Sensor head, piping inspection device, and piping inspection method

Abstract

To allow a sensor head to pass through a narrow section and a crank section and enable pipe thickness measurement by an ultrasonic sensor in a wide section.SOLUTION: A sensor head includes: a plurality of shaft-like members connected through a flexible member; a movable section which can move in a longitudinal direction of the shaft-like members; a plurality of leg sections which radially open and close with shaft centers of the shaft-like members as references according to the movement of the movable section; a resin member provided at each end of the leg sections; and an ultrasonic sensor provided at each end of the leg sections. The leg sections are settled within a prescribed distance from the shaft centers of the shaft-like members in a closed state. In an opened state, the resin member is brought into close contact with an inner wall surface of a pipe and an ultrasonic transmission / reception section of the ultrasonic sensor faces the inner wall surface of the pipe.SELECTED DRAWING: Figure 1A

Description

[Technical field]

[0001] An embodiment of the present invention relates to a sensor head, a piping inspection device, and a piping inspection method. [Background technology]

[0002] Pipes such as water pipes are underground. Therefore, when inspecting pipes, a camera is inserted into the pipe from a fire hydrant or the like, and the presence or absence of rust or deposits on the pipe is investigated through the images captured by the camera. In addition, by inserting a sensor head equipped with an ultrasonic sensor into the pipe and detecting the reflected waves of ultrasonic waves transmitted from the ultrasonic sensor toward the pipe wall, the thickness of the pipe wall (pipe thickness) can also be measured. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2018-136271 A [Patent Document 2] Japanese Patent Application Publication No. 05-509400 Summary of the Invention [Problem to be solved by the invention]

[0004] The measurement of pipe thickness using a sensor head equipped with an ultrasonic sensor is performed with the sensor head stabilized in position inside the pipe and the ultrasonic transmission / reception unit of the ultrasonic sensor facing the inner wall surface of the pipe. In order to stabilize the position of the sensor head, it is desirable to provide the sensor head with multiple support members having parts that come into close contact with the pipe wall. However, doing so generally increases the size of the sensor head, so that the sensor head cannot pass through narrow parts with small diameters (e.g., inside a fire hydrant or a fire hydrant connection device) or crank parts (e.g., the curved part from the fire hydrant connection device to the inside of the water pipe), and cannot be moved to wide parts with large diameters (e.g., inside a water pipe).

[0005] The problem that the invention aims to solve is to provide a sensor head, a pipe inspection device, and a pipe inspection method that can pass through narrow sections and crank sections, and can perform pipe thickness measurements using an ultrasonic sensor in wide sections. [Means for solving the problem]

[0006] The sensor head of the embodiment includes a plurality of shaft-shaped members connected via a flexible member, a movable part capable of moving in the longitudinal direction of the shaft-shaped members, a plurality of legs that open and close radially around the axial center of the shaft-shaped members in response to the movement of the movable part, resin members provided at the ends of the legs, and ultrasonic sensors provided at the ends of the legs. When the legs are closed, they are within a predetermined distance from the axial center of the shaft-shaped members, and when they are open, the resin members are in close contact with the inner wall surface of the pipe, and the ultrasonic transmitting / receiving part of the ultrasonic sensor faces the inner wall surface of the pipe. [Brief description of the drawings]

[0007] [Figure 1A] FIG. 1A is a diagram showing an example of the configuration of a piping inspection device according to a first embodiment. [Figure 1B] FIG. 1B is a diagram showing an example of the relationship between the outer dimensions of each unit included in sensor head 11, the inner diameter of pipe 4, and the inner diameter of pipe 4a (a pipe branching off at a right angle from pipe 4 at a T-junction). [Figure 1C] FIG. 1C is a diagram showing an example of a situation when one unit moves while turning from pipe 4a to pipe 4 (or from pipe 4 to pipe 4a) at a T-junction. [Diagram 2] FIG. 2 is a diagram showing a specific example of the configuration of the sensor head 11 according to the first embodiment. [Diagram 3] FIG. 3 is a diagram showing an example of a cross-sectional shape of the sensor head 11 shown in FIG. 2 taken along the line AA'. [Figure 4] FIG. 4 is a diagram showing an example of a cross-sectional shape of the sensor head 11 shown in FIG. 2 taken along the line BB'. [Diagram 5]FIG. 5 is a diagram showing an example of a cross-sectional shape of the sensor head 11 shown in FIG. 2 taken along the line CC'. [Figure 6] FIG. 6 is a diagram showing an example of a cross-sectional shape of the sensor head 11 shown in FIG. 2 taken along the line DD'. [Figure 7] FIG. 7 is a diagram showing an example of the structure of the movable part 7 of the sensor head 11 shown in FIG. [Figure 8] FIG. 8 is a diagram showing an example of the configuration of the information processing device 100 according to the first embodiment. [Figure 9] FIG. 9 is a graph showing characteristics of various reflected waves received after ultrasonic waves are transmitted from the ultrasonic sensor 1 toward the pipe wall. [Figure 10] FIG. 10 is a flowchart showing an example of the pipe thickness measurement operation according to the first embodiment. [Figure 11] FIG. 11 is a diagram showing a specific example of the configuration of the sensor head 11 according to the second embodiment. [Figure 12] FIG. 12 is a diagram showing an example of the structure of threaded shaft members 3C and 3D. [Figure 13] FIG. 13 is a diagram showing an example of a cross-sectional shape of the movable portion 7A shown in FIG. 12 along the line GG'. [Figure 14] FIG. 14 is a diagram showing an example of a cross-sectional shape of the fixing member 2c shown in FIG. 12 taken along the line HH'. [Figure 15] FIG. 15 is a diagram showing an example of a configuration including the fixing member 2c and the leg portion 2 shown in FIG. [Figure 16] FIG. 16 is an enlarged view of the connection portion between the fixing member 2c and the leg portion 2 in FIG. [Figure 17] FIG. 17 is a top view showing an example of a configuration including fixed members 3c, 2c, 3d, shaft member 17, and movable part 7A when leg part 2 is closed. [Figure 18] FIG. 18 is a side view showing an example of a configuration including fixed members 3c, 2c, 3d, shaft member 17, and movable part 7A when leg part 2 is closed. [Figure 19]FIG. 19 is a diagram showing an example of the configuration of an information processing device 100 according to the second embodiment. [Figure 20] FIG. 20 is a flowchart showing an example of the pipe thickness measurement operation according to the second embodiment. [Figure 21] FIG. 21 is a diagram showing a specific example of the configuration of the sensor head 11 according to the third embodiment. [Figure 22] FIG. 22 is a diagram showing an example of the structure of a threaded shaft-shaped member 3E. [Figure 23] FIG. 23 is a diagram showing an example of a cross-sectional shape of the movable member 7B shown in FIG. 21 taken along the line EE'. [Figure 24] FIG. 24 is a diagram showing an example of a cross-sectional shape of the movable member 7C shown in FIG. 21 taken along the line FF'. [Diagram 25] FIG. 25 is a top view showing an example of a configuration including fixed members 3c and 3d, shaft member 17, and movable members 7B and 7C when leg 2A having tire 9 is closed. [Figure 26] FIG. 26 is a side view showing an example of a configuration including fixed members 3c and 3d, shaft member 17, and movable members 7B and 7C when leg 2A having tire 9 is closed. [Figure 27] FIG. 27 is a diagram showing an example of the configuration when the sensor head 11 has a plurality of units 14E. [Figure 28] FIG. 28 is a diagram showing an example of a structure including a plurality of movable parts that enables the stiffness of the spring 8 to be increased or decreased in the configuration shown in FIG. [Figure 29] FIG. 29 is a diagram showing a first example of a mechanism that enables rotation of four legs 2B and four support members 2a having four ultrasonic sensors 1. [Diagram 30] FIG. 30 is a diagram showing a second example of a mechanism that enables rotation of four legs 2B and four support members 2a having four ultrasonic sensors 1. [Diagram 31] FIG. 31 is a flowchart showing an example of the pipe thickness measurement operation according to the third modified example. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0008] Hereinafter, an embodiment will be described with reference to the drawings.

[0009] <First embodiment> First, the first embodiment will be described.

[0010] (Configuration of the piping inspection device according to the first embodiment) FIG. 1A shows an example of the configuration of a pipe inspection device according to the first embodiment. The configuration example shown in FIG. 1A is also used in other embodiments described later. In FIG. 1A, some of the dimensions of each part shown are made larger or smaller than their actual sizes to make the structure easier to understand. Therefore, the size relationship of each part shown in the figure differs from the actual size. Also, in FIG. 1A, some members are omitted from the illustration to avoid complicating the drawing.

[0011] The piping inspection device according to the first embodiment includes a cable 5, a fire hydrant connection device 6, a sensor head 11, and an information processing device 100.

[0012] The cable 5 is connected to a sensor head 11 and also to an information processing device 100. The sensor head 11 is inserted into the pipe 4 to measure the pipe thickness of each part of a pipe 4 such as a water pipe without interrupting the water supply. The fire hydrant connection device 6 is connected to a fire hydrant already installed on a road, and is used to insert the sensor head 11 into the pipe 4. The information processing device 100 controls the operation of the sensor head 11 through the cable 5, and calculates the thickness of each part of the pipe 4 based on a signal obtained from the sensor head 11.

[0013] The sensor head 11 includes a plurality of units 14A, 14B and a flexible member 8 connecting them. In this example, an example of a sensor head in which two units are connected using one flexible member is shown, but three or more units may be connected in series using two or more flexible members.

[0014] The units 14A and 14B include shaft-shaped members 3A and 3B (first shaft-shaped member and second shaft-shaped member), respectively. The shaft-shaped members 3A and 3B are connected by a flexible member 8. The flexible member 8 has appropriate flexibility and rigidity. In this example, the flexible member 8 is a spring, but an elastic body other than a spring (such as rubber) may be used. Hereinafter, the flexible member 8 is referred to as the spring 8. The spring 8 bends when the sensor head 11 passes through a curved pipe such as a crank section, but does not bend in a wide section because of its appropriate rigidity. In addition, this spring 8 bends appropriately when there is a step in the pipe, enabling the sensor head 11 to overcome the step.

[0015] Each of the shaft-shaped members 3A and 3B has three or more legs 2. The legs 2 of each of the shaft-shaped members 3A and 3B open and close radially based on the axial center of each of the shaft-shaped members 3A and 3B. In this example, each of the shaft-shaped members 3A and 3B has four legs 2.

[0016] The end of each leg 2 of the shaft-shaped members 3A and 3B is provided with an ultrasonic sensor 1 and a resin member 9. The end of the leg 2 here is not limited to the tip of the leg 2, but also includes a certain distance from the tip toward the center of the leg 2.

[0017] Moreover, the term "resin" as used herein does not limit the meaning to those made of resin such as Teflon (registered trademark), but also includes those made of synthetic rubber or natural rubber. In this example, the resin member 9 is a tire. Hereinafter, the resin member 9 will be referred to as the tire 9. The tire 9 is mounted on a wheel, and the wheel axle is rotatably attached to the end of the leg 2. In this case, a spring or the like that functions as a suspension may be provided between the wheel axle and the end of the leg 2.

[0018] The ultrasonic sensor 1 has an ultrasonic transmission / reception unit that transmits and receives ultrasonic waves, and is disposed in the leg 2 such that the longitudinal direction of the ultrasonic sensor 1 is aligned with the longitudinal direction of the leg 2 so that the ultrasonic transmission / reception unit faces the inner wall surface of the pipe 4 during pipe thickness measurement. The ultrasonic sensor 1 transmits ultrasonic waves toward the wall of the pipe 4 and receives the reflected waves during pipe thickness measurement. The end of the leg 2 has an opening (not shown) so as not to impede the transmission of the ultrasonic waves and the reception of the reflected waves. The distance from the ultrasonic transmission / reception unit of the ultrasonic sensor 1 to the inner wall surface of the pipe 4 is a constant distance (e.g., equivalent to the diameter of a tire 9). The ultrasonic waves transmitted from the ultrasonic transmission / reception unit of the ultrasonic sensor 1 are perpendicularly incident on the wall surface of the pipe 4. The signal obtained by reception is sent to the information processing device 10 through wiring and a cable 5 (not shown).

[0019] The sensor head 11 is also provided with a temperature sensor that detects the water temperature and the temperature of the temperature sensor housing, and an acceleration sensor that detects the orientation of the sensor head 11. Signals obtained from each sensor are also sent to the information processing device 10 through wiring and cables 5 (not shown).

[0020] In the closed state, each leg 2 is located within a predetermined distance from the axial center of each shaft-shaped member 3A, 3B. This allows the sensor head 11 to pass through narrow parts with small diameters (for example, inside a fire hydrant or a fire hydrant connection device 6, not shown) and crank parts (for example, the curved part from the fire hydrant connection device 6 to the inside of a pipe 4 such as a water pipe), and to move to wide parts with large diameters (for example, inside a pipe 4 such as a water pipe).

[0021] Furthermore, when each leg 2 is in an open state, the tire 9 is in close contact with the inner wall surface of the pipe 4, and the ultrasonic transmitting / receiving unit of each ultrasonic sensor 1 faces the inner wall surface of the pipe 4. This allows the sensor head 11 to measure the pipe thickness of each part of the pipe 4 while maintaining a stable posture.

[0022] When measuring pipe thickness, the individual legs 2 are opened inside the pipe 4, and the sensor head 11 or the legs 2 are moved automatically or manually, and the ultrasonic sensor 1 transmits ultrasonic waves and receives reflected waves.

[0023] When measuring the pipe thickness by linearly moving each ultrasonic sensor 1 in the longitudinal direction of the pipe 4 without rotating it in the circumferential direction of the pipe 4, it is desirable to provide the legs 2 so that many ultrasonic sensors 1 are evenly spaced in the circumferential direction in order to efficiently measure the pipe thickness. For example, when the sensor head 11 is viewed from the axial direction of the shaft-shaped members 3A, 3B, the four legs 2 on the unit 14A side and the four legs 2 on the unit 14B side may be configured to be in a staggered relationship (eight legs 2 appear to be arranged at intervals of 45°, for example).

[0024] In this example, an example is shown in which all legs 2 are equipped with both the ultrasonic sensor 1 and the tire 9, but the present invention is not necessarily limited to this example. There may be legs 2 that are equipped with tires 9 but not with ultrasonic sensors 1, and there may be legs 2 that are equipped with ultrasonic sensors 1 but not with tires 9.

[0025] For example, all of the legs 2 on the unit 14B side may be equipped with ultrasonic sensors 1 but may not be equipped with tires 9. In that case, in order to stabilize the posture of the sensor head 11, it is desirable that each of the legs 2 on the unit 14A side has a structure in which a plurality of tires 9 are arranged in the longitudinal direction of the shaft member 3A of the sensor head 11.

[0026] Here, we will explain the conditions of the external dimensions of each of the multiple units 14A, 14B included in the sensor head 11 when the legs 2 are closed. The same applies to the conditions of the external dimensions of each of the units 14C, 14D in Fig. 11 described later when the legs 2 are closed, and the conditions of the external dimensions of each of the units 14E, 14F in Fig. 21 described later when the legs 2A, 2B are closed.

[0027] 1B shows an example of the relationship between the outer dimensions of each unit included in sensor head 11, the inner diameter of pipe 4, and the inner diameter of pipe 4a (a pipe branching at a right angle at a T-junction from pipe 4). Also, FIG 1C shows an example of a situation when one unit moves while turning from pipe 4a to pipe 4 (or from pipe 4 to pipe 4a) at the T-junction.

[0028] As shown in FIG. 1B, the sensor head 11 is configured such that, when the inner diameter of the pipe 4 is A, the inner diameter of the pipe 4a at the top of the T-junction is B, the entry angle of the unit (angle with respect to the longitudinal direction of the pipe 4) is α, and the outer diameter of the unit is Y, the unit length (length of the unit in the longitudinal direction): X falls within the range defined by the following formula.

[0029] X ≦ A / sinα+B / cosα-2Y / sin2α (0°≦α≦90°) As shown in FIG. 1C, when the inner diameter of pipe 4 is A = 146 mm, the inner diameter of pipe 4a at the top of the T-junction is B = 75 mm, the entry angle of the unit is α = 60°, and the outer diameter of the unit is Y = 40 mm, the unit length X is approximately 226 mm or less.

[0030] The sensor head 100 can be inserted, for example, from the entrance of a fire hydrant or the like having an inner diameter of 75 mm, and inserted into a pipe 4 having a nominal diameter of 150 mm. When each unit closes its individual legs 2, the outer diameter of the sensor head 100 is approximately 40 mm or less, as given by the above formula, and when each unit opens its individual legs 2, the outer diameter of the sensor head 100 is approximately 150 mm or more, which is equivalent to the inner diameter of the pipe 4, and the length of each unit is within the range given by the above formula, and the sensor head 100 is configured to be able to pass through a pipe or the like with a 90-degree bend between units.

[0031] (Specific example of the configuration of the sensor head 11 according to the first embodiment) Fig. 2 shows a specific example of the configuration of the sensor head 11 according to the first embodiment. Fig. 2 shows the structure of the side of the sensor head 11, and also shows the structure of the unit 14B when viewed from above.

[0032] 2 shows the unit 14A with the legs 2 open, and the unit 14B with the legs 2 closed. The units 14A and 14B are constructed using the same members.

[0033] A fixing member 5a for connecting and fixing an end of the cable 5 is provided on the unit 14A side of the sensor head 11 (rear of the sensor head 11). The fixing member 5a is connected to the unit 14A via a spring 8.

[0034] The unit 12 housing a temperature sensor and an acceleration sensor is provided on the unit 14B side (front of the sensor head 11) of the sensor head 11. The temperature sensor detects the water temperature and the temperature of the temperature sensor housing. The acceleration sensor detects the inclination of the shaft members 3A and 3B (rotation angle with respect to a reference direction) or the inclination of the eight ultrasonic sensors 1 as a whole (rotation angle with respect to a reference direction). The detection results of the temperature sensor and the acceleration sensor are transmitted to the information processing device 100 through wiring and a cable 5 (not shown). The unit 12 is connected to the unit 14B through a spring 8. The temperature sensor and the acceleration sensor may be provided in a location other than the unit 12 (for example, in the fixed member 5a). The unit 12 may also be provided with a camera that captures images inside the pipe. In this case, a video signal obtained by the capture is also sent to the information processing device 10 through wiring and a cable 5 (not shown).

[0035] Units 14A and 14B each include shaft-shaped members 3A and 3B, and each includes, as common elements, one fixed member (stopper) 3a, one fixed member (spring stopper) 3b, one movable part (skid) 7, and one elastic member (spring) 13, and each includes four legs 2, tires 9, ultrasonic sensors 1, support members 2a, and fixed members 2b. The four legs 2, tires 9, ultrasonic sensors 1, support members 2a, and fixed members 2b are each disposed at equal intervals (every 90°) around shaft-shaped member 3A or 3B.

[0036] In order to avoid complicating the drawing, some components are omitted from Fig. 2. For example, of the four legs 2, tires 9, ultrasonic sensors 1, support members 2a, and fixing members 2b provided, only two are shown.

[0037] Focusing on the unit 14A in FIG. 2, the fixed member 3a and the fixed member 3b are fixed to the shaft-shaped member 3A, and the movable part 7 and the elastic member 13 are disposed between the fixed members 3a and 3b. The movable part 7 slides relative to the shaft-shaped member 3A and can move in the longitudinal direction of the shaft-shaped member 3A. The movable part 7 is rotatably connected to the support member 2a by the axis P1. The support member 2a is rotatably connected to the four legs 2 by the axis P2. Furthermore, the movable part 7 has a tapered shape to eliminate the step with the shaft-shaped member 3A. The four legs 2 are rotatably connected to the fixed member 2b by the axis P3. The fixed member 2b is fixed to the shaft-shaped member 3A. The wheels of the four tires 9 are rotatably connected to the ends of the four legs 2 by the axis P4. The movable part 7 is provided with a counterbore 7a for accommodating the elastic member 13. The elastic member 13 is a member that biases the movable part 7 so that the four legs 2 open, and presses the movable part 7 toward the fixed member 3a with the fixed member 3b as a base point. This constantly applies a force that tries to open the four legs 2. The unit 14B also has the same members as the unit 14A.

[0038] When unit 14A is in the wide portion, for example, as shown in Fig. 2, elastic member 13 is stretched by the restoring force, and the movable part 7 is pressed against fixed member 3a with fixed member 3b as the base point. At this time, the four legs 2 of unit 14A are opened so as to be perpendicular to the longitudinal direction of shaft-shaped member 3A, the four tires 9 are in moderately close contact with the inner wall surface of pipe 4, the ultrasonic transmitting / receiving parts of the four ultrasonic sensors 1 are moderately close to the inner wall surface of pipe 4, and the ultrasonic transmitting / receiving parts of the four ultrasonic sensors 1 are each directly facing the inner wall surface of pipe 4. When unit 14B is in the wide portion, it is the same as unit 14A. When units 14A and 14B are both in the wide portion, sensor head 11 can measure the pipe thickness of pipe 4 while maintaining a stable posture.

[0039] When unit 14B passes through, for example, a narrow section or a crank section (hereinafter referred to as "narrow section, etc."), the four legs 2 of unit 14B are forced into a closed state or a state close to that (slightly open state) as shown in FIG. 2. At this time, the four support members 2a are pulled by the four legs 2, the movable section 7 is also pulled, and the elastic member 13 is pressed against the fixed member 3b by the movable section 7. In other words, the elastic member 13 is compressed, and the entire elastic member 13 is accommodated in the counterbore 7a of the movable section 7. When unit 14A passes through a narrow section, etc., it operates in the same way as unit 14B.

[0040] When unit 14B comes out from a narrow portion or the like into a wide portion, elastic member 13 expands due to a restoring force, and four legs 2 open. When unit 14A comes out from a narrow portion or the like into a wide portion, it operates in the same manner as unit 14B.

[0041] Here, the structure of the main parts of the sensor head 11 will be described with reference to Fig. 3 to Fig. 6. Note that in order to make the structure easier to understand, some of the dimensions of each part shown in the figures are made larger or smaller than their actual sizes. Therefore, the size relationships of each part shown in the figures differ from the actual sizes.

[0042] FIG. 3 shows an example of a cross-sectional shape of the sensor head 11 taken along the line AA' in FIG.

[0043] 3 shows the shaft-shaped member 3B, the movable part 7, the support member 2a, and the axis P1. The movable part 7 has an opening for passing the shaft-shaped member 3B through which the shaft-shaped member 3B passes. The movable part 7 is also rotatably connected to the support member 2a via the axis P1.

[0044] FIG. 4 shows an example of a cross-sectional shape of the sensor head 11 taken along the line BB' in FIG.

[0045] 4 shows the shaft-shaped member 3B, the legs 2, the support member 2a, the fixed member 2b, and the axis P3. The fixed member 2b is fixed to the shaft-shaped member 3B. The legs 2 are rotatably connected to the fixed member 2b via the axis P3. The legs 2 also have an opening that allows the support member 2a to be inserted and removed (without interfering with the operation of the support member 2a).

[0046] FIG. 5 shows an example of a cross-sectional shape of the sensor head 11 taken along the line CC' in FIG.

[0047] 5 shows the shaft member 3B, the leg 2, the support member 2a, and the axis P2. The leg 2 is rotatably connected to the support member 2a via the axis P2.

[0048] FIG. 6 shows an example of a cross-sectional shape of the sensor head 11 taken along the line DD' in FIG.

[0049] 6 shows the shaft member 3B, the leg 2, the tire 9, and the shaft P4. The wheel of the tire 9 is rotatably attached to the leg 2 via the shaft P4.

[0050] Fig. 7 shows an example of the structure of the movable part 7 of the sensor head 11 shown in Fig. 2. Fig. 7(a) shows the structure of the movable part 7 seen from the front of the sensor head 11 (from the unit 12 side), Fig. 7(b) shows the structure of the movable part 7 seen from the side, and Fig. 7(c) shows the structure of the movable part 7 seen from below. Note that the structure of the movable part 7 seen from above is similar to the structure shown in Fig. 7(c).

[0051] 7 shows the countersunk 7a and openings 7b, 7c, and 7d of the movable part 7. The countersunk 7a is provided to accommodate the elastic member 13. The opening 7b is provided to pass the shaft-shaped member 3A or 3B through. The opening 7c is provided to attach the shaft P1. The opening 7d is provided to allow the support member 2a to be inserted and removed (so as not to interfere with the rotational movement of the support member 2a).

[0052] (Configuration of information processing device 10 according to the first embodiment) FIG. 8 shows an example of the configuration of an information processing device 100 according to the first embodiment.

[0053] The information processing device 100 is realized by using, for example, a computer, and includes a processor 20, a transmission / reception circuit 21, a data acquisition unit 22, an input unit 23A, a display unit 23B, etc. The information processing device 100 further includes a memory 27, a data recording unit 28, a known data holding unit 29, etc.

[0054] The information processing device 100 may be disposed on the ground, or may be disposed as a microcomputer in the sensor head 4 (for example, in the fixed member 5a or the shaft-shaped member 3A). In this case, some elements such as the input unit 23A and the display unit 23B are disposed on the ground. At least some of the functions of the information processing device 100 may be provided on the cloud (Internet).

[0055] The transmission / reception circuit 21 includes a transmission circuit that applies a transmission frequency and voltage to the ultrasonic sensor 1, a reception circuit that amplifies the signal of the reflected wave received by the ultrasonic sensor 1, and a switching circuit that switches between transmission and reception. The transmission frequency can be controlled by the information processing device 100.

[0056] The data acquisition unit 22 converts the signal amplified by the receiving circuit of the transmitting / receiving circuit 21 into a digital value and supplies it to the processor 20. The data acquisition unit 22 also acquires data indicating the orientation of the sensor head 11 from the acceleration sensor and supplies it to the processor 20.

[0057] The input unit 23A corresponds to an input device such as a keyboard or a pointing device, and sets and changes various types of information used by the processor 20 in response to input operations by the user.

[0058] The display unit 23B corresponds to a display device such as a display, and displays various information including the result of the reflected wave detection determination processed by the processor 20 and the result of pipe thickness calculation.

[0059] The processor 20 has various functions including a control unit 24 and a pipe thickness calculation unit 25. The various functions of the processor 20 are constructed as a program for causing a computer to realize them, for example.

[0060] The control unit 24 has a function of performing various controls necessary for measuring the pipe thickness, such as controlling the movement of the sensor head 11 during pipe thickness measurement and controlling the processing of the transmission / reception circuit 21.

[0061] For example, the control unit 24 can control the movement of the ultrasonic sensor 1 and measure the pipe thickness while grasping the position of the pipe wall being measured (i.e., the position in the pipe where the ultrasonic waves transmitted from the ultrasonic sensor 1 are incident on the wall surface) based on data on the penetration length of the cable 5 measured by a position measuring device (not shown) and data on the orientation of the sensor head 11 detected by an acceleration sensor. Also, the control unit 24 can form an image showing the measurement results by the ultrasonic sensor 1 based on data supplied from the data acquisition unit 22 to the processor 20, and display the image on the display unit 23B.

[0062] The pipe thickness calculation unit 25 is a function that, under the control of the control unit 24, calculates the thickness of the pipe 4 from the results of detecting both the reflected waves reflected on the inner surface of the pipe 4 and the reflected waves reflected on the outer surface of the pipe 4 by transmitting ultrasonic waves having a predetermined transmission frequency.

[0063] The memory 27 stores programs, data, and the like that are used by the processor 20 to measure the pipe thickness.

[0064] The data recording unit 28 records data acquired by the data acquisition unit 22 (including data on the orientation of the sensor head 11 detected by the acceleration sensor and data on water temperature detected by the temperature sensor), data on the penetration length measured by the position measuring instrument, data on the pipe thickness calculated by the pipe thickness calculation unit 25, etc.

[0065] The known data storage unit 29 stores known data such as the thickness of the pipe 4 when it is normal (when there is no adhesion such as rust or peeling of the pipe material), the arrival time (or reception timing) and signal level of the reflected wave from the inner surface of the pipe 4 and the reflected wave from the outside of the pipe after ultrasonic transmission, the speed of sound in the pipe, and information indicating the relationship between the speed of sound and temperature.

[0066] (Measurement of pipe thickness based on reflected waves) FIG. 9 is a graph showing characteristics of various reflected waves received after ultrasonic waves are transmitted from the ultrasonic sensor 1 toward the pipe wall.

[0067] In the graph of Fig. 9, the horizontal axis indicates the time after ultrasonic transmission, and the vertical axis indicates the signal level of the received reflected wave. Reflected waves W1, W2, and W3 in the graph of Fig. 9 are reflected waves with different arrival times that are received by ultrasonic sensor 1 after ultrasonic waves are transmitted from ultrasonic sensor 1 toward the pipe wall. Reflected wave W1 is a reflected wave reflected by the inner surface of pipe 4, reflected wave W2 is a reflected wave reflected by the outer surface of pipe 4, and reflected wave W3 is a reflected wave that is multiple-reflected by the outer surface of pipe 4 (such as a reflected wave that is reflected by the outer surface of pipe 4, then reflected by the inner surface of pipe 4, and then reflected again by the outer surface of pipe 4).

[0068] Here, if the signal levels of the reflected waves W1 and W2 received by the ultrasonic sensor 1 are each above a certain level, the reflected waves W1 and W2 can be detected, and the thickness of the pipe 4 can be measured from the time difference Δt between the arrival time of the reflected wave W1 and the arrival time of the reflected wave W2.

[0069] The signals of the reflected waves received by the ultrasonic sensor 1 with a time difference are transmitted from the ultrasonic sensor 1 to the information processing device 100 and then transmitted to the processor 20 via the transmission / reception circuit 21 and data acquisition unit 22 shown in FIG.

[0070] In the processor 20, the control unit 24 judges whether or not both of the reflected waves W1 and W2 having a signal level equal to or higher than a certain value have been detected. For example, the control unit 24 acquires data on the signal level and arrival time for signals having a signal level equal to or higher than a certain value among the signals received by the ultrasonic sensor 1, compares the data with known data in the known data storage unit 29 (specifically, data on the signal level and arrival time of each of the reflected waves W1 and W2 in a normal state for the type of the pipe 4 (including items such as the type of lining, nominal diameter, and pipe thickness)) and checks the degree of agreement between the two, thereby attempting to identify the type of each reflected wave.

[0071] When the reflected waves W1 and W2 can be identified, the pipe thickness calculation unit 25 calculates the time difference Δt from the arrival time of the reflected wave W1 and the arrival time of the reflected wave W2, and calculates the pipe thickness using the sound speed data (specifically, the sound speed data corresponding to the pipe type of the pipe 4) included in the known data in the known data storage unit 29. The pipe thickness is calculated by multiplying the time difference Δt and the sound speed.

[0072] (Example of pipe thickness measurement operation according to the first embodiment) Next, an example of the operation of pipe thickness measurement according to the first embodiment will be described with reference to the flowchart of FIG.

[0073] The operation example shown here is merely an example, and is not limited to this example, and can be modified as appropriate. For example, the measurement of the pipe thickness at each part of the pipe 4 may be performed continuously while moving the ultrasonic sensor 1 in the longitudinal direction of the pipe 4, or the pipe thickness may be measured only when the ultrasonic sensor 1 is stopped, and each time, the pipe 4 may be moved a certain distance in the longitudinal direction, and the pipe thickness may be measured again while the ultrasonic sensor 1 is stopped. The process of this kind may be repeated. Figure 10 shows the latter operation example.

[0074] The sensor head 11, with each leg 2 closed, is inserted through an entrance of a small-diameter fire hydrant or the like, and fed into the inside of a pipe 4, such as a water pipe. When the sensor head 11 is fed into the large-diameter pipe 4, each leg 2 opens due to the restoring force of the elastic member 13 that biases the movable part 7, so that the tire 9 comes into close contact with the inner wall surface of the pipe 4, and the ultrasonic transmitting / receiving parts of each ultrasonic sensor 1 directly face the inner wall surface of the pipe 4.

[0075] Inside the pipe 4, the sensor head 11 is moved automatically or manually (linearly moved longitudinally of the pipe 4) so ​​that ultrasonic waves are irradiated to the position of the pipe wall to be measured, and under the control of the control unit 24, the ultrasonic sensor 1 transmits ultrasonic waves and receives reflected waves (step S11).

[0076] The signal obtained by the above reception is transmitted to the information processing device 100 through the cable 5. The control unit 24 grasps the position of the pipe wall being measured (i.e., the position in the pipe where the ultrasonic wave transmitted from the ultrasonic sensor 1 is incident on the wall surface) from the data of the penetration length measured by the position measuring device and the data of the orientation of the sensor head 11 detected by the acceleration sensor 11.

[0077] The control unit 24 detects two reflected waves corresponding to the pipe thickness of the pipe 4 from the received signal, and obtains the arrival times of the two reflected waves (step S12).

[0078] The pipe thickness calculation unit 25 calculates the thickness of the pipe 4 from the time difference between the arrival times of the two reflected waves and the sound speed (step S13). Data indicating the calculated thickness is recorded in the data recording unit 28 together with data indicating the position of the measurement target.

[0079] The pipe thickness calculation unit 25 determines whether to end the inspection depending on whether the pipe thickness measurement of all measurement objects has been completed (step S14). If the inspection is not to be ended (No in step S14), the process from step S11 is repeated to measure the pipe thickness of the remaining measurement objects. On the other hand, if the inspection is to be ended (Yes in step S14), the sensor head 11 is pulled back to the entrance or exit of a fire hydrant or the like, and the series of processes is completed.

[0080] When the inspection is completed, the sensor head 11 is pulled back to the entrance of the fire hydrant or the like into which the sensor head 11 was inserted, with each leg 2 still in an open state. At this time, the diameter of the opening through which the sensor head 11 passes becomes smaller, so each leg 2 is forced to close.

[0081] In this embodiment, an example is shown in which elastic members 13 are provided so that a force always acts to open each of the legs 2, but a similar function may be achieved by providing a torsion spring instead of the elastic member 13. In that case, the torsion spring is attached so as to straddle a part of each of the legs 2 near the fixed part P3 and a part of the shaft member 3A (3B).

[0082] According to the first embodiment, the sensor head 11 has a plurality of legs 2 that can be opened and closed, and each leg 2 fits within a predetermined distance from the axial center of each of the shaft-shaped members 3A, 3B when closed, so that the sensor head 11 can pass through narrow parts with small diameters and can move to wide parts with large diameters. Also, when each leg 2 is open, the tire 9 is in close contact with the inner wall surface of the pipe 4, and the ultrasonic transmitting / receiving parts of each ultrasonic sensor 1 face the inner wall surface of the pipe 4, so that the sensor head 11 can measure the thickness of the pipe 4 while maintaining a stable posture.

[0083] <Second embodiment> Next, a second embodiment will be described, focusing on the differences from the first embodiment.

[0084] (composition) The configuration of the piping inspection device according to the second embodiment is similar to that shown in FIG. 1A.

[0085] (Specific Example of the Configuration of the Sensor Head 11 According to the Second Embodiment) Fig. 11 shows a specific example of the configuration of a sensor head 11 according to the second embodiment. In Fig. 11, the same reference numerals are used to designate elements common to the first embodiment described above.

[0086] The sensor head 11 according to the second embodiment includes units 14C and 14D instead of the units 14A and 14B described above. The units 14A and 14B include shaft members 3A and 3B, but the units 14C and 14D include shaft members 3C and 3D (first shaft member and second shaft member). Fig. 11 shows the units 14C and 14D with their legs 2 open.

[0087] In the first embodiment described above, an example was shown in which an elastic member 13 was used to realize the opening action of each leg 2. However, in the second embodiment, without using the elastic member 13, an actuator (driving unit) 31, a flexible shaft 18 that transmits rotation, and the like are used to realize both the opening and closing actions of each leg 2.

[0088] An actuator 31 is provided on the unit 14C side (rear) of the sensor head 11. The actuator 31 is, for example, a motor, and is connected to the fixed member 5a via a spring 8. In this example, only one actuator 3 is provided for the entire sensor head 11, but an actuator may be provided for each unit.

[0089] The spring 8 connecting the unit 14C and the unit 14D is provided with a flexible shaft 18. The flexible shaft 18 is disposed in the space inside the spring 8. Note that in the case where the flexible shaft 18 has a function as a flexible member, the flexible shaft 18 may be provided instead of the spring 8.

[0090] The spring 8 connecting the unit 12 and the unit 14D may also be provided with a flexible shaft 18, but the flexible shaft 18 is not necessarily required. When the acceleration sensor in the unit 12 is used to detect the inclination (rotation angle with respect to a reference direction) of the shaft-shaped members 3C and 3D, the flexible shaft 18 is provided.

[0091] Units 14C and 14D include shaft-shaped members 3C and 3D, and each includes, as common elements, one fixed member (stopper) 3c, one fixed member 2c, one fixed member 3d, and one movable part (skid) 7A, and four legs 2, tires 9, ultrasonic sensors 1, support members 2a, and shaft-shaped members 17. The four legs 2, tires 9, ultrasonic sensors 1, support members 2a, and shaft-shaped members 17 are each disposed at equal intervals (at 90° intervals) around shaft-shaped member 3C or 3D.

[0092] In order to avoid complicating the drawing, some components are omitted from Fig. 2. For example, of the four legs 2, tires 9, ultrasonic sensors 1, support members 2a, and shaft members 17 provided, only two are shown.

[0093] Focusing on the unit 14C in FIG. 11, the fixed members 3c, 3d, and 2c each support the shaft-shaped member 3C so that the shaft-shaped member 3C can rotate. The fixed member 3c has a tapered shape to eliminate the step between the spring 8 and the actuator 31. Between the fixed members 3c and 2c, a movable part 7A that slides on the four shaft-shaped members 17 is disposed. Both ends of each of the four shaft-shaped members 17 are fixed to the fixed members 3c and 2c. The movable part 7A slides along the four shaft-shaped members 17 and can move in the longitudinal direction of the shaft-shaped member 3C. The movable part 7A is rotatably connected to the four support members 2a by an axis Q1. The four support members 2a are rotatably connected to the four legs 2 by an axis Q2. The four legs 2 are rotatably connected to the fixed member 2c by an axis Q3. The wheels of the four tires 9 are rotatably connected to the ends of the legs 2 by shafts Q4. The unit 14D also includes members similar to those of the unit 14C.

[0094] The actuator 31 includes a rotating shaft coupled to the shaft-shaped member 3C. When the rotating shaft rotates, the shaft-shaped member 3C rotates, and further, via the flexible shaft 18, the shaft-shaped member 3D rotates.

[0095] The shaft members 3C, 3D and the corresponding movable parts 7A are threaded at the mutual contact portions, so that when the shaft members 3C, 3D rotate, the movable parts 7A move in the longitudinal direction of the shaft members 3C, 3D. FIG. 12 shows an example of the structure of the threaded shaft members 3C, 3D.

[0096] As shown in FIG. 12(a), between fixed member 3c and fixed member 2c there is a movable portion 7A which moves along four shaft members 17 in the longitudinal direction of shaft members 3C and 3D.

[0097] As shown in Fig. 12(b), a thread N1 is cut on the surface of each of the shaft-shaped members 3C and 3D within the range of movement of the movable part 7A. Fig. 12(b) shows an example in which a left-handed thread is cut. In this case, a left-handed thread (not shown) is also cut on the surface of the movable part 7A side that contacts the fixed members 3c and 2c. The movable part 7A moves within the range of the left-handed thread N1.

[0098] 11, when the rotation shaft of the actuator 31 rotates, for example, clockwise (hereinafter referred to as "right rotation"), the shaft members 3C and 3D also rotate right, and the corresponding movable parts 7A move from the state shown in Fig. 11 toward the fixed member 2c, closing the individual legs 2. Conversely, when the rotation shaft of the actuator 31 rotates counterclockwise (hereinafter referred to as "left rotation"), the shaft members 3C and 3D also rotate left, and the corresponding movable parts 7A move from the fixed member 2c side toward the fixed member 3c, abut against the fixed member 3c, returning to the state shown in Fig. 11.

[0099] When the sensor head 11 is in the wide portion, for example, each leg 2 is opened so as to be perpendicular to the longitudinal direction of the shaft-shaped members 3C, 3D as shown in Fig. 11. At this time, each tire 9 is in moderately close contact with the inner wall surface of the pipe 4, and the ultrasonic transmitting / receiving unit of each ultrasonic sensor 1 is moderately close to the inner wall surface of the pipe 4, and each ultrasonic transmitting / receiving unit of each ultrasonic sensor 1 faces the inner wall surface of the pipe 4 directly. At this time, the sensor head 11 can measure the pipe thickness of the pipe 4 while maintaining a stable posture.

[0100] When the sensor head 11 is about to pass through a narrow section or the like, each of the legs 2 is closed beforehand. For example, as shown in FIG. 11, when the legs 2 are closed from the state in which the individual legs 2 are open (the movable part 7A is in contact with the fixed member 2c), the rotation shaft of the actuator 31 rotates to the right. When the rotation shaft of the actuator 31 rotates to the right, the movable part 7A moves to a predetermined position toward the fixed member 2c, and the support member 2a and the legs 2 also move accordingly, and the legs 2 are closed. At this time, each of the legs 2 is within a predetermined distance from the axial center of each of the shaft-shaped members 3C, 3D. This allows the sensor head 11 to pass through a narrow section or the like without difficulty.

[0101] After the sensor head 11 moves from the narrow portion to the wide portion, the individual legs 2 are opened. For example, when the individual legs 2 are opened from a closed state, the rotation shaft of the actuator 31 rotates left. When the rotation shaft of the actuator 31 rotates left, the movable part 7A moves toward the fixed member 3c and abuts against the fixed member 3c, and the individual legs 2 are opened as shown in FIG.

[0102] Here, the structure of the main parts of the sensor head 11 will be described with reference to Figs. 13 to 18. Note that in order to make the structure easier to understand, some of the dimensions of the parts shown in the drawings are made larger or smaller than their actual sizes. Therefore, the size relationships of the parts shown in the drawings differ from their actual sizes. Also, in order to avoid complicating the drawings, some components are omitted from the illustration.

[0103] Fig. 13 shows an example of a cross-sectional shape of the movable portion 7A taken along the line G-G' in Fig. 12. Here, members other than the movable portion 7A are omitted from the illustration.

[0104] 13 shows openings 7e, 7f, 7g, and 7h of the movable part 7A. Opening 7e is provided for passing shaft-shaped member 3C or 3D. Opening 7f is provided for passing shaft-shaped member 17. Opening 7g is provided for mounting shaft Q1. Opening 7h is provided so as not to interfere with the rotational movement of support member 2a about shaft Q1.

[0105] Fig. 14 shows an example of a cross-sectional shape of the fixing member 2c taken along the line HH' in Fig. 12. Here, members other than the fixing member 2c are omitted from the illustration.

[0106] 14 shows openings 2d and 2e of the fixed member 2c. The opening 2d is provided for passing the movable part 7A through. The opening 2e is provided for attaching one end of the shaft-shaped member 17.

[0107] Fig. 15 shows an example of a configuration including the fixing member 2c and the leg portion 2 shown in Fig. 14. Fig. 16 shows an enlarged view of a connection portion between the fixing member 2c and the leg portion 2 in Fig. 15.

[0108] As shown in Fig. 15, an opening 2f is provided in the leg 2. The opening 2f is provided for attaching the shaft Q2. Also, as shown in Fig. 16, an opening 2g is provided in each of the fixing member 2c and the leg 2. The opening 2g is provided for attaching the shaft Q3.

[0109] 17 and 18 show examples of a top view and a side view of a configuration including fixed members 3c, 2c, and 3d, shaft member 17, and movable part 7A when leg part 2 is closed. The configuration is the same on both the unit 14C side and the unit 14D side.

[0110] In order to avoid complicating the illustration, the shaft-shaped member 17 and the like are omitted in Fig. 18. Also, in Fig. 17 and Fig. 18, the tire 9 provided at the end of the leg portion 2 is omitted. The leg portion 2 is closed in such a manner that the tire 9 fits onto the shaft-shaped members 3C and 3D without being obstructed by the fixing member 3d.

[0111] As shown in Figures 17 and 18, each leg 2 and each support member 2a is parallel to the axial direction of the shaft-shaped member 3C or 3D and is closed to be contained between the fixing members 3c and 3d. In this state, all the members shown in Figures 17 and 18 are contained within a predetermined distance from the axial center of the shaft-shaped member 3C or 3D, respectively, and can easily pass through narrow areas, etc.

[0112] (Configuration of information processing device 10 according to the second embodiment) FIG. 19 shows an example of the configuration of an information processing device 100 according to the second embodiment.

[0113] The information processing device 100 according to the second embodiment further includes an actuator control circuit 30 in addition to the components of the information processing device 100 according to the first embodiment.

[0114] The actuator control circuit 30 operates under the control of the control unit 24 of the processor 20, and performs the right rotation, stop of the right rotation, left rotation, and stop of the left rotation of the rotation shaft of the actuator 31 as described above. Such right rotation, stop of the right rotation, left rotation, and stop of the left rotation of the rotation shaft of the actuator 31 are performed via the control unit 24, the actuator control circuit 30, and the actuator 31 when the user performs a predetermined input operation on the input unit 23A.

[0115] (Example of pipe thickness measurement operation according to the second embodiment) Next, an example of the operation of pipe thickness measurement according to the second embodiment will be described with reference to the flowchart of Fig. 20. In Fig. 20, steps common to those in Fig. 10 described above are given the same reference numerals, and duplicated explanations will be omitted.

[0116] The sensor head 11, with each leg 2 closed, is inserted through an entrance of a small-diameter fire hydrant or the like, and sent into the inside of a pipe 4, such as a water pipe. When the sensor head 11 is sent into the large-diameter pipe 4, the control unit 24 on the information processing device 100 controls the actuator control circuit 30 to rotate the rotation shaft of the actuator 31 counterclockwise a predetermined number of revolutions in accordance with a user's input operation, so that each leg 2 opens (step S10). As a result, each leg 2 of the sensor head 11 opens, the tire 9 comes into close contact with the inner wall surface of the pipe 4, and the ultrasonic transmitting / receiving unit of each ultrasonic sensor 1 faces the inner wall surface of the pipe 4.

[0117] Thereafter, the same processes as those in steps S11 to S14 described above are carried out.

[0118] When the inspection is to be ended (Yes in step S14), the control unit 24 on the information processing device 100 side controls the actuator control circuit 30 to rotate the rotation shaft of the actuator 31 clockwise a predetermined number of revolutions in accordance with the user's input operation so that each leg 2 closes (step S15). As a result, each leg 2 of the sensor head 11 closes.

[0119] Thereafter, the sensor head 11 is pulled back to the entrance of the fire hydrant or the like, and the series of processes ends.

[0120] According to the second embodiment, in addition to the effects obtained in the first embodiment, it becomes possible to close and open each leg portion 2 at a desired timing, and the usability of the sensor head 11 becomes improved.

[0121] <Third embodiment> Next, a third embodiment will be described, focusing on the differences from the second embodiment.

[0122] (composition) The configuration of the piping inspection device according to the third embodiment is similar to that shown in FIG. 1A.

[0123] (Specific example of the configuration of the sensor head 11) Fig. 21 shows a specific example of the configuration of a sensor head 11 according to the third embodiment. In Fig. 21, the same reference numerals are used to designate elements common to the second embodiment described above.

[0124] The sensor head 11 according to the third embodiment includes a unit (guide unit) 14E and a unit (ultrasonic sensor unit) 14F instead of the above-described units 14C and 14D. The units 14C and 14D have shaft members 3C and 3D, but the units 14E and 14F have shaft members 3E and 3F (first shaft member and second shaft member). Fig. 21 shows the state in which the legs 2A and 2B of the units 14E and 14F are open.

[0125] In the third embodiment, the leg 2B on the unit 14F side is equipped with an ultrasonic sensor 1, but the leg 2A on the unit 14E side is not equipped with an ultrasonic sensor 1. The leg 2A on the unit 14E side is equipped with a tire 9, but the leg 2B on the unit 14F side is not equipped with a tire 9.

[0126] The leg 2B on the unit 14F side has the same structure as the leg 2 described above, except that the tire 9 is not provided.

[0127] The unit 14E side is provided with two movable members 7B and 7C as movable parts. The leg 2A on the unit 14E side has a structure different from the leg 2 described above. The leg 2A includes a first leg member and a second leg member. Specifically, the leg 2A is configured such that the first leg member and the second leg member cross each other, an axis Q5 is provided at the crossing point, and the first leg member and the second leg member are rotatable via the axis Q5. The movable member 7B and the movable member 7C move closer to or farther away from each other in response to the rotation of the shaft-shaped member 3E in a predetermined direction, and the end of the first leg member and the end of the second leg member move closer to or farther away from each other in accordance with the movement, so that the leg 2A opens or closes.

[0128] Each leg 2A on the unit 14E side has a structure in which a plurality of tires 9 are arranged in the longitudinal direction of the shaft member 3E in order to stabilize the posture of the sensor head 11.

[0129] The spring 8 connecting the unit 14E and the unit 14F is provided with a flexible shaft 18. The spring 8 connecting the unit 12 and the unit 14F may also be provided with a flexible shaft 18, but the flexible shaft 18 is not necessarily required. When the acceleration sensor in the unit 12 is used to detect the inclination (rotation angle with respect to a reference direction) of the shaft-shaped members 3E and 3F, the flexible shaft 18 is provided.

[0130] Unit 14E includes shaft member 3E, fixed members (stoppers) 3c, 3d, movable members (skids) 7B, 7C, four legs 2A and shaft members 17, and eight tires 9. The four legs 2A, shaft members 17, and eight tires are each disposed at equal intervals (every 90°) around shaft member 3E.

[0131] In addition to the shaft-shaped member 3F, the unit 14F includes one each of a fixed member (stopper) 3c, a fixed member 2c, a fixed member 3d, and a movable part (skid) 7A, as well as four each of legs 2B, ultrasonic sensors 1, support members 2a, and shaft-shaped members 17. The four legs 2B, ultrasonic sensors 1, support members 2a, and shaft-shaped members 17 are each disposed at equal intervals (every 90°) around the shaft-shaped member 3F.

[0132] Focusing on the unit 14E in FIG. 21, the fixed members 3c and 3d each support the shaft-shaped member 3E so that the shaft-shaped member 3E can rotate. Between the fixed members 3c and 3d, the movable members 7B and 7C that slide relative to the four shaft-shaped members 17 are arranged. Both ends of each of the four shaft-shaped members 17 are fixed to the fixed members 3c and 3d. The movable members 7B and 7C slide along the four shaft-shaped members 17, but the movable members 7B and 7C move in opposite directions along the longitudinal direction of the shaft-shaped member 3E. As described above, each of the four legs 2A includes a first leg member and a second leg member that are rotatably connected by the axis Q5, and the respective ends of the first leg member and the second leg member are rotatably connected to the movable members 7B and 7C by the axes Q6 and Q7. In addition, the other end of the first leg member and the other end of the second leg member are provided with tires 9.

[0133] The unit 14F has the same structure as the unit 14C described above. That is, the fixed members 3c, 3d, and 2c each support the shaft-shaped member 3F so that the shaft-shaped member 3F can rotate. Between the fixed members 3c and 2c, a movable part 7A that slides on the four shaft-shaped members 17 is disposed. Both ends of each of the four shaft-shaped members 17 are fixed to the fixed members 3c and 2c. The movable part 7A slides along the four shaft-shaped members 17 and can move in the longitudinal direction of the shaft-shaped member 3C. The movable part 7A is rotatably connected to the four support members 2a by an axis Q1. The four support members 2a are rotatably connected to the four leg parts 2B by an axis Q2. The four leg parts 2B are rotatably connected to the fixed member 2c by an axis Q3.

[0134] The actuator 31 includes a rotating shaft coupled to a shaft-shaped member 3E. When the rotating shaft rotates, the shaft-shaped member 3E rotates, and further, via the flexible shaft 18, the shaft-shaped member 3F rotates.

[0135] The shaft member 3E and the movable members 7B and 7C are threaded at the mutual contact portions, so that when the shaft member 3E rotates, the movable members 7B and 7C move in opposite directions. Here, Fig. 22 shows an example of the structure of a threaded shaft member 3E.

[0136] As shown in FIG. 22(a), between fixed members 3c and 3d are movable members 7B and 7C which move along four shaft members 17 in the longitudinal direction of a shaft member 3E.

[0137] As shown in Fig. 22(b), threads N1 and N2 are cut on the surface of the shaft-shaped member 3E within the movement range of the movable members 7B and 7C. Fig. 22(b) shows an example in which the thread N1 is a right-handed thread and the thread N2 is a left-handed thread. In this case, threads (not shown) of the same direction are also cut on the surfaces of the movable members 7B and 7C that contact the fixed members 3c and 3d. The movable member 7B moves within the range of the left-handed thread N1. The movable member 7C moves within the range of the left-handed thread N2.

[0138] The structure of the threaded shaft member 3F is the same as the structure of the shaft member 3D described above, and therefore a description thereof will be omitted.

[0139] When the shaft-shaped members 3E and 3F are viewed from the actuator 31 side in FIG. 21, if the rotation shaft of the actuator 31 rotates, for example, to the right, the shaft-shaped members 3E and 3F also rotate to the right. At this time, the movable member 7B moves from the state shown in FIG. 21 toward the fixed member 3c and abuts against the fixed member 3c. The movable member 7C moves from the state shown in FIG. 21 toward the fixed member 3d and abuts against the fixed member 3d. This closes each of the legs 2A. The movable member 7A moves to a predetermined position toward the fixed member 2c. This closes each of the legs 2B.

[0140] Conversely, when the rotating shaft of actuator 31 rotates left, shaft-shaped members 3E and 3F also rotate left. At this time, movable member 7B moves to a predetermined position toward fixed member 3d, and movable member 7C moves to a predetermined position toward fixed member 3c, returning to the state shown in Fig. 21. Movable part 7A moves toward fixed member 3c and abuts against fixed member 3c, returning to the state shown in Fig. 21.

[0141] When the sensor head 11 is in the wide portion, for example, the legs 2A, 2B are opened so as to be perpendicular to the longitudinal direction of the shaft-shaped members 3C, 3D as shown in Fig. 21. At this time, each tire 9 is in moderately close contact with the inner wall surface of the pipe 4, and the ultrasonic transmitting / receiving units of each ultrasonic sensor 1 are moderately close to the inner wall surface of the pipe 4, and each ultrasonic transmitting / receiving unit of each ultrasonic sensor 1 faces the inner wall surface of the pipe 4 directly. At this time, the sensor head 11 can measure the pipe thickness of the pipe 4 while maintaining a stable posture.

[0142] When the sensor head 11 passes through a narrow section or the like, the individual legs 2A, 2B are closed in advance. For example, as shown in FIG. 21, when the individual legs 2A, 2B are closed from an open state, the rotation shaft of the actuator 31 rotates to the right. When the rotation shaft of the actuator 31 rotates to the right, the movable members 7B, 7C and the movable part 7A move as described above, and accordingly the individual legs 2B, 2C also move and close. At this time, the individual legs 2B, 2C are within a predetermined distance from the axial centers of the shaft-shaped members 3E, 3F. This allows the sensor head 11 to pass through a narrow section or the like.

[0143] After the sensor head 11 moves from the narrow portion to the wide portion, the individual legs 2B, 2C are opened. For example, when the individual legs 2B, 2C are opened from a closed state, the rotation shaft of the actuator 31 rotates left. When the rotation shaft of the actuator 31 rotates left, the movable members 7B, 7C and the movable part 7A move as described above, and the individual legs 2B, 2C open as shown in FIG.

[0144] Here, the structure of the main parts of the sensor head 11 will be described with reference to Figs. 23 to 26. Note that in order to make the structure easier to understand, some of the dimensions of the parts shown in the drawings are made larger or smaller than their actual sizes. Therefore, the size relationships of the parts shown in the drawings differ from the actual sizes. Also, in order to avoid complicating the drawings, some components are not shown.

[0145] When the leg 2B on the unit 14F side is closed, the structures of the fixed members 3c, 2c, 3d, the shaft member 3F, and the movable part 7A are the same as those shown in Figures 17 and 18, so the description thereof will be omitted here. The structure on the unit 14E side will be described below.

[0146] Fig. 23 shows an example of a cross-sectional shape of the movable member 7B taken along the line EE' in Fig. 21. Here, members other than the movable member 7B are omitted from the illustration.

[0147] 23 shows openings 7i, 7j, 7k, and 7l of the movable member 7B. Opening 7i is provided to allow the shaft member 3E to pass through. Opening 7j is provided to allow the shaft member 17 to pass through. Opening 7k is provided to attach shaft Q6. Opening 7l is provided to allow the leg 2A to rotate about shaft Q6 without being hindered.

[0148] Fig. 24 shows an example of a cross-sectional shape of the movable member 7C taken along the line FF' shown in Fig. 21. Here, members other than the movable member 7C are omitted from the illustration.

[0149] 24 shows openings 7m, 7n, 7o, and 7p of the movable member 7C. Opening 7m is provided to allow shaft member 3E to pass through. Opening 7n is provided to allow shaft member 17 to pass through. Opening 7o is provided to attach shaft Q7. Opening 7p is provided to allow leg 2A to rotate about shaft Q7 without being hindered.

[0150] 25 and 26 show examples of a top view and a side view of a configuration including fixed members 3c and 3d, a shaft member 17, and movable members 7B and 7C when the leg 2A having the tire 9 is closed.

[0151] As shown in Figures 25 and 26, the movable members 7B and 7C are in contact with the fixed members 3c and 3d, respectively, and each leg 2A is closed so as to be parallel to the axial direction of the shaft-shaped member 3E and to be contained between the fixed members 3c and 3d. In this state, all the members shown in Figures 25 and 26 are contained within a predetermined distance from the axial center of the shaft-shaped member 3E, and can easily pass through narrow sections, etc.

[0152] The configuration of the information processing device 100 according to the third embodiment is the same as that shown in Fig. 19, and therefore the description thereof will be omitted here. Also, the operation of pipe thickness measurement according to the third embodiment is the same as that shown in Fig. 20, and therefore the description thereof will be omitted here.

[0153] According to the third embodiment, in addition to the effects obtained in the second embodiment, it is possible to improve the stability of the attitude of the sensor head 100.

[0154] <Modification (part 1)> In the third embodiment, the case where only one unit (guide unit) 14E is provided is exemplified, but a plurality of units 14E may be provided. When a plurality of units 14E are provided, the spring 8 and the flexible shaft 18 are connected between the plurality of units 14E.

[0155] FIG. 27 shows an example of the configuration when the sensor head 11 has a plurality of units 14E.

[0156] 27, two units 14E and one unit 14F are disposed between the actuator 31 and the unit 12, and are connected to each other via a spring 8 and a flexible shaft 18. If it is necessary to increase the rotational force, additional actuators may be provided in some or all of the units.

[0157] By providing a plurality of units (guide units) 14E in this manner, the stability of the attitude of the sensor head 100 can be further improved.

[0158] <Variation (part 2)> In the third embodiment, springs 8 are provided between units 14E and 14F and between units 14F and 12. As described above, springs 8 have appropriate flexibility and rigidity (hardness), but if the hardness of springs 8 can be increased when sensor head 11 is in the wide portion, springs 8 will be less likely to bend, the stability of the posture of sensor head 100 can be further improved, and pipe thickness measurement can be performed in a more stable state.

[0159] FIG. 28 shows an example of a structure including a plurality of movable parts that enables the stiffness of the spring 8 to be increased or decreased in relation to the configuration shown in FIG.

[0160] As shown in FIG. 28(a), springs 8 each equipped with a flexible shaft 18 are provided between units 14E and 14F and between units 14F and 12, and movable parts (skids) 7M, 7N and movable parts (skids) 7P, 7Q are provided on both sides of each spring 8.

[0161] 28(b), a right-handed thread N11, a left-handed thread N12, and a right-handed thread N13 are cut on the surface of the shaft-shaped member 3E within the movement ranges of the movable members 7B, 7C, and the movable part 7M, respectively. A left-handed thread N21, a left-handed thread N22, and a right-handed thread N23 are cut on the surface of the shaft-shaped member 3F within the movement ranges of the movable parts 7N, 7A, and 7P, respectively. A left-handed thread N31 is cut on the surface of the shaft-shaped member on the unit 21 side within the movement range of the movable part 7Q.

[0162] 28(a) shows the positions of each movable part when each leg part 2A, 2B is open. At this time, the movable members 7B, 7C are closest to each other, and the movable part NA is in contact with the fixed member 3c. The movable parts 7M, 7N are in a state where the spring 8 is tightened from both sides (the spring 8 is compressed and hardened), and the movable parts 7P, 7Q are in a state where the spring 8 is tightened from both sides (the spring 8 is compressed and hardened). The springs 8 are tightened to such an extent that the flexible shaft 18 is not damaged.

[0163] In the state shown in Fig. 28(a), when the rotating shaft of the actuator 31 rotates, for example, to the right, the shaft-shaped members 3E and 3F also rotate to the right. At this time, the movable member 7B moves toward the fixed member 3c and abuts against the fixed member 3c. The movable member 7C moves toward the fixed member 3d and abuts against the fixed member 3d. This causes each leg 2A to close. The movable member 7A moves to a predetermined position toward the fixed member 2c. This causes each leg 2B to close.

[0164] Furthermore, the movable part 7M moves towards the fixed member 3d and comes into contact with the fixed member 3d. The movable part 7N moves towards the fixed member 3c and comes into contact with the fixed member 3c. The movable part 7P moves towards the fixed member 3d and comes into contact with the fixed member 3d. The movable part 7Q moves towards the unit 12 and comes into contact with the unit 12 or a fixed member (not shown). This releases each spring 8 from its tightened state (a contracted and hardened state) and makes it possible for it to bend appropriately, enabling it to pass through a curved pipe such as a crank section.

[0165] In this state, when the rotating shaft of the actuator 31 rotates left, the shaft-shaped members 3E and 3F also rotate left. At this time, the movable member 7B moves to a predetermined position toward the fixed member 3d, and the movable member 7C moves to a predetermined position toward the fixed member 3c, returning to the state shown in Fig. 28(a). The movable part 7A moves toward the fixed member 3c and abuts against the fixed member 3c, returning to the state shown in Fig. 28(a).

[0166] Furthermore, the movable parts 7M and 7N move toward the spring 8 between them, and tighten the spring 8 from both sides. The movable parts 7P and 7Q also move toward the spring 8 between them, and tighten the spring 8 from both sides. As a result, each spring 8 contracts and becomes hard and does not bend, which further improves the stability of the posture of the sensor head 100 and enables pipe thickness measurement to be performed in a more stable state.

[0167] The second modification can also be applied to the sensor head 100 according to the second embodiment.

[0168] <Variation (part 3)> In the second and third embodiments, examples are shown in which pipe thickness measurements are performed at various parts inside a pipe without rotating the multiple legs having the ultrasonic sensor 1, but if the multiple legs can be rotated, pipe thickness measurements can be performed efficiently.

[0169] Here, for the configuration shown in Figures 11 and 21, two examples of mechanisms that enable rotation of the four legs 2B and four support members 2a having four ultrasonic sensors 1 on the unit 14D side and the unit 14F side are given.

[0170] 29 shows a first example of a mechanism that enables rotation of four legs 2B and four support members 2a each having four ultrasonic sensors 1. In this example, in order to avoid complicating the drawing, illustration of the four legs 2B, ultrasonic sensors 1, support members 2a, etc. is omitted.

[0171] In this example, a mechanism is provided that rotates and moves each leg 2B having an ultrasonic sensor 1 in the circumferential direction of the shaft member 3D (or 3F) in response to the movement of the movable part 7A caused by the rotation of the shaft member 3D (or 3F).

[0172] As shown in Fig. 29(a), the fixed member 3c includes a rotating member 40, a pin receiver 40a, a pin 41, an oblique groove 42, and an elastic member (spring) 8A. As shown in Fig. 29(b), the pin 41 and the oblique groove 42 are disposed on a part of the periphery of the fixed member 3c.

[0173] The spring 8A and the rotating member 40 are disposed inside the fixed member 3c. The rotating member 40 is disposed so as to be slidable relative to the shaft-shaped member 3D (or 3F). The four shaft-shaped members 17 are fixed to the rotating member 40. The rotating member 40 includes a pin receiver 40a, and a pin 41 is fixed to the pin receiver 40a. The pin 41 moves along an oblique groove 42. The length of the oblique groove 42 is designed so that the rotating member 40 can rotate within a range from 0 degrees (reference position) to 90 degrees.

[0174] For example, when the rotation shaft of the actuator 31 rotates to the left from a state in which each leg 2 is closed, the movable part 7A moves toward the rotating member 40 and abuts against the surface of the fixed member 3c indicated by X1, causing each leg 2 to be in an open state.

[0175] Furthermore, when the rotating shaft of the actuator 31 rotates left, the movable part 7A and the rotating member 40 move so as to compress the spring 8A. At this time, the pin 41 moves along the diagonal groove 42, and the movable part 7A, the rotating member 40, and the four shaft-like members 17 rotate left. When these rotate left by 90 degrees, the four support members 2a (not shown) and the four legs 2B (not shown) connected to the movable part 7A also rotate left by 90 degrees. In other words, the entire unit equipped with the four ultrasonic sensors 1 rotates left by 90 degrees (however, the fixed members 3c, 3d do not rotate). Each of the four ultrasonic sensors 1 rotates 90 degrees to the left, making it possible to measure the pipe thickness at each point around the entire circumference of the pipe wall. When the rotation shaft of the actuator 31 rotates to the right, the various components move in the reverse order to return to their original positions.

[0176] 30 shows a second example of a mechanism that enables rotation of four legs 2B and four support members 2a each having four ultrasonic sensors 1. In this example, the legs 2B, ultrasonic sensors 1, support members 2a, etc., each of which is provided in four pieces, are not shown in order to avoid complicating the drawing.

[0177] As shown in Fig. 30(a), the fixed member 3c is provided with a rotating member 40, a pin receiver 40a, a pin 41, and a groove 42A. As shown in Fig. 30(b), the pin 41 and the groove 42A are disposed on a part of the periphery of the fixed member 3c.

[0178] The rotating member 40 is disposed inside the fixed member 3c. The rotating member 40 is disposed so as to be slidable relative to the shaft-shaped member 3D (or 3F). The four shaft-shaped members 17 are fixed to the rotating member 40. The rotating member 40 includes a pin receiver 40a, and a pin 41 is fixed to the pin receiver 40a. The pin 41 moves along a groove 42A. The length of the groove 42A is designed so that the rotating member 40 can rotate in a range from 0 degrees (reference position) to 90 degrees. A fixed member (stopper) 17a may be fixed to each of the four shaft-shaped members 17, or the rotating member 40 may be used as a stopper without providing the fixed member 17a.

[0179] For example, when the rotation shaft of the actuator 31 rotates to the left from a state in which each leg 2 is closed, the movable part 7A moves toward the rotating member 40 and abuts against the surface of the fixed member (stopper) 17a indicated by X2, causing each leg 2 to become open.

[0180] Furthermore, when the rotation shaft of the actuator 31 rotates left, the movable part 7A, the four shaft members 17, the fixed member 17a, and the rotating member 40 rotate left together with the shaft member 3D (or 3F). At this time, the pin 41 moves along the groove 42A. When these rotate left by 90 degrees, the four support members 2a (not shown) and the four legs 2B (not shown) connected to the movable part 7A also rotate left by 90 degrees. In other words, the entire unit including the four ultrasonic sensors 1 rotates left by 90 degrees (however, the fixed members 3c, 3d do not rotate).

[0181] Each of the four ultrasonic sensors 1 rotates 90 degrees to the left, making it possible to measure the pipe thickness at each point around the entire circumference of the pipe wall. When the rotation shaft of the actuator 31 rotates to the right, the various components move in the reverse order to return to their original positions.

[0182] (Example of pipe thickness measurement operation according to modified example (part 3)) Next, an example of the pipe thickness measurement operation according to the modified example (part 3) will be described with reference to the flowchart in Fig. 31. In Fig. 31, steps common to those in Fig. 20 described above are given the same reference numerals, and duplicated explanations will be omitted.

[0183] The operation example shown here is merely an example, and is not limited to this example, and can be modified as appropriate. For example, the measurement of the pipe thickness at each part of the pipe 4 may be performed continuously while moving the ultrasonic sensor 1 in the longitudinal direction of the pipe 4 and rotating it in the circumferential direction of the pipe 4, or the pipe thickness may be measured only when the ultrasonic sensor 1 is stopped, and each time, the process of moving the ultrasonic sensor 1 a fixed distance in the longitudinal direction of the pipe 4 or rotating the ultrasonic sensor 1 in the circumferential direction of the pipe 4 by a fixed angle and measuring the pipe thickness again in the stopped state may be repeated.

[0184] The sensor head 11, with each leg 2 closed, is inserted through an entrance of a small-diameter fire hydrant or the like, and sent into the inside of a pipe 4, such as a water pipe. When the sensor head 11 is sent into the large-diameter pipe 4, the control unit 24 on the information processing device 100 controls the actuator control circuit 30 to rotate the rotation shaft of the actuator 31 counterclockwise a predetermined number of revolutions in accordance with a user's input operation, so that each leg 2 opens (step S10). As a result, each leg 2 of the sensor head 11 opens, the tire 9 comes into close contact with the inner wall surface of the pipe 4, and the ultrasonic transmitting / receiving unit of each ultrasonic sensor 1 faces the inner wall surface of the pipe 4.

[0185] The control unit 24 further controls the rotation axis of the actuator 31 to rotate left by a predetermined angle, so that the entire unit 14D (or 14F) equipped with the ultrasonic sensor 1 rotates left by the predetermined angle (however, the fixed members 3c, 3d do not rotate) (step S16).

[0186] Thereafter, the same processes as those in steps S11 to S14 described above are carried out.

[0187] When the inspection is to be ended (Yes in step S14), the control unit 24 stops the rotation of the rotation shaft of the actuator 31, and stops the rotation of the entire unit 14D (or 14F) including the ultrasonic sensor 1 (step S17).

[0188] Next, in response to an input operation by the user, the control unit 24 controls the actuator control circuit 30 to rotate the rotation shaft of the actuator 31 clockwise a predetermined number of revolutions so that each leg 2 closes (step S15). As a result, each leg 2 of the sensor head 11 closes.

[0189] Thereafter, the sensor head 11 is pulled back to the entrance of the fire hydrant or the like, and the series of processes ends.

[0190] In this way, by making the legs each having the ultrasonic sensor 1 rotatable, pipe thickness measurement can be performed efficiently.

[0191] As described above in detail, according to the embodiment, the sensor head can pass through narrow sections and crank sections, and pipe thickness measurement can be performed in wide sections using the ultrasonic sensor.

[0192] Although some embodiments of the present invention have been described, these embodiments are presented as examples and are not intended to limit the scope of the invention. These novel embodiments can be implemented in various other forms, and various omissions, substitutions, and modifications can be made without departing from the spirit of the invention. These embodiments and their modifications are included in the scope and spirit of the invention, and are included in the scope of the invention and its equivalents described in the claims. [Explanation of symbols]

[0193] 1...Ultrasonic sensor, 2b,2c,3a,3b,3c,3d,5a...fixing member, 2,2A,2B...leg, support member...2a, 2d,2e,2f,2g...opening, 3A,3B,3C,3D,3E,3F...shaft member, 4...pipe, 5...cable, 6...fire hydrant connection equipment, 7,7A,7M,7N,7P, 7Q...Movable part (skid), 7B,7C...Movable member, 7a...Counterbore, 7b,7c,7d,7f,7g,7h,7i,7j,7k.7l,7m,7n,7o,7p...Opening part, 8...Flexible member (spring), 8A...Elastic member (spring), 9...Resin member (tire), 10...Fire hydrant, 100...Information processing equipment position, 11...sensor head, 12...unit, 13...elastic member (spring), 14A, 14B, 14C, 14D, 14E, 14F...unit, 17...shaft-shaped member, 18...flexible shaft, 20...processor, 21...transmitter / receiver circuit, 22...data acquisition section, 23A...input section, 23B...display section, 24...control section, 25...pipe thickness calculation section, 27...memory, 28...data recording section, 29...known data storage section, 30...actuator control circuit, 31...actuator, 40...rotating member, 40a...pin receiver, 41...pin, 42...diagonal groove, 42A...groove, Q1, Q2, Q3, Q4, Q5, Q6, Q7...shaft.

Claims

1. A plurality of shaft-shaped members connected via a flexible member; a movable portion capable of moving in a longitudinal direction of the shaft member; a plurality of legs that open and close radially around an axial center of the shaft-shaped member in response to movement of the movable portion; A resin member provided at an end of the leg; an ultrasonic sensor provided at the end of the leg; Equipped with When the leg is closed, the leg is located within a predetermined distance from the axial center of the shaft-shaped member, and when the leg is opened, the resin member is in close contact with the inner wall surface of the pipe, and the ultrasonic transmission / reception unit of the ultrasonic sensor is directly opposed to the inner wall surface of the pipe. Sensor head.

2. The resin member is a tire. The sensor head according to claim 1 .

3. The shaft member includes a first shaft member and a second shaft member, the movable portion includes a first movable portion capable of moving in a longitudinal direction of the first shaft-shaped member and a second movable portion capable of moving in a longitudinal direction of the second shaft-shaped member, the legs include a first leg that opens or closes in response to movement of the first movable part, and a second leg that opens or closes in response to movement of the second movable part; the resin member includes a first resin member provided at an end of the first leg portion and a second resin member provided at an end of the second leg portion; The ultrasonic sensor includes a first ultrasonic sensor provided at an end of the first leg and a second ultrasonic sensor provided at an end of the second leg. The sensor head according to claim 1 .

4. The shaft member includes a first shaft member and a second shaft member, the movable portion includes a first movable portion capable of moving in a longitudinal direction of the first shaft-shaped member and a second movable portion capable of moving in a longitudinal direction of the second shaft-shaped member, the legs include a first leg that opens or closes in response to movement of the first movable part, and a second leg that opens or closes in response to movement of the second movable part; The resin member is provided at an end of the first leg, The ultrasonic sensor is provided at an end of the second leg. The sensor head according to claim 1 .

5. a first elastic member that biases the first movable portion or the first leg portion so that the first leg portion opens; a second elastic member that biases the second movable portion or the second leg portions so that the second leg portions open; Further comprising: The sensor head according to claim 3 .

6. Further comprising a drive unit that rotates the first shaft member, the flexible member includes a flexible shaft that transmits rotation of the first shaft member to the second shaft member; In response to the rotation of the first shaft member, the first movable portion moves and the first leg portion opens or closes; In response to the rotation of the second shaft member, the second movable portion moves and the second leg portion opens or closes.

5. The sensor head according to claim 3.

7. The flexible member has two fastening members which fasten the flexible member from both sides in response to rotation of the first shaft member and the second shaft member in a predetermined direction to prevent the flexible member from bending. The sensor head according to claim 6.

8. The device further includes a mechanism for rotating and moving the second leg portion in a circumferential direction of the second shaft member in response to a movement of the second movable portion caused by a rotation of the second shaft member. The sensor head according to claim 6.

9. The first movable portion includes two movable members, the first leg portion is configured such that a first leg member and a second leg member cross each other, and an axis is provided at the crossing point, and the first leg member and the second leg member are rotatable via the axis; The two movable members move closer to or farther away from each other in response to rotation of the first shaft member in a predetermined direction, and the end of the first leg member and the end of the second leg member move closer to or farther away from each other in accordance with the movement, thereby opening or closing the first leg portion. The sensor head according to claim 4 .

10. The sensor head according to claim 1 ; a control unit that controls an operation of the ultrasonic sensor provided in the sensor head inside the pipe to transmit ultrasonic waves and receive reflected waves thereof; an inspection processing unit that detects both reflected waves reflected on the inner surface of the pipe and reflected waves reflected on the outer surface of the pipe by transmitting the ultrasonic waves, and determines the thickness of the pipe from the detection results; Piping inspection equipment including:

11. A piping inspection method using the sensor head according to claim 1, a control unit controls the operation of the ultrasonic sensor to transmit ultrasonic waves and receive reflected waves from the ultrasonic sensor while the legs of the sensor head are changed from a closed state to an open state inside the pipe, the resin member is in close contact with the inner wall surface of the pipe, and an ultrasonic transmitting / receiving unit of the ultrasonic sensor is directly facing the inner wall surface of the pipe; An inspection processing unit detects both reflected waves reflected on the inner surface of the pipe and reflected waves reflected on the outer surface of the pipe by transmitting the ultrasonic waves, and calculates a thickness of the pipe from the detection results; A piping inspection method comprising:

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