Tunnel waterway inspection device

Abstract

To provide a tunnel waterway inspection device that can move inside a tunnel waterway by water current and can inspect the inside of the tunnel waterway by taking images of the inside of the tunnel waterway.SOLUTION: A tunnel waterway inspection device of the present invention comprises a main body having a raft structure, a first floating part constituting the main body and floating on water, a second floating part constituting the main body and paired with and connected to the first floating part and also floating on water, an attachment part connecting the first floating part and the second floating part and capable of attaching a member, a lead connected to the main body, an imaging member attachable to the attachment part, and a weight adjustment part capable of adjusting the inclination of the main body.SELECTED DRAWING: Figure 3

Description

[Technical Field]

[0001] The present invention relates to a tunnel waterway inspection device for inspecting the inside of tunnel waterways such as agricultural irrigation channels and water supply and sewerage channels. [Background technology]

[0002] Tunnel waterways exist in various places for various purposes. For example, water supply and sewage systems are provided in urban and suburban areas. Water supply and sewage systems are buried underground due to their purpose and characteristics, and water supply and sewage systems are provided by constructing underground pipes.

[0003] Water supply and sewerage systems transport clean water and sewage, and the inside of these pipes is constantly exposed to the various substances contained in the water and sewage. As a result, the inside of the pipes that make up the water supply and sewerage systems can deteriorate or be damaged over time or due to other events.

[0004] Deterioration or damage can lead to water leaks, which can destroy water supply and sewerage pipes, or they can be easily destroyed by earthquakes, etc. If water supply and sewerage systems are destroyed, it can lead to problems such as water outages and the inability to treat sewage, which can lead to widespread environmental pollution.

[0005] Water supply and sewerage systems are an important part of society's infrastructure, and it is not desirable for them to deteriorate or be damaged. For this reason, it is necessary to inspect the water supply and sewerage systems for problems such as deterioration and damage.

[0006] In addition, in agricultural areas in Japan, where there are few flat areas, agricultural irrigation canals are sometimes installed underground or semi-underground. There are also many places where agricultural canals are tunnel canals. Agricultural areas are often spread out in mountainous areas, and there are many places where agricultural canals are tunnel canals that are adapted to the topography of the mountainous areas.

[0007] Just like water supply and sewerage systems, these tunnel waterways for agricultural irrigation can also deteriorate or break over time and due to other factors. Also, because agricultural irrigation canals are located in mountainous areas, plants and tree branches can get in from above ground. This can cause the interior to deteriorate or become clogged.

[0008] In addition, landslides in mountainous areas can damage tunnel waterways for agricultural irrigation.

[0009] Agricultural irrigation canals are also an important part of social infrastructure, and they need to be maintained in an appropriate condition and inspected for maintenance.

[0010] Of course, tunnels and waterways for various purposes other than water supply and sewerage systems and agricultural irrigation systems are installed in various locations. These are also important social infrastructures, and it is necessary to maintain them in an appropriate condition.

[0011] To maintain such important social infrastructure, these tunnels and waterways are inspected by manual labor on a regular and irregular basis. For example, workers enter the water supply and sewerage systems to check for deterioration or damage through visual inspections and tapping tests. For agricultural irrigation systems, farmers and others take turns entering the tunnels to check for deterioration or damage through visual inspections and other methods.

[0012] Through such manual inspections, problems with the tunnel waterway can be detected early and necessary repairs can be carried out, thereby preventing major problems from occurring in the tunnel waterway.

[0013] However, there are risks involved when workers enter tunnels to inspect them. They could fall inside and get injured, or a collapse could occur during the inspection. Also, some tunnels are so narrow or far from the entrance that workers cannot physically enter.

[0014] To cope with such situations where inspection cannot be performed manually, a technology for automatically inspecting the inside of a tunnel waterway has been proposed (see, for example, Patent Document 1). [Prior art documents] [Patent documents]

[0015] [Patent Document 1] Japanese Patent Publication No. 2023-016098 Summary of the Invention [Problem to be solved by the invention]

[0016] Patent document 1 discloses a floating device 100 that performs inspections while floating within a waterway 10, and includes a float 112 that floats on the water surface of the waterway, a parachute 120 connected to the float and that experiences greater resistance from the water than the float, one or more sensor devices (cameras 140, 142) mounted on the float, and sliding members (wheels 170) that are positioned above the sensor devices and slide along the ceiling of the waterway.

[0017] The floating device of Patent Document 1 is dropped into the tunnel waterway described above, and takes images while moving inside the tunnel waterway by applying a water current to the parachute.

[0018] However, tunnel waterways can have obstacles due to breakage or the presence of vegetation. Of course, water supply and sewerage systems can also have obstacles that arise during the drainage process. The floating device of Patent Document 1 has the problem that the operator cannot determine if such an obstacle prevents movement. There is a problem that the device will remain stuck somewhere, making it impossible to inspect the tunnel waterway.

[0019] In addition, the floating device is designed to move through the tunnel waterway by receiving the water current through a parachute, but if the water level is low, the parachute will not open and the device will not be able to move. It also has a structure in which wheels rotate and run on the inner surface of the tunnel waterway. However, depending on the water level, the wheels may not be able to make contact with the inner surface of the tunnel waterway, making it difficult to move by rotating. In this case, too, the floating device has the problem of making it difficult to inspect the inside of the tunnel waterway.

[0020] Due to problems such as inability to move or inability to grasp when movement is not possible, the technology of Patent Document 1 has the problem that it is not possible to inspect the inside of a tunnel waterway sufficiently and reliably.

[0021] In view of these problems, the present invention aims to provide a tunnel waterway inspection device that can move inside a tunnel waterway using water currents and can take images of the inside of the tunnel waterway for inspection. [Means for solving the problem]

[0022] In view of the above problems, a main body having a raft structure, a first floating part that constitutes the main body and floats on water; a second floating part that forms the main body and floats on water adjacent to the first floating part; an attachment section that connects the first floating section and the second floating section and to which a member can be attached; a lead connected to the main body; an imaging member that can be attached to the attachment portion; a weight adjustment unit that can adjust the inclination of the main body unit, The lead extends from the operator's hand, The main body has the raft structure by combining the first floating part, the second floating part, and the mounting part, The imaging member can capture an image of the inside of the tunnel waterway while the main body flows through the tunnel waterway, The weight adjustment section can change the position of the weight member, and by changing the position, the position of the center of gravity of the main body section can be changed, thereby adjusting the inclination. [Effects of the Invention]

[0023] The tunnel waterway inspection device of the present invention has a main body with a raft structure equipped with a floating body, which allows it to move easily with the water current in the tunnel waterway. In particular, the raft structure allows it to move with the water current even when the water level is low. This allows it to reliably move inside the tunnel waterway while taking images of the interior and inspecting it.

[0024] The main body also has a mounting section that allows the imaging device, etc. to be removed. The mounting section allows the imaging device or sensor to be replaced with the type that is best suited to the inspection, enabling a variety of inspections to be performed.

[0025] In addition, by being able to correct the tilt in case the main body is tilted by an object attached to the attachment part, it is possible to prevent movement inside the tunnel waterway from being hindered.

[0026] Furthermore, workers can also be made aware of any obstacles that prevent movement, allowing them to deal with irregular situations and carry out thorough inspections. [Brief explanation of the drawings]

[0027] [Figure 1] 1 is a schematic diagram of a tunnel waterway in which the tunnel waterway inspection device of the present invention is used. [Figure 2] 1 is a perspective view of a tunnel waterway inspection device in accordance with a first embodiment of the present invention. [Figure 3] FIG. 2 is a schematic diagram showing the attachment of a member to the tunnel waterway inspection device in the first embodiment of the present invention. [Figure 4] 1 is a perspective view of a tunnel waterway inspection device after an imaging member has been attached in accordance with the first embodiment of the present invention. [Figure 5] 1 is a photograph showing the start of an experiment by the inventor of the present invention. [Figure 6] This is an image of the inside of a tunnel waterway captured by this imaging element. [Figure 7]1 is a schematic diagram showing the tilt caused by mounting members on the main body 2 (tunnel waterway inspection device 1). FIG. [Figure 8] FIG. 3 is a schematic diagram showing adjustment by a weight adjusting unit in the first embodiment of the present invention. [Figure 9] FIG. 2 is a plan view of a main body before adjustment by a weight adjustment unit according to the first embodiment of the present invention; [Figure 10] 4 is a plan view of the main body after adjustment by the weight adjustment unit according to the first embodiment of the present invention. FIG. [Figure 11] FIG. 10 is a schematic diagram of a tunnel waterway inspection device in a second embodiment of the present invention. [Figure 12] FIG. 10 is a schematic diagram showing that a structural portion of a member according to a second embodiment of the present invention can be immersed in water. [Figure 13] FIG. 10 is a schematic diagram illustrating stop detection by a distortion detection unit according to the second embodiment of the present invention. [Figure 14] FIG. 4 is an explanatory diagram illustrating distortion detection by a distortion detection unit. DETAILED DESCRIPTION OF THE INVENTION

[0028] The tunnel waterway inspection device according to the first aspect of the present invention comprises a main body having a raft structure, a first floating part that constitutes the main body and floats on water; a second floating part that forms the main body and floats on water adjacent to the first floating part; an attachment section that connects the first floating section and the second floating section and to which a member can be attached; a lead connected to the main body; an imaging member that can be attached to the attachment portion; a weight adjustment unit that can adjust the inclination of the main body unit, The lead extends from the operator's hand, The main body has the raft structure by combining the first floating part, the second floating part, and the mounting part, The imaging member can capture an image of the inside of the tunnel waterway while the main body flows through the tunnel waterway, The weight adjustment section can change the position of the weight member, and by changing the position, the position of the center of gravity of the main body section can be changed, thereby adjusting the inclination.

[0029] This structure allows inspections to be carried out while floating in the water of the tunnel waterway and carried along by the current. Even in shallow water, the raft structure allows it to float. Adjusting the center of gravity by adjusting the weight allows it to float in a balanced manner.

[0030] In the tunnel waterway inspection device according to the second invention of the present invention, in addition to the features of the first invention, the main body can be moved by the water current flowing inside the tunnel waterway using the first floating part and the second floating part.

[0031] This configuration allows inspections to be carried out by taking photographs while flowing through the tunnel waterway.

[0032] In a tunnel waterway inspection device according to a third aspect of the present invention, in addition to the first aspect, the imaging member A 360-degree camera that can capture the entire surrounding area, Highly impact-resistant action cameras, and Infrared camera, Contains at least one.

[0033] This configuration allows various inspections to be carried out efficiently and accurately.

[0034] In the tunnel and waterway inspection device according to a fourth aspect of the present invention, in addition to the features of the first aspect, the mounting unit is capable of mounting at least one of an illumination member and a three-dimensional scanner in addition to the imaging member.

[0035] This configuration allows for increased accuracy in imaging, and also allows inspection to be performed in a variety of ways.

[0036] A tunnel waterway inspection device according to a fifth aspect of the present invention, in addition to the first aspect, further comprises a detection unit that detects an abnormal state in an image captured by the imaging member, When the detection unit detects an abnormal state, it records the elapsed time since the water was thrown into the tunnel waterway.

[0037] With this configuration, if any abnormality is detected in the tunnel waterway, its location can be estimated, which makes repair work more efficient.

[0038] In a tunnel waterway inspection device according to a sixth aspect of the present invention, in addition to the first aspect, the weight adjustment unit comprises a weight member and an adjustment member that can change the position of the weight member, The adjustment member is capable of adjusting the position of the center of gravity of the main body portion by changing the relative position of the weight member with respect to the main body portion.

[0039] This configuration adjusts the center of gravity balance, which changes depending on the type, size, and weight of the component attached to the attachment, and makes it closer to horizontal relative to the water surface, allowing it to be properly swept away by the water current.

[0040] A tunnel and waterway inspection device according to a seventh aspect of the present invention is characterized in that, in addition to the fourth aspect, parts of the structural parts of the imaging member and the illumination member are immersible in the water of the tunnel and waterway.

[0041] This configuration allows the imaging member and the illumination member to be cooled by the flowing water, which prevents problems caused by temperature rise.

[0042] In the tunnel waterway inspection device according to an eighth aspect of the present invention, in addition to the seventh aspect, the structural part can be partially immersed in water by moving up and down.

[0043] This configuration allows for variable levels of cooling by immersion in water.

[0044] In a tunnel waterway inspection device according to a ninth aspect of the present invention, in addition to the features of the first aspect, the lead is bifurcated, one first end portion is connected to the first floating portion, and the other second end portion is connected to the second floating portion, A strain detector that detects strain is connected to the first end and the second end.

[0045] This configuration makes it possible to grasp the state in which the tunnel waterway inspection device has hit an obstacle and stopped.

[0046] A tunnel waterway inspection device according to a tenth aspect of the present invention comprises, in addition to the ninth aspect, a warning unit that issues a warning when a distortion is detected by the distortion detection unit.

[0047] This configuration makes it easier for the operator to understand when the vehicle has stopped due to an obstacle or the like.

[0048] In the tunnel waterway inspection device according to an eleventh aspect of the present invention, in addition to the first aspect, the lead has a mark indicating its length.

[0049] This configuration makes it possible to estimate the distance traveled by the tunnel waterway inspection device, allowing the progress of the inspection to be grasped and making the inspection work easier.

[0050] Hereinafter, an embodiment of the present invention will be described with reference to the drawings.

[0051] (Tunnel Waterway) Fig. 1 is a schematic diagram of a tunnel waterway in which the tunnel waterway inspection device of the present invention is used. A tunnel waterway 200 is a waterway that is provided underground or in the ground and is not exposed above ground. For example, pipes such as water supply and sewerage are buried underground or in the ground, and water (water supply and sewerage) moves inside this pipe. Alternatively, underground waterways such as agricultural irrigation channels that transport agricultural water (or agricultural wastewater) are also referred to as tunnel waterways. is.

[0052] In addition, a part of the tunnel waterway 200 may be exposed above ground or may have a connection to the ground. Such a part may exist due to the construction, management, or other circumstances of the tunnel waterway.

[0053] Water 210 moves inside the tunnel waterway 200, allowing the tunnel waterway 200 to transport water. Since most of the tunnel waterway 200 is buried underground, it is difficult to inspect its interior. As mentioned above, workers may enter the tunnel waterway 200 through some exposed or connecting parts to carry out inspection work.

[0054] However, this naturally involves danger, is labor-intensive, and is costly. In addition, depending on the structure and size, workers often cannot enter the tunnel waterway 200. Considering future labor shortages, it would be preferable for workers to be able to inspect the tunnel waterway 200 without entering it.

[0055] It is necessary to inspect the tunnel waterway 200 for problems such as deterioration and damage to the structure in order to identify future problems in advance and take measures early.

[0056] The tunnel waterway inspection device of the present invention can inspect the inside of such a tunnel waterway 200.

[0057] (Overview) Fig. 2 is a perspective view of the tunnel waterway inspection device in embodiment 1 of the present invention. Fig. 3 is a schematic diagram showing the attachment of a member to the tunnel waterway inspection device in embodiment 1 of the present invention. Fig. 4 is a perspective view of the tunnel waterway inspection device after the attachment of the imaging member in embodiment 1 of the present invention.

[0058] As shown in FIG. 2 etc., the tunnel waterway inspection device 1 floats on water inside the tunnel waterway 200 and moves with the water flow inside the tunnel waterway 200 (moves by being carried by the water flow). It comprises a main body 2, an attachment part 5, a lead 6, and a weight adjustment part 7. The main body 2 has a raft structure comprising a first floating part 3 and a second floating part 4.

[0059] The main body 2 has a raft structure. The first floating part 3 and the second floating part 4 are members that float on water. The first floating part 3 and the second floating part 4 are paired, and the attachment part 5 connects the paired first floating part 3 and second floating part 4. In other words, the first floating part 3, the second floating part 4, and the attachment part 5 are combined into a raft structure. This gives the main body 2 a raft structure.

[0060] As described above, the first floating section 3 and the second floating section 4 are components that float on water. For example, they float on water because they contain air in their internal spaces or because they are made of a material with a low specific gravity. The first floating section 3 and the second floating section 4 form a raft structure, which allows the main body section 2 to float on water. In other words, the tunnel waterway inspection device 1 floats on water.

[0061] As a result, if water is flowing in the tunnel waterway 200, the tunnel waterway inspection device 1 can move (flow) along with this water flow. The tunnel waterway 200 is, for example, a water supply or sewerage system. Water supply or sewerage systems have water flows due to their uses. Alternatively, the tunnel waterway 200 is an agricultural irrigation canal. Agricultural irrigation canals also have water flows to supply water to fields. By riding on these water flows, the tunnel waterway inspection device 1 can move by passively flowing along.

[0062] Furthermore, the main body 2 can float reliably on water because the first floating part 3 and the second floating part 4, which can float on water, and the attachment part have a raft structure. In addition, the amount of sinking into the water is small, which prevents the device from getting caught on the bottom of the tunnel waterway 200 even when the water level is low. With this configuration, the tunnel waterway inspection device 1 can easily flow with the water current inside the tunnel waterway 200.

[0063] The lead 6 is connected to the main body 2. The tunnel waterway inspection device 1 is carried away by the water current, but needs to be retrieved. The lead 6 is used for this retrieval. It can also be used for retrieval in the event of a problem during inspection. The lead 6 extends from the operator's hand. The operator can use the lead 6 to cause the tunnel waterway inspection device 1 to float with the water current.

[0064] The mounting unit 5 can be fitted with a member. For example, an imaging member 100 can be fitted with the mounting unit 5. The mounting unit 5 is detachable, so it can be attached or removed. It is also possible to replace and fit the necessary members. For example, the imaging member 100 can be fitted with other members, or other members can be fitted with the mounting unit 5. Different types of imaging devices can be fitted with the imaging member 100 depending on the purpose and the structure of the tunnel waterway.

[0065] In conventional technology, imaging components and the like are fixedly connected, but the tunnel and waterway inspection device 1 of the present invention allows for the attachment and detachment of components to the attachment section 5, so that necessary components can be flexibly attached. Also, it is possible to limit the attachment of components to the minimum necessary (reducing the weight of the tunnel and waterway inspection device 1), and it is also possible to attach various types of necessary components (ensuring that necessary inspections can be carried out reliably).

[0066] The mounting part 5 can be interchangeable, allowing for necessary and flexible inspections to be carried out.

[0067] Furthermore, the mounting unit 5 can be equipped with an illumination member 110 and a three-dimensional scanner in addition to the imaging member 100. FIG. 3 shows that the imaging member 100 and the illumination member 110 can be mounted on the mounting unit 5. Also, different types of imaging member 100 and illumination member 110 can be selected and mounted. This improves the flexibility of inspection.

[0068] The imaging member 100 can capture images of the inside of the tunnel waterway 200 while the main body 2 (tunnel waterway inspection device 1) flows through the tunnel waterway 200. Since the imaging member 100 is attached to the attachment part 5, it can capture images while flowing with the water current. In this case, if the imaging member 100 is a 360-degree camera, it can capture images of the entire inside of the tunnel waterway 200. If it is a general camera, it can capture images in the direction the camera is facing.

[0069] For example, the imaging member 100 can capture an image of the upper part of the tunnel waterway 200, thereby inspecting the upper part of the inner surface of the tunnel waterway. Of course, images of the left and right sides may also be captured. The captured data is stored in a memory unit provided in the imaging member 100. The captured data stored in the memory unit can be checked afterwards.

[0070] The weight adjustment unit 7 includes a weight member. Changing the position of this weight member can change the center of gravity of the main body unit 2. A member is attached to the attachment unit 5, and the center of gravity of the main body unit 2 changes depending on the weight, shape, and type of the attached member. This change can cause the main body unit 2 to tilt. For example, if an imaging member 100 and an illumination member 110 are attached as shown in FIG. 4, the main body unit 2 can tilt depending on the weight of the attached member.

[0071] If the main body 2 remains tilted, it may cause problems with the water flow in the tunnel waterway 200. In this state, the water will not flow smoothly through the tunnel waterway 200, and inspection of the tunnel waterway 200 may be insufficient.

[0072] The weight adjustment unit 7 has a weight member, and by changing the position of this weight member, the center of gravity position is changed. This change in the center of gravity position corrects the tilt of the main body 2, allowing for smoother water flow movement. The weight adjustment unit 7 allows the tunnel waterway inspection device 1 to move more appropriately inside the tunnel waterway 200, improving inspection accuracy.

[0073] As described above, the tunnel waterway inspection device 1 of the present invention can inspect the inside of the tunnel waterway 200 by taking images while flowing in an appropriate posture. At this time, the imaging member 100 and other components can be optimally selected and attached (the attached components can be switched) to enable optimal inspection. In addition, the weight adjustment unit 7 can keep the posture of the main body 2 as horizontal as possible, allowing the water to flow smoothly.

[0074] (Inspection by imaging) The inventor conducted an inspection experiment in an actual agricultural irrigation canal using the tunnel waterway inspection device 1 of the present invention that he had manufactured. Structurally, an irrigation canal has an entrance from which the waterway enters the ground. The inventor cast the tunnel waterway inspection device 1 into this entrance and took images of the irrigation canal with the imaging member 100.

[0075] Figure 5 is a photograph showing the start of an experiment by the inventor of the present invention. The inventor inserted the tunnel waterway inspection device 1 with the lead 6 attached into the entrance of an irrigation canal. The irrigation canal has a water current, and the tunnel waterway inspection device 1 is carried along by this water current.

[0076] An imaging member 100 is attached to the mounting portion 5 of the tunnel waterway inspection device 1. The imaging member 100 captures images of the inside of the tunnel waterway 200 as it flows through the tunnel waterway inspection device 1. Figure 6 shows an image of the inside of the tunnel waterway captured by this imaging member. The inside surface of the tunnel waterway 200 is captured reliably. The part with the writing on it is captured accurately, and it can also be seen that if there is any damage to the tunnel surface, this can be captured reliably.

[0077] In this way, it was confirmed that the actually produced tunnel waterway inspection device 1 of the present invention can reliably inspect the inside of the tunnel waterway 200 by taking images of the inside of the tunnel waterway 200.

[0078] Next, each part will be described in detail.

[0079] (Main body) The main body 2 is a part that constitutes the entire tunnel waterway inspection device 1. As described above, the first floating part 3, the second floating part 4, and the mounting part 5 are combined like a grid to form a raft structure. Each of the first floating part 3 and the second floating part 4 has an air space inside or is made of a material with a light specific gravity, so it floats on water.

[0080] This allows the main body 2 to float and move on the water. In addition, because it has a raft structure, it can float and flow in the water current in a stable position.

[0081] 2 and other figures show the main body 2. It can be seen that the main body 2 has a raft structure.

[0082] The first and second floating parts 3 and 4 float on water. They have an internal space that allows them to float by filling it with air. Alternatively, they may be made of a light material (such as vinyl chloride or resin) that provides additional buoyancy.

[0083] The first floating portion 3 and the second floating portion 4 are paired with respect to the mounting portion 5. This pairing allows for a lattice structure. In addition, the first floating portion 3 and the second floating portion 4 may have substantially the same shape and size. This allows the main body portion 2 to have an appropriate left-right balance.

[0084] (Attachment part) 3, the mounting section 5 can detachably mount an imaging member 100 or the like. By making it detachable, it is possible to select a necessary or optimal member and mount it on the mounting section 5. Different members can be selected and mounted as needed.

[0085] The mounting unit 5 is provided with a frame body and a mounting fixture, and the imaging member 100 and the like can be mounted on this frame body. The size of the frame body can be changed by fitting an additional frame member that can change the size of the frame body.

[0086] The attachment is a fitting member or the like, and can fix the attached imaging member 100 or the like.

[0087] The mounting unit 5 preferably has multiple mounting areas, allowing multiple members to be mounted. Two mounting areas are shown in FIG. 3, allowing two members to be mounted. For example, an imaging member 100 and an illumination member 110 can be mounted. This allows imaging while illuminating the dark interior of the tunnel waterway 200.

[0088] Of course, it is also preferable to have three or more attachment areas.

[0089] It is also preferable that the mounting portion 5 can mount a plurality of types and numbers of members in this way.

[0090] (imaging material) The imaging member 100 is detachably attached to the attachment part 5. When attached to the attachment part 5, the imaging member 100 is positioned so that it can view the outer periphery, and therefore the imaging member 100 can capture images of the inside of the tunnel waterway 200 while the tunnel waterway inspection device 1 is flowing with the water current.

[0091] Here, the imaging member 100 is preferably at least one of a 360-degree camera capable of capturing an image of the entire surroundings at 360 degrees, an action camera with high impact resistance, and an infrared camera.

[0092] By using a 360-degree camera, it is possible to capture images of the entire tunnel waterway 200. This allows for a rough understanding of the entire situation and the occurrence of problems to be identified. Furthermore, a camera with a limited viewing angle other than 360 degrees provides higher resolution and allows for more accurate problem detection.

[0093] For example, a 360-degree camera can be used for an initial inspection to get a complete overview, and if there are any potential problems, a higher-resolution camera with a limited viewing angle can be used to more accurately detect the problem.

[0094] Alternatively, it is possible to install both a 360-degree camera and a camera with a small field of view and capture images from each simultaneously.

[0095] Action cameras have excellent impact resistance, and therefore, they may be used when inspecting the tunnel waterway 200 that has many obstacles or after a disaster.

[0096] It is also preferable to use an infrared camera when the inside of the tunnel waterway 200 is so dark that the lighting member 110 cannot provide sufficient brightness, or when the characteristics of the internal structure of the tunnel waterway 200 make it difficult to capture abnormalities with an optical camera. Infrared images can also make it easier to detect problems. In response to such situations, it is also preferable to install an infrared camera and use it for inspection.

[0097] (Lighting components, etc.) At least one of an illumination member 110 and a three-dimensional scanner may be attached to the mounting unit 5. Since the inside of the tunnel waterway 200 is dark, it is preferable that the illumination member 110 can be used to illuminate the inside while taking images.

[0098] In addition, by attaching a 3D scanner, it is possible to obtain 3D structural data. This makes it possible to more reliably detect defects and damage. This allows damage to be detected reliably in the process of analyzing the image data, which is useful for repairing the tunnel waterway 200.

[0099] (Weight adjustment section) The weight adjustment unit 7 can adjust the inclination of the main body 2. Figure 7 is a schematic diagram showing the inclination caused by the attachment of components to the main body 2 (tunnel waterway inspection device 1). The upper part of Figure 7 shows the case where no components are attached to the attachment unit 5. In this state, the main body 2 of the raft structure is approximately horizontal to the water surface. In this state where no components are attached, the main body 2 (tunnel waterway inspection device) is adjusted so that it is flat with respect to the water surface.

[0100] In this case, it is assumed that a member is attached to the mounting unit 5 (attached for inspection). The lower part of Fig. 7 shows the state in which the imaging member 100 and the illumination member 110 are attached to the mounting unit 5. At this time, depending on the type, weight, and size of the attached member, the main body 2 may tilt relative to the water surface. In the lower part of Fig. 7, one side of the main body 2 is tilted and submerged in the water surface.

[0101] If the main body 2 is tilted in this way, it becomes difficult for it to move smoothly with the water current.

[0102] The weight adjustment unit 7 changes the position of the center of gravity of the main body 2, thereby correcting this tilt and enabling smooth movement with the water current.

[0103] Figure 8 is a schematic diagram showing adjustment by the weight adjustment unit in embodiment 1 of the present invention. It shows the state when the main body 2 is viewed from the side, and shows the state when the main body 2 has been adjusted from a tilted state to a horizontal state. The upper part of Figure 8 shows the state when the main body 2 is tilted, and the lower part of Figure 8 shows the state when the main body 2 is tilted.

[0104] The weight adjustment unit 7 includes a weight member 51 and an adjustment member 52 that can change the position of the weight member 51. As will be described with reference to Figures 9 and 10, the adjustment member 52 may be composed of an adjustment member A, which is an example of a position spring, and an adjustment member B, which is an example of a weight member moving unit.

[0105] FIG. 9 is a plan view of the main body before adjustment by the weight adjustment unit in the first embodiment of the present invention, and FIG. 10 is a plan view of the main body after adjustment by the weight adjustment unit in the first embodiment of the present invention.

[0106] The weight member 51 is a member having a weight such as a weight. The adjustment member 52 is a member that can change the position of the weight member 51 (relative position with respect to the main body 2). The adjustment member 52 changes the relative position of the weight member 51 with respect to the main body 2. This change changes the relative position of the weight member 51 with respect to the main body 2, and the position of the center of gravity of the main body 2 can be changed.

[0107] In Figure 8, as the position of the weight member 51 changes from the tilted state (top of Figure 8) to move away from the main body 2, the center of gravity of the main body 2 moves away and approaches horizontal, as shown in the bottom of Figure 8. In this way, the main body 2 becomes closer to horizontal with respect to the water surface, making it easier to move with the water current.

[0108] Fig. 9 is a plan view of the upper part of Fig. 8, and Fig. 10 is a plan view of the lower part of Fig. 8. In this way, by changing the position of the weight member 51, the center of gravity of the main body 2 changes, and the inclination of the main body 2 can be adjusted. As a result, movement by the water current becomes smoother.

[0109] As described above, the tunnel waterway inspection device 1 in the first embodiment has the following advantages.

[0110] (1) The main body 2, which has a raft structure consisting of the first floating part 3, the second floating part 4 and the attachment part 5, can float on the water in the tunnel waterway 200 and move with the water current. (2) Various components required for the mounting section 5 can be attached by replacing them, so that the most suitable components can be attached by switching them depending on the condition, characteristics, inspection items, etc. of the tunnel waterway 200. (3) The weight adjustment unit 7 allows the main body 2 to be kept horizontal in accordance with the shape and weight of the attached member, thereby allowing smooth movement in accordance with the water flow.

[0111] (Embodiment 2)

[0112] Next, a second embodiment will be described, including various variations.

[0113] (Detection unit) It is also preferable to further include a detection unit 8 that detects an abnormal state in the image captured by the imaging member 100. Fig. 11 is a schematic diagram of a tunnel waterway inspection device in embodiment 2 of the present invention. Here, a detection unit 8 is further provided.

[0114] The detection unit 8 detects any abnormalities in the image captured by the imaging member 100. Abnormalities are set in advance in the detection unit 8, and for example, if a broken pattern or a pattern with a significantly different color is detected in the captured image, it is deemed to be an abnormality.

[0115] The detection unit 8 stores patterns (shape, color, etc., as described above) that are determined to be abnormal. If an image that resembles these patterns is found, the detection unit 8 detects it as an abnormal state.

[0116] Furthermore, when the detection unit 8 detects an abnormal state, it records the time when the abnormal state is detected, or it records the time that has elapsed since the tunnel waterway inspection device 1 was introduced into the tunnel waterway 200. In the latter case, it is sufficient to record the time that has elapsed since the start of imaging, for example.

[0117] By recording these times, the position of the tunnel waterway 200 where an abnormality was detected can be estimated from these times. This position estimation makes it easier to repair or restore the tunnel waterway 200 when an abnormality is detected. This reduces the effort and cost of repairs, etc.

[0118] (Lead sign) It is also preferable that the lead 6 has a mark indicating its length. Figure 2 and other figures show that the lead 6 is connected to the main body 2. The tunnel waterway inspection device 1 is inserted into the underground tunnel waterway 200 and flows with the water current. For this reason, it is necessary for the lead 6 to be connected for retrieval.

[0119] In this way, the lead 6 is provided to recover the waste and prevent it from being washed away. The lead 6 may also be provided with a mark indicating the length. For example, the length may be indicated numerically, or the length may be indicated by a change in color.

[0120] The presence of the length markings makes it possible to determine how far the tunnel waterway inspection device 1 has reached. In addition, it is also possible to estimate the position where the abnormality was detected in conjunction with the detection by the detection unit 8. It is possible to know that the abnormality was detected XX meters from the insertion position.

[0121] In addition, if the tunnel waterway inspection device 1 is unable to proceed due to an obstacle or the like, the location can be grasped. This knowledge makes it easier to plan for re-running the inspection.

[0122] (Cooling by immersing components in water) The imaging member 100 and the illumination member 110 attached to the attachment part 5 may become hot during prolonged use. This is because they are electronic devices that generate heat, and because they operate inside the tunnel waterway 200, which is a closed space, they are in an environment where the temperature is likely to rise.

[0123] If the temperature rise due to heat generation becomes excessive, there is a concern that it may become difficult to guarantee the operation of the imaging member 100 and the illumination member 110. Here, it is also preferable that a part of the structural part 120 of the imaging member 100 and the illumination member 110 can be immersed in the water of the tunnel waterway 200, as shown in FIG.

[0124] Figure 12 is a schematic diagram showing that the structural part of the member according to the second embodiment of the present invention can be immersed in water. In the upper part of Figure 12, the structural part 120 of the imaging member 100 is not immersed in water. This type of installation is acceptable when cooling is not required. In the lower part of Figure 12, part of the structural part 120 of the imaging member 100 is immersed in water.

[0125] When mounting an imaging member 100 or the like, the mounting unit 5 can adjust the mounting position by moving it up and down. For example, the imaging member 100 may have a structural part 120 that has a length in the vertical direction, as shown in Fig. 12. The mounting position of this structural part 120 in the vertical direction can be biased downward or upward by moving it up and down.

[0126] By biasing it downward, part of the structure 120 drops down and can be immersed in water, as shown in the lower part of Figure 12.

[0127] Immersing the structural unit 120 in water cools the structural unit 120. Cooling the structural unit 120 cools the entire imaging member 100, etc. This makes it possible to suppress temperature increases due to heat generation, and also to suppress malfunctions due to temperature increases.

[0128] (Distortion detection section) The distortion detection unit is implemented by combining devices such as sensors. For example, it may also include a microcomputer and software as needed.

[0129] The tunnel waterway inspection device 1 flows along with the water current in the tunnel waterway 200. It moves by riding on this current. At this time, there may be obstacles inside the tunnel waterway 200. Stones, tree branches, etc. may exist as obstacles.

[0130] If the tunnel waterway inspection device 1 hits such an obstacle, it may stop moving. In this case, it is preferable to stop the inspection and retrieve the tunnel waterway inspection device 1. Alternatively, it is preferable to take other measures.

[0131] However, even if the lead 6 stops, it continues to extend and flow with the water flow, making it difficult for the operator to notice that it has stopped. This not only leads to insufficient inspection, but also results in wasted work time.

[0132] Fig. 13 is a schematic diagram illustrating stoppage detection by a strain detection unit in embodiment 2 of the present invention. The upper part of Fig. 13 shows a state in which the tunnel waterway inspection device 1 is flowing with the water current, and the lower part of Fig. 13 shows a state in which the tunnel waterway inspection device 1 has collided with an obstacle and stopped.

[0133] A stone is shown as an example of an obstacle. If a part of the main body 2 (including the first floating part 3, etc.) hits this stone, the tunnel waterway inspection device 1 will stop on the spot. At this time, as shown in Figure 13, the main body 2, which has a raft structure, will stop while tilting to the left or right with respect to the direction of travel. This is because obstacles usually hit a position biased to either the left or right of the main body 2, causing it to tilt to the left or right.

[0134] Here, the lead 6 is bifurcated. One end of the bifurcated lead 6, a first end 61, is connected to the first floating portion 3. The other end, a second end 62, is connected to the second floating portion 4. A strain detection unit 9 is connected to the first end 61 and the second end 62. The strain detection unit 9 detects strain in the bifurcated portions of the lead 6 at these ends, so it is sufficient that it is located in a position where it can detect these.

[0135] When the state shown in the lower part of Figure 13 appears, either the first end 61 or the second end 62 of the fork of the lead 6 is bent and is no longer in the same state. In other words, a difference occurs between the left and right. This difference between the left and right is distortion, and the distortion detection unit 9 can detect this distortion. In other words, when distortion is detected, a difference occurs between the left and right fork of the lead 6. This indicates a state in which the main body 2 hits an obstacle and tilts to the left or right, as shown in Figure 13.

[0136] In this way, when the strain detection unit 9 detects a strain, it can be determined that the tunnel waterway inspection device 1 is stopped due to an obstacle.

[0137] FIG. 14 is an explanatory diagram for explaining distortion detection by the distortion detection unit.

[0138] The strain detection unit 9 is configured to include a metal plate 91 to which the leads 6 are connected, and a strain cage 82. This is one example. The strain cage 92 calculates a resistance value corresponding to the tensile force with which the metal plate 91 is pulled by the leads. For example, the resistance value calculated by the strain cage 92 when the leads 6 are fully stretched and applying sufficient tension will differ from the resistance value calculated by the strain cage 92 when the leads 6 are bent and applying low tension.

[0139] The strain detection unit 9 is connected to each of the first end 61 and the second end 62 (the bifurcated portion) of the lead 6. As shown in the lower part of Figure 13, the lead 6 on the first end 61 side may be bent (loose), while the lead 6 on the second end 62 side may be tightly stretched. In this case, the resistance value calculated by the strain gauge 92 on the first end 61 side differs from the resistance value calculated by the strain gauge on the second end 62 side.

[0140] The strain detector 9 detects the difference in resistance between the first end 61 and the second end 62, thereby detecting the occurrence of strain.

[0141] At this time, the resistance value calculated by the strain gauge 92 may be very small. In this case, the difference in resistance value can be detected more reliably by amplifying the resistance value, as shown in the flowchart at the bottom of Figure 14. The difference in resistance value is calculated using a bridge average detection circuit, and after detecting the respective tensions and slacks, the result is amplified by an amplifier to detect the final strain.

[0142] It is also preferable to further provide a warning unit 10 that issues a warning when distortion is detected by the distortion detection unit 9. Figure 14 shows a state in which this warning unit 10 is also provided. The warning unit 10 issues a warning using sound, light, or the like. Since the tunnel waterway inspection device 1 is located inside the tunnel waterway 200, sound (such as a warning sound) is appropriate for notifying the operator. Alternatively, a light with high directivity may be emitted toward the operator.

[0143] Of course, notification may be made by an electrical signal using wireless or wired communication.

[0144] By receiving such a warning, the operator can understand that the tunnel waterway inspection device 1 has stopped due to an obstacle. In addition, the operator can estimate the position where the device has stopped based on the length display of the lead 6, and use this information as a reference for subsequent work.

[0145] As described above, the tunnel waterway inspection device 1 in the second embodiment can be further realized to be useful for inspection work.

[0146] The tunnel and waterway inspection device described in the first and second embodiments is an example for explaining the gist of the present invention, and includes modifications and alterations within the scope of the gist of the present invention. [Explanation of symbols]

[0147] 1 Tunnel waterway inspection equipment 2 Main body 3. First floating section 4. Second Floating Section 5. Mounting part 6 Lead 7 Weight adjustment section 8. Detection unit 9 Distortion detection section 10 Warning part 100 Imaging member 110 Lighting components 120 Structural Department 200 Tunnel Waterway

Claims

1. a main body having a raft structure; a first floating part that constitutes the main body and floats on water; a second floating part that forms the main body and is connected to the first floating part and floats on water; a mounting portion that connects the first floating portion and the second floating portion and to which a member can be attached; a lead connected to the main body; an imaging member that can be attached to the attachment portion; a weight adjustment unit that can adjust the inclination of the main body unit, The lead extends from the operator's hand, The main body has the raft structure by combining the first floating portion, the second floating portion, and the mounting portion, The imaging member can capture an image of the inside of the tunnel waterway while the main body flows through the tunnel waterway, The weight adjustment unit is capable of changing the position of the weight member, and by doing so, the center of gravity of the main body unit can be changed and the inclination can be adjusted.

2. The tunnel waterway inspection device according to claim 1 , wherein the main body is movable by the first floating part and the second floating part due to a water current flowing inside the tunnel waterway.

3. The imaging member is A 360-degree camera that can capture the entire surrounding area. Highly impact-resistant action cameras, and Infrared camera, The tunnel waterway inspection device according to claim 1, comprising at least one.

4. 2. The tunnel and waterway inspection device according to claim 1, wherein the mounting unit is capable of mounting at least one of an illumination member and a three-dimensional scanner in addition to the imaging member.

5. a detection unit that detects an abnormal state in the image captured by the imaging member; 2. The tunnel waterway inspection device according to claim 1, wherein said detection unit records the elapsed time from when said device was introduced into said tunnel waterway when said detection unit detects an abnormal state.

6. the weight adjustment unit includes a weight member and an adjustment member that can change the position of the weight member, The tunnel and waterway inspection device according to claim 1 , wherein the adjustment member is capable of adjusting the position of the center of gravity of the main body by changing the relative position of the weight member with respect to the main body.

7. 5. The tunnel waterway inspection device according to claim 4, wherein a part of the structural parts of the imaging member and the illumination member is immersible in the water of the tunnel waterway.

8. 8. The tunnel waterway inspection device according to claim 7, wherein the structural part can be partially immersed in water by moving up and down.

9. the lead is bifurcated, one first end being connected to the first floating portion and the other second end being connected to the second floating portion; The tunnel waterway inspection device according to claim 1 , wherein a strain detector that detects strain is connected to the first end and the second end.

10. The tunnel waterway inspection device according to claim 9, further comprising a warning unit that issues a warning when the distortion is detected by the distortion detection unit.

11. The tunnel waterway inspection device according to claim 1 , wherein the lead has a mark indicating its length.

Images