands radially and contracts axially. Furthermore, when fluid is discharged from the inside of the cylindrical portion 11a, the telescopic unit 11 contracts radially and extends axially by the elastic force of the cylindrical portion 11a, returning to its original shape. Each telescopic unit 11 can operate individually in a predetermined pattern.

[0021] In addition, the telescopic unit 11 can be configured in various ways, such as a so-called McKibben type, in which the outer side of a cylindrical elastomer is covered with sleeve-shaped woven fibers, as long as it is configured to expand radially and contract axially when fluid is supplied.

[0022] Adjacent telescopic units 11 are axially connected to each other via a connecting portion 12. In this embodiment, the connecting portion 12 is a universal joint. Thus, the robot body 10 can bend partially at the connecting portion 12. Therefore, when the robot body 10 moves inside the pipe, even if the pipe is curved, adjacent telescopic units 11 can bend at the connecting portion 12, thereby enabling movement along the curved pipe.

[0023] In this embodiment, a universal joint is used as the connecting part 12, but it is not limited to any part that can be bent to connect adjacent telescopic units 11.

[0024] As shown in Figures 1 and 2, a fluid supply source 14 is connected to the robot body 10 via a telescopic pipe 13. The fluid supply source 14 includes, for example, an air compressor that supplies compressed air. The fluid supply source 14 can supply fluid to the inside (interior) of the cylindrical portion 11a of the telescopic unit 11 via the telescopic pipe 13 in a predetermined pattern. The telescopic pipe 13 is equipped with an exhaust valve 15. The exhaust valve 15 is configured to switch between a state where fluid inside the telescopic pipe 13 is discharged from the outlet 15a to the outside of the telescopic pipe 13, and a state where the outlet 15a is closed. For example, a solenoid valve can be used as the exhaust valve 15. The operation of the fluid supply source 14 and the exhaust valve 15 is controlled by a control device C.

[0025] In addition, in Figures 1 and 2, only one telescopic pipe 13 and an exhaust valve 15 provided on the telescopic pipe 13 are shown. However, the seven telescopic pipes 13 corresponding to the seven telescopic units 11 are all connected to the fluid supply source 14, and each telescopic pipe 13 is provided with an exhaust valve 15. The fluid supply source 14 can supply fluid to each telescopic unit 11 in a predetermined mode.

[0026] In the robot body 10, fluid is supplied from the fluid supply source 14 to the inside of the cylindrical portion 11a of each telescopic unit 11 in a predetermined pattern via the telescopic pipe 13. At the same time as the fluid supply from the fluid supply source 14 is stopped, the outlet 15a of the exhaust valve 15 is opened, so that the fluid in the cylindrical portion 11a of the telescopic unit 11 is vented to the outside through the outlet 15a. Thus, the multiple telescopic units 11 can move inside the pipe by peristaltic movement in a predetermined pattern.

[0027] Figure 3 shows an example of the peristaltic motion pattern of multiple telescopic units 11 when the mobile robot 1 moves along one side of the axial direction inside the tube 2, i.e., when it moves to the left in Figure 3.

[0028] First, as shown in Figure 3(a), the leftmost (front) telescopic unit 11 and the second telescopic unit 11 from the left in Figure 3 are radially expanded and axially contracted. The two radially expanding telescopic units 11 abut against the inner circumferential surface of the tube 2 on the entire circumference. In this way, the robot body 10 is in a state where the two radially expanded telescopic units 11 are held axially.

[0029] Next, from the state shown in Figure 3(a), as shown in Figure 3(b), the exhaust valve 15 corresponding to the leftmost telescopic unit 11 is opened, causing the leftmost telescopic unit 11 to return to its original shape. At the same time, the third telescopic unit 11 from the left expands radially and contracts axially. At this time, since the second telescopic unit 11 from the left abuts against the inner circumferential surface of the tube 2 and maintains its axial position, and the leftmost telescopic unit 11 contracts radially and extends axially to return to its original shape, the left end (front end) of the robot body 10 moves to the left from the position shown in Figure 3(a). In addition, while the second telescopic unit 11 from the left abuts against the inner circumferential surface of the tube 2 and maintains its axial position, the third telescopic unit 11 from the left expands radially and contracts axially, so the right end (rear end) of the robot body 10 also moves to the left from the position shown in Figure 3(a).

[0030] Next, from the state shown in Figure 3(b), as shown in Figure 3(c), the exhaust valve 15 corresponding to the second telescopic unit 11 from the left is opened, causing the second telescopic unit 11 from the left to return to its original shape. At the same time, the fourth telescopic unit 11 from the left expands radially and contracts axially. At this time, since the third telescopic unit 11 from the left abuts against the inner circumferential surface of the tube 2 and maintains its axial position, and the second telescopic unit 11 from the left contracts radially and extends axially to return to its original shape, the left end (front end) of the robot body 10 moves further to the left from the position shown in Figure 3(b). In addition, while the third telescopic unit 11 from the left abuts against the inner circumferential surface of the tube 2 and maintains its axial position, the fourth telescopic unit 11 from the left expands radially and contracts axially, so the right end (rear end) of the robot body 10 also moves further to the left from the position shown in Figure 3(b).

[0031] Next, the telescopic unit 11 is operated in the above-described mode using the same steps until the rightmost telescopic unit 11 is reached. Then, when the mode reaches the rightmost telescopic unit 11, as shown in FIG3(d), the telescopic unit 11 is operated in the above-described mode again.

[0032] Thus, by causing the multiple telescopic units 11 to perform peristaltic movements in the aforementioned pattern, the robot body 10 can move forward towards the left side in Figure 3 inside the tube 2. Furthermore, by causing the multiple telescopic units 11 to move in a pattern opposite to the left-right movement shown in Figure 3, the robot body 10 can move backward towards the right side in Figure 3 inside the tube 2. In other words, the tube-moving robot 1, by performing the aforementioned actions using the robot body 10, can move forward and backward inside the tube 2.

[0033] In addition, the peristaltic movement mode of the multiple telescopic units 11 in the robot body 10 is not limited to the above. As long as the robot body 10 or the robot 1 moving inside the tube can move forward or backward, other modes are also possible.

[0034] As shown in Figure 1, in this embodiment, the robot body 10 is provided with a plurality of brushes 16, which are spaced apart along the axial direction of the robot body 10. More specifically, brushes 16 are provided at both ends of the axial direction of each telescopic unit 11. The plurality of brushes 16 each have a slightly annular shape centered on the axis O of the robot body 10. That is, the plurality of brushes 16 are configured such that multiple bristles protruding radially outward from the outer peripheral surface of the robot body 10 are arranged on the entire circumference centered on the axis O. The multiple bristles constituting the brushes 16 are made of soft and elastically deformable materials such as synthetic resin. The outer diameter of the brushes 16 is approximately the same as the inner diameter of the tube 2, which is the moving object of the tube-moving robot 1. Preferably, the outer diameter of the brushes 16 is the same as or slightly larger than the inner diameter of the tube 2, which is the moving object of the tube-moving robot 1. When the tube-moving robot 1 moves inside the tube 2, the outer peripheral end of the brushes 16 contacts the inner peripheral surface of the tube 2.

[0035] The robot body 10, equipped with multiple brushes 16, moves along the tube 2 while being supported by the multiple brushes 16 at approximately the center of the tube 2. Furthermore, by using the multiple brushes 16, the robot body 10 collects debris and other foreign objects (dirt) adhering to the inner circumference of the tube 2, thus cleaning the inside of the tube 2.

[0036] In this embodiment, the robot body 10 is provided with multiple brushes 16, but as long as they have a slightly annular shape centered on the axis O of the robot body 10, other components such as flange-shaped or umbrella-shaped synthetic rubber can also be provided. Alternatively, the robot body 10 can be configured without multiple brushes 16 or with other components having a slightly annular shape centered on the axis O of the robot body 10.

[0037] As shown in Figures 1 and 2, the tip portion 20 is located on the forward direction side of the robot body 10 (left side in Figures 1 and 2), forming the tip (front end) side of the in-tube mobile robot 1 on the forward direction side. That is, the in-tube mobile robot 1 moves forward inside the tube 2 with the tip portion 20 as its foremost point.

[0038] In this embodiment, the tip 20 is cylindrical with axis O as its center, and a brush 21 is provided on the outer peripheral surface of its front end. The brush 21 has a slightly annular shape with axis O as its center. That is, the brush 21 is configured with multiple bristles protruding radially outward from the outer peripheral surface of the tip 20 and arranged on the entire circumference centered on axis O. The multiple bristles constituting the brush 21 are made of soft and elastically deformable materials such as synthetic resin. The outer diameter of the brush 21 is approximately the same as the inner diameter of the tube 2, which is the moving object of the tube-moving robot 1. Preferably, the outer diameter of the brush 21 is the same as or slightly larger than the inner diameter of the tube 2, which is the moving object of the tube-moving robot 1. When the tube-moving robot 1 moves inside the tube 2, the outer peripheral end of the brush 21 contacts the inner peripheral surface of the tube 2.

[0039] The tip end 20, by providing a brush 21, can move along the tube 2 while the brush 21 is supported at approximately the center of the tube 2 when it moves inside the tube 2. In addition, by providing a brush 21, the tip end 20 can collect debris and other foreign objects (dirt) attached to the inner circumference of the tube 2 when it moves inside the tube 2, thereby cleaning the inside of the tube 2.

[0040] In this embodiment, a brush 21 is provided at the tip 20. However, other components such as flange-shaped or umbrella-shaped synthetic rubber can also be provided, as long as they have a slightly annular shape centered on the axis O of the tip 20. Alternatively, the tip 20 can be configured without a brush 21 or have other components with a slightly annular shape centered on the axis O of the tip 20.

[0041] In this embodiment, an elastic connecting portion 30 is provided between the robot body 10 and the tip end 20 to connect the robot body 10 and the tip end 20. The elastic connecting portion 30 is composed of a compression helical spring extending along the axis O. The elastic connecting portion 30 can elastically deform along the axis O in a contracting manner. In addition, the elastic connecting portion 30 can softly elastically deform relative to the axis O. Therefore, when the tip end 20 approaches the bend of the tube 2, it can bend in the direction along the bend by elastically deforming the elastic connecting portion 30 relative to the axis O.

[0042] Furthermore, the elastic connection 30 is not limited to the aforementioned compression coil spring. It can be any component, such as a rubber tube, that is provided between and connects the robot body 10 and the tip end 20, and is capable of elastic deformation relative to the axis O when bending between the robot body 10 and the tip end 20. Alternatively, the tube-mounted mobile robot 1 can be configured such that the elastic connection 30 is not provided between the robot body 10 and the tip end 20, and the tip end 20 is directly connected to the robot body 10, or that the tip end 20 is integrally provided at the front end of the robot body 10.

[0043] As shown in Figure 4, a camera 40 is mounted on the tip end 20. The camera 40, such as a CCD camera, outputs the captured images (videos) as digital information. In this embodiment, the camera 40 has a cylindrical shape, with its shooting-direction-side tip facing forward and coaxial with axis O inside the tip end 20. Furthermore, in this embodiment, a portion of the shooting-direction-side tip of the camera 40 protrudes forward from the front end of the tip end 20. The camera 40 is connected via a wiring 41 to a display device 42, such as a monitor, located outside the tube 2. With the camera 40 facing forward, it can capture images of the inside of the tube 2 from the front side of the tip end 20 when the in-tube mobile robot 1 moves inside the tube 2. By providing such a camera 40, the state inside the tube 2 can be confirmed by viewing the images captured by the camera 40 displayed on the display device 42 when the in-tube mobile robot 1 moves inside the tube 2.

[0044] A transparent cover 50 covering the camera 40 is mounted on the tip end 20. More specifically, the cover 50 is mounted on the front end of the tip end 20, covering the tip end of the camera 40 in the shooting direction direction. That is, the camera 40 captures images of the interior of the tube 2 through the transparent cover 50. In this embodiment, the cover 50 is formed as a seamless integral object from a transparent material or component with a transparency that does not degrade the resolution of the image captured by the camera 40. The cover 50 can be an injection-molded product made of a transparent synthetic resin material, or it can be cut from a transparent component.

[0045] In this embodiment, the outer surface of the cover 50 covers the portion of the camera 40 at the shooting direction, and has a flat planar portion 51 perpendicular to the axial direction (the direction parallel to axis O). The outer periphery of the planar portion 51 of the cover 50 is a curved portion 52. There is no seam between the planar portion 51 and the curved portion 52, and they are smoothly connected. As shown in FIG5, the planar portion 51 is a circle centered on axis O, and its outer diameter is larger than the viewing angle 43 of the camera 40 at the location where the planar portion 51 is located. That is, the viewing angle 43 of the camera 40 at the location where the planar portion 51 is located is set within the range of the planar portion 51, so the camera only captures the interior of the tube 2 through the planar portion 51 of the cover 50. As shown in FIG4, the inner surface 53 of the cover 50, located on the back side of the planar portion 51 and facing the camera 40, is also a flat surface parallel to the planar portion 51. Therefore, the image captured by the camera 40 is displayed on the display device 42 without distortion due to the cover 5 acting as a lens.

[0046] Furthermore, the cover 50 is not limited to the above-described configuration, as long as it is a transparent object installed on the tip 20 and covering the camera 40, it can be of various configurations or shapes. For example, the cover 50 can be configured such that a slightly curved surface is provided on the outer side portion of the tip portion covering the shooting direction of the camera 40 instead of the flat portion 51.

[0047] As shown in Figures 4 and 5, a nozzle 60 is provided at the tip 20. The nozzle 60 has a discharge port 61 that opens toward the flat portion 51 of the outer side of the cover 50. As shown in Figures 1, 2, and 4, the nozzle 60 is connected to a fluid supply source 14 via a nozzle piping 62, and a fluid such as compressed air is supplied from the fluid supply source 14 via the nozzle piping 62. When fluid is supplied from the fluid supply source 14 to the nozzle 60 via the nozzle piping 62, the fluid is discharged from the discharge port 61 toward the flat portion 51 of the cover 50.

[0048] In this embodiment, the fluid supply source 14, which supplies fluid to the telescopic unit 11, is also used to supply fluid to the nozzle 60. This simplifies the configuration of the in-pipe mobile robot 1 and reduces manufacturing costs. Alternatively, it can be configured to provide a different fluid supply source than the fluid supply source 14 that supplies fluid to the telescopic unit 11, and supply fluid to the nozzle 60 from this different fluid supply source via the nozzle piping 62.

[0049] As shown in Figure 4, in this embodiment, the nozzle 60 is formed from a metal such as steel and a cover 50, and is mounted on the cover 50. The nozzle 60 spans the planar portion 51 and the curved portion 52 of the cover 50, and extends in an arc shape with the axis O as the center, with a portion protruding axially from the planar portion 51 and the curved portion 52. The discharge port 61 is provided on the portion of the nozzle 60 that protrudes axially from the planar portion 51 and the curved portion 52, and opens radially inward with the axis O as the center. By constructing the nozzle 60 as a rigid body made of metal, it is possible to prevent the nozzle 60 from colliding with the inner circumferential surface of the tube 2 and breaking when the in-tube mobile robot 1 moves inside the tube 2.

[0050] Furthermore, as shown in FIG5, in this embodiment, the nozzle 60 is positioned on the side of the camera 40 in the planar portion 51 with a larger aspect ratio (horizontal to vertical). That is, the camera 40 in the planar portion 51 has a rectangular shape with a short side 43a and a long side 43b that is longer than the short side 43a. The nozzle 60 is positioned adjacent to the long side 43b and on the opposite side of axis O, separated by the long side 43b. In this way, while setting the camera 40 in the planar portion 51 to the necessary size, the nozzle 60 can be positioned in a space-efficient manner on the cover 50.

[0051] Furthermore, the nozzle 60 is not limited to the above configuration as long as it is configured to have an outlet 61 that opens toward the outer side of the cover 50. For example, it can be configured to be integrally formed with the cover 50 or various other configurations.

[0052] In this embodiment, the in-tube mobile robot 1, having a nozzle 60 and a fluid supply source 14, can move inside the tube 2. Even if dust, foreign objects, liquids, or other dirt inside the tube 2 adhere to the cover 50 of the camera 40, fluid can be supplied from the fluid supply source 14 to the nozzle 60 via the nozzle piping 62. The fluid is then discharged from the discharge port 61 toward the flat portion 51 of the cover 50. The pressure (dynamic pressure) of the fluid discharged from the discharge port 61 blows away the dirt adhering to the cover 50 and removes it from the cover 50.

[0053] Fluid is supplied from the fluid supply source 14 to the nozzle 60 via the nozzle piping 62. The operation of the fluid supply source 14 can be controlled by the control device C. Fluid can be continuously supplied from the fluid supply source 14 to the nozzle 60 while the robot 1 moves inside the pipe 2, or fluid can be supplied from the fluid supply source 14 to the nozzle 60 at predetermined intervals, or fluid can be supplied from the fluid supply source 14 to the nozzle 60 when dirt is detected on the cover 50. Alternatively, a fluid supply switch can be provided, and fluid can be supplied from the fluid supply source 14 to the nozzle 60 by manually operating the switch.

[0054] Thus, in this embodiment of the in-tube mobile robot 1, in the configuration of mounting a camera 40 on the tip 20 of the robot body 10, a transparent cover 50 is mounted on the tip 20 and covers the camera 40, a nozzle 60 has an outlet 61 opening toward the outer side of the cover 50, and a fluid supply source 14 is connected to the nozzle 60 via a nozzle pipe 62 and supplies fluid to the nozzle 60. Therefore, even if dirt adheres to the cover 50 during movement inside the tube 2, the dirt can be removed by the fluid pressure discharged from the outlet 61 of the nozzle 60, and the situation where dirt obstructs the visibility of the inside of the tube 2 through the image captured by the camera 40 can be suppressed.

[0055] Furthermore, in this embodiment, a flat plane 51 perpendicular to the axial direction is provided on the outer surface of the cover 50. The viewing angle 43 of the camera 40 is set within the range of the flat plane 51, so that the fluid discharged from the outlet 61 of the nozzle 60 can effectively remove dirt from the flat plane 51. That is, the flat plane 51 where the viewing angle 43 of the camera 40 is set is a flat surface without seams or grooves, and does not have a part that easily accumulates dirt like grooves that cause capillary action. Therefore, the fluid discharged from the outlet 61 of the nozzle 60 can effectively remove dirt within the viewing angle 43 range of the camera 40. In this way, the situation where dirt obstructs the visibility of the inside of the tube 2 through the image captured by the camera 40 can be more effectively suppressed.

[0056] The nozzle 60 can be configured such that the outlet 61 faces the flat portion 51, that is, it is inclined downwards.

[0057] In this case, as shown in the modified example in FIG6, the nozzle 60 is preferably configured such that the outlet 61 is inclined at an angle of 5 to 10 degrees toward the flat portion 51 towards a direction D2 relative to the direction D1 perpendicular to the axial direction (along the direction of axis O). In FIG6, direction D2 shows an inclination toward the flat portion 51 towards a direction D1 at an angle of 7.5 degrees. Furthermore, the direction of the outlet 61 is the direction in which fluid is discharged from the outlet 61, which is along the central axis of the outlet 61. With this configuration, while the nozzle 60 is positioned outside the viewing angle 43 of the camera 40, the fluid discharged from the outlet 61 of the nozzle 60 is more effectively blown toward the flat portion 51 of the viewing angle 43 of the camera 40, and dirt within the viewing angle 43 range of the camera 40 can be removed more effectively. Therefore, the situation where dirt obstructs the visibility of the inside of the tube 2 through the image captured by the camera 40 can be more effectively suppressed.

[0058] Next, based on FIG7, the tube-moving robot 100 of the second embodiment of the present invention will be described. Furthermore, in FIG7, the same symbols are used to denote the components or parts corresponding to the aforementioned components or parts.

[0059] In the second embodiment of the in-pipe mobile robot 100, the connection structure of the nozzle piping 62 between the fluid supply source 14 and the nozzle 60 is different from that of the first embodiment of the in-pipe mobile robot 1. The composition of the robot body 10, the elastic connection part 30, and other parts of the second embodiment of the in-pipe mobile robot 100 is basically the same as that of the first embodiment of the in-pipe mobile robot 1.

[0060] As shown in Figure 7, in the second embodiment of the in-pipe mobile robot 100, the nozzle pipe 62 connecting the fluid supply source 14 and the nozzle 60 is connected to the outlet 15a of the exhaust valve 15 of the telescopic pipe 13 connecting the telescopic unit 11 and the fluid supply source 14. That is, in the second embodiment of the in-pipe mobile robot 100, the fluid supply source 14 is connected to the nozzle 60 via the telescopic pipe 13, the exhaust valve 15, and the nozzle pipe 62. Therefore, when fluid is supplied from the fluid supply source 14 to the multiple telescopic units 11 of the robot body 10 in a predetermined pattern via the telescopic pipe 13, causing the in-pipe mobile robot 1 to move inside the pipe 2, when the outlet 15a of the exhaust valve 15 of the telescopic pipe 13, which has stopped supplying fluid, is opened, the fluid inside the cylindrical portion 11a of the telescopic unit 11 is exhausted to the outside through the outlet 15a, and this fluid is supplied to the nozzle 60 via the nozzle pipe 62. In this way, while the in-pipe mobile robot 1 moves inside the pipe 2, whenever the outlet 15a of the exhaust valve 15 is opened, fluid from the fluid supply source 14 is intermittently and continuously supplied to the nozzle 60.

[0061] Furthermore, in Figure 7, the nozzle piping 62 is connected to the outlet 15a of an exhaust valve 15 provided on one telescopic piping 13. Alternatively, the nozzle piping 62 can be connected in parallel to all the outlets 15a of the seven exhaust valves 15 provided on the seven telescopic piping 13 corresponding to the seven telescopic units 11. Or, the nozzle piping 62 can be connected to any one or more outlets 15a of the seven exhaust valves 15.

[0062] Thus, in the second embodiment of the in-pipe mobile robot 100, the nozzle piping 62 is connected to the outlet 15a, and the fluid supply source 14 is connected to the nozzle 60 via the telescopic piping 13, the exhaust valve 15, and the nozzle piping 62. Therefore, there is no need to provide a dedicated piping directly connecting the fluid supply source 14 and the nozzle 60, and fluid can be supplied to the nozzle 60 using fluid supplied from the fluid supply source 14 to the telescopic unit 11. Furthermore, fluid can be supplied from the fluid supply source 14 to the nozzle 60 without the control device C controlling the supply of fluid from the fluid supply source 14 to the nozzle 60. This simplifies the configuration of the in-pipe mobile robot 100 and reduces manufacturing costs.

[0063] Next, based on Figures 8 and 9, the tube-moving robot 200 of the third embodiment of the present invention will be described. Furthermore, in Figures 8 and 9, the same symbols are used to denote the components or parts corresponding to the aforementioned components or parts.

[0064] In the third embodiment of the in-tube mobile robot 200, the configuration of the tip end 20 is different from that of the tip end 20 of the first embodiment of the in-tube mobile robot 1. The configuration of the robot body 10, the elastic connection part 30, and other parts of the second embodiment of the in-tube mobile robot 100 is basically the same as that of the first embodiment of the in-tube mobile robot 1.

[0065] In the third embodiment of the tube-mounted mobile robot 200 shown in Figure 8, a pair of elastic bodies 22 and 23 are provided at the tip end 20. The pair of elastic bodies 22 and 23 are respectively formed into a generally circular or polygonal ring shape centered on axis O, protruding radially outward from the outer peripheral surface of the tip end 20, and are spaced apart from each other along the axial direction. In this embodiment, the pair of elastic bodies 22 and 23 are respectively circular (with a circular outer perimeter) rings centered on axis O. The front elastic body 22 is disposed at the front end portion of the tip end 20, and the rear elastic body 23 is disposed at a predetermined distance behind the front elastic body 22. The axial spacing of the pair of elastic bodies 22 and 23 can be appropriately set according to the size of the tube 2 being moved, the curvature of the bent portion of the tube 2, etc. The pair of elastic bodies 22 and 23 are elastically deformable in both the axial direction and the radial direction centered on axis O.

[0066] The pair of elastic bodies 22 and 23 are, for example, annular brushes constructed similarly to the brush 21 provided at the tip 20 of the in-tube mobile robot 1 in the first embodiment. That is, the pair of elastic bodies 22 and 23 are each configured such that multiple bristles protruding radially outward from the outer peripheral surface of the tip 20 are arranged on the entire circumference centered on the axis O. The multiple bristles constituting the elastic bodies 22 and 23 are, for example, made of a soft and elastically deformable material such as synthetic resin. The outer diameter of the elastic bodies 22 and 23 is approximately the same as the inner diameter of the tube 2, which is the object of movement for the in-tube mobile robot 1. Preferably, the outer diameter of the elastic bodies 22 and 23 is the same as or slightly larger than the inner diameter of the tube 2, which is the object of movement for the in-tube mobile robot 1. When the in-tube mobile robot 1 moves inside the tube 2, the outer peripheral ends 22a and 23a of the elastic bodies 22 and 23 contact the inner peripheral surface of the tube 2.

[0067] The tip portion 20 is configured such that the cover 50 and the nozzle 60 are respectively housed within a virtual sphere 24 (shown as a double-dotted dashed line in Figure 8) inscribed on the entire circumference of the outer peripheral ends 22a and 23a of a pair of elastic bodies 22 and 23. The virtual sphere 24 is a sphere inscribed on the outer peripheral ends 22a and 23a of each pair of elastic bodies 22 and 23, with point 24a at the center position of the axis O between the pair of elastic bodies 22 and 23 spaced apart along the axis O as its center point. The cover 50 and the nozzle 60 do not protrude outside the virtual sphere 24; they are entirely disposed inside the virtual sphere 24.

[0068] In the third embodiment of the tube-moving robot 200 with this configuration, the tip end 20 is provided axially spaced by a pair of elastic bodies 22 and 23. When moving inside the tube 2, it can move along the tube 2 while being supported approximately at the center of the tube 2 by the pair of elastic bodies 22 and 23. Furthermore, as shown in FIG9, when the tip end 20 moves along the bend 2b located between the straight sections 2a of the tube 2, it rotates and advances around point 24a at the center of the virtual sphere 24. Therefore, by housing the cover 50 and the nozzle 60 within the range of the virtual sphere 24, it is possible to prevent the cover 50 and the nozzle 60 from contacting the inner surface of the bend 2b of the tube 2 when the tip end 20 moves along the bend 2b. Thus, even if there is a step 2c at the connection between the straight section 2a and the bend 2b of the tube 2, the cover 50 and the nozzle 60 will not get stuck on the step 2c, and the tip end 20 can smoothly pass through the bend 2b of the tube 2. In addition, since the cover 50 and nozzle 60 can strongly resist the inner surface of the bent portion 2b of the tube 2, it can prevent the transparent cover 50 from being scratched by the inner surface of the bent portion 2b when the tip 20 moves the bent portion 2b of the tube 2. The camera 40 disposed inside the cover 50 can capture a clearer picture of the inside of the tube 2.

[0069] Furthermore, in the third embodiment, the pair of elastic bodies 22 and 23 are annularly centered on the axis O, but are not limited thereto. As long as the tip 20 can be supported approximately at the center of the tube 2, they can be configured as approximately annularly shaped as a D-shape with a slightly cut-off outer perimeter, or as annularly shaped with a regular polygonal outer perimeter. In addition, in the third embodiment, the pair of elastic bodies 22 and 23 are not limited to brushes. For example, they can be annular and elastically deformable components such as flange-shaped or umbrella-shaped synthetic rubber, or other materials or components, as long as they have an annular shape centered on the axis O of the tip 20.

[0070] Next, based on Figures 10 and 11, the tube-moving robot 300 of the fourth embodiment of the present invention will be described. Furthermore, in Figures 10 and 11, the same symbols are used to denote the components or parts corresponding to the aforementioned components or parts.

[0071] In the fourth embodiment of the in-tube mobile robot 300, the configuration of the tip 20 and the cover 50 differs from that of the in-tube mobile robot 1 in the first embodiment. The configuration of the robot body 10, the elastic connection portion 30, and other parts of the in-tube mobile robot 300 in the fourth embodiment is substantially the same as that of the in-tube mobile robot 1 in the first embodiment.

[0072] As shown in Figure 10(a), in the fourth embodiment of the tube-mounted mobile robot 300, a lighting device 25 is provided at the tip 20. The lighting device 25 is connected to a power source (not shown) via a wiring 25a. The lighting device 25 is mounted forward at the tip 20 and can illuminate the interior of the tube 2 as captured by the camera 40. For example, an LED light can be used as the lighting device 25.

[0073] Thus, in the fourth embodiment of the tube-moving robot 300, since a lighting device 25 is provided at the tip 20, the dark interior of the tube can be clearly photographed by the camera 40.

[0074] As shown in Figure 10(b), in this embodiment, a plurality of lighting devices 25 are arranged circumferentially around the camera 40 at the tip end 20, centered on axis O. More specifically, five lighting devices 25 and one nozzle 60 are arranged circumferentially at 60-degree intervals around the camera 40 at the tip end 20, centered on axis O. The five lighting devices 25 are covered by a cover 50. More specifically, a portion of the tip side of each of the five lighting devices 25 protrudes forward from the front end of the tip end 20, and the protruding portion is respectively embedded in a recess in the cover 50.

[0075] With this configuration, the light emitted by the multiple lighting devices 25 illuminates the interior of the tube 2 more evenly, allowing the camera 40 to capture a clearer image of the interior of the dark tube 2. In addition, since the nozzle 60 can be positioned to avoid the necessary illumination range of the multiple lighting devices 25, the cleaning performance of the nozzle 60 on the cover 50 can be ensured while multiple lighting devices 25 are arranged at the tip 20.

[0076] Furthermore, the number and configuration of the lighting devices 25 installed at the tip 20 are not limited to those described above and can be changed appropriately.

[0077] As shown in Figure 11, in the fourth embodiment of the in-tube mobile robot 300, the nozzle 60's outlet 61 has a shape where the ratio of height H to width W (H:W) is in the range of 1:3 to 5. In this embodiment, the nozzle 60's outlet 61 has a shape where the ratio of height H to width W is 1:4. The opening area of ​​the outlet 61 can be appropriately set according to the necessary jet pressure for cleaning the flat portion 51 of the cover 50 with fluid.

[0078] With this configuration, fluid can be sprayed from the outlet 61 of the nozzle 60 toward the flat portion 51 of the cover 50 at the necessary spray pressure to the necessary range, which can effectively remove dirt adhering to the cover 50.

[0079] The present invention is not limited to the described embodiments, and various modifications can certainly be made without departing from its spirit.

[0080] For example, the fluid supplied by the fluid supply source 14 to the telescopic unit 11 and the nozzle 60 is not limited to compressed air; it can also be liquids such as water and cleaning fluid, or other gases such as nitrogen. When nitrogen is used as the fluid supplied by the fluid supply source 14 to the telescopic unit 11 and the nozzle 60, the explosion-proof performance inside the pipe 2 in which the pipe-moving robot 1 moves can be improved.

[0081] 1, 100, 200, 300: In-pipe mobile robots 2: pipe 2a: Straight line portion 2b: Bending part 2c: Step difference 10: Robot Body 11: Telescopic Unit 11a:Tubular part 12: Connecting parts 13: Expansion piping 14: Fluid supply source 15: Exhaust valve 15a: Discharge outlet 16, 21: Brush 20: Tip end 22, 23: Elastomers 22a, 23a: peripheral end 24: Virtual Sphere 24a: point 25:Lighting device 25a, 41: Wiring 30: Flexible connection part 40: Camera 42: Display device 43: Perspective 43a: Short side 43b: Long side 50: Cover 51: Planar part 52: Bending section 53: Inner side 60: Nozzle 61: Spit out 62: Nozzle piping C: Control device D1, D2: Direction H: Height O: Axis W: Width

Claims

1. A pipe-moving robot, configured to include a robot body comprising at least three telescopic units that expand radially and contract axially upon fluid supply, the telescopic units moving within a pipe by peristaltic motion in a predetermined pattern, the pipe-moving robot comprising: A camera is mounted at the tip of the mobile robot inside the tube; A transparent cover is installed on the tip and covers the camera; The nozzle has an outlet that opens toward the outer side of the portion of the cover that covers the shooting direction side of the camera. A fluid supply source is connected to the nozzle via a piping system and supplies fluid to the nozzle, wherein the fluid discharged from the outlet removes dirt adhering to the outer surface of the cover.

2. The in-pipe mobile robot as described in claim 1, further comprising: A telescopic piping system is used to connect the fluid supply source to the telescopic unit; An exhaust valve is provided on the telescopic piping, which can be switched to a state in which fluid inside the telescopic piping is discharged from the outlet to the outside of the telescopic piping, and to a state in which the outlet is closed. The nozzle is connected to the outlet via the nozzle piping, and the fluid supply source is connected to the nozzle via the telescopic piping, the exhaust valve, and the nozzle piping.

3. The in-pipe mobile robot as described in claim 1 or 2, further comprising: An elastic connecting part is disposed between the robot body and the tip end, connecting the robot body and the tip end and capable of elastic deformation; And a pair of elastomers, each being a generally annular or polygonal ring centered on the axis of the tip end, protruding radially outward from the outer peripheral surface of the tip end and spaced apart from each other along the axial direction, wherein the cover and the nozzle are housed within the range of a virtual sphere inscribed in the entire circumference of the outer peripheral ends of the pair of elastomers.

4. The in-pipe mobile robot as described in claim 1 or 2, wherein: A flat planar portion perpendicular to the axis is provided on the outer side of the cover, and the viewing angle of the camera is set within the range of the planar portion.

5. The in-tube mobile robot as claimed in claim 4, wherein the outlet is oriented at an angle of 5 to 10 degrees toward one side of the planar portion relative to a direction perpendicular to the axis.

Images