In-pipe information collecting device and in-pipe information collecting system

Abstract

To reliably collect information about the inside of a pipe over a long period of time and to accurately identify the information about the inside of the pipe based on the collected information in a short period of time.SOLUTION: An in-pipe information collecting device is equipped with a ToF camera 11, an inertial sensor 12, a control unit 18, and a memory unit 19, all of which are housed in a waterproof casing. The control unit 18 is configured to execute an information collection process in which inertial data D2 capable of identifying an attitude and a movement speed of the ToF camera 11 are generated based on a sensor signal S0 output from the inertial sensor 12, the generated inertial data D2 are correlated with position data D0 obtained by the ToF camera 11, and the correlated data are stored in the memory unit 19, and the in-pipe information collecting device is configured to be movable together with water flow within a pipe from which information is collected.SELECTED DRAWING: Figure 2

Description

[Technical Field]

[0001] The present invention relates to an in-pipe information gathering device and an in-pipe information gathering system that gather information that can identify the inner shape of a pipe that is the subject of information gathering. [Background technology]

[0002] For example, the following patent documents disclose inventions relating to a floating device for pipe inspection and a pipe inspection system for inspecting the internal condition of sewer pipes.

[0003] This floating device for pipe investigation contains components such as a light, camera, devices for obtaining positional data (such as a timer and accelerometer), and a memory device for storing camera image data, housed in a translucent spherical casing. It is dropped into the sewer pipe (hereinafter also referred to as "pipe") to be investigated and floats along with the sewage (hereinafter also referred to as "distributed water") within the pipe, while the camera sequentially photographs the pipe's inner wall and other features. In this case, the floating device for pipe investigation includes an upper casing formed in a hemispherical shape from transparent plastic and a lower casing formed in a hemispherical shape from expanded polystyrene (Styrofoam), and is configured to prevent the distributed water from entering the housing space for each component. Furthermore, when dropped into the pipe, this floating device generates buoyancy relative to the distributed water within the pipe, causing it to float relative to the distributed water.

[0004] When imaging the inner wall of a pipe using this floating device for in-pipe investigation, the floating device for in-pipe investigation is dropped into the pipe from an upstream manhole installed in the pipe to be investigated. During this process, the floating device for in-pipe investigation moves through the pipe along with the water supply while floating on the water supply. As it does so, the camera sequentially captures images of the inside of the pipe, and the image data is stored in a memory device in association with time and acceleration data. In this case, the floating device for in-pipe investigation is equipped with a light along with the camera. By turning on this light, the inside of the pipe, which is not exposed to sunlight, can be illuminated and the camera can capture the inside of the pipe. After this, the floating device for in-pipe investigation that has drifted to the downstream manhole is retrieved, and the data stored in the memory device is read out to obtain image data of the inside of the pipe from the upstream manhole to the downstream manhole.

[0005] Furthermore, by analyzing the acquired data, it is possible to identify the condition of the inner wall of the pipe in the section where the pipe inspection floatation device was moved along with the water distribution (in the above example, from the upstream manhole to the downstream manhole). If any abnormality is discovered during this process, the position of the pipe inspection floatation device at the time the abnormality was imaged is identified based on the time data and acceleration data associated with the imaging data, i.e., the location of the abnormality within the pipe. This completes the investigation inside the pipe. [Prior art documents] [Patent documents]

[0006] [Patent Document 1] Patent No. 6937800 (pages 7-20, figures 1-10) Summary of the Invention [Problem to be solved by the invention]

[0007] However, the floating device for pipe investigation disclosed in the above-mentioned patent document and the pipe investigation system including the floating device have the following problems to be solved.

[0008] Specifically, the floating device for pipe investigation disclosed in the above patent document is equipped with a light that illuminates the inside of the pipe so that the camera can capture images of the inner wall of the pipe, which is not reached by sunlight, etc. As a result, the operating time is shortened by the amount of power consumed by the light. Furthermore, in order to be able to operate for a long period of time, it is necessary to install a large-capacity battery, but installing a large-capacity battery leads to an increase in the size of the device, making it difficult to move the device appropriately inside the pipe and to obtain sufficient buoyancy, which may make it difficult to submerge the camera in the water distribution system and capture images inside the pipe.

[0009] Furthermore, the camera (optical digital camera) mounted on this type of device is known to require a relatively long exposure time to obtain a clear image. Therefore, when the flow rate of the wastewater flowing through the pipe, i.e., the movement speed of the pipe-inspection floatation device floating through the pipe along with the water distribution, is high, the captured image becomes blurred, making it difficult to accurately identify the condition of the pipe's inner wall. Furthermore, in cameras configured to capture images of the pipe's inner wall, the distance between the camera and the subject (the pipe's inner wall) is relatively short, so optical systems capable of capturing images in such environments tend to have a shallow depth of field. Therefore, when the inner diameter of the pipe changes suddenly while the pipe-inspection floatation device is floating along with the water distribution, i.e., when the distance between the camera and the subject changes suddenly, a clear image cannot be captured until the pipe's inner wall is in focus, making it difficult to accurately identify the condition of the pipe's inner wall.

[0010] Furthermore, even if the floating device for pipe inspection disclosed in the above patent document is equipped with an expensive camera with short exposure and focusing times, the information obtained is two-dimensional information obtained by capturing an image of the inner wall of the pipe. Therefore, even if a dark line that looks like a crack is identified in the captured image, it is difficult to determine whether the dark line is a crack or dark dirt. Therefore, even if the defect is actually minor, such as dirt, it is necessary to recheck whether a serious defect such as a crack or hole has occurred, which results in a long time being required to identify the abnormality in the pipe.

[0011] The present invention has been made to solve such problems, and its main purpose is to provide an in-pipe information collection device and in-pipe information collection system that can reliably collect information inside pipes over long periods of time and accurately identify information inside pipes in a short period of time based on the collected information. [Means for solving the problem]

[0012] The pipe information collection device of the present invention comprises a three-dimensional LiDAR camera, an inertial sensor, a control unit, and a memory unit, and the three-dimensional LiDAR camera, the inertial sensor, the control unit, and the memory unit are housed in a waterproof casing, and the control unit is configured to generate inertial data that can identify the attitude and movement speed of the three-dimensional LiDAR camera based on a sensor signal output from the inertial sensor, and to execute an information collection process that correlates the generated inertial data with ranging data from the three-dimensional LiDAR camera and stores them in the memory unit, and is configured to be able to move within the pipe from which information is being collected along with the water distribution.

[0013] In addition, the pipe information collection system of the present invention comprises the above-mentioned pipe information collection device and a data server as the external device, and is configured to be able to accumulate the pipe shape data transmitted from the pipe information collection device in the data server.

[0014] Therefore, according to the in-pipe information collection device and in-pipe information collection system of the present invention, by adopting a configuration in which information is collected using a 3D LiDAR camera, unlike imaging using an optical digital camera, a light to illuminate the inside of the pipe is not required, thereby significantly reducing the manufacturing cost of the in-pipe information collection device. Furthermore, since there is no power consumption due to lighting, continuous operation for long periods of time is possible using the power stored in the power storage unit. Furthermore, since a large power storage unit is not required, the in-pipe information collection device can be made sufficiently small and lightweight, thereby advantageously avoiding situations in which the in-pipe information collection device becomes submerged in the water distribution system or has difficulty inserting the in-pipe information collection device into narrow-diameter pipes. Furthermore, because the 3D LiDAR camera can complete ranging (imaging) in a shorter time than the exposure time of an optical digital camera, it is advantageously avoided that blurred or blurred data that makes it difficult to identify the condition inside the pipe is collected. Furthermore, unlike identifying the condition inside a pipe based on image data captured by an optical digital camera, this method makes it possible to reliably and easily collect data on the shape of the inside of the pipe without mistaking serious defects such as cracks or holes for minor defects such as dirt.

[0015] In addition, in the pipe information gathering device according to the present invention, the control unit generates pipe interior shape data that can identify the inner shape of the pipe based on the distance measurement data and the inertial data, and stores the data in the storage unit.

[0016] Therefore, according to the pipe information collection device and pipe information collection system of the present invention, there is no need to perform a separate process to generate data (data equivalent to pipe internal shape data) that can identify the internal shape of the pipe based on ranging data and inertial data, so even someone who is unfamiliar with handling this type of device (data) can reliably and easily identify the condition inside the pipe.

[0017] Moreover, the in-pipe information collection device according to the present invention includes a three-dimensional ToF camera as the three-dimensional LiDAR camera.

[0018] Therefore, unlike typical optical digital cameras, the in-pipe information collection device and in-pipe information collection system according to the present invention can effectively measure (capture) the distance to an object even at a short distance of approximately 10 cm. Furthermore, because they can generate distance data at very short time intervals (frame rates), they can reliably provide information that can identify the condition of the pipe's inner wall (e.g., whether or not the pipe has cracks, crushing, or poor joints) even when moving relatively quickly through small-diameter pipes such as sewerage or waterworks. Furthermore, the 3D ToF camera itself is relatively inexpensive, and the load on the control unit when generating and processing the distance data is small, eliminating the need for an expensive control unit (CPU), thereby significantly reducing the manufacturing cost of the in-pipe information collection device. Furthermore, because the 3D ToF camera is relatively small, the in-pipe information collection device can be made sufficiently compact, making it suitable for use in collecting information on small-diameter pipes.

[0019] In addition, the in-pipe information collection device of the present invention is equipped with a secondary battery that is housed within the casing and supplies power to the components of the in-pipe information collection device, and a non-contact power receiving unit that is housed within the casing together with the secondary battery and receives the power stored in the secondary battery.

[0020] Therefore, according to the in-pipe information collection device and in-pipe information collection system of the present invention, the secondary battery can be charged while the components of the in-pipe information collection device and the secondary battery are housed within the casing, so that the power required for operation can be stored in the secondary battery without compromising waterproofing.

[0021] In addition, the in-pipe information collection device of the present invention is provided with a current position determination unit that determines the current position of the in-pipe information collection device, and the control unit stores current position data that can determine the current position of the in-pipe information collection device determined by the current position determination unit together with the in-pipe shape data in the memory unit.

[0022] Therefore, according to the in-pipe information collection device and in-pipe information collection system of the present invention, the start position and end position of the information collection process can be accurately determined based on the current position data collected together with the in-pipe shape data.

[0023] In addition, the pipe information collection device of the present invention is equipped with a wireless communication unit, and the control unit is configured to be able to execute a data transmission process that causes the pipe shape data stored in the memory unit to be transmitted from the wireless communication unit to an external device when a predetermined transmission start condition is satisfied.

[0024] Therefore, with the in-pipe information collection device and in-pipe information collection system according to the present invention, current position data and in-pipe shape data can be acquired without removing the storage unit or connecting a communication cable to the in-pipe information collection device, thereby significantly reducing the burden on workers when collecting information. Furthermore, by storing the current position data and in-pipe shape data collected by the in-pipe information collection device in a data server, the condition of the pipe can be reliably and easily identified based on the current position data and in-pipe shape data stored in the data server, even at a location distant from the in-pipe information collection device, i.e., a location different from the pipe installation location where information was collected by the in-pipe information collection device. [Effects of the Invention]

[0025] The pipe information collection device and pipe information collection system of the present invention can identify the condition inside the pipe from which information is collected based on the distance measurement data output from a 3D LiDAR camera and the inertial data output from an inertial sensor. This eliminates the need for a light, unlike imaging using an optical digital camera, thereby significantly reducing manufacturing costs and enabling continuous operation for extended periods of time due to the lack of power consumption from lighting. Furthermore, the system can be made smaller and lighter because it does not require a large power storage unit, thereby effectively avoiding situations where the pipe information collection device is submerged in the water distribution system or where it is difficult to insert the device into small-diameter pipes. Furthermore, it can effectively avoid collecting blurred or out-of-focus data that would make it difficult to identify the condition inside the pipe. Furthermore, it can reliably and easily collect pipe shape data that does not mistake serious defects such as cracks or holes for minor defects such as dirt. [Brief explanation of the drawings]

[0026] [Figure 1] 1 is a diagram showing the configuration of an in-area information collection system 1. FIG. [Figure 2] FIG. 2 is a diagram showing the configuration of an in-area information collection device 2. DETAILED DESCRIPTION OF THE INVENTION

[0027] DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, embodiments of an intra-area information collection device and an intra-area information collection system according to the present invention will be described with reference to the accompanying drawings.

[0028] First, the configurations of the intra-area information collection system 1 and intra-area information collection device 2 will be described with reference to the attached drawings.

[0029] The in-pipe information collection system 1 shown in Fig. 1 is an example of an "in-pipe information collection system," and includes an in-pipe information collection device 2 and a server 3, and is configured to be able to collect information that can identify the state of "pipes that are the subject of information collection," such as sewerage and water supply. The in-pipe information collection device 2 is also an example of an "in-pipe information collection device," and includes a ToF camera 11, an inertial sensor 12, a GPS receiver 13, a communication unit 14, an operation unit 15, a speaker 16, a power receiving module 17, a control unit 18, a memory unit 19, and a battery BT, as shown in Fig. 2.

[0030] The ToF camera 11 is an example of a "3D ToF camera as a 3D LiDAR camera" and performs ranging processing (image capture processing) under the control of the control unit 18 to generate and output ranging data D1 (3D point cloud data: multipoint ranging data). The inertial sensor 12 is an example of an "inertial sensor." The inertial sensor 12 in this example is equipped with a multidimensional acceleration sensor, such as a 3-axis acceleration sensor or a 6-axis acceleration sensor (a sensor capable of detecting 3-axis acceleration and angular velocity), and outputs a sensor signal S0 that can identify the attitude and movement speed of the inertial information collection device 2. The GPS receiver 13 constitutes a "current position identification unit," receives a GPS signal Sp transmitted from a GPS satellite, and outputs position data D0 (an example of "current position data") that can identify the current position of the inertial information collection device 2 (GPS receiver 13). Note that the principles of identifying the current position using the GPS signal Sp are well known, so a detailed description of the specific procedures will be omitted.

[0031] The communication unit 14 is an example of a "wireless communication unit" and, as an example, is configured with a communication module connectable to a mobile communication network N1 operating in accordance with a communication standard such as 3G or 4G. The communication unit 14 is configured to be able to transmit and receive various data to and from communication devices such as the server 3 and the information processing terminal 4 via a communication network N consisting of the mobile communication network N1, the Internet N2, etc. Furthermore, the intra-jurisdictional information collection device 2 of this example employs a configuration (another example of a "current location identification unit") in which, for example, when the aforementioned GPS receiver 13 is unable to receive a GPS signal Sp, the control unit 18 identifies the current location of the intra-jurisdictional information collection device 2 (communication unit 14) based on information about the base station of the mobile communication network N1 to which the communication unit 14 is connected, and generates location data D0.

[0032] The operation unit 15 includes operation switches for setting the operating environment of the in-pipe information collection device 2 and issuing instructions to start / end information collection, which will be described later, and outputs operation signals corresponding to switch operations to the control unit 18. The speaker 16 outputs predetermined buzzer sounds (warning sounds or notification sounds) under the control of the control unit 18, as will be described later. The power receiving module 17 is an example of a "non-contact power receiving unit" that receives power transmitted from the power transmitting device PT and stores it in the battery BT. In this case, the in-pipe information collection device 2 of this example is configured to receive power transmitted from a general-purpose power transmitting device PT (non-contact power transmitting device) owned by the user of the in-pipe information collection device 2 and store it in the battery BT. However, instead of this configuration, the in-pipe information collection device 2 may be configured to include a "non-contact power receiving unit" that can receive power transmitted from a non-contact power transmitting device dedicated to the in-pipe information collection device 2.

[0033] The control unit 18 is an example of a "control unit" and controls the in-pipe information collection device 2 in an overall manner. Specifically, the control unit 18 generates inertial data D2 that can identify the attitude of the in-pipe information collection device 2 (ToF camera 11) and its moving speed within the pipe based on the sensor signal S0 output from the inertial sensor 12. The control unit 18 also executes an "information collection process" that correlates the generated inertial data D2 with the ranging data D1 output from the ToF camera 11 and stores the data in the storage unit 19. Furthermore, the control unit 18 generates in-pipe shape data D3 (an example of "in-pipe shape data") that can identify the inner shape of the pipe to be inspected based on the ranging data D1 and the inertial data D2, and stores the data in the storage unit 19. The control unit 18 also stores the position data D0 output from the GPS receiver 13 (or the position data D0 indicating the current position identified based on information about the base station obtained from the communication unit 14 as described above) in the storage unit 19.

[0034] Furthermore, as will be described later, the control unit 18 executes a data transmission process that causes the communication unit 14 to transmit the pipe interior shape data D3 (or the distance measurement data D1 and the inertial data D2) stored in the storage unit 19 to the server 3 via the mobile communication network N1 and the Internet N2 when a predetermined transmission start condition is satisfied. Also, as will be described later, the control unit 18 causes the speaker 16 to output a buzzer sound (such as an alarm sound or a warning sound) when a predetermined condition is satisfied. Note that each process performed by the control unit 18 will be described in detail later with specific examples. The storage unit 19 is an example of a "storage unit" and stores the operating program of the control unit 18, as well as the position data D0, distance measurement data D1, inertial data D2, and pipe interior shape data D3, etc., as described above.

[0035] The battery BT is an example of a "secondary battery" and is configured to store the power transmitted from the power transmission device PT and received by the power receiving module 17 as described above, and supplies power to each component of the in-pipe information collection device 2 under the control of the control unit 18.

[0036] In this case, in the pipe information collection device 2 of this example, the above-mentioned components 11 to 19 and the battery BT are housed in a sealed container made of resin (an example of a "waterproof casing": not shown) to make them waterproof, and the air in the sealed container is configured to create buoyancy for the water distribution in the pipe.

[0037] On the other hand, the server 3 corresponds to a "data server as an external device" and is managed, for example, by the manufacturer or seller of the intra-area information collection device 2, or by a party commissioned by them. The server 3 is configured to receive and record (store) the position data D0 and intra-area shape data D3 transmitted from the intra-area information collection device 2 via the mobile communication network N1 and the Internet N2, and to output the recorded position data D0 and intra-area shape data D3 in response to a request from various information processing terminals 4 (personal computers, tablet terminals, smartphones, etc.) that can be connected to the server 3 via the Internet N2 or the mobile communication network N1 and the Internet N2.

[0038] Next, we will explain the work of collecting information about the pipes that are the subject of information collection using the pipe information collection system 1 (pipe information collection device 2). Note that when using the pipe information collection system 1 (transmission of various data from the pipe information collection device 2 to the server 3 and use of data stored in the server 3), work such as user registration to allow access to the server 3 is carried out in advance, but we will assume that this has been completed and will not explain it here.

[0039] When collecting information using the in-pipe information collection system 1 (in-pipe information collection device 2), it first checks whether sufficient power is stored in the battery BT of the in-pipe information collection device 2, and if the stored power is insufficient, it transmits (feeds) power from the power transmission device PT to the in-pipe information collection device 2 (power receiving module 17) to charge the battery BT. In this case, in the in-pipe information collection device 2 of this example, because power is supplied contactlessly between the power transmission device PT and the power receiving module 17, the battery BT can be charged without opening the casing that houses each of the components 11-19 and the battery BT. This allows a sufficient amount of power to be reliably and easily stored in the battery BT without compromising the waterproofness of the casing.

[0040] As in the example disclosed in the aforementioned patent document, when collecting information about the section between an upstream manhole and a downstream manhole in a pipe from which information is to be collected, the operation unit 15 of the pipe information collection device 2 is operated at the location of the upstream manhole to start the information collection process. At this time, the components of the pipe information collection device 2 start operating upon receiving power from the battery BT, and the control unit 18 stores the position data D0 output from the GPS receiver 13 in the memory unit 19 as “data that can identify the processing start position.” In this case, if the position data D0 is not output from the GPS receiver 13 even after a predetermined time has elapsed since the start of processing was instructed (for example, if the GPS receiver 13 does not receive a GPS signal Sp), the control unit 18 acquires, from the communication unit 14, information that can identify a base station of the connected mobile communication network N1, identifies the current position based on the acquired information, generates position data D0 indicating the identified current position, and stores the position data D0 in the memory unit 19 as “data that can identify the processing start position.”

[0041] Furthermore, the control unit 18 controls the ToF camera 11 to start ranging (imaging), and also controls the inertial sensor 12 to start detecting the attitude and movement speed of the in-pipe information collection system 1 (ToF camera 11). As a result, ranging data D1 is sequentially output from the ToF camera 11, and inertial data D2 is sequentially output from the inertial sensor 12. Therefore, the control unit 18 associates the ranging data D1 and the inertial data D2 with each other and sequentially stores them in the storage unit 19. When the in-pipe information collection device 2 in this state is inserted into the pipe through the upstream manhole, the inserted in-pipe information collection device 2 floats above the distributed water flowing through the pipe and moves within the pipe together with the distributed water toward the downstream manhole.

[0042] Furthermore, while the pipe information collection device 2 is moved through the pipe along with the water distribution, the ToF camera 11 repeatedly measures distance (images) and the inertial sensor 12 repeatedly detects its attitude and movement speed at predetermined time intervals (a period ranging from 8 ms to 100 ms; for example, 8 ms). This allows distance measurement data D1, which can identify the shape of the pipe's inner wall, and inertial data D2, which can identify the attitude and movement speed of the pipe information collection device 2 (ToF camera 11) at the time the distance measurement data D1 is acquired, to be correlated and sequentially stored in the storage unit 19. In this case, a "three-dimensional LiDAR camera" such as the ToF camera 11 mounted on the pipe information collection device 2 can generate distance measurement data D1 (image data) even without a light or other device to illuminate the subject inside the pipe, unlike the optical digital camera in the pipe investigation floatation device disclosed in the aforementioned patent document. Therefore, since there is no power consumption due to lighting the light, long-term continuous operation is possible using the power stored in the battery BT.

[0043] Meanwhile, in parallel with storing the ranging data D1 and the inertial data D2 in the memory unit 19, the control unit 18 generates, based on the stored ranging data D1 and inertial data D2, pipe interior shape data D3 (multidirectional ranging data starting from the position of the ToF camera 11) that can identify the interior shape of the pipe, and stores the data in the memory unit 19. Thereafter, the pipe interior information collection device 2, which has been moved inside the pipe along with the distributed water, is recovered in a downstream manhole, and the information collection process is ended by operating the operation unit 15. At this time, the control unit 18 stores, in the same manner as at the start of the information collection process, the position data D0 output from the GPS receiver 13 or the position data D0 generated based on information about the base station obtained from the communication unit 14 in the memory unit 19 as "data that can identify the processing end position." As a result of the above, the pipe interior shape data D3, which can identify the condition of the inner wall between the upstream manhole and the downstream manhole in the pipe that is the subject of information collection, is stored in the memory unit 19 together with the position data D0, D0, which can identify the processing start position and processing end position, and the information collection process for identifying the condition of the pipe is completed.

[0044] In this case, during this type of work, for example, there is a risk that the in-pipe information collection device 2 inserted into the pipe from the upstream manhole may get caught on a foreign object and not reach the downstream manhole. Therefore, in the in-pipe information collection device 2 of this example, when an instruction to end the process has not been given even after a predetermined time has elapsed since an instruction to start the information collection process as described above, the control unit 18 outputs a predetermined buzzer sound from the speaker 16. As a result, for example, a worker attempting to retrieve the in-pipe information collection device 2 at the downstream manhole hears the buzzer sound ringing in the pipe and recognizes that the in-pipe information collection device 2 is present in the pipe (upstream of the downstream manhole), and can retrieve the in-pipe information collection device 2 using a wire for removing foreign objects or the like, or resume moving downstream.

[0045] Furthermore, if the pipe information collection device 2 is inserted into the pipe, it may not be able to be retrieved at the downstream manhole and may be carried further downstream along with the distributed water. Even in such a situation, the location of the pipe information collection device 2 can be easily identified by the buzzer sound output from the speaker 16 as described above. Furthermore, in the pipe information collection device 2 of this example, when the communication unit 14 can connect to the mobile communication network N1 after a predetermined time has elapsed since the instruction to start the information collection process has been issued but an instruction to end the process has not been issued, the control unit 18 generates position data D0 that can identify the current location of the pipe information collection device 2 and transmits the position data D0 to the server 3 via the communication network N. Note that the position data D0 is generated using the same procedure as the generation of position data D0 at the start / end of the information collection process, and therefore a detailed description thereof will be omitted. As a result, when the position data D0 is transmitted to the server 3, the current location of the pipe information collection device 2 (e.g., a water storage area installed further downstream than the downstream manhole) can be identified and retrieved based on the position data D0.

[0046] On the other hand, when the collection of the pipe information collection device 2 is completed, the position data D0, D0 and the pipe interior shape data D3 stored in the memory unit 19 are transmitted from the pipe information collection device 2 to the server 3 and stored therein. Specifically, as an example, when an instruction to start the data transmission process is given by operating the operation unit 15 (an example of "when a predetermined transmission start condition is satisfied"), the control unit 18 reads the position data D0, D0 and the pipe interior shape data D3 from the memory unit 19 and causes the communication unit 14 to transmit them to the server 3 via the mobile communication network N1 and the Internet N2 (an example of "data transmission process"). Note that instead of (or in addition to) a configuration in which transmission is started by operating the operation unit 15, a configuration in which the "data transmission process" is executed when the GPS signal Sp is received by the GPS receiver 13 (when a sensor signal S0 is output from the GPS receiver 13) or when the communication unit 14 is connected to the mobile communication network N1 by being removed from the pipe from which information is to be collected, and the "predefined transmission start condition" is satisfied, may be adopted.

[0047] Furthermore, the server 3 records the position data D0, D0 and the pipe shape data D3 transmitted from the pipe information collection device 2 in a mutually associated state. Note that, although the configuration has been described as an example in which the "data transmission process" is executed when the "predefined transmission start condition" is satisfied in the pipe information collection device 2, and each piece of data D0, D0, D3 is transmitted from the pipe information collection device 2, instead of (or in addition to) this configuration, a configuration can be adopted in which an information processing terminal 4 or the like connected to the server 3 requests the pipe information collection device 2 to transmit data via the server 3 and the communication network N, and in response to this request, the pipe information collection device 2 transmits each piece of data D0, D0, D3 to the server 3. As described above, the storage of each piece of data D0, D0, D3 collected by the pipe information collection device 2 in the server 3 is completed.

[0048] By referencing the data D0, D0, and D3 stored in server 3 as described above, the condition of the pipe between the upstream manhole and the downstream manhole can be identified. In this case, unlike image data (image data) captured by an optical digital camera, the pipe interior shape data D3 can identify the shape of the pipe interior in three dimensions. However, it is difficult to identify color differences between various parts of the pipe. Therefore, it is possible to reliably identify cracks, crushing, and poor joints in the pipe. Furthermore, because distance measurement is completed in a shorter time than the exposure time for capturing images using an optical digital camera, even if the water flow rate in the pipe is high or the pipe interior information collection device 2 vibrates inside the pipe, it is possible to reliably collect information that can identify the shape of each part of the pipe interior (data without defects such as blur or blurring that occur with optical digital cameras). Furthermore, a "3D LiDAR camera" such as ToF camera 11 does not require the "focusing process" required by optical digital cameras. Therefore, it is possible to reliably collect information that can accurately identify the condition inside the pipe, even if the inner diameter or shape of the pipe changes.

[0049] Therefore, by referring to the pipe interior shape data D3 accumulated in the server 3, it is possible to accurately identify whether or not a defect has occurred in the pipe. Specifically, as an example, in accordance with an analysis program pre-installed in the server 3, the pipe interior shape data D3 collected from the pipe interior information collection device 2 is compared with comparison data (for example, pipe interior shape data D3 collected in a similar procedure to the above-mentioned procedure when there is no defect in the pipe). At this time, if a large shape change exceeding a preset tolerance is identified, the fact that an abnormality has been identified is notified along with the location of the identified abnormality. This allows the user to reliably and easily recognize an abnormality occurring in the pipe about which information has been collected by the pipe interior information collection device 2.

[0050] Furthermore, a user who recognizes that an abnormality has occurred may, for example, carry information processing terminal 4 to the location where the pipe is laid, connect information processing terminal 4 to server 3 via the Internet N2 or via mobile communication network N1 and the Internet N2, and acquire pipe interior shape data D3 from server 3. Furthermore, on information processing terminal 4, based on the pipe interior shape data D3 acquired from server 3, the user performs tasks such as checking the state inside the pipe based on the information collected by pipe interior information collection device 2 against the actual pipe, etc. Thereafter, repairs or cleaning of the pipe are carried out as necessary, thereby completing the series of tasks.

[0051] In this way, this pipe information collection device 2 includes the ToF camera 11, inertial sensor 12, control unit 18, and memory unit 19, and the ToF camera 11, inertial sensor 12, control unit 18, and memory unit 19 are housed in a waterproof casing, and the control unit 18 is configured to execute an information collection process that generates inertial data D2 that can identify the attitude and movement speed of the ToF camera 11 based on the sensor signal S0 output from the inertial sensor 12, and correlates the generated inertial data D2 with the ranging data D1 from the ToF camera 11 and stores them in the memory unit 19, and is configured to be able to move along with the water distribution inside the pipe from which information is to be collected. Furthermore, this pipe information collection system 1 includes the pipe information collection device 2 and a server 3, and is configured to be able to accumulate in the server 3 the pipe shape data D3 (data generated based on the ranging data D1 and the pipe shape data D3) transmitted from the pipe information collection device 2.

[0052] Therefore, the pipe information collection device 2 and the pipe information collection system 1 employ a configuration for collecting information using a "three-dimensional LiDAR camera" such as the ToF camera 11. This configuration eliminates the need for lights to illuminate the inside of the pipe, as opposed to imaging using an optical digital camera. This significantly reduces the manufacturing cost of the pipe information collection device 2. Furthermore, since the power consumed by the lights is not consumed, the pipe information collection device 2 can operate continuously for long periods of time using the power stored in the battery BT. Furthermore, since the pipe information collection device 2 does not require a large "secondary battery," it can be made smaller and lighter. This effectively prevents the pipe information collection device 2 from being submerged in the water distribution system or from being difficult to insert into a narrow pipe. Furthermore, because a "three-dimensional LiDAR camera" such as the ToF camera 11 can complete distance measurement (imaging) in a shorter time than the exposure time of an optical digital camera, it effectively prevents the collection of blurred or out-of-focus data that makes it difficult to identify the conditions inside the pipe. Furthermore, unlike identifying the condition inside a pipe based on image data captured by an optical digital camera, it is possible to reliably and easily collect pipe interior shape data D3 that will not mistakenly identify serious defects such as cracks or holes as minor defects such as dirt.

[0053] Furthermore, in this pipe information collection device 2, the control unit 18 generates pipe interior shape data D3 based on the ranging data D1 and inertial data D2 and stores it in the memory unit 19. Therefore, according to this pipe information collection device 2 and pipe interior information collection system 1, there is no need to perform a separate process to generate data that can identify the inner shape of the pipe (data equivalent to the pipe interior shape data D3) based on the ranging data D1 and inertial data D2, so even a person who is unfamiliar with handling this type of device (data) can reliably and easily identify the condition inside the pipe.

[0054] The pipe information collection device 2 also includes a ToF camera 11 (three-dimensional ToF camera) as a "three-dimensional LiDAR camera." Therefore, unlike typical optical digital cameras, the pipe information collection device 2 and the pipe information collection system 1 can effectively measure (capture) the distance to an object even at a short distance of about 10 cm. Furthermore, they can generate distance data D1 at very short time intervals (frame rates). This allows them to provide information that can reliably identify the condition of the pipe's inner wall (e.g., whether or not there are cracks, crushing, or poor joints in the pipe) even when moving relatively quickly through small-diameter pipes such as sewerage or waterworks. Furthermore, the ToF camera 11 itself is relatively inexpensive. Furthermore, since the load on the control unit 18 during generation and processing of the distance data D1 is small, an expensive "control unit (CPU)" is not required. This significantly reduces the manufacturing cost of the pipe information collection device 2. Furthermore, since the ToF camera 11 is relatively small, the in-pipe information collection device 2 can be made sufficiently small, and as a result, it can be suitably used for collecting information on small-diameter pipes.

[0055] Furthermore, this juridical information collection device 2 is equipped with a battery BT that is housed within the casing and supplies power to the components of the juridical information collection device 2, and a power receiving module 17 that is housed within the casing together with the battery BT and receives the power to be stored in the battery BT. Therefore, with this juridical information collection device 2 and juridical information collection system 1, the battery BT can be charged while the components 11-19 of the juridical information collection device 2 and the battery BT are housed within the casing, so the power required for operation can be stored in the battery BT without compromising waterproofing.

[0056] Furthermore, this pipe information collection device 2 is equipped with a GPS receiver 13 that identifies the current position of the pipe information collection device 2, and a control unit 18 stores position data D0 that can identify the current position of the pipe information collection device 2 identified by the GPS receiver 13, together with pipe shape data D3, in a memory unit 19. Therefore, with this pipe information collection device 2 and pipe information collection system 1, it is possible to accurately identify the start position, end position, etc. of the information collection process based on the position data D0 collected together with the pipe shape data D3.

[0057] The pipe information collection device 2 also includes a communication unit 14, and the control unit 18 is configured to execute a data transmission process that causes the communication unit 14 to transmit the pipe interior shape data D3 stored in the memory unit 19 to the server 3 when a predetermined transmission start condition is satisfied. Therefore, the pipe information collection device 2 and the pipe information collection system 1 can acquire the position data D0 and the pipe interior shape data D3 without removing the memory unit 19 or connecting a communication cable to the pipe information collection device 2, thereby significantly reducing the burden on workers when collecting information. Furthermore, by storing the position data D0 and the pipe interior shape data D3 collected by the pipe information collection device 2 in the server 3, the condition of the pipe can be reliably and easily identified based on the position data D0 and the pipe interior shape data D3 stored in the server 3, even at a location distant from the pipe information collection device 2, i.e., a location different from the pipe installation location where information was collected by the pipe information collection device 2.

[0058] The configurations of the "in-area information collection device" and the "in-area information collection system" are not limited to the above-mentioned examples of the configurations of the in-area information collection device 2 and the in-area information collection system 1.

[0059] For example, in the above description, the control unit 18 of the in-pipe information collection device 2 generates in-pipe shape data D3 based on ranging data D1 and inertial data D2, and transmits this in-pipe shape data D3 from the communication unit 14 to the server 3 via the communication network N. However, instead of this configuration, it is also possible to employ a configuration in which the in-pipe information collection device 2 transmits the ranging data D1 and inertial data D2 to the server 3, and the server 3 generates the in-pipe shape data D3 based on the ranging data D1 and inertial data D2. Also, in the above description, the configuration is provided with a ToF camera 11 (three-dimensional ToF camera) as a "three-dimensional LiDAR camera," but instead of the "three-dimensional ToF camera," it is also possible to configure the system with a "three-dimensional LiDAR camera" such as a "three-dimensional FMCW sensor (camera)."

[0060] Also, although the configuration has been described as an example in which power received by a "contactless power receiving unit" such as power receiving module 17 can be stored in battery BT, instead of (or in addition to) this configuration, a configuration can be adopted in which power is received from outside via a wired cable and stored in battery BT. Furthermore, instead of a configuration in which power is stored in battery BT, which is a "secondary battery," a configuration in which power is stored in a "primary battery" can be used to operate.

[0061] In addition, the configuration has been described as an example in which position data D0 capable of identifying the current position of the in-pipe information collection device 2 is stored in the storage unit 19 together with the ranging data D1, inertial data D2, and in-pipe shape data D3, and the stored position data D0 is transmitted to the server 3 together with the in-pipe shape data D3 (or the ranging data D1 and inertial data D2), but it is also possible to adopt a configuration in which the position data D0 is not generated, stored, or transmitted to the server 3. Furthermore, the configuration has been described as an example in which the in-pipe shape data D3, etc. collected by the in-pipe information collection device 2 is transmitted to the server 3, stored therein, and then used (use of the in-pipe information collection system 1), but it is also possible to directly output the in-pipe shape data D3, etc. from the in-pipe information collection device 2 to the information processing terminal 4, etc., and use it without using the server 3, etc. When adopting such a configuration, by providing a "wireless communication unit" such as a communication module capable of communication in accordance with the Bluetooth (registered trademark) standard and outputting "pipe interior shape data" to an "external device" such as an information processing terminal 4 via the "wireless communication unit," convenience can be significantly improved compared to a configuration in which data is output via a communication cable. [Industrial Applicability]

[0062] According to the present invention, manufacturing costs can be significantly reduced as a light is no longer necessary, continuous operation for long periods of time is possible as there is no power consumption due to the light being on, and the device can be made smaller and lighter as a large storage unit is not required. As a result, it is possible to preferably avoid situations where the pipe information collection device becomes submerged in the water distribution system or where it becomes difficult to insert the pipe information collection device into small-diameter pipes, and it is possible to preferably avoid situations where blurred or fuzzy data that makes it difficult to identify the condition inside the pipe is collected.In addition, it is possible to reliably and easily collect pipe shape data that does not mistake serious defects such as cracks or holes for minor defects such as dirt, and therefore the device can be widely applied to pipe information collection devices and pipe information collection systems for identifying the condition of various types of pipes, such as water supply and sewerage systems. [Explanation of symbols]

[0063] 1. Information collection system within the jurisdiction 2. Information gathering equipment within the jurisdiction 3 Server 4. Information processing terminal 11 ToF camera 12 Inertial Sensor 13 GPS receiver 14 Communications Department 15 Control section 16 speakers 17 Power receiving module 18 Control Unit 19 Memory section BT Battery D0 Position data D1 ranging data D2 Inertial Data D3 Pipe internal shape data N1 mobile communication network N2 Internet PT power transmission equipment S0 Sensor signal Sp GPS signal

Claims

1. The device includes a three-dimensional LiDAR camera, an inertial sensor, a control unit, and a memory unit, and the three-dimensional LiDAR camera, the inertial sensor, the control unit, and the memory unit are housed in a waterproof casing; The control unit is configured to be able to execute an information collection process of generating inertial data capable of identifying the attitude and movement speed of the three-dimensional LiDAR camera based on the sensor signal output from the inertial sensor, and correlating the generated inertial data with ranging data by the three-dimensional LiDAR camera and storing the data in the storage unit; An in-pipe information gathering device configured to be movable along with the water distribution within the pipe from which information is gathered.

2. The pipe information gathering device according to claim 1 , wherein the control unit generates pipe interior shape data that can identify the inner shape of the pipe based on the distance measurement data and the inertial data, and stores the data in the storage unit.

3. The pipe information collection device according to claim 2, further comprising a three-dimensional ToF camera as the three-dimensional LiDAR camera.

4. a secondary battery housed within the casing for supplying power to components of the pipe information collection device; 3. The pipe information collection device according to claim 2, further comprising a non-contact power receiving unit housed in the casing together with the secondary battery and receiving the power stored in the secondary battery.

5. a current location identification unit that identifies the current location of the in-area information collection device; 3. The in-pipe information collection device according to claim 2, wherein the control unit stores current position data, which can identify the current position of the in-pipe information collection device identified by the current position identification unit, in the storage unit together with the in-pipe shape data.

6. A wireless communication unit is provided, The pipe information collection device of claim 2, wherein the control unit is configured to execute a data transmission process that transmits the pipe shape data stored in the memory unit from the wireless communication unit to an external device when a predetermined transmission start condition is met.

7. An in-pipe information collection system comprising the in-pipe information collection device of claim 6 and a data server as the external device, and configured to be able to store the in-pipe shape data transmitted from the in-pipe information collection device in the data server.

Images