In-pipe inspection device

Abstract

To provide an in-pipe inspection device capable of suitably acquiring an in-pipe image even when there is a residual material, such as residual water, in a pipe.SOLUTION: An in-pipe inspection device comprises an inspection unit 10 having imaging means of acquiring an in-pipe image, at the head of a propulsive force generation means 40 configured to be propellable in a pipe Z. The in-pipe inspection device comprises residual material removal means 30 of suctioning or scattering a residual material in the pipe.SELECTED DRAWING: Figure 4

Description

Technical Field

[0001] The present invention relates to an in-pipe inspection device, and particularly to an in-pipe inspection device capable of discharging solid-liquid mixtures such as gas, liquid, and mud remaining in the pipe to be inspected.

Background Art

[0002] Conventionally, a plurality of expansion and contraction units that expand in the radial direction and contract in the axial direction by supplying air and contract in the radial direction and extend in the axial direction by discharging air are connected in series, and the connected expansion and contraction units are individually expanded and contracted in a predetermined order so as to imitate the creeping motion of an earthworm to generate a propulsive force, and by moving through pipes such as gas pipes and water supply and sewer pipes, the state of the pipe inner wall is acquired by a camera attached to the tip to enable visual inspection (Patent Document 1).

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] However, there are height differences in the pipes to be inspected, and there are often residues in the lower parts. For example, when inspecting a water supply and sewer pipe, there is residual water in the lower part, and there is a problem that a clear image of the pipe inner wall in that part cannot be obtained. Therefore, an object of the present invention is to provide an in-pipe inspection device capable of suitably acquiring an image inside the pipe even when there are residues such as residual water in the pipe in order to solve the above problems.

Means for Solving the Problems

[0005] As a configuration of an in-pipe inspection device for solving the above problems, an in-pipe inspection device includes an inspection unit having an imaging means for acquiring an image inside a pipe at the tip of a propulsion force generating means configured to be able to propel inside the pipe, and includes a residue removing means for sucking or scattering residues inside the pipe. , the residue removing means includes a tube having one end movably provided together with the propulsion force generating means and the other end extending outside the pipe, one end side of the tube opening inside the pipe, and the tube having a weight at the end of one end side. It is configured as described above. According to this configuration, since residues can be removed from the imaging range inside the pipe to be inspected, an image inside the pipe can be suitably acquired. Also, The residue removing means includes a pipe with one end provided movably together with the propulsion force generating means and the other end extending to the outside of the pipe. By opening one end side of the pipe inside the pipe, the residues can be removed to the outside of the pipe. since the tube has a weight at the end of one end side, it is possible to surely remove the residue accumulated on the lower side of the pipe and to suitably acquire the image inside the pipe. Also, since the opening on one end side of the pipe is provided facing the rear in the traveling direction, the residues can be suitably removed. Also, since one end side of the pipe opens between the inspection unit and the propulsion force generating means, residues can be efficiently removed in the inspection inside the pipe. 。 Also, It includes partitioning means for partitioning the inside of the pipe in the front-rear direction of the traveling direction. The partitioning means is provided behind the opening on one end side of the pipe in the traveling direction. moreover, As a result, as the propulsion force generating means advances, the residues can be pushed toward the inspection unit side, so that the residues inside the pipe can be efficiently sucked or scattered.

Brief Description of the Drawings

[0006]

Figure 1

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[0007] Hereinafter, the present invention will be described in detail through embodiments. However, the following embodiments do not limit the invention according to the claims, and not all combinations of features described in the embodiments are essential for the solution means of the invention, and the embodiments include selectively adopted configurations.

Mode for Carrying Out the Invention

[0008] FIG. 1 is a schematic configuration diagram of the in-pipe inspection device according to the present embodiment. As shown in FIG. 1, the in-pipe inspection device 1 includes an inspection unit 2 configured to be movable inside a general piping Z, and a control unit 4 provided outside the piping and controlling the operation of the inspection unit 2. In the present embodiment, the piping Z is described as being cylindrical, but the cross-sectional shape of the piping Z is not particularly limited. The inspection unit 2 includes an inspection unit 10, a water absorption unit 20, a drive unit 40, a connection unit 60, and a valve unit 80, and by connecting these, a tubular moving body having a continuous one hollow space formed between the units is configured. In the following description, the direction along the arrow x1 is defined as the traveling direction of the inspection unit 2, and the front side is defined along this traveling direction, and the reverse side is defined as the rear side to specify the direction.

[0009] FIG. 2 is a schematic configuration diagram of the inspection unit 10. The inspection unit 10 includes an imaging means 11 and an illumination means 12 as inspection means, a tubular housing portion 13 as a head member for housing the imaging means 11 and the illumination means 12 in a predetermined mounting state, and an elastic support member 14 provided around the tubular housing portion 13. The front end opening 13A of the tubular housing portion 13 is closed by a cover 15 having light transmissibility.

[0010] The illumination means 12 is attached inside the tubular housing portion 13 so as to be able to irradiate the front through the cover 15, and the imaging means 11 is attached inside the tubular housing portion 13 so as to be able to image the front through the cover 15. Thereby, when the inspection unit 2 moves in the traveling direction inside the pipe Z to be inspected, the inside of the pipe Z in front of the inspection unit 10 is illuminated by the light irradiated by the illumination means 12, and imaging inside the pipe Z in front of the inspection unit 10 is enabled by the imaging means 11.

[0011] A plurality of elastic support members 14 are provided at predetermined intervals in the circumferential direction of the outer peripheral surface 13a of the tubular housing portion 13. In the present embodiment, they are provided at six locations at equal intervals in the circumferential direction of the outer peripheral surface 13a of the tubular housing portion 13.

[0012] The elastic support member 14 is configured by deforming an elastic leaf spring material formed in a flat plate strip shape with a constant width and a predetermined length into a C shape such that both ends in the longitudinal direction face each other. The elastic support member 14 is fixed to the outer peripheral surface 13a of the tubular housing portion 13 such that the opposite ends are positioned along the axial direction of the tubular housing portion 13.

[0013] The elastic support member 14 fixed to the tubular housing portion 13 protrudes forward of the traveling direction from the front end 13t of the tubular housing portion 13, and a predetermined elasticity is imparted to the portion bulging from the outer peripheral surface 13a of the tubular housing portion 13. Also, it is preferable to provide friction reduction means such as a sheet on the surface portion of the elastic support member 14 facing the inner wall surface of the pipe Z to reduce friction with the wall surface of the pipe Z.

[0014] When the elastic support member 14 protrudes forward from the front end 13t of the tubular housing portion 13, for example, when the inspection unit 2 passes through a bent path in the pipe Z, the elastic support member 14 collides with the inner wall of the bent path ahead of the front end 13t of the tubular housing portion 13. As a result, it becomes easier for the inspection unit 10 to change its path, and the inspection unit 2 can smoothly pass through the bent path in the pipe Z. Further, even when there are obstacles in the pipe Z (for example, protrusions protruding from the inner wall of the pipe Z, foreign matter remaining in the pipe Z, etc.), the elastic force of the elastic support member 14 can move the inspection unit 10 toward the center line side of the pipe Z, enabling the inspection unit 2 to move smoothly within the pipe Z.

[0015] Cables (not shown) extend from the imaging means 11 and the lighting means 12 and are connected to a propulsion control device 104 provided outside the pipe Z and display means 106 such as a monitor. The cables are flexible and are configured to supply the power required for driving from the propulsion control device 104 to the imaging means 11 and the lighting means 12, and to output the images captured by the imaging means 11 to the display means 106.

[0016] The inspection unit 10 includes a connecting piece 16 and a connecting ring 17 at the rear end of the tubular housing portion 13 to enable connection with the water absorption unit 20. The connecting piece 16 and the connecting ring 17 function as a connecting portion for connecting the water absorption unit 20 to the inspection unit 10.

[0017] The connecting piece 16 is integrally formed with the tubular housing portion 13 as a plate piece that extends rearward along the axial direction so as to be continuous with the outer peripheral surface of the tubular housing portion 13 from the rear end portion of the tubular housing portion 13. A pair of connecting pieces 16 are provided at positions shifted by 180 degrees in the circumferential direction of the tubular housing portion 13, that is, so as to face each other in the radial direction.

[0018] Each connecting piece 16 is provided with a coupling hole 16A on the tip side. The coupling hole 16A is provided, for example, as a circular hole. The coupling holes 16A provided in each of the connecting pieces 16 are formed so that their centers are coaxial.

[0019] The connecting ring 17 is configured as, for example, a plate-shaped circular ring having a size that can be sandwiched between a pair of connecting pieces 16; 16. The connecting ring 17 is provided with a plurality of coupling holes 17A that enable coupling with the connecting pieces 16; 16 and the water absorption unit 20. The coupling holes 17A are provided as four holes penetrating in the plate thickness direction at equal intervals in the circumferential direction of the connecting ring 17.

[0020] The connecting ring 17 is rotatably attached to the tubular housing portion 13 between the pair of connecting pieces 16; 16 as shown by the arrow in the figure by aligning the opposing coupling holes 17A; 17A with the coupling holes 16A; 16A provided in the connecting pieces 16; 16 and inserting the shaft member 18 into each of the overlapping coupling holes 16A; 17A in a non-detachable manner.

[0021] Figure 3 is a schematic configuration diagram of the water absorption unit 20. Figure 3(a) is an external perspective view of the water absorption unit 20, and Figures 3(b) and (c) are plan views of the base body. As shown in Figure 3(a), the water absorption unit 20 includes a base body 22, a water absorption pipe 30, and a drain pipe 32.

[0022] The base body 22 includes a tube support portion 24 and a connecting piece 26. The tube support portion 24 is a cylindrical body extending a predetermined length in the axial direction, and includes a central hole 28 and a plurality (four in this embodiment) of peripheral holes 29 penetrating in the axial direction around it. The central hole 28 is formed as a circular hole having a size through which at least the cable connected to the imaging means 11 and the illumination means 12 of the inspection unit 10 can pass.

[0023] The peripheral holes 29 are formed as circular holes having a size through which the water absorption pipe 30 and the drain pipe 32 can pass. The peripheral holes 29 in this embodiment are configured to include a water absorption pipe through-hole 29A and a drain pipe through-hole 29B through which the water absorption pipe 30 passes. The water absorption pipe through-hole 29A and the drain pipe through-hole 29B are provided in two pairs adjacent to each other so as to form a pair.

[0024] As shown in Fig. 3(c), the water suction pipe through holes 29A are arranged at two positions circumferentially shifted by 180° around the central axis of the tube support portion 24, and the drain pipe through holes 29B are arranged at two positions circumferentially shifted by 180° around the axis C of the tube support portion 24.

[0025] The connecting pieces 26 are provided on both axial sides of the tube support portion 24. The connecting pieces 26 are integrally formed with the tube support portion 24 as plate pieces extending along the axial direction so as to be continuous with the outer peripheral surface of the tube support portion 24. A pair of connecting pieces 26 are provided so as to face each other (circumferentially shifted by 180 degrees with respect to the circumferential direction of the tube support portion 24) on each axial side of the tube support portion 24. Also, the pair of connecting pieces 26 on one end side are provided with a 90-degree circumferential shift with respect to the pair on the other end side.

[0026] Each connecting piece 26 is provided with a coupling hole 26A at the tip side. The coupling hole 26A is formed, for example, as a circular hole. The coupling holes 26A formed in the pair of connecting pieces 26; 26 provided on one end side of the tube support portion 24 are formed such that their centers are coaxial, and the coupling holes 26A formed in the pair of connecting pieces 26; 26 provided on the other end side are set such that their centers are coaxial.

[0027] The base body 22 is rotatably attached to the connecting ring 17 of the inspection unit 10 by aligning the coupling holes 16A; 16A provided in the connecting ring 17 of the inspection unit 10 with the coupling holes 26A; 26A provided in the pair of connecting pieces 26; 26 on one end side and inserting a shaft member (not shown) into each of the overlapping coupling holes 16A; 26A in a non-detachable manner.

[0028] That is, by configuring a mechanism similar to a universal joint with the connecting pieces 16; 16 and the connecting pipe 17 of the inspection unit 10 and the connecting pieces 26; 26 of the water suction unit 20, the inspection unit 10 and the water suction unit 20 are connected so as to be relatively bendable. Also, the base body 22 is connected to the drive unit 40 via the pair of connecting pieces 26; 26 on the other end side.

[0029] The water suction pipe 30 and the drain pipe 32 are each composed of a flexible tube or the like. The water suction pipe 30 and the drain pipe 32 are each penetrated from the rear side in the advancing direction through the water suction pipe through-hole 29A and the drain pipe through-hole 29B of the tube support portion 24. One end portion of the water suction pipe 30 and the drain pipe 32 that penetrates the water suction pipe through-hole 29A and the drain pipe through-hole 29B to the front side is connected by a joint 34 to form a continuous flow path.

[0030] In the present embodiment, as the joint 34, one that can branch one flow path into two flow paths is used. Specifically, the joint 34 has three receiving holes into which three tubes can be inserted, and two receiving holes are arranged in parallel on the opposite side to one receiving hole. Then, a plug is inserted into one receiving hole to close it, and one end portions of the water suction pipe 30 and the drain pipe 32 are inserted into the two receiving holes arranged in parallel for use.

[0031] In a state where the water suction pipe 30 is connected to the joint 34, the length is set such that the other end side (hereinafter referred to as the tip side) reaches the lower inner wall of the pipe Z. Here, the tip side of the water suction pipe 30 reaching the lower inner wall of the pipe Z means a state in which the water suction pipe 30 can absorb the residual water in the pipe Z without buckling. Such a state means that, for example, a state where the opening at the other end side faces and contacts the lower inner wall of the pipe Z or a state where the outer periphery of the water suction pipe 30 near the opening at the other end side can maintain a sliding contact with the lower inner wall of the pipe Z. In the present embodiment, the water suction pipe 30 is set such that the tip opens between the inspection unit 10 and the propulsion force generating means 8 described later.

[0032] FIG. 4 is a conceptual diagram showing the operation of sucking residual water by the water suction unit. In the present embodiment, since the water suction pipes 30 are provided at two positions facing each other in the radial direction with the central axis C20 of the water suction unit 20 interposed therebetween, as shown in FIG. 4(a), the length of the water suction pipes 30 is such that when the central axis C20 of the water suction unit 20 in the pipe Z coincides with the center line Cz of the pipe Z, it is preferably set so that at least the tip side of the water suction pipes 30 reaches the lower inner wall of the pipe Z and the above-described state is maintained.

[0033] As a result, even if the water absorption unit 20 rotates around the central axis within the pipe Z, the tip of either one of the water absorption pipes 30 can reach the residual water within the pipe Z.

[0034] Also, each water absorption pipe 30 is provided with a weight 36 at the end on the tip side. By providing the weight 36 at the end on the tip side of the water absorption pipe 30, the opening on the tip side of the water absorption pipe 30 can be positioned below the pipe Z.

[0035] The drain pipe 32 is set to have a length such that the other end reaches outside the pipe Z when connected to the joint 34. That is, the drain pipe 32 is configured such that one end opens inside the pipe by the water absorption pipe 30 connected via the joint 34, and the other end opens outside the pipe. Note that the drain pipe 32 does not necessarily have to be a single one reaching outside the pipe Z, and a plurality of them may be connected in series.

[0036] A pump 38 is connected in the middle of the drain pipe 32. In this embodiment, since two drain pipes 32 extend from the water absorption unit 20, a pump 38 may be provided for each drain pipe 32, or the drain pipes 32 may be joined and connected to one pump 38.

[0037] The pump 38 may be any pump capable of generating a negative pressure at the tip of the water absorption pipe 30 continuous with the drain pipe 32. For the pump 38, for example, a rotary pump such as a vane pump or a vacuum pump can be used.

[0038] In addition, in FIG. 1, the pump 38 is shown as being provided outside the pipe Z, but it is not limited to this. The pump 38 is preferably a small-sized one that can be arranged, for example, at the rear part of the valve unit 80 constituting the inspection unit 2 or inside the drive unit 40 so as to move within the pipe Z together with the inspection unit 2. More preferably, it may be provided in the vicinity of the water suction pipe 30, for example, inside the drive unit 40 directly connected to the water suction unit 20 in the inspection unit 2 or provided in the water suction unit 20.

[0039] It is advisable to provide water storage means at the rear end of the drain pipe 32 so that the drainage pumped up by the pump 38 is stored in water storage means such as a drain tank or a drainage trough provided outside the pipe Z.

[0040] It has been experimentally confirmed that the suction force of the pump 38 improves as it approaches the position where it sucks the residual water, that is, the opening of the water suction pipe 30. Even if the length of the drain pipe 32 from the pump 38 to the water storage means becomes longer, the residual water can be drained. That is, it becomes possible to inspect a long distance within the pipe Z at one time.

[0041] As described above, according to the present embodiment, the in-pipe inspection device 1 is provided with a residue removing means constituted by the water suction unit 20 and the pump 38, so that even when there is residual water in the inspection target pipe Z, the residual water can be discharged, and a clear image of the relevant range can be acquired by the inspection unit 10.

[0042] In addition, since the water suction unit 20 is provided with two water suction pipes 30 that are displaced by 180 degrees with respect to the central axis C20 of the water suction unit 20, even if the inspection unit 2 rotates around the central axis C20 during the inspection, the opening of either water suction pipe 30 reaches the lower inner wall of the pipe Z. Therefore, the residual water can be sucked regardless of the posture of the water suction unit 20 around the central axis C20.

[0043] In addition, by providing the weight 36 at the tip of the water suction pipe 30, the opening on the tip side of the water suction pipe 30 can be positioned below the pipe Z, and the residual water can be more reliably sucked and discharged outside the pipe Z.

[0044] Hereinafter, other components constituting the inspection unit 2 and the control unit 4 will be described. [Regarding the drive unit] FIG. 5 is an axial cross-sectional view showing a configuration example of the drive unit 40. The drive unit 40 includes an inner cylinder 41, an outer cylinder 42 that surrounds the outer periphery of the inner cylinder 41 and is provided so as to form a double tube, and a pair of end members 43; 43 provided at each end of the inner cylinder 41 and the outer cylinder 42 and closing the space formed between the inner cylinder 41 and the outer cylinder 42.

[0045] The inner cylinder 41 is composed of a cylindrical body that allows expansion and contraction in the axial direction and is non-expandable in the radial direction. The inner cylinder 41 is preferably made of a material having flexibility that allows bending of the axis and is difficult to deform by pressure from the inner peripheral side or the outer peripheral side. For the inner cylinder 41, for example, a cylindrical body such as a bellows made of an elastic body, or a cylindrical body formed by winding a film or sheet having flexibility in addition to non-expandability and airtightness around the outer periphery of a coil spring can be used. In the present embodiment, the case where a bellows having a spiral bellows structure and a circular cross-section is used for the inner cylinder 41 will be described, but the present invention is not limited thereto.

[0046] FIG. 6 is a diagram exaggerating the radial cross-section of the outer cylinder 42 in the A1-A1 arrow view of FIG. 5. As shown in the figure, the outer cylinder 42 includes a plurality of fibers 42B inside a cylindrical cylinder main body 42A formed of an elastic body. The cylinder main body 42A is preferably made of an elastic and airtight expandable material such as synthetic rubber such as silicone rubber or natural rubber such as natural latex rubber as the material. The material forming the cylinder main body 42A may be any material as long as its shape can be changed by supplying and discharging compressed air to the fluid chamber S described later.

[0047] The fiber 42B extends along the axial direction and is distributed and embedded in the circumferential and radial directions of the cylinder main body 42A so that isotropy in the radial expansion can be obtained when the outer cylinder 42 expands. The fiber 42B is arranged within the wall thickness of the outer cylinder 42 by extending, for example, a fiber having a length continuously reaching from one axial end to the other end of the cylinder main body 42A along the axis. In this embodiment, as shown in FIG. 5, a plurality of layers are laminated and closely inserted. Note that the fiber 42B may be a single layer without lamination.

[0048] Note that the length and the distribution state in each direction of the fiber 42B shown in FIGS. 5 to 7 are for illustrative purposes, and the length and the distribution in each direction of the fiber 42 are not limited based on the figures. Further, the fact that the aforementioned fiber 42B extends along the axial direction does not mean that it is strictly parallel to the axial direction due to the nature of the fiber 42B, and a certain degree of inclination (intersection) with respect to the axial direction is allowed.

[0049] Further, the fiber 42B is not limited to having the axial length dimension of the cylinder main body 42A, and a fiber shorter than the axial length dimension of the cylinder main body 42A may be used and distributed so that the fibers overlap each other in the axial direction in the circumferential, radial, and axial directions.

[0050] For the material of the fiber 42B, a material with small expansion and contraction changes in the axial direction is suitable. For example, as the material of the fiber 42B, materials having elongation properties such as aramid fiber, carbon fiber, glass fiber, nylon, polyamide-based fiber, polyolefin-based fiber, and metal fiber can be appropriately selected and used. By performing appropriate primer treatment or surface oxidation treatment on the fiber, the adhesiveness can be sufficiently improved, but preferably, it is selected according to the adhesiveness with rubber.

[0051] In addition, the form of the fiber 42B can be any form such as a filament, a yarn (spun yarn and filament yarn), a strand, etc. Furthermore, it is also possible to use an untwisted fiber that is converged without twisting, or a fiber created by twisting a plurality of these fibers. Depending on the type of fiber, it is also possible to combine fibers of different materials or different forms of two or more types.

[0052] The end member 43 is configured as a cylindrical body formed of, for example, resin, hard rubber, metal, or the like. The end member 43 includes an inner cylinder fixing portion 48 for fixing the inner cylinder 41, an outer cylinder fixing portion 49 for fixing the outer cylinder 42, a unit fixing portion 54 for attaching a connection unit 60 for connecting to another drive unit 40, and a supply / discharge hole 56 that enables supply and discharge of air to / from the fluid chamber S.

[0053] The inner cylinder fixing portion 48 is provided on one end side of the inner peripheral surface of the end member 43 so as to be able to fit the outer periphery of the inner cylinder 41. In the present embodiment, since the inner cylinder 41 has a spiral bellows structure, the inner cylinder fixing portion 48 is formed as a spiral groove that can screw-fix the outer periphery of the inner cylinder 41 by utilizing the spiral shape of the inner cylinder 41, for example. Hereinafter, in the end member 43, the side where the inner cylinder fixing portion 48 is provided in the axial direction is referred to as the inner side, and the opposite side is referred to as the outer side.

[0054] When forming the inner cylinder fixing portion 48 as a spiral groove, in consideration of the airtightness with the inner cylinder 41, it is preferable that at least the ridge portion that describes a spiral on the outer peripheral side of the inner cylinder 41 is screwed in by one pitch or more. In addition, the inner cylinder fixing portion 48 can be formed so as to be a tight fit so that the outer peripheral surface of the inner cylinder 41 is in close contact, for example, thereby further improving the airtightness with the inner cylinder 41.

[0055] Note that the fixing of the inner cylinder 41 to the end member 43 is not limited to the above-described embodiment, and may be appropriately changed according to the shape of the inner cylinder 41 or the like so that the inner cylinder 41 is fixed to the end member 43 in an airtight state.

[0056] The outer cylinder fixing portion 49 is provided on the outer peripheral surface of the end member 43. The outer cylinder fixing portion 49 is located at a predetermined distance axially outside the end face of the inner cylinder 41 fixed to the inner cylinder fixing portion 48. The outer cylinder fixing portion 49 is formed, for example, in a spherical shape or a tapered shape such that the outer diameter gradually decreases as it goes axially outward on the outer periphery of the end member 43.

[0057] The end member 43 is fixed to the outer cylinder 42, for example, as follows. First, the end member 43 is inserted into the outer cylinder 42 such that the end of the outer cylinder 42 passes axially outside the outer cylinder fixing portion 49 of the end member 43. Next, a ring-shaped caulking member 50 is put on the outer peripheral surface of the inserted outer cylinder 42. Next, a pair of fixing members 52, which are formed in a semicircular shape and can be combined with each other to form an annular shape on the outer periphery of the outer cylinder 42 so as to clamp the outer cylinder 42 from the outer peripheral side, are fixed axially outside the caulking member 50, whereby the end member 43 is fixed to the outer cylinder 42.

[0058] Note that the fixing of the end member 43 to the outer cylinder 42 is not limited to the above embodiment, and any method may be used as long as the outer cylinder 42 is fixed to the end member 43 in an airtight state.

[0059] In this way, by fixing both ends of the inner cylinder 41 and the outer cylinder 42 to the end members 43; 43, a fluid chamber S is formed in the drive unit 40 as a closed space surrounded by the outer peripheral surface of the inner cylinder 41, the inner peripheral surface of the outer cylinder 42, and the end members 43; 43.

[0060] The unit fixing portion 54 is provided, for example, axially outside the aforementioned fixing member 52 in a state where the outer cylinder 42 is fixed to the end member 43. The unit fixing portion 54 is formed, for example, as a pair of through holes penetrating the end member 43 in the radial direction.

[0061] In this embodiment, the air supply / discharge hole 56 is formed as a through hole that penetrates through the end member 43, with one end opening to the inner peripheral surface of the end member 43 and the other end opening to the inner end surface of the end member 43. A tube (not shown) for supplying and discharging air to and from the fluid chamber S is connected to the opening formed on the inner peripheral surface of the end member 43. Note that the air supply / discharge hole 56 only needs to be formed so as to be able to supply and discharge air from the inner peripheral side of the drive unit 40 to the fluid chamber S formed between the inner cylinder fixing portion 48 and the outer cylinder fixing portion 49.

[0062] FIG. 7 is a diagram showing the state in which the drive unit 40 is extended and contracted. The drive unit 40 functions as an actuator that operates by supplying air to the fluid chamber S. As shown in FIGS. 7(a) to 7(b), when contracting in the axial direction from length x1 to x2 and expanding in the radial direction from outer diameter d1 to d2 (hereinafter this state is simply referred to as the expanded state). Also, by discharging air from the fluid chamber S, as shown in FIGS. 7(b) to 7(a), the axial length extends from x2 to x1 and the outer diameter contracts from d2 to d1 in the radial direction (hereinafter this state is simply referred to as the contracted state). In this embodiment, the operating medium (fluid) of the drive unit 40 is described as air, but it is not limited thereto, and other gases such as inert gases or fluids such as water may be used. In this case, the compressed air supply device 102 described later may be configured with a suitable device according to the fluid to be used.

[0063] The dimensions of each part of the drive unit 40 are set so that a desired friction can be obtained between the inner wall of the pipe Z during expansion, that is, the outer diameter d2 during expansion is larger than or equal to the inner diameter of the pipe Z to be inspected. The desired friction means, for example, a force that prevents the inspection unit 2 from falling due to its own weight in the portion of the pipe Z extending in the vertical direction, and refers to the state of gripping the pipe Z. Also, regarding the thickness of the cylinder main body 42A of the outer cylinder 42 and the form of the fiber 42B contained in the drive unit 40, they may be appropriately set in consideration of the responsiveness when expanding from the contracted state and when contracting from the expanded state.

[0064] [About the Connecting Unit] FIG. 8 is an external view of the connecting unit 60. The connecting unit 60 includes a pair of cylindrical fixing bodies 61 fixed to the drive unit 40, a connecting ring 62 connecting the cylindrical fixing bodies 61 to each other, and a coil spring 63.

[0065] The cylindrical fixing body 61 includes a cylindrical portion 64 and connecting pieces 65; 65. The cylindrical portion 64 is formed in a cylindrical shape having an inner diameter that allows the end member 43 to be inserted while slidingly contacting the outer periphery of the end member 43, for example.

[0066] The connecting piece 65 is provided integrally with the cylindrical portion 64 and is formed as a plate piece that extends rearward along the axial direction so as to be continuous with the outer peripheral surface of the cylindrical portion 64 from an end on one end side of the cylindrical portion 64. The connecting pieces 65 are provided in a pair so as to be displaced 180 degrees in the circumferential direction of the cylindrical portion 64, that is, to face each other in the radial direction and extend with the same length.

[0067] The connecting piece 65 is provided with a coupling hole 65A on the tip side. The coupling hole 65A is provided as a circular hole, for example. The coupling holes 65A; 65A provided in the respective connecting pieces 65; 65 are formed so that their centers are coaxial.

[0068] Further, the cylindrical portion 64 is provided with a pair of coupling holes 64A; 64A on the other end side opposite to the side where the connecting piece 65 extends. The pair of coupling holes 64A; 64A are formed as circular holes that penetrate the cylindrical portion 64 in the radial direction. The pair of coupling holes 64A; 64A functions as one of the elements constituting the fixing means when fixing the cylindrical fixing body 61 to the drive unit 40.

[0069] The connecting ring 62 is configured as an annular member having an outer diameter that can be sandwiched between the connecting pieces 65; 65 provided on the cylindrical fixing body 61. The connecting ring 62 is provided with a plurality of coupling holes 62A that enable coupling with the two cylindrical fixing bodies 61; 61. The coupling holes 62A are provided as four holes that penetrate in the plate thickness direction at equal intervals in the circumferential direction of the connecting ring 62.

[0070] The pair of cylindrical fixed bodies 61 are attached to the connecting ring 62 as follows. One of the cylindrical fixed bodies 61 is arranged so as to sandwich the connecting ring 62 between the connecting pieces 65; 65, and the coupling holes 62A; 62A of the connecting ring 62 and the coupling holes 65A; 65A provided in the connecting pieces 65; 65 are overlapped, and the shaft members 66 are inserted into the overlapping coupling holes 62A; 65 in a non-detachable manner, whereby the connecting ring 62 is rotatably attached between the connecting pieces 65; 65 of one of the cylindrical fixed bodies 61. Also, the other cylindrical fixed body 61 is arranged so as to sandwich the connecting ring 62 between the connecting pieces 65; 65, and the remaining coupling holes 62A; 62A of the connecting ring 62 and the coupling holes 65A; 65A provided in the connecting pieces 65; 65 are overlapped, and the shaft members 66 are inserted into the overlapping coupling holes 62A; 65 in a non-detachable manner, whereby the connecting ring 62 is rotatably attached between the connecting pieces 65; 65 of the other cylindrical fixed body 61. Thus, that is, the connecting unit 60 is configured to be operable as a so-called universal joint of a hollow shape by connecting the two cylindrical fixed bodies 61 and the connecting ring 62.

[0071] The coil spring 63 is disposed in the inner peripheral hollow space formed by the two cylindrical fixed bodies 61; 61 and the connecting ring 62 connected as described above, as shown in FIGS. 7(a) and 7(b). The coil spring 63 is set, for example, to have an outer diameter that can penetrate the inner periphery of the connecting ring 62, and one end and the other end are attached so as to seat on spring seating portions (not shown) provided on the cylindrical fixed body 61, respectively.

[0072] As described above, when the connecting unit 60 connects the two drive units 40 by forming the cylindrical fixed bodies 61; 61 and the connecting ring 62 in a ring shape, the hollow spaces inside the inner cylinders 41; 41 of the two drive units 40; 40 can be maintained continuously. Thereby, it is possible to allow the passage of tubes, cables, etc., which will be described later, for supplying and exhausting air to each drive unit 40.

[0073] Further, the connecting unit 60 includes a coil spring 63 in the inner peripheral space formed by the cylindrical fixing bodies 61; 61 and the connecting ring 62 that constitute the connecting unit 60. By doing so, while maintaining a hollow state, the connecting unit 60 allows bending of one cylindrical fixing body 61 with respect to the other cylindrical fixing body 61 (operation as a universal joint), and can apply a restoring force to this bending by the elasticity of the coil spring 63. Although not shown, a cover that covers the outer periphery from one cylindrical fixing body 61 to the other cylindrical fixing body 61 is attached to the connecting unit 60. The cover should be configured to prevent foreign matters such as dust and water from entering inside without hindering bending, for example, it may be made of a material having elasticity such as rubber and being waterproof.

[0074] The connecting unit 60 is attached to the drive unit 40 as follows. The end member 43 of the drive unit 40 is inserted into the cylindrical portion 64 of one cylindrical fixing body 61. Then, the coupling holes 64A; 64A provided in the cylindrical portion 64 and the unit fixing portions 54; 54 provided in the end member 43 are overlapped, and a shaft member (not shown) is inserted into the overlapping coupling holes 64A and unit fixing portions 54 so as not to fall off, whereby the drive unit 40 is fixed to one cylindrical fixing body 61. Similarly, the end member 43 of the drive unit 40 is inserted into the cylindrical portion 64 of the other cylindrical fixing body 61. Then, the coupling holes 64A; 64A provided in the cylindrical portion 64 and the unit fixing portions 54; 54 provided in the end member 43 are overlapped, and a shaft member (not shown) is inserted into the overlapping coupling holes 64A and unit fixing portions 54 so as not to fall off, whereby the drive unit 40 is fixed to the other cylindrical fixing body 61.

[0075] As a result, the drive units 40 are connected to be bendable. In this embodiment, as shown in FIG. 1, seven drive units 40 are connected by six connection units 60 to constitute the propulsion force generating means 8 in the inspection unit 2. The propulsion force generating means 8 is formed into a hollow tubular moving body from the head to the tail by alternately connecting the drive units 40 and the connection units 60 such that the head and the tail in the traveling direction are the drive units 40. The above-described water absorption unit 20 is connected to the front side of the propulsion force generating means 8. A drainage assisting means 70 is provided between the leading drive unit 40 constituting the propulsion force generating means 8 and the water absorption unit 20.

[0076] [Regarding the drainage assisting means] FIG. 9 is a diagram showing an example of the drainage assisting means 70. The drainage assisting means 70 according to this embodiment includes a pedestal 71 and a fiber group 73, and is configured to enable assistance during water absorption of residual water by the water absorption unit 20.

[0077] As shown in FIG. 9, the pedestal 71 is configured, for example, as a flat semi-circular member whose inner peripheral surface extends in a semi-circular arc shape along the outer peripheral shape of the end member 43 so as to be attachable along the outer periphery of the end member 43. The pedestal 71 is formed to have a constant width in the axial direction along the circumferential direction when attached to the end member 43.

[0078] When the drainage assisting means 70 is viewed in plan, the fiber group 73 is implanted on the outer peripheral surface of the pedestal 71 at a predetermined density in the circumferential direction and the axial direction so that a plurality of fibers 73z extend radially around the center of the inner circumference of the semi-circular pedestal 71, for example, to form a brush.

[0079] Since the drainage assisting means 70 is formed in a semi-circular shape, it is attached to the outer periphery of the end member 43 in pairs so that the fibers 73z are arranged over the entire circumference on the outer periphery of the end member 43. That is, the drainage assisting means 70 can also be said to be a partitioning means for partitioning the pipe Z before and after the traveling direction at the position where the drainage assisting means 70 is provided in the inspection unit 2. The drainage assisting means 70 may be provided behind the opening at the tip of the water suction pipe 30 in the traveling direction, but preferably, as in the present embodiment, it is attached to the outer periphery of the end member 43 of the leading drive unit 40 that constitutes the propulsion force generating means 8 near the opening at the tip of the water suction pipe 30 and the end member 43 of the drive unit 40 that connects the water suction unit 20, or to the connecting pieces 26; 26 of the water suction unit 20.

[0080] The density at which the fibers 73z are implanted is preferably set so as to prevent the residual water from flowing out to the inspection unit 2 when the inspection unit 2 travels and the drainage assisting means 70 reaches the residual water.

[0081] Preferably, each fiber 73z constituting the fiber group 73 is set to have a length such that the tip slides in contact with the entire circumference of the inner wall of the pipe Z when the central axis of the end member 43 is coaxial with the central axis of the pipe Z, for example.

[0082] More preferably, the material, thickness, and implantation density of the fibers 73z constituting the fiber group 73 are set so that the central axis of the end member 43 is positioned coaxially with the central axis of the pipe Z by the fiber group 73.

[0083] Note that the fiber group 73 is not limited to sliding in contact with the entire circumference of the inner wall of the pipe Z at the tip, and may be configured to slide in contact with at least the lower inner wall of the pipe Z. For the material of the fiber 73z, those having a certain elasticity such as nylon fiber are preferable, for example.

[0084] Also, the drainage assisting means 70 is not limited to the fiber group 73, and may be constituted by other members such as rubber and resin. In this case, it is preferably configured so as not to interfere with the propulsion force obtained by the propulsion force generating means 8. Further, the drainage assisting means 70 is not limited to the above-described circle, and the outer shape in the axial direction view may be appropriately set according to the cross-sectional shape orthogonal to the extending direction of the pipe Z.

[0085] [Regarding the valve unit] As shown in FIG. 1, the valve unit 80 is disposed at the very end in the traveling direction of the propulsion force generating means 8. The valve unit 80 is a device for supplying and discharging air to and from a plurality of drive units 40 constituting the propulsion force generating means 8 in a predetermined order. The predetermined order here means that the expansion and contraction of the drive unit 40 connected as the propulsion force generating means 8 operate imitating a peristaltic motion.

[0086] FIG. 10 is a schematic configuration diagram showing an embodiment of the valve unit 80. In the following description, the direction is specified based on the state in which the valve unit 80 is connected to the propulsion force generating means 8. The valve unit 80 according to the present embodiment includes a case 82 constituting the appearance, a tube connection portion 84, and a propulsion operation control element 90.

[0087] The case 82 is formed in a cylindrical shape in appearance, and includes a case main body portion 82A that houses elements for controlling the supply and discharge of air to the drive unit 40, a lid portion 82B that enables access to the elements for controlling the supply and discharge of air, and caps 82C; 82C attached to both axial ends of the case main body portion 82A.

[0088] The tube connection portion 84 is provided on an end wall 83 formed on the front side of the case main body portion 82A. The end wall 83 is formed such that the front wall surface 83a and the rear wall surface 83b are planes orthogonal to the axis of the case main body portion 82A. The tube connection portion 84 is constituted by a plurality of holes 87 penetrating along the thickness direction (axis of the case main body portion 82A) of the end wall 83.

[0089] The holes 87 are provided in number corresponding to the number of drive units 40 that constitute the propulsion force generating means 8 (seven as shown in FIG. 1 in this embodiment). The plurality of holes 87 are located on a single pitch circle Pc and are arranged at equal intervals in the circumferential direction. The center of this pitch circle Pc is set at a position offset from the axis of the case main body 82A.

[0090] One end of a flexible tube (not shown) that enables the flow of air is connected to each hole 87. The other end of the tube connected to each hole 87 is connected to the corresponding drive unit 40. Here, the corresponding drive unit 40 refers to one set according to the order in which the connected drive units 40 contract and expand imitating peristaltic motion.

[0091] FIG. 11 is a plan view and an axial cross-sectional view of the propulsion operation control element 90. Specifically, FIG. 11(a) is a plan view of the main part of the propulsion operation control element 90, and FIG. 11(b) is an axial cross-sectional view taken along the arrow k-k in FIG. 11(a). The propulsion operation control element 90 controls the supply of air, the stop of the supply of air, and the discharge of air for causing the drive unit 40 to contract from the extended state, maintain the contracted state, and expand from the contracted state. In this embodiment, the supply of air, the stop of the supply of air, and the discharge of air by the propulsion operation control element 90 are configured to be controlled based on rotational motion.

[0092] As shown in FIG. 11, the propulsion operation control element 90 includes a shaft portion 91 and a flow path switching portion 92. The shaft portion 91 is configured as a cylindrical shaft having a hollow portion 91s penetrating in the axial direction. The shaft portion 91 is rotatably supported by a shaft support portion 85 provided on the case main body 82A. The shaft support portion 85 includes a through hole 85A through which the shaft portion 91 passes. The through hole 85A is provided in the shaft support portion 85 such that the center of the pitch circle Pc is located on the central axis. The shaft portion 91 is configured to be rotatable along the circumferential surface of the through hole 85A in a state where the central axis of the shaft portion 91 coincides with the central axis of the through hole 85A.

[0093] The flow path switching unit 92 is configured in a disk shape with a circular outer shape, and is provided integrally with the front end of the shaft portion 91 so that the central axis of the disk shape coincides with the central axis of the shaft portion 91. The front end face 92a of the flow path switching unit 92 is formed in a flat shape, and is formed in a flat shape that faces the wall surface 83b on the rear side of the end wall 83 in the case main body portion 82A in a parallel state.

[0094] The flow path switching unit 92 includes a central hole 94 that penetrates in the central axis direction at the center of the flow path switching unit 92, a fan-shaped concave portion 96 that is recessed in a fan shape on the front end face 92a, and an arc-shaped through portion 97 that penetrates in an arc shape from the front end face 92a to the rear end face 92b.

[0095] The central hole 94 is continuous with the hollow portion 91s of the shaft portion 91, and is provided as a circular hole that penetrates the flow path switching unit 92 so as to extend the hollow portion 91s. The fan-shaped concave portion 96 includes a part of the central hole 94, and is formed so as to spread in a fan shape from the center side to the radially outer side of the front end face 92a (see FIG. 11). The range in which the fan-shaped concave portion 96 spreads in a fan shape is set to include a predetermined hole 87 provided in the end wall 83 of the case main body portion 82A. In the present embodiment, the range is set to include two holes 87 that are continuous in the circumferential direction.

[0096] The arc-shaped through portion 97 is formed in an arc shape along the circumferential direction of the flow path switching unit 92 so as to overlap the remaining holes 87 among the holes 87 that constitute the tube connection portion 84, excluding the holes 87 that overlap the fan-shaped concave portion 96 (see FIG. 11). That is, in the present embodiment, the arc-shaped through portion 97 is formed as an arc-shaped through hole that overlaps the remaining five holes 87 among the seven holes 87 that constitute the tube connection portion 84, excluding the two holes 87 that overlap the fan-shaped concave portion 96, along the circumferential direction of the flow path switching unit 92.

[0097] On the outer periphery of the flow path switching unit 92, gear teeth 95 for inputting power for rotating the flow path switching unit 92 are provided. The gear teeth 95 are provided over the entire outer periphery of the flow path switching unit 92, and the flow path switching unit 92 operates as a single gear.

[0098] At the rear end of the shaft portion 91, a rotary joint 93 to which a tube extending from a compressed air supply device 102 described later is connected is attached. The rotary joint 93 is a joint that makes the connected tube non-rotating and enables the rotation of the flow path switching portion 92 and the shaft portion 91. That is, the shaft portion 91 that rotates together with the flow path switching portion 92 and the circumferential movement of the tube are prevented.

[0099] The motor 98 is a power source for rotating the flow path switching portion 92 and is housed in a motor housing portion 86 provided in the case main body portion 82A. The motor 98 has a gear 99 meshing with gear teeth 95 provided on the outer periphery of the flow path switching portion 92 on its rotating shaft. When the motor 98 is housed, the motor housing portion 86 is provided adjacent to the shaft support portion 85 of the case main body portion 82A so that the rotating shaft of the motor 98 is parallel to the central axis of the shaft portion 91 of the propulsion operation control element 90. The motor 98 is electrically connected to the propulsion control device 104, and its rotation speed and the like are controlled.

[0100] For the motor 98, for example, a motor with a controllable rotation angle such as a stepping motor or a servo motor, a motor with a controllable rotation speed, a geared motor having a reduction gear, etc. can be used.

[0101] According to the above configuration, in the valve unit 80, when the fan-shaped recess 96 of the flow path switching portion 92 overlaps with a plurality of holes 87, the fluid chamber S of the drive unit 40 connected to the hole 87 overlapping with the fan-shaped recess 96 via a tube and the hollow portion 91s of the shaft portion 91 are in a communicating state. Therefore, when the flow path switching portion 92 rotates, the drive unit 40 sequentially communicates with the hollow portion 91s of the shaft portion 91. That is, the valve unit 80 is a rotary valve (valve) that switches the flow path for supplying fluid to the fluid chamber S of each drive unit 40, stopping the supply of fluid, and exhausting the fluid from the fluid chamber S when the propulsion operation control element 90 rotates.

[0102] Further, in the valve unit 80, when the arc-shaped through portion 97 of the flow path switching portion 92 overlaps with a plurality of holes 87, the fluid chamber S of the drive unit 40 connected to the hole 87 overlapping with the arc-shaped through portion 97 via a tube is in an atmosphere-open state. Therefore, as the flow path switching portion 92 rotates, the fluid chamber S of the drive unit 40 is sequentially opened to the atmosphere.

[0103] [Regarding the control unit] The control unit 4 includes a compressed air supply device 102 and a propulsion control device 104. The compressed air supply device 102 can be constituted by, for example, a compressor, a regulator, and an on-off valve that operates based on an electrical signal. The compressed air supply device 102 smooths the compressed air generated by the compressor to a predetermined pressure through the regulator, and supplies the smoothed compressed air to the valve unit 80 via the on-off valve.

[0104] The propulsion control device 104 can be constituted by a so-called computer including display means 106 such as a monitor. The propulsion control device 104 is electrically connected to the on-off valve constituting the compressed air supply device 102, the motor 98 constituting the valve unit 80, and the pump 38 constituting the residue removing means.

[0105] The propulsion control device 104 outputs a signal for opening and closing the valve to the on-off valve. Further, the propulsion control device 104 controls the start and stop of the rotation of the motor 98 and controls the rotation speed of the motor 98. Further, the propulsion control device 104 controls the start and stop of the drive of the pump 38.

[0106] Figs. 12 to 14 are diagrams schematically showing the relationship between the state of the drive unit 40 when the inspection unit 2 is propelled and the hole 87 of the tube connection portion 84 when the valve unit 80 is operated at that time, and the fan-shaped concave portion 96 and the arc-shaped through portion 97 of the flow path switching portion 80. In the following description, for the purpose of specifying the positions of the connected drive units 40, they will be described as 40A, 40B, ···, 40G, etc. Also, the holes 87 connected to each drive unit 40A to 40G will also be specified as hole 87A, hole 87B, ···, 87G, etc.

[0107] As shown in Fig. 12, when the fan-shaped concave portion 96 communicates with holes 87A and 87B and the arc-shaped through portion 97 communicates with holes 87C to 87G, compressed air is supplied from the compressed air supply device 102 to the drive units 40A and 40B, and the drive units 40A and B expand. On the other hand, the drive units 40C to 40G are in the atmospheric pressure state and in the contracted state.

[0108] Next, as shown in Fig. 13, when the propulsion operation control element 90 rotates by the drive of the motor 98, the fan-shaped concave portion 96 of the flow path switching portion 92 communicates with holes 87B and 87C, and the arc-shaped through portion 97 communicates with holes 87D to 87G and 87A, the contracted state of the drive unit 40B is maintained, compressed air is supplied from the compressed air supply device 102 to the drive unit 40C, and the drive unit 40C expands. On the other hand, the contracted states of the drive units 40D to 40G are maintained, and the compressed air supplied to the drive unit 40A is discharged from the arc-shaped through portion 97, and the drive unit 40A contracts.

[0109] Furthermore, as shown in Fig. 14, when the propulsion operation control element 90 rotates by the drive of the motor 98, the fan-shaped concave portion 96 of the flow path switching portion 92 communicates with holes 87C and 87D, and the arc-shaped through portion 97 communicates with holes 87E to 87G, 87A, and 87B, the expanded state of the drive unit 40C is maintained, compressed air is supplied from the compressed air supply device 102 to the drive unit 40D, and the drive unit 40D expands. On the other hand, the contracted states of the drive units 40E to 40G and 40A are maintained, and the compressed air supplied to the drive unit 40B is discharged from the arc-shaped through portion 97, and the drive unit 40B contracts.

[0110] In this way, the motor 98 rotates the propulsion operation control element 90, sequentially shifting the positions of the holes 87 communicating with the fan-shaped recess 96 of the flow path switching section 92 and the positions of the holes 87 communicating with the arc-shaped through section 97, and moving the expansion of the drive unit 40 constituting the inspection unit 2 in the advancing direction, thereby generating a traveling wave imitating a peristaltic motion in the inspection unit 2, and enabling the pipe Z to be moved while being gripped by the drive unit 40.

[0111] Then, as the inspection unit 2 moves inside the pipe Z, when, as shown in Fig. 4(a), for example, the presence of residual water is confirmed from an image obtained by the inspection unit 10, the propulsion control device 104 is operated to drive the pump 38 and operate the water suction unit 20. Thereby, the residual water can be sucked from the water suction pipe 30(1) located below the pipe Z and discharged outside the pipe Z.

[0112] With the pump 38 being driven, when the inspection unit 2 further advances inside the pipe Z, as shown in Fig. 4(b), the drainage assisting means 70 attached to the leading drive unit 40 acts as a dam to push the residual water forward in the advancing direction, suck water through the water suction pipe 30(1), and continue to advance while discharging it outside the pipe Z. That is, the drainage assisting means 70 functions as a partitioning means for partitioning the pipe Z into the inspection unit 10 side located on the residual water side and the propulsion force generating means 8 side.

[0113] By discharging the residual water in this way, the liquid level of the residual water can be lowered, and while minimizing the influence of the residual water, the internal state of the pipe Z can be clearly acquired as an image over a wide range.

[0114] Further, according to the present embodiment, since the water suction unit 20 is provided with two water suction pipes 30 as described above, even when the inspection unit 2 is advancing and rotating in the circumferential direction of the pipe Z and the water suction pipe 30(1) is lifted and the tip is separated from the wall surface, instead, the water suction pipe 30(2) descends and the tip of the water suction pipe 30(2) reaches the lower wall surface of the pipe Z, so that the residual water can be reliably discharged and the internal image of the pipe Z can be stably and clearly acquired.

[0115] Figure 4(c) is a plan view of the flow of drainage of residual water by the water absorption pipe 30(1) and the drain pipe 32(1) in a water-absorbable state, viewed from the upper side in the vertical direction. Further, according to the present embodiment, as shown in FIG. 4(c), by extending the water absorption pipes 30(1) and (2) forward in the traveling direction and piping them so that the openings at the tips face the rear in the traveling direction, residual water can be stably absorbed.

[0116] For example, the residual water can also be absorbed by extending it in front of the tube support portion 24 so that the opening of the water absorption pipe 30 faces forward in the traveling direction. However, when the water absorption pipe 30 is extended forward, it may flail due to friction with the pipe Z as the inspection unit 2 moves forward, and the position of the opening of the water absorption pipe 30 may not be stable with respect to the wall surface of the pipe Z, which may reduce the water absorption efficiency.

[0117] Therefore, as shown in FIG. 4(c), it is preferable to extend the water absorption pipe 30(1) behind the tube support portion 24 so that the opening at the tip faces the rear in the traveling direction, and after flowing the absorbed residual water forward in the traveling direction, the residual water is discharged by the drain pipe 32(1).

[0118] In addition, as described above, since the drainage assisting means 70 provided in the drive unit 40 acts as a dam and pushes the residual water forward in the traveling direction, the pushed residual water is forcibly introduced into the opening of the water absorption pipe 30(1), so that the water absorption efficiency can be improved compared to when the opening of the water absorption pipe 30 faces forward.

[0119] As described above, according to the present embodiment, since the in-pipe inspection device 1 is provided with the residue removing means composed of the water absorption unit 20 and the pump 38, it becomes less susceptible to the influence of residues, and it is possible to obtain a clear image over the entire area inside the pipe Z compared to the prior art, and the inspection accuracy can be improved.

[0120] [Regarding the form in which the water absorption unit is connected] In the above-described embodiment, the water absorption unit 20 has been described as being provided between the inspection unit 10 and the propulsion force generating means 8, but it is not limited thereto. The water absorption unit 20 may be provided, for example, between the drive units 40 constituting the propulsion force generating means 8 or at the very end of the propulsion force generating means 8. Further, in addition to being provided between the inspection unit 10 and the propulsion force generating means 8, the water absorption unit 20 may be provided between the drive units 40 constituting the propulsion force generating means 8 or at the very end of the propulsion force generating means 8. When the water absorption unit 20 is provided between the drive units 40, it is preferable that the water absorption unit 20 be connected to the drive units 40 so as to be bendable, as in the case where the drive units 40 are connected to each other via the connection unit 60.

[0121] Also, the number of the water absorption units 20 is not limited to one in the inspection unit 2, and a plurality of them may be provided. In this case, a pump may be provided for each drain pipe 32 extending from each water absorption unit 20, or the drain pipes 32 extending from each water absorption unit 20 may be connected to one pump.

[0122] The drainage assisting means 70 is preferably provided corresponding to the water absorption unit 20. For example, when a plurality of water absorption units 20 are provided as described above, it may be provided in the propulsion unit 40 or the connection unit 60 connected to each water absorption unit 20, behind the advancing direction from the opening at the tip of the water suction pipe 30 of the last water absorption unit 20 or behind the advancing direction from the opening at the tip of the water suction pipe 30 of each water absorption unit 20.

[0123] In the above-described embodiment, it has been described as water as the residue, but it is not limited to water, and it may be a gas such as gas. That is, the description of "water" in the above description may be read as "fluid".

[0124] [Other configurations of the residue removing means] In the above-described embodiment, the residue removing means has been described as sucking the residue by the pump 38 and discharging it to the outside. However, for example, using the water suction pipe 30 and the drain pipe 32, a fluid such as compressed air may be sent (pressure-fed) into the pipe Z to scatter the residue. That is, the water suction unit 20 can function as a residue removing means for scattering and removing the residue in the pipe. In this case, the compressed air can be, for example, the one generated by the compressed air supply device 102 constituting the control unit 4.

[0125] Further, the residue removing means may be configured to be able to switch between suction and sending by the water suction pipe 30 and the drain pipe 32. Also, when two sets of the water suction pipe 30 and the drain pipe 32 are provided as in the water suction unit 20 described in the above embodiment, one may be configured for water suction (suction) and the other for sending. That is, when a plurality of sets of the water suction pipe 30 and the drain pipe 32 are provided in the water suction unit 20, some of them may be configured for water suction (suction) and the rest for sending.

[0126] Also, when the inspection unit 2 includes a plurality of water suction units 20, some of the units may be configured for water suction (suction) and the rest for sending.

[0127] [Regarding the medium for removing residues] The fluid sent to the water suction pipe 30 and the drain pipe 32 is not limited to compressed air, and may be other gases, liquids such as water, cleaning liquid, and inspection liquid.

[0128] [Another form regarding the connection of the drive unit] Also, in the above embodiment, the propulsion force generating means 8 has been described as being configured by alternately connecting a plurality of drive units 40 with the connecting unit 60, but it is not limited thereto. For example, the propulsion force generating means 8 may be connected via a connecting unit 60 every other one of a plurality of two or more drive units 40, or all the drive units 40 may be directly connected without using the connecting unit 60. In this case, the end members 43;43 may be configured so that the drive units 40 can be connected to each other, or a cylindrical connecting member may be used so that the end members 43;43 of the drive units 40 to be connected can be directly connected to each other.

[0129] [Other configurations of the propulsion force generating means 8] In the above embodiment, the drive unit 40 constituting the propulsion force generating means 8 has been described as an actuator that expands in the radial direction and contracts in the axial direction by supplying air to the fluid chamber S, and contracts in the radial direction and extends in the axial direction by discharging air from the fluid chamber S in this state, but it is not limited to this.

[0130] In the following description, the drive unit 40 that expands in the radial direction and contracts in the axial direction by supplying air to the above-described fluid chamber S, and contracts in the radial direction and extends in the axial direction by discharging air from the fluid chamber S in this state is referred to as a telescopic actuator 40, and the drive unit 40 described below is referred to as a telescopic actuator 140.

[0131] [Regarding the telescopic actuator] FIG. 15 is an axial cross-sectional view showing a configuration example of the telescopic actuator 140. The telescopic actuator 140 is formed in a cylindrical shape in appearance, allows expansion and contraction in the axial direction, and is configured to be non-expandable in the radial direction.

[0132] The telescopic actuator 140 includes an inner cylinder 141, an outer cylinder 142 that surrounds the outer periphery of the inner cylinder 141 and is provided so as to form a double tube, and a pair of end members 143;143 that are provided at each end of the inner cylinder 141 and the outer cylinder 142 and close the space formed between the inner cylinder 141 and the outer cylinder 142.

[0133] The inner cylinder 141 and the outer cylinder 142 are each configured as a cylinder that allows expansion and contraction in the axial direction and is non-expandable in the radial direction. The inner cylinder 141 and the outer cylinder 142 are each preferably made of a flexible material that allows, for example, bending of the axis and is difficult to deform under pressure from the inner peripheral side or the outer peripheral side.

[0134] The inner cylinder 141 and the outer cylinder 142 can be composed of, for example, coil springs 141A; 142A and cover bodies 141B: 142B. Note that the inner cylinder 141 and the outer cylinder 142 may use a bellows made of an elastic body.

[0135] Tension springs are used for the coil springs 141A; 142A, respectively. The coil spring 142A that constitutes the outer cylinder 142 has a larger outer diameter than the outer diameter dimension of the coil spring 141A that constitutes the inner cylinder 141.

[0136] The cover bodies 141B: 142B are formed by forming a non-expandable material having airtightness and flexibility into a cylindrical shape. When the cover bodies 141B: 142B are provided so as to surround along the outer periphery of the coil springs 141A; 142A, they are preferably formed so as not to interfere with the expansion and contraction operation of the coil springs 141A; 142A. The cover bodies 141B: 142B are formed longer than the natural length of the coil springs 141A; 142A in consideration of the elongation of the coil springs 141A; 142A. For the cover bodies 141B: 142B, for example, those formed by forming a film or sheet such as vinyl or aluminum foil into a cylindrical shape can be used.

[0137] The end members 143; 143 are configured as substantially cylindrical bodies that can close the space formed between the outer periphery of the inner cylinder 141 and the inner periphery of the outer cylinder 142 at both ends of the inner cylinder 141 and the outer cylinder 142.

[0138] The end members 143; 143 include an inner cylinder fixing portion 143A for attaching the inner cylinder 141 to one end side, an outer cylinder fixing portion 143B for attaching the outer cylinder 142 to the outer periphery, and a unit fixing portion 146 to the other end side.

[0139] The inner cylinder fixing part 143A is formed such that the inner circumferential side of the inner cylinder 141 can be screwed in, with a covering body 142B provided on the outer circumference of the coil spring 141A by utilizing the spiral shape of the coil spring 141A for example, and the inner cylinder 141 is attached to the end member 143 in a non-detachable manner. The inner cylinder 141 is made airtight, for example, by tightening a non-elastic string-like constricting member around the outer circumference of the inner cylinder 141 from the outer circumference side on a covering body 141B that surrounds the outer circumference of the coil spring 141A.

[0140] The outer cylinder fixing part 143B is provided on the outer side in the axial direction than the inner cylinder fixing part 143A. The outer cylinder fixing part 143B is formed such that the inner circumferential side of the outer cylinder 142 can be screwed in, with a covering body 142B provided on the outer circumference of the coil spring 142A by utilizing the spiral shape of the coil spring 142A for example, and the outer cylinder 142 is attached to the end member 143 in a non-detachable manner. The outer cylinder 142 is made airtight, for example, by tightening a non-elastic string-like constricting member around the outer circumference of the outer cylinder 142 from the outer circumference side on a covering body 142B that surrounds the outer circumference of the coil spring 142A.

[0141] By fixing both end portions of the inner cylinder 141 and the outer cylinder 142 to the end members 143; 143 in this way, a fluid chamber V as a closed space surrounded by the outer circumferential surface of the inner cylinder 141, the inner circumferential surface of the outer cylinder 142, and the end members 143; 143 is formed in the telescopic actuator 140.

[0142] One of the end members 143 is provided with a hole 145 for enabling supply and discharge of air to and from the fluid chamber V. In FIG. 15, the hole 145 is provided so as to penetrate axially through a radially thick portion set between the inner cylinder fixing part 143A and the outer cylinder fixing part 143B in the end member 143. Note that the formation method of the hole 145 is not particularly limited as long as air can be supplied to and discharged from the fluid chamber V in the end member 143. A tube extending from the valve unit 80 is connected to this hole 145. And supply / stop of air to the fluid chamber V and discharge of air from the fluid chamber V can be controlled by the operation of the valve unit 80.

[0143] The unit fixing portion 146 is provided in a pair in each end member 143 as a through hole penetrating the end member 143 in the radial direction. In the end member 143, a predetermined axial range where the unit fixing portion 146 is provided is formed with an outer diameter that can be inserted into the inner circumference of the cylindrical fixing body 61 of the connecting unit 60, for example. Further, the unit fixing portion 146 is formed so as to correspond to a pair of coupling holes 64A; 64A provided in the cylindrical fixing body 61 of the connecting unit 60 described above, for example. Thereby, the end member 43 can be fixed to the connecting unit 60.

[0144] When air is supplied to the fluid chamber V through the hole 145 in the telescopic actuator 140 having the above configuration, as shown in FIG. 15(b), it extends only in the axial direction while countering the biasing forces of the coil springs 141A; 142A that constitute the inner cylinder 141 and the outer cylinder 142. Further, when the air supplied to the fluid chamber V is discharged through the hole 145, as shown in FIG. 15(c), it contracts in the axial direction by the restoring force of the coil springs 141A; 142A that constitute the inner cylinder 141 and the outer cylinder 142. That is, the telescopic actuator 140 functions as an actuator that expands and contracts only in the axial direction by supplying air to the fluid chamber V or discharging it from the fluid chamber V.

[0145] And, for example, the telescopic actuator 140 and the expansion and contraction actuator 40 may be alternately connected via the connecting unit 60 to constitute the propulsion force generating means 8. In this case, the expansion and contraction actuator 40 is expanded to grip the pipe Z and the propulsion force generating means 8 is fixed to the pipe Z. Next, the telescopic actuator 140 is extended or contracted so that the other expansion and contraction actuator 40 constituting the propulsion force generating means 8 moves forward in the traveling direction. Next, after expanding the expansion and contraction actuator 40 that has moved forward in the traveling direction to grip the pipe Z and fixing it to the pipe Z, the expansion and contraction actuator 40 that was expanded in the previous stroke is contracted. Next, the telescopic actuator 140 is extended or contracted to move the other expansion and contraction actuator 40 except for the expansion and contraction actuator 40 in the expanded state forward in the traveling direction. By repeating these strokes, the propulsion force generating means 8 can travel inside the pipe Z.

[0146] Note that the connection between the telescopic actuator 140 and the expansion and contraction actuator 40 that constitute the propulsion force generation means 8 is not limited to being alternated, and may be appropriately configured so that a propulsion force can be obtained by an operation imitating a peristaltic motion.

[0147] Further, the configuration and operation of the propulsion force generation means are not limited to those in the above-described embodiment, and any configuration may be used as long as a propulsion force can be obtained while the expansion and contraction actuator (drive unit) 40 imitates a peristaltic motion while gripping the inner wall of the pipe.

[0148] Also, the expansion and contraction actuator 40 and the telescopic actuator 140 that operate as described in the above embodiment are not limited to those that operate by supplying and discharging a fluid. The expansion and contraction actuator 40 may be driven, for example, by the rotation of a motor or the reciprocating motion of a solenoid, and may be configured to be contractible in the axial direction when expanding in the radial direction by a mechanical operation with a mechanism such as a link mechanism interposed therebetween. Further, the telescopic actuator 140 may be driven, for example, by the rotation of a motor or the reciprocating motion of a solenoid, and may be configured to be telescopic in the axial direction by a mechanical operation with a mechanism such as a link mechanism interposed therebetween. Note that even when the expansion and contraction actuator 40 and the telescopic actuator 140 are configured to operate mechanically in this way, they may be made hollow so that a cable extending to the drain pipe 32 or the inspection unit 10 and a cable for supplying power to each of the expansion and contraction actuators 40 and the telescopic actuators 140 can pass through.

[0149] Also, the propulsion force generation means 8 is not limited to generating a propulsion force by imitating a peristaltic motion as described in the above embodiment. For example, it may be configured to be movable within the pipe Z by wheels, an endless track, or the like. That is, the propulsion force generation means 8 may be any means configured to be movable (propelled) within the pipe Z.

[0150] As described above, the present invention has been described based on the embodiments. However, the technical scope of the present invention is not limited to the above embodiments at all, and it is obvious to those skilled in the art that various changes and improvements can be made by combining the embodiments. Also, it is obvious from the description of the claims that forms with such various changes and improvements can also be included in the technical scope of the present invention.

Explanation of Signs

[0151] 1 In-pipe inspection device, 2 Inspection unit, 4 Control unit, 8 Propulsion force generation means, 10 Inspection unit, 20 Water absorption unit, 30 Water absorption pipe, 32 Drain pipe, 36 Weight, 38 Pump, 40 Driving unit, 60 Connection unit, 70 Drainage assistance means, 80 Valve unit.

Claims

1. An in-pipe inspection device comprising an inspection unit having an imaging means for acquiring an image inside a pipe at the tip of a propulsion force generating means configured to be propelled inside the pipe, comprising a residue removing means for sucking or scattering residues inside the pipe, wherein the residue removing means comprises a pipe having one end provided movably together with the propulsion force generating means and the other end extending to the outside of the pipe, and one end side of the pipe opening inside the pipe, the pipe being characterized in that a weight is provided at the end of one end side. The in-pipe inspection device according to claim 1.

2. The in-pipe inspection device according to claim 1, characterized in that the opening on one end side of the pipe is provided facing rearward in the traveling direction.

3. The in-pipe inspection device according to claim 1 or claim 2, characterized in that one end side of the pipe opens between the inspection unit and the propulsion force generating means.

4. comprising partitioning means for partitioning the inside of the pipe in the forward and backward directions of the traveling direction, the partitioning means being provided rearward in the traveling direction than the opening on one end side of the pipe. The in-pipe inspection device according to any one of claims 1 to 3.

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