In-pipe mobile robot

Abstract

The objective is to provide a pipe-operated mobile robot that can easily be pulled out of the pipe if a malfunction occurs in the robot body. [Solution] A pipe-mobile robot equipped with a robot body 10, comprising a fluid supply source 21 connected to a plurality of telescopic units, and a control device 22 connected to the fluid supply source 21, wherein the control device 22 comprises a control unit 22a and a mode switching unit 22b that switches the control mode between a normal movement mode and an escape mode, and the control unit 22a is configured to control the operation of the fluid supply source 21 so that in the normal movement mode the plurality of telescopic units alternately deform between a fully expanded state and a natural state to perform peristaltic motion, and in the escape mode control the operation of the fluid supply source 21 so that the plurality of telescopic units deform between a non-fully expanded state and a slightly expanded state or a natural state.

Description

[Technical Field]

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

[0002] For example, in-pipe moving robots configured to move inside meandering pipes such as air ducts for air conditioners installed in office buildings, factories, detached houses, and the like are known. Such in-pipe moving robots are used in various applications such as inspection and cleaning of the inside of pipes.

[0003] Conventionally, such an in-pipe moving robot is known to include a plurality of expansion / contraction units each of which expands in a radial direction and contracts in an axial direction when fluid is supplied thereto, and is configured to move inside a pipe by peristaltic motion of the plurality of expansion / contraction units in a pattern (see, for example, Patent Document 1). [Prior Art Documents] [Patent Documents]

[0004] [Patent Document 1] Japanese National Publication of International Patent Application No. 2018-69125 [Summary of the Invention] [Problem to be Solved by the Invention]

[0005] When performing inspection of the inside of a pipe using such an in-pipe moving robot, if an abnormality occurs in the robot body and the in-pipe moving robot becomes unable to escape from the pipe by its own power, it is necessary to pull a traction member such as a harness connected to the robot body from outside the pipe to pull the in-pipe moving robot out of the pipe.

[0006] However, the telescopic unit installed on the robot body has a structure in which, for example, a large number of fiber bundles are arranged along the axial direction inside a cylindrical elastic body, allowing it to bend along the axial direction but making it difficult to stretch. Therefore, when the telescopic unit bends along the curved portion of the pipe, folds due to sagging are created on the inner circumference of the telescopic unit. Consequently, if the curved portion of the pipe is, for example, a molded product made of synthetic resin with an edge along the parting line of the mold on its inner circumference, there is a problem that when pulling the traction member to pull the pipe-mobilizing robot out of the pipe, the folds created in the telescopic unit may catch on the edge of the inner circumference of the curved portion of the pipe, making it difficult to pull the pipe-mobilizing robot out of the pipe.

[0007] This invention has been made in view of these problems, and its purpose is to provide a pipe-mobile robot that can easily pull out the robot body when it malfunctions from the pipe. [Means for solving the problem]

[0008] The pipe-moving robot of the present invention comprises a robot body having 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 pattern, and is characterized in that it comprises a fluid supply source individually connected to each of the plurality of expandable units by piping, and a control device connected to the fluid supply source, the control device comprising a control unit that controls the operation of the fluid supply source, and a mode switching unit that switches the control mode of the fluid supply source by the control unit between a normal movement mode and an escape mode, the control unit controls the operation of the fluid supply source so that in the normal movement mode the plurality of expandable units alternately deform in a pattern between a fully expanded state in which they expand radially and a natural state in which they do not expand to perform the peristaltic movement, and in the escape mode the control unit controls the operation of the fluid supply source so that the plurality of expandable units deform in a pattern between a non-fully expanded state in which they expand radially at an internal pressure lower than the fully expanded state, a slightly expanded state in which they expand radially at an internal pressure lower than the non-fully expanded state, or the natural state.

[0009] In the pipe-mobile robot of the present invention, in the above configuration, it is preferable that the robot has a traction device that pulls a traction member connected to the robot body in a direction that pulls the robot body out of the pipe, and a traction force detector that measures the traction force applied to the traction member, and that when the traction force measured by the traction force detector exceeds a predetermined value, the control mode is automatically switched by the mode switching unit from the normal movement mode to the escape mode.

[0010] In the pipe-mobile robot of the present invention, in the above configuration, it is preferable that the traction device, which pulls a traction member connected to the robot body in a direction that pulls the robot body out of the pipe, is configured such that the control unit activates the traction device when the control mode is switched from the normal movement mode to the escape mode by the mode switching unit.

[0011] In the above configuration, the pipe-mobile robot of the present invention preferably further includes a traction member comprising a fixing portion fixed to the tip of the robot body and a string-like portion having one end connected to the fixing portion and the other end extending from the rear end of the robot body through the inside of the robot body. [Effects of the Invention]

[0012] According to the present invention, it is possible to provide a pipe-operated mobile robot that can easily pull out the robot body from the pipe if an abnormality occurs. [Brief explanation of the drawing]

[0013] [Figure 1] This is a perspective view of a pipe-mounted mobile robot according to one embodiment of the present invention. [Figure 2] Figure 1 is a block diagram of the control unit. [Figure 3] (a) is a side view of a pipe-mounted robot operating in normal movement mode, with the telescopic unit in its natural state, and (b) is a side view of the telescopic unit in its fully expanded state. [Figure 4] This diagram schematically shows the operating pattern of the retractable unit during the peristaltic motion of the robot body shown in Figure 1. [Figure 5] (a) is a side view of a pipe-mobile robot operating in escape mode, with the telescopic unit in its natural state, and (b) is a side view of the telescopic unit in a non-fully expanded state. [Figure 6] (a) to (c) are explanatory diagrams showing how the telescopic unit moves along the bent portion of the pipe in escape mode. [Figure 7] This is a block diagram of the control unit related to the modified version. [Figure 8] (a) and (b) are explanatory diagrams showing the display state of the display panel in escape mode, respectively. [Figure 9] This is a block diagram of a control unit relating to another modification. [Figure 10] (a) is a partial side view of an in-pipe moving robot provided with a traction member, and (b) is a partial side view of an in-pipe moving robot provided with a traction member according to a modified example. MODE FOR CARRYING OUT THE INVENTION

[0014] Hereinafter, an in-pipe moving robot according to the present invention will be exemplified and described in detail with reference to the drawings.

[0015] An in-pipe moving robot 1 according to an 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 installed in, for example, an office building, a factory, a detached house, or the like.

[0016] The in-pipe moving robot 1 comprises a robot main body 10 and a control unit 20.

[0017] The robot main body 10, which is also called an earthworm-type robot, a peristaltic-type robot or the like, has an elongated shape extending along an axis O. The robot main body 10 is capable of moving inside the pipe in an axial direction (a direction along the axis O). That is, the robot main body 10 can advance inside the pipe. Note that the robot main body 10 may be configured to be capable of advancing and retreating inside the pipe.

[0018] The robot main body 10 comprises at least three expansion and contraction units 11 as a drive source for moving inside the pipe. In the present embodiment, the robot main body 10 comprises seven expansion and contraction units 11 (only four expansion and contraction units 11 are shown in Fig. 1). Note that, as long as the robot main body 10 comprises at least three expansion and contraction units 11, the number of the expansion and contraction units 11 can be appropriately changed.

[0019] 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 can contract radially and extend axially due to the elastic force of the cylindrical portion 11a, returning to its original shape. Each expandable / contractible unit 11 can be operated individually in a pattern.

[0020] 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.

[0021] 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.

[0022] 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.

[0023] The robot body 10 may be configured with multiple brushes 13 spaced apart in the axial direction. In this embodiment, each telescopic unit 11 is provided with a brush 13 in a substantially annular shape centered on axis O at both ends in the axial direction. By providing multiple brushes 13, the robot body 10 can efficiently move along the pipe by ensuring that it is supported approximately in the center of the pipe by the multiple brushes 13 when moving inside the pipe. In addition, by providing brushes 13, the robot body 10 can clean the inside of the pipe by collecting foreign matter (dirt) such as debris attached to the inner surface of the pipe with the brushes 13 when moving inside the pipe.

[0024] In this embodiment, the robot body 10 is provided with multiple brushes 13, 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. Alternatively, the robot body 10 may be configured without multiple brushes 13 or other members having a substantially annular shape centered on the axis O.

[0025] The robot body 10 may be configured to have a tip portion 14 at the end on the side that moves in the direction of forward movement (left side in Figure 1). In this embodiment, the tip portion 14 is cylindrical with an axis O, and a brush 15 in a substantially annular shape with an axis O is provided on the outer circumferential surface of its front end. Because the tip portion 14 is provided with a brush 15, when it moves inside the pipe, it can move along the pipe while being supported by the brush 15 at approximately the center of the pipe 2. In addition, because the tip portion 14 is provided with a brush 15, when it moves inside the pipe 2, it can collect foreign matter (dirt) such as debris attached to the inner circumferential surface of the pipe with the brush 15 and clean the inside of the pipe.

[0026] In this embodiment, a brush 15 is provided on the tip portion 14, 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. Alternatively, the tip portion 14 may be configured without a brush 15 or other members having a substantially annular shape centered on the axis O.

[0027] The tip section 14 can be configured to be connected to the foremost telescopic unit 11 of the robot body 10 by an elastic connector 16. The elastic connector 16 is made of a compression coil spring extending along the axis O and can be elastically deformed to contract along the axis O. In addition, the elastic connector 16 can be flexibly elastically deformed to curve relative to the axis O. Therefore, when the tip section 14 reaches a bend in the pipe, the elastic connector 16 can bend in the direction along the bend by elastically deforming to curve relative to the axis O.

[0028] Furthermore, the elastic connecting portion 16 is not limited to the compression coil spring described above, but may be any other material, such as a rubber tube, as long as it connects the telescopic unit 11 and the tip portion 14 and is elastically deformable to curve with respect to the axis O between the telescopic unit 11 and the tip portion 14. Also, the telescopic unit 11 may be configured to be directly connected to the telescopic unit 11 without the elastic connecting portion 16, or it may be configured to be integrally provided at the front end of the telescopic unit 11.

[0029] The robot body 10 can also be configured to have a transparent cover 17 at the tip (front end) of the tip section 14, and a camera (not shown) for photographing the inside of the tube inside this cover 17.

[0030] The control unit 20 controls the operation of the robot body 10 and is connected to the robot body 10 by a harness 18.

[0031] As shown in Figure 2, the control unit 20 includes a fluid supply source 21 and a control device 22.

[0032] In this embodiment, the control unit 20 is configured as a single unit, with the fluid supply source 21 and the control device 22 housed in a single housing 23. However, the fluid supply source 21 and the control device 22 may be configured separately, rather than being housed in a single housing 23.

[0033] The fluid supply source 21 is individually connected to each of the extendable units 11 of the robot body 10 by multiple extendable pipes 24. Although only three extendable pipes 24 are shown in Figure 2, the fluid supply source 21 is individually connected to each of the corresponding multiple (seven in this embodiment) extendable units 11 by multiple (seven in this embodiment) extendable pipes 24. The multiple extendable pipes 24 are inserted into and bundled in a tube that constitutes a harness 18.

[0034] The fluid supply source 21 is a device that combines a pressure source, such as an air compressor that supplies compressed air, with a direction controller, such as a solenoid valve. The pressure source may be located outside the housing 23. The fluid supply source 21 supplies fluid from the pressure source to multiple expansion / contraction pipes 24 via the direction controller, thereby supplying fluid to the inside of the cylindrical portion 11a of multiple expansion / contraction units 11 in individual patterns via the multiple expansion / contraction pipes 24. The fluid supply source 21 also has multiple exhaust valves (not shown) corresponding to each of the multiple expansion / contraction pipes 24, so that after stopping the supply of fluid to the expansion / contraction unit 11, the fluid inside the cylindrical portion 11a can be exhausted to the outside through the exhaust valves. For example, a solenoid valve can be used as the exhaust valve. The exhaust valves may be provided separately for each of the multiple expansion / contraction pipes 24, in addition to the fluid supply source 21. Furthermore, the fluid supply source 21 may be configured to include multiple pressure sources corresponding to multiple expansion joints 24, and to supply fluid directly from the pressure sources corresponding to the multiple expansion joints 24 without using a direction controller.

[0035] The control device 22 consists of a computer equipped with a CPU (Central Processing Unit), memory, etc., and is connected to the fluid supply source 21.

[0036] The control device 22 includes a control unit 22a and a mode switching unit 22b. The control unit 22a and the mode switching unit 22b are each provided as functions of the control device 22 that are executed by a computer.

[0037] The control unit 22a controls the operation of the fluid supply source 21. More specifically, the control unit 22a controls the operation of the fluid supply source 21 by outputting a command signal obtained by the CPU calculating a program stored in memory or the like towards the fluid supply source 21.

[0038] The mode switching unit 22b switches the control mode of the fluid supply source 21 by the control unit 22a between normal movement mode and escape mode.

[0039] The mode switching by the mode switching unit 22b may be configured to switch modes according to the operation of the mode switching switch 25 provided on the control unit 20 when it is operated manually, or it may be configured to automatically switch from normal movement mode to escape mode when an abnormality is detected in the robot body 10. The configuration for automatically switching modes will be explained in the section describing the control unit 20 related to other modifications shown in Figure 9.

[0040] The normal movement mode is a mode in which the robot body 10 moves inside the pipe by causing multiple telescopic units 11 to perform a peristaltic movement in a pattern. In the normal movement mode, the control unit 22a controls the operation of the fluid supply source 21 so that the multiple telescopic units 11 perform a peristaltic movement by alternately deforming in a pattern between a fully expanded state in which they expand radially and a natural state in which they do not expand. That is, in the normal movement mode, the fluid supply source 21 is controlled by the control unit 22a so that each telescopic unit 11 deforms in a pattern between a fully expanded state in which fluid is supplied from the fluid supply source 21 to the inside of the cylindrical part 11a through the expansion / contraction piping 24 and expands radially, and a natural state in which the supply of fluid from the fluid supply source 21 is stopped and the fluid inside the cylindrical part 11a of the telescopic unit 11 is exhausted to the outside through the exhaust valve and the internal pressure becomes atmospheric pressure. As a result, in the normal movement mode, the multiple telescopic units 11 as a whole perform a peristaltic movement in a pattern, and the robot body 10 can move inside the pipe.

[0041] As shown in Figure 3(a), the natural state of the telescopic unit 11 in normal movement mode is when no fluid is supplied to the telescopic unit 11 from the fluid supply source 21, the inside of the cylindrical portion 11a of the telescopic unit 11 becomes atmospheric pressure, and the telescopic unit 11 does not expand and remains in a cylindrical shape. On the other hand, as shown in Figure 3(b), the fully expanded state of the telescopic unit 11 in normal movement mode is when fluid is supplied to the inside of the cylindrical portion 11a of the telescopic unit 11 from the fluid supply source 21, and the telescopic unit 11 expands radially to a diameter D1 so that the internal pressure of the cylindrical portion 11a reaches a predetermined value. Furthermore, the fully expanded state of the telescopic unit 11 in normal movement mode is also a state in which the telescopic unit 11 has expanded to the extent that it can contact the inner surface of the pipe and hold the robot body 10 in the pipe.

[0042] Figure 4 shows an example of the peristaltic motion pattern of the multiple telescopic units 11 when the robot body 10 operates in normal movement mode and moves axially to one side inside the pipe 2, that is, when it moves forward to the left in Figure 4.

[0043] First, as shown in Figure 4(a), the leftmost (front) telescopic unit 11 and the second telescopic unit 11 from the left in Figure 4 are expanded radially to a fully expanded state while simultaneously being contracted axially. The two fully expanded telescopic units 11 each come into contact with the inner surface of the pipe 2 around their entire circumference. As a result, the robot body 10 is held axially by the two fully expanded telescopic units 11.

[0044] Next, from the state shown in Figure 4(a), as shown in Figure 4(b), the leftmost telescopic unit 11 is returned to its original natural state, while the third telescopic unit 11 from the left is expanded radially to a fully expanded state and contracted axially. At this time, the second telescopic unit 11 from the left is in contact with the inner 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 4(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 surface of the pipe 2 and maintaining its axial position, the right end (rear end) of the robot body 10 also moves to the left from the position shown in Figure 4(a).

[0045] Next, from the state shown in Figure 4(b), as shown in Figure 4(c), the second telescopic unit 11 from the left is returned to its original natural state, while the fourth telescopic unit 11 from the left is expanded radially to a fully expanded state and contracted 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 4(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 4(b).

[0046] The same procedure is then used to operate the telescopic units 11 in the pattern described above until the rightmost telescopic unit 11 is reached. Once the pattern reaches the rightmost telescopic unit 11, the process is repeated, returning to the beginning and operating the telescopic units 11 in the pattern described above, as shown in Figure 4(d).

[0047] Thus, in the normal movement mode, the fluid supply source 21 is controlled by the control unit 22a to cause the multiple telescopic units 11 to perform peristaltic motion in the pattern described above, allowing the robot body 10 to move forward inside the pipe 2 towards the left in Figure 4. Furthermore, by controlling the fluid supply source 21 to operate the multiple telescopic units 11 in a pattern opposite to that shown in Figure 4, the robot body 10 can move backward inside the pipe 2 towards the right in Figure 3. In other words, in the normal movement mode, the robot body 10 can move forward and backward inside the pipe 2 by controlling the fluid supply source 21 to cause the multiple telescopic units 11 to perform the peristaltic motion described above.

[0048] Furthermore, the peristaltic motion pattern of the multiple retractable units 11 in normal movement mode is not limited to the above; other patterns are also acceptable as long as they allow the robot body 10 to move forward and backward.

[0049] The escape mode is used when an abnormality occurs in the robot body 10, and the robot body 10 is pulled out of the pipe 2 by pulling the harness 18 or traction member from outside the pipe 2 without allowing the robot body 10 to move on its own. In escape mode, the control unit 22a controls the operation of the fluid supply source 21 so that the multiple telescopic units 11 deform in a pattern between a non-completely expanded state, where they expand radially at an internal pressure lower than the fully expanded state, and a natural state. In other words, in escape mode, the fluid supply source 21 is controlled by the control unit 22a so that each telescopic unit 11 deforms in a pattern between a non-completely expanded state, where fluid is supplied from the fluid supply source 21 to the inside of the cylindrical part 11a through the expansion / contraction piping 24 and they expand radially at an internal pressure lower than the fully expanded state, and a natural state, where the fluid supply from the fluid supply source 21 is stopped and the fluid inside the cylindrical part 11a of the telescopic unit 11 is exhausted to the outside through the exhaust valve, causing the internal pressure to become atmospheric pressure.

[0050] In escape mode, only one selected expandable / contractible unit 11 may be deformed between an incompletely expanded state and a natural state; multiple expandable / contractible units 11 may be deformed one by one from the front to the rear in an incompletely expanded state and a natural state; multiple expandable / contractible units 11 that are even-numbered from the front may be grouped together and simultaneously deformed between an incompletely expanded state and a natural state, and then multiple expandable / contractible units 11 that are odd-numbered from the front may be grouped together and simultaneously deformed between an incompletely expanded state and a natural state; or all expandable / contractible units 11 may be deformed between an incompletely expanded state and a natural state simultaneously. Furthermore, in escape mode, the expandable / contractible units 11 selected in the above patterns may be repeatedly deformed alternately between an incompletely expanded state and a natural state a predetermined number of times.

[0051] Furthermore, in escape mode, the control unit 22a may be configured to control the operation of the fluid supply source 21 such that the time the telescopic unit 11 is in its natural state is longer than the time the telescopic unit 11 is in a non-fully expanded state.

[0052] As shown by the solid line in Figure 5(a), the natural state of the telescopic unit 11 in escape mode is a state in which no fluid is supplied to the telescopic unit 11 from the fluid supply source 21, the inside of the cylindrical portion 11a of the telescopic unit 11 becomes atmospheric pressure, and it remains cylindrical without expanding. In other words, the natural state of the telescopic unit 11 in escape mode is the same as the natural state of the telescopic unit 11 in normal movement mode. On the other hand, as shown in Figure 5(b), the non-completely expanded state of the telescopic unit 11 in escape mode is a state in which fluid is supplied to the inside of the cylindrical portion 11a of the telescopic unit 11 from the fluid supply source 21, the internal pressure of the cylindrical portion 11a is lower than that of the fully expanded state, and it expands radially to a diameter D2 that is smaller than the diameter D1 of the telescopic unit 11 in the fully expanded state. Preferably, the internal pressure of the cylindrical portion 11a in the non-completely expanded state is 90% or less of the internal pressure of the cylindrical portion 11a in the fully expanded state. Thus, in the escape mode, the incompletely expanded state of the telescopic unit 11 has a lower internal pressure than in the fully expanded state in the normal movement mode, and the diameter D2 of the telescopic unit 11 is smaller than the diameter D1. Therefore, in the escape mode, the telescopic unit 11, when expanded to the incompletely expanded state, can easily move axially relative to the pipe 2 without contacting the inner circumferential surface of the pipe 2 and having its axial position maintained. Furthermore, in the escape mode, the telescopic unit 11, when expanded to the incompletely expanded state, is in a moderately expanded state, which makes it less likely for folds to form due to sagging in the bent inner circumferential portion when the cylindrical portion 11a is bent in the axial direction.

[0053] In escape mode, the pressure of the fluid supplied from the fluid supply source 21 to the telescopic unit 11 may be made lower than the pressure of the fluid supplied to the telescopic unit 11 in normal movement mode, thereby making the internal pressure of the cylindrical portion 11a in the non-fully expanded state lower than the internal pressure of the cylindrical portion 11a in the fully expanded state. Alternatively, in escape mode, the pressure of the fluid supplied from the fluid supply source 21 to the telescopic unit 11 may be kept the same as the pressure of the fluid supplied to the telescopic unit 11 in normal movement mode, while shortening the time for supplying fluid to the telescopic unit 11, thereby making the internal pressure of the cylindrical portion 11a in the non-fully expanded state lower than the internal pressure of the cylindrical portion 11a in the fully expanded state.

[0054] Furthermore, in escape mode, the telescopic unit 11 may be alternately deformed between a non-fully expanded state and a slightly expanded state, which is a state in which the unit expands radially to a diameter D3 smaller than the diameter D2 by expanding radially at an internal pressure lower than that of the non-fully expanded state. Preferably, the internal pressure of the cylindrical portion 11a in the slightly expanded state is 30% or less of the internal pressure of the cylindrical portion 11a in the fully expanded state. As shown by the dashed line in Figure 5(a), the slightly expanded state is a state in which the unit is slightly expanded compared to its natural state. With this configuration, even when the telescopic unit 11 is switched from the non-fully expanded state to the slightly expanded state, it is less likely that folds 11b will form on the inner circumference side of the cylindrical portion 11a due to sagging.

[0055] In the pipe-mobile robot 1 according to this embodiment, when an abnormality occurs in the robot body 10, and the robot body 10 is pulled out of the pipe 2 by pulling the harness 18 or traction member from outside the pipe 2 without allowing the robot body 10 to move on its own, the control mode of the control unit 22a is switched from the normal movement mode to the escape mode by the mode switching unit 22b. As shown in Figure 6, even if the bent portion 2a of the pipe 2 is a molded product made of synthetic resin having an edge 2b along the parting line of the mold on its inner circumference, the robot body 10 can be easily pulled out of the pipe 2.

[0056] In other words, as shown in Figure 6(a), the cylindrical portion 11a is designed to bend in the axial direction but not to stretch easily. Therefore, when the telescopic unit 11 is positioned in its natural state at the bent portion 2a of the pipe 2, multiple folds 11b are formed on the inner circumference of the cylindrical portion 11a due to slack. When the harness 18 or traction member is pulled from outside the pipe 2 to pull the robot body 10 out of the pipe 2, a force is applied to the telescopic unit 11 toward the inner circumference. As a result, the folds 11b strongly catch on the edge 2b of the bent portion 2a of the pipe 2, making it difficult to pull the robot body 10 out of the pipe 2.

[0057] In contrast, as shown in Figure 6(b), when the control unit 22a controls the operation of the fluid supply source 21 in escape mode, the telescopic unit 11 expands to a non-fully expanded state, causing the multiple folds 11b that were present on the cylindrical portion 11a in its natural state to stretch, resulting in the cylindrical portion 11a becoming a substantially cylindrical shape without folds 11b, thus eliminating the problem of the telescopic unit 11 catching on the edge 2b. Furthermore, at this time, the telescopic unit 11 only expands to a non-fully expanded state, which has a smaller diameter than the fully expanded state. Therefore, the telescopic unit 11 in its non-fully expanded state does not come into contact with the inner circumferential surface of the bent portion 2a of the pipe 2 and is not held by that inner circumferential surface. Consequently, in escape mode, by pulling the harness 18 or traction member from outside the pipe 2 at the timing when the telescopic unit 11 is in a non-fully expanded state, the robot body 10 can be moved inside the bent portion 2a of the pipe 2 to a position where the folds 11b do not catch on the edge 2b when the telescopic unit 11 is in its natural state or slightly expanded state, as shown in Figure 6(c). If the fold 11b does not get caught on the edge 2b after a single movement, the harness 18 and traction members should be repeatedly pulled from outside the pipe 2 each time the retractable unit 11 is in a non-fully expanded state in escape mode, so that the retractable unit 11 moves inside the bent portion 2a of the pipe 2 to a position where the fold 11b does not get caught on the edge 2b when the retractable unit 11 is in its natural state or slightly expanded state. Once the retractable unit 11 has been moved inside the bent portion 2a of the pipe 2 to a position where the fold 11b does not get caught on the edge 2b when the retractable unit 11 is in its natural state or slightly expanded state, the robot body 10 can then be easily pulled out of the pipe 2 by further pulling the harness 18 and traction members from outside the pipe 2.

[0058] In escape mode, if it is possible to determine which of the telescopic units 11 of the robot body 10 that has stopped inside pipe 2 is located at the bent portion 2a of pipe 2, based on various information such as the length of pipe 2, the length of the harness 18 that has been pulled into the inside of pipe 2, and the image of the inside of pipe 2 taken by the camera, then only the telescopic unit 11 that has been determined to be located at the bent portion 2a of pipe 2 should be deformed in escape mode from an incompletely expanded state to a natural state, while the harness 18 and traction members are pulled from outside pipe 2.

[0059] On the other hand, if it is not possible to determine which of the telescopic units 11 of the robot body 10 that has stopped inside the pipe 2 is located at the bent portion 2a of the pipe 2, then the multiple telescopic units 11 can be deformed one by one in sequence from an incompletely expanded state to a natural state in escape mode, or a group of even-numbered telescopic units 11 counting from the front can be simultaneously deformed from an incompletely expanded state to a natural state, and then a group of odd-numbered telescopic units 11 counting from the front can be simultaneously deformed from an incompletely expanded state to a natural state, or all of the telescopic units 11 can be simultaneously deformed from an incompletely expanded state to a natural state while the harness 18 or traction member is pulled from outside the pipe 2.

[0060] Thus, in the pipe-moving robot 1 according to this embodiment, the operation of the control unit 22a can be switched between a normal movement mode and an escape mode by the mode switching unit 22b. In the escape mode, the control unit 22a controls the operation of the fluid supply source 21 so that the multiple telescopic units 11 deform in a pattern to an incomplete expansion state in which they expand radially at an internal pressure lower than that of a fully expanded state, and to a slightly expanded state or natural state in which they expand radially at an internal pressure lower than that of an incomplete expansion state. Therefore, even if there is an edge 2b in the bent portion 2a of the pipe 2, by operating the telescopic units 11 in escape mode, the snagging of the telescopic units 11 on the edge 2b can be eliminated, and the robot body 10 can be easily pulled out of the pipe 2.

[0061] Figure 7 is a block diagram of the control unit 20 according to a modified example, and Figures 8(a) and 8(b) are explanatory diagrams showing the display state of the display panel in escape mode, respectively. In Figures 7 and 8, the same reference numerals are used for the aforementioned components or parts.

[0062] As shown in Figure 7 as a modified example, the control unit 20 can also be configured to include a display panel 30.

[0063] The display panel 30 has multiple indicator lamps 31 corresponding to each of the multiple telescopic units 11. In Figure 7, only three indicator lamps 31 corresponding to three telescopic units 11 are shown as an example, but the display panel 30 has multiple (seven in this embodiment) indicator lamps 31 corresponding to multiple (seven in this embodiment) telescopic units 11 arranged in a straight line. The order in which the multiple indicator lamps 31 are arranged corresponds to the order in which the multiple telescopic units 11 are arranged from the front to the rear of the robot body 10.

[0064] The display panel 30 is connected to the control unit 22a. The operation of the display panel 30 is controlled by the control unit 22a so that, in escape mode, the indicator lamp 31 corresponding to the telescopic unit 11 that has been supplied with fluid from the fluid supply source 21 and is in a non-fully expanded state lights up. For example, as shown in Figure 8(a), in escape mode, when the frontmost telescopic unit 11 of the robot body 10 is expanded to a non-fully expanded state by the fluid supply source 21, the operation of the display panel 30 is controlled by the control unit 22a so that the leftmost indicator lamp 31 in Figure 7, corresponding to this frontmost telescopic unit 11, lights up. Also, as shown in Figure 8(b), in escape mode, when the second telescopic unit 11 from the front of the robot body 10 is expanded to a non-fully expanded state by the fluid supply source 21, the operation of the display panel 30 is controlled by the control unit 22a so that the second indicator lamp 31 from the left in Figure 7, corresponding to this second telescopic unit 11, lights up. Furthermore, although not shown in detail, if multiple telescopic units 11 expand to an incompletely expanded state simultaneously, the control unit 22a controls the operation of the display panel 30 so that multiple indicator lamps 31 corresponding to the multiple telescopic units 11 that have expanded to an incompletely expanded state light up. In Figure 7, illuminated indicator lamps 31 are shown as circles and unlit indicator lamps 31 are shown as horizontal bars, but the display method is not limited to these.

[0065] In this configuration, the control unit 20 is equipped with a display panel 30, which allows the user to recognize which of the multiple telescopic units 11 is in an incompletely inflated state in escape mode by the illumination of the indicator lamp 31. Therefore, in escape mode, the user only needs to pull the harness 18 or traction member from outside the pipe 2 when the indicator lamp 31 illuminates. As a result, the telescopic unit 11 is pulled and moves inside the pipe 2 when it is released from being caught on the edge 2b, allowing the robot body 10 to be efficiently pulled out of the pipe 2.

[0066] For example, if it is possible to determine which of the telescopic units 11 of the robot body 10 that has stopped inside the pipe 2 is located at the bent portion 2a of the pipe 2, based on various information such as the length of the pipe 2, the length of the harness 18 that has been pulled into the pipe 2, and the image of the inside of the pipe 2 taken by the camera, then the user can easily pull the robot body 10 out of the pipe 2 by pulling the harness 18 or traction member from outside the pipe 2 when the indicator lamp 31 corresponding to the telescopic unit 11 that has been determined to be located at the bent portion 2a of the pipe 2 lights up.

[0067] On the other hand, if it is not possible to determine which of the telescopic units 11 of the robot body 10 that has stopped inside the pipe 2 is located at the bent portion 2a of the pipe 2, the user can easily pull the robot body 10 out of the pipe 2 by pulling the harness 18 or traction member from outside the pipe 2 each time one of the indicator lamps 31 lights up.

[0068] In the modified configuration shown in Figure 7, the control unit 20 is configured to include a speaker 32 in addition to the display panel 30. The speaker 32 is connected to the control unit 22a and is controlled by the control unit 22a to emit an operating sound when at least one of the multiple retractable units 11 expands to an incompletely expanded state in escape mode.

[0069] In this configuration, the control unit 20 is equipped with a speaker 32, which allows the user to recognize when at least one of the telescopic units 11 has expanded to an incomplete state in escape mode by the sound emitted by the speaker 32. Therefore, in escape mode, the user only needs to pull the harness 18 or traction member from outside the pipe 2 at the moment the speaker 32 emits a sound. As a result, the telescopic unit 11 is pulled and moves inside the pipe 2 at the moment the snag on the edge 2b of the telescopic unit 11 is released, allowing the robot body 10 to be efficiently pulled out of the pipe 2.

[0070] The control unit 20 may be configured to have only one of either the display panel 30 or the speaker 32. Furthermore, the display panel 30 of the control unit 20 is not limited to the configuration with multiple indicator lamps 31 as described above; it may also be configured to include a video display, such as an LCD (liquid crystal display), that shows which expansion / contraction unit 11 is in an incompletely expanded state.

[0071] Figure 9 is a block diagram of a control unit relating to another modification. In Figure 9, the same reference numerals are used for the components or parts mentioned above.

[0072] Figure 9 shows another modified example of the control unit 20, which includes a display panel 30, and the control device 22 has an abnormality detection unit 22c. When the abnormality detection unit 22c detects an abnormality in the robot body 10, the mode switching unit 22b is configured to automatically switch the control mode from normal movement mode to escape mode.

[0073] More specifically, in another variant, the control unit 20 is connected to multiple expansion pipes 24, each corresponding to a plurality of expansion units 11, and includes multiple pressure sensors 26 that measure the internal pressure of the corresponding expansion unit 11 via the expansion pipes 24. Although Figure 9 shows only three pressure sensors 26 corresponding to three expansion pipes 24, the control unit 20 includes multiple (seven in this embodiment) pressure sensors 26 corresponding to multiple (seven in this embodiment) expansion pipes 24.

[0074] Multiple pressure sensors 26 are each connected to an abnormality detection unit 22c, which is connected to a control unit 22a and a mode switching unit 22c. The abnormality detection unit 22c can detect abnormalities in the robot body 10 based on the internal pressure of the telescopic unit 11 input from the pressure sensors 26. For example, if cracks or holes occur in the cylindrical part 11a of the telescopic unit 11 due to damage, and the internal pressure of the telescopic unit 11 does not reach the specified pressure when fluid is supplied from the fluid supply source 21 in normal movement mode, the abnormality detection unit 22c detects the abnormality, i.e., an abnormality in which the robot body 10 cannot perform normal movement operations, based on the measured value of the internal pressure of the telescopic unit 11 measured by the pressure sensors 26.

[0075] When the abnormality detection unit 22c detects an abnormality in the robot body 10, the mode switching unit 22b automatically switches the control mode of the fluid supply source 21 by the control unit 22a from normal movement mode to escape mode. In other words, when an abnormality occurs in the robot body 10 and it is necessary to pull the robot body 10 out of the pipe 2 by pulling the harness 18 or traction member from outside the pipe 2, the control mode is automatically switched to escape mode without the user having to manually switch the control mode. Therefore, when an abnormality occurs in the robot body 10, the robot body 10 can be pulled out of the pipe 2 more easily without the user having to manually switch the control mode.

[0076] When the abnormality detection unit 22c detects an abnormality in the robot body 10, the indicator lamp 31 on the display panel 30 corresponding to the abnormal telescopic unit 11 may be illuminated to indicate the abnormality. In the case shown in Figure 9, the indicator lamp 31 on the display panel 30 corresponding to the abnormal telescopic unit 11 is illuminated in an "X" shape. Note that the indicator lamp 31 may be illuminated in various states, such as red, rather than just an "X" shape, as long as it can indicate an abnormality.

[0077] The mode switching unit 22b may also be configured to allow the operator to manually switch the control mode from normal movement mode to escape mode when pulling the robot body 10 out of the pipe 2 by pulling the harness 18 or traction member from outside the pipe 2 and the operator feels that it is difficult to pull the robot body 10 out of the pipe 2.

[0078] The control unit 20 shown in Figure 9 further includes a traction device 50 that pulls a traction member 40 connected to the robot body 10 in a direction that pulls the robot body 10 out of the pipe 2. In the illustrated example, the traction member 40 is located outside the housing 23, but it may be built into the housing 23. The traction device 50 may be, for example, an electrically operated winding device that winds up the traction member 40. In this case, the traction device 50 is configured to be able to pull the robot body 10 out of the pipe 2 by winding up the traction member 40.

[0079] The control unit 20 shown in Figure 9 is further equipped with a traction force detector 51. The traction force detector 51 is installed between the first portion 40a of the traction member 40 connected to the robot body 10 and the second portion 40b on the traction device 50 side, and can measure the traction force between the first portion 40a and the second portion 40b, i.e., the traction force related to the traction member 40. The traction force detector 51 can be configured to include, for example, a load cell (not shown). If the traction device 50 is configured to pull the robot body 10 out of the pipe 2 by winding up the harness 18, the traction force detector 51 should be installed on the harness 18.

[0080] The traction force detector 51 is connected to the control unit 22a. The control unit 22a is configured to automatically switch the control mode from normal movement mode to escape mode by the mode switching unit 22b when the traction force measured by the traction force detector 51 exceeds a predetermined value (for example, 1200N or more) when the traction device 50 is pulling the traction member 40 or harness 18 connected to the robot body 10.

[0081] The traction device 50 is connected to the control unit 22a, and its operation is controlled by the control unit 22a.

[0082] For example, the traction device 50 is controlled by the control unit 22a to be activated when the control mode is switched from normal movement mode to escape mode by the mode switching unit 22b. Therefore, when the abnormality detection unit 22c detects an abnormality in the robot body 10, the control mode is automatically switched from normal movement mode to escape mode by the mode switching unit 22b, and the traction device 50 is automatically activated. The robot body 10 is then pulled out of the pipe 2 as the traction device 50 retracts the traction member 40, while the extension unit 11 expands to its non-expanded state, resolving any catching on the edge 2b of the bent portion 2a of the pipe 2. Thus, when an abnormality occurs in the robot body 10, the control mode is automatically switched to escape mode and the robot body 10 is pulled out of the pipe 2 without the user having to switch the control mode or perform any traction operations. Therefore, when an abnormality occurs in the robot body 10, the robot body 10 can be pulled out of the pipe 2 more easily without the user having to manually switch the control mode or perform any traction operations.

[0083] Furthermore, the traction device 50 can also be manually activated to pull the robot body 10 out of the pipe 2. In this case, as described above, when the traction force measured by the traction force detector 51 when the traction device 50 pulls the traction member 40 or harness 18 connected to the robot body 10 exceeds a predetermined value (for example, 1200N or more), the control mode is automatically switched from normal movement mode to escape mode. Therefore, even when there is an edge 2b on the bent portion 2a of the pipe 2, the robot body 10 is pulled out of the pipe 2 as the telescopic unit 11 expands to a non-expanded state, eliminating any snagging on the edge 2b of the bent portion 2a of the pipe 2, and as the traction device 50 winds up the traction member 40 or harness 19. Thus, the robot body 10 can be pulled out of the pipe 2 more easily without the user having to manually switch control modes or perform traction work.

[0084] Figure 10(a) is a side view of a part of a pipe-in-mobile robot equipped with a traction member, and Figure 10(b) is a side view of a part of a pipe-in-mobile robot equipped with a traction member according to a modified example. In Figure 10, the same reference numerals are used for the aforementioned members or parts.

[0085] As shown in Figure 10(a), the pipe-in-pipe mobile robot 1 may have a traction member 40 comprising a fixing part 41 fixed to the tip of the robot body 10, and a string-like part 42 whose one end is connected to the fixing part 41 and whose other end is pulled out from the rear end of the robot body 10 through the inside of the robot body 10.

[0086] In the case shown in Figure 10(a), the user can pull the robot body 10 inside the pipe 2 and pull it out of the pipe 2 by pulling the string-like portion 42 of the traction member 40.

[0087] The fixing part 41 is formed from, for example, steel, in a disc shape with a diameter larger than the hole or gap through which the string-like part 42 of the robot body 10 is inserted. Therefore, when the towing member 40 is pulled to tow the robot body 10, even if a part of the robot body 10 is damaged by the towing force, the damaged part can get caught on the fixing part 41, allowing the entire part of the robot body 10 to be pulled out of the pipe 2 together with the fixing part 41.

[0088] As shown in Figure 10(b), the traction member 40 can also be configured such that the string-like portion 42 is divided into a first portion 42a connected to the fixing portion 41 and a second portion 42b connected to the control unit 20, and a first fastening portion 42c connected to the first portion 42a and a second fastening portion 42d connected to the second portion 42b are detachably connected.

[0089] 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.

[0090] For example, the fluid supplied by the fluid supply source 21 to the expandable unit 11 is not limited to compressed air, but may also be other compressible fluids such as nitrogen, or other incompressible fluids such as water. [Explanation of symbols]

[0091] 1. In-pipe mobile robot 2 tubes 2a Bent part 2b edge 10 Robot body 11 Extendable Unit 11a Cylindrical part 11b Fold 12 Connecting part 13 brushes 14 Tip 15 brushes 16 Elastic connection part 17 Cover 18 Harness 20 Control Units 21 Fluid supply source 22 Control device 22a Control Unit 22b Mode switching section 22c Anomaly detection unit 23 cabinets 24 Expansion piping 25 Mode selector switch 26 Pressure Sensor 30 Display Panel 31 Indicator lights 32 speakers 40. Traction Member 40a Part 1 40b Part 2 41 Fixed part 42 String-like part 42a Part 1 42b Part 2 42c 1st fastening part 42d 2nd fastening part 50 Traction device 51. Traction force detector O axis D1 diameter D2 diameter D3 Diameter

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 pattern, Each of the multiple extension units is individually connected to a fluid supply source by piping, The control device is associated with the fluid supply source, The control device, A control unit that controls the operation of the fluid supply source, The control unit has a mode switching unit that switches the control mode of the fluid supply source between a normal movement mode and an escape mode. The control unit, In the normal movement mode, the operation of the fluid supply source is controlled so that the multiple expansion and contraction units alternately deform in a pattern between a fully expanded state in which they expand radially and a natural state in which they do not expand, thereby performing the peristaltic motion. In the escape mode, the operation of the fluid supply source is controlled so that a plurality of the expansion and contraction units deform in a pattern between a non-expanded state in which they expand radially at an internal pressure lower than the fully expanded state, and a slightly expanded state in which they expand radially at an internal pressure lower than the non-expanded state, or the natural state.

2. A traction device that pulls the traction member connected to the robot body in a direction that pulls the robot body out of the pipe, It includes a traction force detector for measuring the traction force applied to the traction member, The pipe-in-machine robot according to claim 1, wherein the control mode is automatically switched from the normal movement mode to the escape mode by the mode switching unit when the traction force measured by the traction force detector exceeds a predetermined value.

3. The traction device has a traction member connected to the robot body that pulls the robot body in a direction that pulls the robot body out of the pipe. The pipe-in-route robot according to claim 1 or 2, wherein the control unit is configured to activate the traction device when the control mode is switched from the normal movement mode to the escape mode by the mode switching unit.

4. The pipe-mobile robot according to claim 1 or 2, further comprising a traction member having a fixing portion fixed to the tip of the robot body and a string-like portion having one end connected to the fixing portion and the other end extending from the rear end of the robot body through the inside of the robot body.

Images