In-pipe mobile robot

Abstract

The objective is to provide a pipe-moving robot that can suppress the obstruction of visibility of the inside of a pipe through camera images caused by dirt while moving inside the pipe. [Solution] A pipe-mobile robot 1 comprising a robot body 10 having at least three expandable units that expand radially and contract axially when fluid is supplied to them, configured to move inside a pipe by the expansionable units performing peristaltic movements in a predetermined pattern, characterized in that the pipe-mobile robot 1 comprises a camera 40 attached to the tip 20 of the robot body 10, a transparent cover body 50 attached to the tip 20 and covering the camera 40, a nozzle 60 having a discharge port 61 that opens toward the outer surface of the cover body 50, and a fluid supply source 14 connected to the nozzle 60 via nozzle piping 62 and supplying fluid to the nozzle 60.

Description

Technical Field

[0001] The present invention relates to an in-pipe moving robot that moves inside a pipe.

Background Art

[0002] For example, an in-pipe moving robot configured to move inside a meandering pipe such as an air duct for an air conditioner provided in an office building, a factory, a detached house, etc. is known. Such an in-pipe moving robot is used for various applications such as inspection inside a pipe.

[0003] Conventionally, as such an in-pipe moving robot, there is known one that includes a plurality of expansion and contraction units that expand in the radial direction and contract in the axial direction when fluid is supplied to each of them, and the plurality of expansion and contraction units move inside the pipe by performing a creeping motion in a predetermined pattern (see, for example, Patent Document 1).

Prior Art Documents

Patent Documents

[0004]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0005] As such an in-pipe moving robot, there is one in which a camera is attached to the tip, and when the in-pipe moving robot moves inside the pipe, the state inside the pipe can be confirmed from the captured image of the camera.

[0006] However, such pipe-moving robots had a problem: as they moved inside the pipe, dust, foreign objects, liquids, and other contaminants from the inside of the pipe could adhere to the camera, potentially hindering the visibility of the inside of the pipe through the camera's images. In this case, it was necessary to pull the pipe-moving robot out of the pipe, clean the contaminants from the camera, and then move the robot back to its original position inside the pipe, which was a cumbersome process.

[0007] This invention has been made in view of these problems, and its purpose is to provide a robot that can move inside a pipe and suppress the obstruction of visibility of the inside of the pipe through the camera's captured image due to dirt while moving inside the pipe. [Means for solving the problem]

[0008] The pipe-mobile robot of the present invention comprises a robot body equipped with at least three expandable units, each of which expands radially and contracts axially when fluid is supplied, and is configured to move inside a pipe by the peristaltic movement of the expandable units in a predetermined pattern, and is characterized by comprising: a camera attached to the tip of the pipe-mobile robot; a transparent cover body attached to the tip and covering the camera; a nozzle having a discharge port opening toward the outer surface of the cover body; and a fluid supply source connected to the nozzle via nozzle piping and supplying fluid to the nozzle.

[0009] In the above configuration, the pipe-mobile robot of the present invention further comprises: an expandable pipe connecting the fluid supply source to the expandable unit; and an exhaust valve provided in the expandable pipe, which can be switched between a state in which the fluid inside the expandable pipe is discharged to the outside of the expandable pipe through an outlet and a state in which the outlet is closed. Preferably, the nozzle pipe is connected to the outlet, so that the fluid supply source is connected to the nozzle via the expandable pipe, the exhaust valve, and the nozzle pipe.

[0010] The pipe-moving robot of the present invention, in the above configuration, further comprises an elastically deformable elastic connecting part provided between the robot body and the tip and connecting the robot body and the tip, and a pair of elastic bodies, each being annular in shape with a roughly circular or regular polygonal outer circumference centered on the axis of the tip, projecting radially outward from the outer surface of the tip and spaced apart from each other in the axial direction, wherein the cover body and the nozzle are contained within the range of a virtual spherical surface in which the outer ends of each of the pair of elastic bodies are inscribed over their entire circumference.

[0011] In the pipe-mobile robot of the present invention, it is preferable that a flat surface perpendicular to the axial direction is provided on the outer surface of the cover body, and that the field of view of the camera is set within the range of the flat surface.

[0012] In the pipe-mobile robot of the present invention, it is preferable that the discharge port is directed in a direction inclined toward the flat portion at an angle of 5 to 10 degrees with respect to the direction perpendicular to the axial direction. [Effects of the Invention]

[0013] According to the present invention, it is possible to provide a pipe-moving robot that can suppress the obstruction of visibility of the inside of a pipe through camera images caused by dirt while moving inside the pipe. [Brief explanation of the drawing]

[0014] [Figure 1] This is a perspective view of a pipe-operated mobile robot according to the first embodiment of the present invention. [Figure 2] This is a side view of the pipe-in-pipe mobile robot shown in Figure 1, with some parts omitted. [Figure 3] Figure 1 is a schematic diagram illustrating the operating pattern of the expansion / contraction unit during the peristaltic motion of the in-pipe mobile robot. [Figure 4] This is a partial cross-sectional view, including the tip of the pipe-in-pipe mobile robot shown in Figure 1. [Figure 5]It is a front view of the tip shown in FIG. 4. [Figure 6] It is a cross-sectional view of the tip provided with the nozzle according to the modified example. [Figure 7] It is a side view with a part of the in-pipe moving robot according to the second embodiment of the present invention omitted. [Figure 8] It is a partial side view including the tip of the in-pipe moving robot according to the third embodiment of the present invention. [Figure 9] It is a view showing a state where the tip of the in-pipe moving robot according to the third embodiment is moving through the bent portion of the pipe. [Figure 10] Regarding the tip according to another modified example, (a) is a cross-sectional view and (b) is a front view. [Figure 11] It is a cross-sectional view taken along the line A-A in FIG. 10.

Mode for Carrying Out the Invention

[0015] Hereinafter, the in-pipe moving robot of the present invention will be exemplified and described in detail with reference to the drawings.

[0016] The in-pipe moving robot 1 according to the first embodiment of the present invention shown in FIG. 1 is configured to move inside a meandering pipe such as an air duct for an air conditioner provided in, for example, an office building, a factory, a detached house, etc.

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

[0018] The robot body 10 is also called a caterpillar-type robot, a peristaltic-type robot, etc., and has an elongated form extending along the axis O. The robot body 10 can move inside the pipe in the axial direction, that is, along the axis O. That is, the robot body 10 can move forward inside the pipe. Note that the robot body 10 may be configured to be able to move forward and backward inside the pipe.

[0019] The robot body 10 is equipped with at least three telescopic units 11 as a drive source for moving inside the pipe. In this embodiment, the robot body 10 is equipped with seven telescopic units 11 (only four telescopic units 11 are shown in Figure 1). The number of telescopic units 11 can be changed as appropriate, as long as the robot body 10 is equipped with at least three telescopic units 11.

[0020] The expandable / contractible unit 11 is also called an artificial muscle. The expandable / contractible unit 11 has a cylindrical portion 11a formed from an elastic material such as rubber, with an axis O. Both axial ends of the cylindrical portion 11a are closed. Inside the cylindrical portion 11a, multiple fiber bundles (not shown) with high tensile strength are arranged along the axial direction. As a result, the cylindrical portion 11a can elastically deform to expand radially, but elastic deformation in the direction of extension in the axial direction is restricted. Therefore, when a fluid such as compressed air is supplied to the inside of the cylindrical portion 11a, the expandable / contractible unit 11 operates to expand radially while contracting axially. Also, when the fluid is discharged from the inside of the cylindrical portion 11a, the expandable / contractible unit 11 contracts radially due to the elastic force of the cylindrical portion 11a and extends axially to return to its original shape. Each expandable / contractible unit 11 can be operated individually in a predetermined pattern.

[0021] The expandable / contractible unit 11 can have various configurations, such as a so-called McKibben type in which the outside of a cylindrical elastic body is covered with sleeve-shaped woven fibers, as long as it is configured to expand radially and contract axially when fluid is supplied.

[0022] Adjacent telescopic units 11 are connected to each other axially by a connecting portion 12. In this embodiment, the connecting portion 12 is a universal joint. As a result, the robot body 10 can bend at the portion of the connecting portion 12. Therefore, when the robot body 10 moves inside a pipe, even if the pipe is curved, it can move along the curved pipe because the space between adjacent telescopic units 11 bends at the connecting portion 12.

[0023] In this embodiment, a universal joint is used as the connecting portion 12, but it is not limited to this as long as it connects adjacent telescopic units 11 in a foldable manner.

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

[0025] Although Figures 1 and 2 show only one expansion / contraction pipe 13 and one exhaust valve 15 provided on the said expansion / contraction pipe 13, seven expansion / contraction pipes 13 corresponding to each of the seven expansion / contraction units 11 are connected to the fluid supply source 14, and each expansion / contraction pipe 13 is provided with an exhaust valve 15, so that the fluid supply source 14 can supply fluid to each expansion / contraction unit 11 individually in a predetermined pattern.

[0026] The robot body 10 is supplied with fluid in a predetermined pattern from a fluid supply source 14 through the extension piping 13 to the inside of the cylindrical portion 11a of each extension unit 11. Simultaneously, when the fluid supply from the fluid supply source 14 is stopped and the outlet 15a of the exhaust valve 15 is opened, the fluid in the cylindrical portion 11a of the extension unit 11 is exhausted to the outside through the outlet 15a, allowing the multiple extension units 11 to move inside the pipe in a predetermined peristaltic motion.

[0027] Figure 3 shows an example of the peristaltic motion pattern of the multiple telescopic units 11 when the pipe-mobile robot 1 moves axially in one direction inside the pipe 2, that is, when it moves forward toward the left in Figure 3.

[0028] First, as shown in Figure 3(a), the leftmost (front) telescopic unit 11 and the second telescopic unit 11 from the left in Figure 3 are expanded radially while contracting axially. The two radially expanded telescopic units 11 each come into contact with the inner surface of the pipe 2 over their entire circumference. As a result, the robot body 10 is held axially by the two radially expanded telescopic units 11.

[0029] Next, from the state shown in Figure 3(a), as shown in Figure 3(b), the exhaust valve 15 corresponding to the leftmost telescopic unit 11 is opened to return the leftmost telescopic unit 11 to its original shape, while the third telescopic unit 11 from the left expands radially and contracts axially. At this time, the second telescopic unit 11 from the left is in contact with the inner circumferential surface of the pipe 2, maintaining its axial position. As the leftmost telescopic unit 11 contracts radially and expands axially to return to its original shape, the left end (front end) of the robot body 10 moves to the left from the position shown in Figure 3(a). Also, as the third telescopic unit 11 from the left expands radially and contracts axially while the second telescopic unit 11 from the left is in contact with the inner circumferential surface of the pipe 2, the right end (rear end) of the robot body 10 also moves to the left from the position shown in Figure 3(a).

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

[0031] The same procedure is then used to operate the telescopic units 11 in the above pattern until the rightmost telescopic unit 11 is reached. Once the pattern reaches the rightmost telescopic unit 11, the process returns to the beginning and the telescopic units 11 are operated in the above pattern, as shown in Figure 3(d).

[0032] In this way, by making the multiple telescopic units 11 perform a peristaltic motion in the pattern described above, the robot body 10 can move forward inside the pipe 2 toward the left in Figure 3. Conversely, by operating the multiple telescopic units 11 in a pattern opposite to that shown in Figure 3, the robot body 10 can move backward inside the pipe 2 toward the right in Figure 3. In other words, the pipe-mobilizing robot 1 can move forward and backward inside the pipe 2 by having the robot body 10 perform the above movements.

[0033] The peristaltic motion patterns of the multiple retractable units 11 in the robot body 10 are not limited to those described above; other patterns are also acceptable as long as they allow the robot body 10 or the pipe-mobile robot 1 to move forward and backward.

[0034] As shown in Figure 1, in this embodiment, the robot body 10 is provided with a plurality of brushes 16 spaced apart in the axial direction of the robot body 10. More specifically, a brush 16 is provided at both ends in the axial direction of each telescopic unit 11. Each of the plurality of brushes 16 has a substantially annular shape centered on the axis O of the robot body 10. That is, each of the plurality of brushes 16 has a configuration in which a large number of bristles protruding radially outward from the outer circumferential surface of the robot body 10, centered on the axis O, are arranged around the entire circumference in the circumferential direction of the axis O. The large number of bristles constituting the brush 16 are made of a flexible and elastically deformable material, such as synthetic resin. The outer diameter of the brush 16 is substantially the same as the inner diameter of the pipe 2 to which the pipe-in-mobile robot 1 moves. Preferably, the outer diameter of the brush 16 is the same as or slightly larger than the inner diameter of the pipe 2 to which the pipe-in-mobile robot 1 moves. When the pipe-in-mobile robot 1 moves inside the pipe 2, the brush 16 comes into contact with the inner circumferential surface of the pipe 2 at its outer end.

[0035] The robot body 10 is equipped with multiple brushes 16, allowing it to move along the inside of the pipe 2 while being supported approximately in the center of the pipe 2 by the multiple brushes 16. Furthermore, the robot body 10 is equipped with multiple brushes 16, allowing it to clean the inside of the pipe 2 by collecting foreign matter (dirt) such as debris attached to the inner surface of the pipe 2 with the brushes 16 as it moves inside the pipe 2.

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

[0037] As shown in Figures 1 and 2, the tip 20 is located on the side of the robot body 10 in the direction of forward movement (left side in Figures 1 and 2), and constitutes the front end portion of the pipe-mobile robot 1 in the direction of forward movement. In other words, the pipe-mobile robot 1 moves forward inside the pipe 2 with the tip 20 at the front.

[0038] In this embodiment, the tip portion 20 is cylindrical with respect to the axis O, and a brush 21 is provided on the outer circumferential surface of its front end. The brush 21 has a substantially annular shape with respect to the axis O of the tip portion 20. That is, the brush 21 is configured such that a large number of bristles protrude radially outward from the outer circumferential surface of the tip portion 20 with respect to the axis O, and these bristles are arranged around the entire circumference with respect to the axis O. The large number of bristles constituting the brush 21 are made of a flexible and elastically deformable material, such as synthetic resin. The outer diameter of the brush 21 is substantially the same as the inner diameter of the pipe 2 that the pipe-in-mobile robot 1 moves through. Preferably, the outer diameter of the brush 21 is the same as or slightly larger than the inner diameter of the pipe 2 that the pipe-in-mobile robot 1 moves through. When the pipe-in-mobile robot 1 moves inside the pipe 2, the brush 21 comes into contact with the inner circumferential surface of the pipe 2 at its outer circumferential end.

[0039] The tip portion 20, equipped with a brush 21, can move along the inside of the pipe 2 while being supported approximately in the center of the pipe 2 by the brush 21. Furthermore, the tip portion 20, equipped with a brush 21, can clean the inside of the pipe 2 by collecting foreign matter (dirt) such as debris attached to the inner surface of the pipe 2 with the brush 21 as it moves inside the pipe 2.

[0040] In this embodiment, a brush 21 is provided on the tip portion 20, but other members such as flange-shaped or umbrella-shaped synthetic rubber may be provided, as long as they have a substantially annular shape centered on the axis O of the tip portion 20. Alternatively, the tip portion 20 may be configured without a brush 21 or other members having a substantially annular shape centered on the axis O of the tip portion 20.

[0041] In this embodiment, an elastic connecting portion 30 is provided between the robot body 10 and the tip portion 20, connecting the robot body 10 and the tip portion 20. The elastic connecting portion 30 is composed of a compression coil spring extending along the axis O. The elastic connecting portion 30 can be elastically deformed to contract along the axis O. Furthermore, the elastic connecting portion 30 can be flexibly elastically deformed to curve relative to the axis O. Therefore, when the tip portion 20 reaches a bent portion of the pipe 2, the elastic connecting portion 30 elastically deforms to curve relative to the axis O, allowing the tip portion 20 to bend in the direction of the bent portion.

[0042] Furthermore, the elastic connecting portion 30 is not limited to the compression coil spring described above, but may be any other material, such as a rubber tube, that is provided between the robot body 10 and the tip portion 20 to connect them and is elastically deformable to curve with respect to the axis O between the robot body 10 and the tip portion 20. In addition, the pipe-moving robot 1 may have a configuration in which the elastic connecting portion 30 is not provided between the robot body 10 and the tip portion 20, with the tip portion 20 directly connected to the robot body 10, or a configuration in which the tip portion 20 is integrally provided at the front end of the robot body 10.

[0043] As shown in Figure 4, a camera 40 is attached to the tip portion 20. The camera 40 is a CCD camera, for example, that outputs captured images (videos) as digital information. In this embodiment, the camera 40 has a cylindrical outer shape and is positioned inside the tip portion 20 with its tip facing forward in the shooting direction and coaxial with axis O. In this embodiment, a portion of the tip of the camera 40 on the shooting direction side protrudes forward from the front end of the tip portion 20. The camera 40 is connected via wiring 41 to a display device 42, such as a monitor, installed outside the pipe 2. The camera 40 is pointed forward, so that when the pipe-in-pipe mobile robot 1 moves inside the pipe 2, it can photograph the inside of the pipe 2 on the front side of the tip portion 20. With such a camera 40 provided, when the pipe-in-pipe mobile robot 1 moves inside the pipe 2, it can check the state of the inside of the pipe 2 by looking at the image captured by the camera 40 displayed on the display device 42.

[0044] A transparent cover body 50 is attached to the tip portion 20, covering the camera 40. More specifically, the cover body 50 is attached to the front end of the tip portion 20 and covers the tip of the camera 40 on the shooting direction side. That is, the camera 40 is configured to photograph the inside of the pipe 2 through the transparent cover body 50. In this embodiment, the cover body 50 is formed as a seamless, one-piece object from a transparent material or component having sufficient transparency to not degrade the resolution of the image captured by the camera 40. The cover body 50 may be an injection-molded product using a transparent synthetic resin material, or it may be machined from a transparent component.

[0045] In this embodiment, the outer surface of the cover body 50 that covers the front end of the camera 40 on the side facing the shooting direction is provided with a flat surface 51 perpendicular to the axial direction (a direction parallel to the axis O). The portion of the cover body 50 on the outer periphery of the flat surface 51 is a curved surface 52. There is no seam between the flat surface 51 and the curved surface 52; they are smoothly connected. As shown in Figure 5, the flat surface 51 is circular with respect to the axis O, and its outer diameter is larger than the field of view 43 of the camera 40 at the location where the flat surface 51 is provided. That is, the camera 40's field of view 43 at the location where the flat surface 51 is provided is set to be within the range of the flat surface 51, thereby allowing it to photograph the inside of the pipe 2 only through the portion of the cover body 50 that is the flat surface 51. As shown in Figure 4, the back surface 53 of the cover body 50 that faces the camera 40 on the back side of the flat surface 51 is also a flat surface parallel to the flat surface 51. Therefore, the image captured by the camera 40 is displayed on the display device 42 without distortion caused by the cover body 50 acting as a lens.

[0046] The cover body 50 is not limited to the above configuration, but can have various configurations or shapes, as long as it is transparent and attached to the tip portion 20 to cover the camera 40. For example, the cover body 50 may have a slightly curved surface instead of a flat surface on the outer surface portion that covers the tip of the camera 40 on the shooting direction side.

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

[0048] In this embodiment, the fluid supply source 14 that supplies fluid to the telescopic unit 11 is also used to supply fluid to the nozzle 60. This simplifies the configuration of the in-pipe mobile robot 1 and reduces manufacturing costs. Alternatively, a separate fluid supply source may be provided in addition to the fluid supply source 14 that supplies fluid to the telescopic unit 11, and fluid may be supplied from this separate fluid supply source to the nozzle 60 via the nozzle piping 62.

[0049] As shown in Figure 4, in this embodiment, the nozzle 60 is formed separately from the cover body 50, for example, from a metal such as steel, and is attached to the cover body 50. The nozzle 60 straddles the flat portion 51 and the curved portion 52 of the cover body 50 and has an arc shape extending around the axis O, with a part of it protruding axially from the flat portion 51 and the curved portion 52. The discharge port 61 is provided on the portion of the nozzle 60 that protrudes axially from the flat portion 51 and the curved portion 52, and opens radially inward from the axis O. By constructing the nozzle 60 as a rigid body of metal, it is possible to prevent the nozzle 60 from colliding with the inner circumferential surface of the pipe 2 and being damaged when the pipe-in-movement robot 1 moves inside the pipe 2.

[0050] Furthermore, as shown in Figure 5, in this embodiment, the nozzle 60 is positioned on the side of the flat surface 51 where the aspect ratio of the camera 40's field of view 43 is larger. That is, the camera 40's field of view 43 on the flat surface 51 has a rectangular shape with a short side 43a and a long side 43b that is longer than the short side 43a, and the nozzle 60 is positioned adjacent to the long side 43b so as to be on the opposite side of the axis O with the long side 43b in between. This makes it possible to set the camera 40's field of view 43 on the flat surface 51 to the required size while efficiently providing the nozzle 60 in the cover body 50.

[0051] The nozzle 60 is not limited to the above configuration, as long as it has a discharge port 61 that opens toward the outer surface of the cover body 50. It may have various configurations, such as one that is integrally formed with the cover body 50.

[0052] In this embodiment, the pipe-moving robot 1 has a nozzle 60 and a fluid supply source 14. As it moves inside the pipe 2, even if dust, foreign matter, liquid, or other contaminants inside the pipe 2 adhere to the cover body 50 that covers the camera 40, the fluid supply source 14 supplies fluid to the nozzle 60 via the nozzle piping 62, and the fluid is discharged from the discharge port 61 toward the flat surface 51 of the cover body 50. The pressure (dynamic pressure) of the fluid discharged from the discharge port 61 blows away the contaminants adhering to the cover body 50, thereby removing them from the cover body 50.

[0053] The supply of fluid from the fluid supply source 14 to the nozzle 60 via the nozzle piping 62 may be configured such that the control device C controls the operation of the fluid supply source 14 to continuously supply fluid from the fluid supply source 14 to the nozzle 60 while the in-pipe mobile robot 1 is moving inside the pipe 2, or to supply fluid from the fluid supply source 14 to the nozzle 60 at predetermined intervals, or to supply fluid from the fluid supply source 14 to the nozzle 60 when it is detected that dirt has adhered to the cover body 50. Alternatively, a fluid supply switch may be provided, and the system may be configured so that fluid is supplied from the fluid supply source 14 to the nozzle 60 by manually operating this switch.

[0054] As described above, in the pipe-moving robot 1 according to this embodiment, a camera 40 is attached to the tip 20 of the robot body 10. A transparent cover body 50 is attached to the tip 20 to cover the camera 40, a nozzle 60 has a discharge port 61 that opens toward the outer surface of the cover body 50, and a fluid supply source 14 is connected to the nozzle 60 via nozzle piping 62 to supply fluid to the nozzle 60. As a result, even if dirt adheres to the cover body 50 while moving inside the pipe 2, this dirt can be removed by the pressure of the fluid discharged from the discharge port 61 of the nozzle 60, thereby preventing the visibility of the inside of the pipe 2 through the image captured by the camera 40 from being obstructed by the dirt.

[0055] Furthermore, in this embodiment, a flat surface 51 perpendicular to the axial direction is provided on the outer surface of the cover body 50, and the field of view 43 of the camera 40 is set within the range of the flat surface 51. This allows the fluid discharged from the discharge port 61 of the nozzle 60 to effectively remove dirt from the flat surface 51. In other words, the flat surface 51 where the field of view 43 of the camera 40 is set is a flat surface without seams or grooves, and does not have parts where dirt tends to accumulate, such as grooves that cause capillary action. Therefore, the fluid discharged from the discharge port 61 of the nozzle 60 can effectively remove dirt within the field of view 43 of the camera 40. This further effectively suppresses the obstruction of visibility inside the tube 2 through the image captured by the camera 40 due to dirt.

[0056] The nozzle 60 can be configured such that the discharge port 61 is directed toward the flat portion 51, that is, in a downward-sloping direction.

[0057] In this case, as shown in Figure 6 as a modified example, it is preferable that the nozzle 60 is configured such that the discharge port 61 is directed in a direction D2 that is inclined toward the flat surface 51 at an angle of 5 to 10 degrees with respect to a direction D1 perpendicular to the axial direction (the direction along the axis O). In Figure 6, direction D2 indicates a direction inclined toward the flat surface 51 at an angle of 7.5 degrees with respect to direction D1. The direction of the discharge port 61 is the direction in which the fluid is discharged from the discharge port 61, and is the direction along the central axis of the discharge port 61. With this configuration, the nozzle 60 is positioned outside the field of view 43 of the camera 40, while the fluid discharged from the discharge port 61 of the nozzle 60 is more effectively sprayed onto the flat surface 51 where the field of view 43 of the camera 40 is set, thereby more effectively removing dirt within the field of view 43 of the camera 40. Therefore, it is possible to more effectively suppress the obstruction of visibility inside the pipe 2 through the image captured by the camera 40 due to dirt.

[0058] Next, a pipe-in-route mobile robot 100 according to a second embodiment of the present invention will be described with reference to Figure 7. In Figure 7, the same reference numerals are used for members or parts corresponding to those described above.

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

[0060] As shown in Figure 7, in the pipe-mobile robot 100 according to the second embodiment, the nozzle piping 62 connecting the fluid supply source 14 and the nozzle 60 is connected to the outlet 15a of the exhaust valve 15 provided in the telescopic piping 13 connecting the telescopic unit 11 and the fluid supply source 14. That is, in the pipe-mobile robot 100 according to the second embodiment, the fluid supply source 14 is connected to the nozzle 60 via the telescopic piping 13, the exhaust valve 15, and the nozzle piping 62. Therefore, when the pipe-mobile robot 1 is moved inside the pipe 2 by supplying fluid from the fluid supply source 14 to a plurality of telescopic units 11 of the robot body 10 via the telescopic piping 13 in a predetermined pattern, the outlet 15a of the exhaust valve 15 of the telescopic piping 13, from which the fluid supply has been stopped, is opened and the fluid inside the cylindrical part 11a of the telescopic unit 11 is exhausted to the outside through the outlet 15a, and this fluid is supplied to the nozzle 60 via the nozzle piping 62. As a result, while the in-pipe mobile robot 1 is moving inside the pipe 2, fluid from the fluid supply source 14 will be intermittently supplied to the nozzle 60 each time the exhaust port 15a of the exhaust valve 15 is opened.

[0061] In Figure 7, the nozzle piping 62 is connected to the outlet 15a of one exhaust valve 15 provided on one telescopic pipe 13. However, the nozzle piping 62 may be connected in parallel to all of the outlets 15a of the seven exhaust valves 15 provided on the seven telescopic pipes 13 corresponding to the seven telescopic units 11, or the nozzle piping 62 may be connected to any one or more of the outlets 15a of the seven exhaust valves 15.

[0062] Thus, in the pipe-mounted mobile robot 100 according to the second embodiment, the nozzle piping 62 is connected to the outlet 15a, and the fluid supply source 14 is connected to the nozzle 60 via the extension piping 13, exhaust valve 15, and nozzle piping 62. As a result, without providing dedicated piping to directly connect the fluid supply source 14 and the nozzle 60, fluid can be supplied to the nozzle 60 using the fluid supplied from the fluid supply source 14 to the extension unit 11. Furthermore, fluid can be supplied from the fluid supply source 14 to the nozzle 60 without the control device C controlling the fluid supply source 14 for supplying fluid to the nozzle 60. This simplifies the configuration of the pipe-mounted mobile robot 100 and reduces manufacturing costs.

[0063] Next, a pipe-in-pipe mobile robot 200 according to the third embodiment of the present invention will be described based on Figures 8 and 9. In Figures 8 and 9, the same reference numerals are used for members or parts corresponding to those described above.

[0064] The pipe-in-mobile robot 200 according to the third embodiment differs in the configuration of its tip section 20 from that of the pipe-in-mobile robot 1 according to the first embodiment. The configuration of the other parts of the pipe-in-mobile robot 100 according to the second embodiment, such as the robot body 10 and the elastic connection section 30, is basically the same as that of the pipe-in-mobile robot 1 according to the first embodiment.

[0065] In the pipe-moving robot 200 according to the third embodiment shown in Figure 8, a pair of elastic bodies 22 and 23 are provided at the tip 20. The pair of elastic bodies 22 and 23 are each configured as an annular shape with a roughly circular or polygonal outer circumference centered on the axis O, protruding radially outward from the outer surface of the tip 20 and arranged with an axial gap between them. In this embodiment, the pair of elastic bodies 22 and 23 are each annular (annular with a circular outer circumference) centered on the axis O. The front elastic body 22 is positioned at the front end of the tip 20, and the rear elastic body 23 is positioned a predetermined distance behind the front elastic body 22. The axial distance between the pair of elastic bodies 22 and 23 can be appropriately set according to the size of the pipe 2 to be moved, the curvature of the bent portion of the pipe 2, etc. The pair of elastic bodies 22 and 23 are each elastically deformable in the axial direction and radially around the axis O.

[0066] The pair of elastic bodies 22 and 23 are annular brushes with the same configuration as, for example, the brush 21 provided on the tip 20 of the pipe-in-mobile robot 1 according to the first embodiment. That is, the pair of elastic bodies 22 and 23 each have a number of bristles that protrude radially outward from the outer circumferential surface of the tip 20 around the axis O, and these bristles are arranged around the entire circumference of the circumferential direction around the axis O. The number of bristles constituting the elastic bodies 22 and 23 are made of a flexible and elastically deformable material, such as synthetic resin. The outer diameter of the elastic bodies 22 and 23 is approximately the same as the inner diameter of the pipe 2 that the pipe-in-mobile robot 1 moves through. Preferably, the outer diameter of the elastic bodies 22 and 23 is the same as or slightly larger than the inner diameter of the pipe 2 that the pipe-in-mobile robot 1 moves through. When the pipe-in-mobile robot 1 moves inside the pipe 2, the elastic bodies 22 and 23 come into contact with the inner circumferential surface of the pipe 2 at their outer circumferential ends 22a and 23a.

[0067] The tip portion 20, the cover body 50, and the nozzle 60 are configured to be contained within a virtual sphere 24 (shown by a dashed line in Figure 8) in which the outer peripheral ends 22a and 23a of a pair of elastic bodies 22 and 23 are inscribed over their entire circumference. The virtual sphere 24 is a sphere inscribed by the outer peripheral ends 22a and 23a of a pair of elastic bodies 22 and 23, with its center point being point 24a on the axis O at the midpoint between the pair of elastic bodies 22 and 23, which are spaced apart along the axis O. The cover body 50 and the nozzle 60 are entirely located inside the virtual sphere 24 without protruding outside of it.

[0068] In the pipe-moving robot 200 according to the third embodiment having such a configuration, the tip portion 20 is provided with a pair of elastic bodies 22 and 23 spaced apart in the axial direction, so that when moving inside the pipe 2, it can move along the pipe 2 while being supported by the pair of elastic bodies 22 and 23 at approximately the center of the pipe 2. Furthermore, for example as shown in Figure 9, when the tip portion 20 moves through a bent portion 2b provided between the straight portions 2a of the pipe 2, it moves forward while rotating around a point 24a which is the center of the virtual sphere 24. By ensuring that the cover body 50 and nozzle 60 are within the range of the virtual sphere 24, it is possible to make it difficult for the cover body 50 and nozzle 60 to come into contact with the inner surface of the bent portion 2b of the pipe 2 when the tip portion 20 moves through the bent portion 2b of the pipe 2. As a result, even if there is a step 2c at the connection point between the straight portion 2a and the bent portion 2b of the pipe 2, the cover body 50 and nozzle 60 will not get caught on the step 2c, and the tip portion 20 can smoothly pass through the bent portion 2b of the pipe 2. Furthermore, since the cover body 50 and nozzle 60 can be prevented from strongly contacting the inner surface of the bent portion 2b of the pipe 2, when the tip portion 20 moves along the bent portion 2b of the pipe 2, the transparent cover body 50 is prevented from being rubbed against and scratched by the inner surface of the bent portion 2b, and the camera 40 positioned inside the cover body 50 can take clearer images of the inside of the pipe 2.

[0069] In the third embodiment, the pair of elastic bodies 22 and 23 are annular in shape with respect to the axis O, but are not limited to this. As long as the tip portion 20 can be supported approximately in the center of the pipe 2, they may be configured as a roughly annular shape, such as a D shape with a small portion of the outer circumference cut off, or as an annular shape with a regular polygonal outer circumference. Also, in the third embodiment, the pair of elastic bodies 22 and 23 are not limited to brushes. As long as they have an annular shape with respect to the axis O of the tip portion 20, they may be made of other materials or configurations, such as flange-shaped or umbrella-shaped synthetic rubber, or other annular and elastically deformable members.

[0070] Next, a pipe-in-route mobile robot 300 according to the fourth embodiment of the present invention will be described based on Figures 10 and 11. In Figures 10 and 11, the same reference numerals are used to denote the members or parts corresponding to those described above.

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

[0072] As shown in Figure 10(a), in the pipe-in-robot 300 according to the fourth embodiment, a lighting device 25 is provided at the tip 20. The lighting device 25 is connected to a power supply (not shown) via wiring 25a. The lighting device 25 is mounted on the tip 20 facing forward and can illuminate the inside of the pipe 2 that the camera 40 photographs. For example, an LED light can be used as the lighting device 25.

[0073] Thus, in the pipe-mobile robot 300 according to the fourth embodiment, a lighting device 25 is provided at the tip 20, so that the camera 40 can clearly photograph the inside of the dark pipe.

[0074] As shown in Figure 10(b), in this embodiment, multiple illumination devices 25 are provided around the camera 40 of the tip portion 20 at intervals in the circumferential direction around the axis O. More specifically, five illumination devices 25 and one nozzle 60 are provided around the camera 40 of the tip portion 20 at intervals of 60 degrees in the circumferential direction around the axis O. The five illumination devices 25 are covered by a cover body 50. More specifically, a portion of the tip side of the five illumination devices 25 protrudes forward from the front end of the tip portion 20, and these protruding portions are fitted into recesses provided in the cover body 50.

[0075] This configuration allows the inside of the tube 2 to be illuminated more uniformly by the light emitted from the multiple lighting devices 25, enabling the camera 40 to capture clearer images of the dark inside of the tube 2. Furthermore, since the nozzle 60 can be positioned to avoid the required illumination range of the multiple lighting devices 25, it is possible to ensure the cleaning performance of the cover body 50 by the nozzle 60 while arranging multiple lighting devices 25 at the tip 20.

[0076] The number and arrangement of the lighting devices 25 installed at the tip 20 are not limited to those described above and can be changed as appropriate.

[0077] As shown in Figure 11, in the pipe-mounted mobile robot 300 according to the fourth embodiment, the discharge port 61 of the nozzle 60 has a shape in which the ratio of height H to width W (H:W) is in the range of 1:3 to 5. In this embodiment, the shape of the discharge port 61 of the nozzle 60 has a shape in which the ratio of height H to width W is 1:4. The opening area of ​​the discharge port 61 can be appropriately set based on the required injection pressure that allows the fluid to clean the flat surface 51 of the cover body 50.

[0078] This configuration allows the fluid to be sprayed from the discharge port 61 of the nozzle 60 toward the flat surface 51 of the cover body 50 to the required area with the required spray pressure, thereby effectively removing dirt adhering to the cover body 50.

[0079] The present invention is not limited to the embodiments described above, and it goes without saying that various modifications are possible without departing from the spirit of the invention.

[0080] For example, the fluid supplied by the fluid supply source 14 to the telescopic unit 11 and nozzle 60 is not limited to compressed air, but may be other liquids such as water or cleaning solution, or other gases such as nitrogen. If nitrogen is used as the fluid supplied by the fluid supply source 14 to the telescopic unit 11 and nozzle 60, the explosion-proof performance inside the pipe 2 through which the pipe-in-pipe mobile robot 1 moves can be improved. [Explanation of symbols]

[0081] 1. In-pipe mobile robot 2 tubes 2a Straight section 2b Bent part 2c step 10 Robot body 11 Extendable Unit 11a Cylindrical part 12 Connecting part 13 Expansion piping 14 Fluid supply source 15 Exhaust valve 15a Outlet 16 brushes 20 Tip 21 brushes 22 Elastic body 22a Outer edge 23 Elastic body 23a Outer edge 24 Virtual Sphere 24a points 25 Lighting devices 25a wiring 30 Elastic connection part 40 Cameras 41 Wiring 42 Display device 43 Angle of view 43a Short side 43b Long side 50 Cover Body 51 Plane part 52 Curved section 53 Back side 60 nozzles 61 Discharge port 62 Nozzle Piping 100 In-pipe mobile robots 200 In-pipe mobile robots 300 In-pipe mobile robots O axis C Control device D1 direction D2 direction H Height W width

Claims

1. A pipe-moving robot is provided, comprising a robot body with at least three expandable / contractible units, each of which expands radially and contracts axially when fluid is supplied, and configured to move inside a pipe by the peristaltic movement of the expandable / contractible units in a predetermined pattern, A camera attached to the tip of the aforementioned pipe-in-machine mobile robot, A transparent cover body attached to the tip and covering the camera, A nozzle having a discharge port that opens toward the outer surface of the cover body, A pipe-in-machine robot characterized by having a fluid supply source connected to the nozzle via nozzle piping and supplying fluid to the nozzle.

2. The fluid supply source is connected to the expansion / contraction unit via expansion / contraction piping, The expansion joint is further provided with an exhaust valve that can be switched between a state in which the fluid inside the expansion joint is discharged to the outside of the expansion joint through an outlet, and a state in which the outlet is closed. The pipe-operated mobile robot according to claim 1, wherein the nozzle piping is connected to the discharge port, and the fluid supply source is connected to the nozzle via the expansion / contraction piping, the exhaust valve, and the nozzle piping.

3. An elastically deformable elastic connecting part is provided between the robot body and the tip, and connects the robot body and the tip. Each of the following is an annular shape, roughly circular or with a regular polygonal outer circumference, centered on the axis of the tip, and further comprises a pair of elastic bodies that protrude radially outward from the outer surface of the tip and are spaced apart from each other in the axial direction. The pipe-in-machine robot according to claim 1 or 2, wherein the cover body and the nozzle are contained within the range of a virtual sphere in which the outer peripheral ends of each of the pair of elastic bodies are inscribed over their entire circumference.

4. A flat surface portion perpendicular to the axial direction is provided on the outer surface of the cover body. The pipe-in-route robot according to claim 1, wherein the angle of view of the camera is set to be within the range of the planar portion.

5. The pipe-in-pipe mobile robot according to claim 4, wherein the discharge port is directed in a direction inclined toward the flat portion at an angle of 5 to 10 degrees with respect to the direction perpendicular to the axial direction.

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