Pipe device

Abstract

To improve the efficiency of work related to pipelines.SOLUTION: A device 1 for pipelines is provided with a liquid injection unit 100 which moves inside a pipeline 190 along the pipeline 190, and injects liquid onto an inner surface 190A of the pipeline 190. A tip of the device 1 for pipelines is provided with an image acquisition unit 200 that moves inside the pipeline 190 along with the liquid injection unit 100 and acquires images inside the pipeline 190. An operator can inject the liquid onto the inner surface 190A of the pipeline 190 while checking a condition inside the pipeline 190.SELECTED DRAWING: Figure 1

Description

Technical Field

[0001] The present invention relates to a piping device.

Background Art

[0002] Patent Document 1 discloses a configuration in which a high-pressure cleaning fluid is jetted onto the inner peripheral surface of a pipe from the tip of a cleaning hose that supplies the high-pressure cleaning fluid.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] When cleaning a pipe, an ejectant such as a liquid may be jetted onto the inner surface of the pipe. Also, before or after this jetting, the inside of the pipe may be imaged to check the inside of the pipe. When these operations are performed using, respectively, a jetting device that jets an ejectant and an acquisition device that acquires an image, for example, after jetting the ejectant using the jetting device, the jetting device is removed from the pipe, and then the acquisition device acquires an image. In this case, the work tends to be laborious. An object of the present invention is to improve the efficiency of work on a pipe.

Means for Solving the Problems

[0005] The piping device to which the present invention is applied is a piping device including a jetting unit that moves along the pipe inside the pipe and jets an ejectant onto the inner surface of the pipe, and an image acquisition unit that moves inside the pipe together with the jetting unit and acquires an image of the inside of the pipe. Here, it may further include a wire connected to the video acquisition unit and extending along the pipe, and a support unit connected to the video acquisition unit, extending in the direction toward which the wire is directed, and supporting the video acquisition unit, and one of the wire and the support unit is connected to the central portion in the radial direction of the video acquisition unit, and the other is connected to a location deviated from the central portion. Alternatively, the wire may be connected to the central portion in the radial direction of the video acquisition unit, and the support unit may be connected to the deviated location. Further, the video acquisition unit may move in a direction opposite to the direction in which the wire and the support unit extend, and an inclined surface that approaches the central portion side as it goes upstream in the moving direction of the video acquisition unit may be provided at a rear end of the video acquisition unit, at a portion that sandwiches the central portion and is located on the side opposite to the deviated location. Moreover, it may further include a light source that irradiates light to an area where the video is acquired by the video acquisition unit, the video acquisition unit has a downstream end portion on the downstream side in the moving direction of the video acquisition unit, and the light source may be located upstream of the downstream end portion of the video acquisition unit when comparing the positions in the moving direction of the video acquisition unit. Alternatively, the injection unit may be located upstream of the video acquisition unit when comparing the positions in the moving direction of the video acquisition unit. Alternatively, it may be configured such that the support unit can be attached to and detached from the video acquisition unit by a screw. Further, outside the wire and the support unit, a covering member that covers the wire and the support unit and improves the sliding between the wire and the support unit and the inner surface of the pipe compared to the case where the wire and the support unit are in direct contact with the inner surface of the pipe may be provided.

Advantages of the Invention

[0006] According to the present invention, the efficiency of the work on the pipe can be improved.

Brief Description of the Drawings

[0007]

Figure 1

Figure 2

Figure 3

Figure 4

Figure 5

Figure 6

Figure 7

Figure 8

Embodiments for Carrying Out the Invention

[0008] Hereinafter, embodiments of the present invention will be described. FIG. 1 is a diagram showing the overall configuration of the pipe device 1 according to the present embodiment. In the pipe device 1 of the present embodiment, a liquid injection unit 100 is provided that moves along the pipe 190 inside the pipe 190 and injects a liquid as an example of an injection object onto the inner surface 190A of the pipe 190. Further, at the tip of the pipe device 1, an image acquisition unit 200 is provided that moves inside the pipe 190 together with the liquid injection unit 100 and acquires an image inside the pipe 190.

[0009] The pipe 190 is not particularly limited, and examples include pipes for tap water and sewage pipes. Further, as the pipe 190, pipes installed as part of facilities such as factories and power plants can also be cited as an example. Further, the pipe 190 is not limited to a pipe for passing a fluid, and also includes a pipe for passing a gas. In the present embodiment, a liquid is injected onto the inner surface 190A of the pipe 190, and the deposits adhering to the inner surface 190A of the pipe 190 are removed from the pipe 190. Furthermore, in this embodiment, an image acquisition unit 200 is provided, and the operator can inject liquid onto the inner surface 190A of the pipe 190 while checking the internal condition of the pipe 190.

[0010] Here, if the liquid injection unit 100 and the image acquisition unit 200 are provided in different devices, the operator needs to perform the injection of liquid onto the inner surface 190A of the pipe 190 and the check of the inside of the pipe 190 separately. Also, if the liquid injection unit 100 and the image acquisition unit 200 are provided in different devices, it is not known where the operator is located during the cleaning of the pipe 190, and the cleaning effect cannot be confirmed, so re-cleaning may be required. In contrast, in this embodiment, the operator can inject liquid onto the inner surface 190A of the pipe 190 while checking the internal condition of the pipe 190 and the position of the camera (image acquisition unit 200) on the pipe 190. In other words, in this embodiment, with one pipe device 1, the injection of liquid onto the inner surface 190A of the pipe 190 and the check of the inside of the pipe 190 can be performed. Also, with existing fiber scopes, generally only about four bent portions can be bent, and there are cases where the entire cleaning state cannot be confirmed. In contrast, in this embodiment, more bent portions can be passed through. In the pipe device 1 of this embodiment, the efficiency and quality of the work on the pipe can be improved.

[0011] In addition, in this embodiment, a wire 400 is provided that is connected to the image acquisition unit 200 and extends along the pipe 190. The wire 400 is composed of a plurality of metal wires each coated and bundled together. The wire 400 is used for supplying power to the image acquisition unit 200 and to a light source 800 (details will be described later). Also, this wire 400 is used for outputting the image acquired by the image acquisition unit 200.

[0012] Furthermore, in the present embodiment, a support portion 500 is provided which is connected to the video acquisition unit 200 and extends in the right direction in the figure, which is the same direction as the direction in which the electric wire 400 is directed. The support portion 500 supports the video acquisition unit 200. The support portion 500 is made of metal. Also, in the present embodiment, a liquid supply pipe 600 used for supplying liquid to the liquid injection unit 100 is provided.

[0013] The support portion 500 is provided between the video acquisition unit 200 and the liquid supply pipe 600. One end 501 of the support portion 500 is connected to the video acquisition unit 200, and the other end 502 is connected to the liquid supply pipe 600. In the present embodiment, the support portion 500 and the liquid supply pipe 600 are heavier than the electric wire 400, and thus the support portion 500 and the liquid supply pipe 600 are more likely to be located below the electric wire 400. In this case, the position of the video acquisition unit 200 is stabilized as compared with the case where the weights of the support portion 500 and the liquid supply pipe 600 are close to the weight of the electric wire 400 or smaller than the weight of the electric wire 400.

[0014] Outside the electric wire 400 and the support portion 500, a member 950 for bundling the electric wire 400 and the support portion 500 is provided. This bundling member 950 is constituted by, for example, a stretchable net. In the present embodiment, this bundling member 950 presses the electric wire 400 and the support portion 500 from the outside, and the electric wire 400 and the support portion 500 are in a bundled state. Note that other members such as a binding band may be used as the bundling member 950.

[0015] The video acquisition unit 200 moves in a direction opposite to the direction in which the electric wire 400 and the support portion 500 extend. Specifically, the video acquisition unit 200 moves in the left direction in the figure. In FIG. 1, when the video acquisition unit 200 is taken as the starting point, the electric wire 400 and the support portion 500 extend in the right direction in the figure. In contrast, the video acquisition unit 200 moves in the left direction in the figure. In the present embodiment, the left direction in the figure is the moving direction of the video acquisition unit 200.

[0016] In this specification, the "moving direction" of the video acquisition unit 200 refers to the direction in which the video acquisition unit 200 moves when it moves from the opening 190E of the pipe 190 toward the inner side of the pipe 190. In other words, the "moving direction" of the video acquisition unit 200 refers to the moving direction of the video acquisition unit 200 when the video acquisition unit 200 moves from the opening 190E of the pipe 190, where the video acquisition unit 200 is first inserted, toward the inner side of the pipe 190. The video acquisition unit 200 also moves when it is taken out of the pipe 190, but the moving direction at this time is the opposite direction to the "moving direction" in this specification.

[0017] Also, in the present embodiment, as shown in FIG. 1, an interface device 700 to which the electric wire 400, a PC (Personal Computer) 720, a power supply 710, etc. are connected is further provided. In the present embodiment, power is supplied from the power supply 710 to the electric wire 400 via this interface device 700. Also, in the present embodiment, power is supplied from the power supply 710 to the PC 720 via this interface device 700.

[0018] Also, the video acquired by the video acquisition unit 200 is transmitted to the PC 720 via this interface device 700. Thereby, the PC 720 can confirm the video acquired by the video acquisition unit 200. Also, the interface device 700 is provided with a reception unit (not shown) for receiving the operation of the operator, and the operator can change the output of the light source 800, etc. by operating this reception unit.

[0019] FIG. 2 is a cross-sectional view of the portion indicated by the reference numeral II in FIG. 1. In the present embodiment, a liquid injection unit 100 is provided at the tip of the liquid supply pipe 600. In the present embodiment, when comparing the positions in the moving direction of the video acquisition unit 200, the liquid injection unit 100 is located upstream of the video acquisition unit 200 (see FIG. 1). In the present embodiment, water is supplied to the liquid supply pipe 600 from the upstream side, and water as an example of the ejecta is ejected from the liquid injection unit 100. In the present embodiment, a case where a liquid is used as the ejecta will be described as an example. Specifically, in the present embodiment, a case where water is used as the liquid will be described as an example. However, the liquid is not limited to water and may be a chemical solution or the like. Further, the ejecta is not limited to a liquid and may be a gas or a powder. When a powder is used as the ejecta, a tank containing the powder is additionally provided, and the powder is supplied from this tank. In addition, a tank may contain a liquid or a gas, and the liquid or the gas may be supplied from this tank.

[0020] In the present embodiment, the liquid is ejected from the liquid injection unit 100 toward the upstream side in the moving direction of the video acquisition unit 200 and toward the inner surface 190A of the pipe 190 (see FIG. 1). In other words, in this example shown in FIG. 2, the liquid is ejected in the upper right direction and the lower right direction in the figure. When the liquid is ejected from the liquid injection unit 100 toward the upstream side in the moving direction of the video acquisition unit 200 as in the present embodiment, a biasing force that biases the video acquisition unit 200 toward the downstream side in the moving direction acts on the video acquisition unit 200. Thereby, the video acquisition unit 200 moves toward the downstream side. Further, when a biasing force that biases the video acquisition unit 200 toward the downstream side in the moving direction acts on the video acquisition unit 200 as in the present embodiment, a propulsive force acts, and the video acquisition unit 200 can be moved deeper into the pipe 190 compared to an existing fiber scope.

[0021] Further, in the present embodiment, the liquid is ejected from the liquid injection unit 100 onto the inner surface 190A of the pipe 190 (see FIG. 1). Thereby, the inner surface 190A of the pipe 190 is cleaned. Note that the injection direction of the liquid is not limited to the direction shown in FIG. 2, and may be, for example, a direction orthogonal to the moving direction of the image acquisition unit 200. In other words, the injection direction of the liquid may be a radial direction of the liquid supply pipe 600 and a direction toward the outside.

[0022] When the injection direction of the liquid is a direction orthogonal to the moving direction of the image acquisition unit 200, the above biasing force does not act on the image acquisition unit 200. In this case, the operator presses the liquid supply pipe 600 toward the back side of the pipe 190 to move the image acquisition unit 200 downstream in the moving direction. Also, even when the above biasing force acts on the image acquisition unit 200, the operator presses the liquid supply pipe 600 toward the back side of the pipe 190 as necessary to move the image acquisition unit 200 downstream in the moving direction.

[0023] The support part 500 is configured by connecting a plurality of movable members 510. Each of the movable members 510 has a spherical protrusion 513 on the downstream side in the moving direction of the image acquisition unit 200. Also, each of the movable members 510 has a recess 515 that is recessed toward the downstream side in the moving direction on the upstream side in the moving direction of the image acquisition unit 200. In the present embodiment, the protrusion 513 of the movable member 510 located one upstream from this movable member 510 enters the recess 515 of the movable member 510. Also, in the present embodiment, the opening edge 517 of the recess 515 is bent inward so that the protrusion 513 does not detach from the recess 515.

[0024] In the present embodiment, each of the movable members 510 swings around the protrusion 513 of another movable member 510 located one to the right of itself. Thereby, in the present embodiment, as shown by the broken line 2X, the support part 500 can be curved. In this embodiment, the support portion 500 is curved, thereby changing the orientation of the video acquisition unit 200 (see FIG. 1). As a result, in this embodiment, the bent portion of the pipe 190 such as an elbow is made easier for the tip of the pipe device 1 to pass through.

[0025] In this embodiment, the other movable member 510 located adjacent to the movable member 510 swings around the protruding portion 513 of the movable member 510. However, the swing of the movable member 510 may be performed by other methods. For example, one movable member 510 and another movable member 510 located adjacent to the one movable member 510 may be connected by a pin provided along the strange direction of the movable member 510, and the movable member 510 may swing around this pin as the rotation center. In addition, the support portion 500 shown in FIG. 2 is an example, and other known configurations may be used as long as it can change the orientation of the video acquisition unit 200 while supporting the video acquisition unit 200. Specifically, as another known configuration, for example, the support portion 500 may be configured by a coiled member.

[0026] FIG. 3 is an enlarged view of the video acquisition unit 200, the support portion 500, and the electric wire 400. In this figure, a part of the video acquisition unit 200 is shown in cross section. As shown in FIG. 3, in this embodiment, the electric wire 400 is connected to the central portion C in the radial direction of the video acquisition unit 200. Further, in this embodiment, the support portion 500 is connected to a location deviated from the central portion C in the radial direction of the video acquisition unit 200. As a result, in this embodiment, as indicated by reference numeral 3X, an inclined surface 205 (inclined portion) having a large area can be provided at the rear end of the video acquisition unit 200 (the end portion located on the upstream side in the moving direction of the video acquisition unit 200) (details will be described later).

[0027] In addition, in this embodiment, the support portion 500 can be attached to and detached from the video acquisition unit 200. Specifically, in the present embodiment, a male thread is provided on the outer peripheral surface of one end 501 of the support portion 500, and the image acquisition unit 200 is provided with a threaded hole 200X having a female thread formed on the inner peripheral surface. In the present embodiment, the male thread and the female thread enable the support portion 500 to be attached to and detached from the image acquisition unit 200. Accordingly, in the present embodiment, by performing simple additional processing on an existing high-pressure cleaning hose, the configuration of the present embodiment can be easily realized.

[0028] More specifically, in the present embodiment, the insert nut 213 is fixed to the image acquisition unit 200 by thermal welding. In the present embodiment, the support portion 500 is fixed to the image acquisition unit 200 by the female thread formed on the inner peripheral surface of the insert nut 213 and the male thread formed on the support portion 500.

[0029] Note that, for example, at a location indicated by reference numeral 3H, the electric wire 400 may be fixed to the support portion 500. This makes it less likely that problems such as the electric wire 400 coming off from the image acquisition unit 200 will occur. More specifically, for example, even if a load that pulls the electric wire 400 in the direction indicated by reference numeral 3K acts on the electric wire 400, this load is less likely to act on the connection portion between the image acquisition unit 200 and the electric wire 400, and problems such as the electric wire 400 coming off from the image acquisition unit 200 are less likely to occur.

[0030] Specifically, for example, the electric wire 400 is fixed to the support portion 500 by tying both the electric wire 400 and the support portion 500 with a binding band. Note that the fixing of the electric wire 400 to the support portion 500 is not limited to this, and may be performed by other known configurations. Also, when using a binding band, the binding band may be provided outside the member 950 (see FIG. 1) for bundling, and both the electric wire 400 and the support portion 500 may be tied from the outside of the member 950 for bundling. Furthermore, for reducing frictional resistance, it may be covered with a nylon tube or the like from above, and both ends may be fixed with a heat-shrinkable tube or the like. Providing this covering member on the outermost layer (providing the covering member outside the electric wire 400 and the support portion 500) and covering the electric wire 400 and the support portion 500 with this covering member improves the sliding between the electric wire 400 and the support portion 500 and the inner surface 190A as compared with the case where the electric wire 400 and the support portion 500 are in direct contact with the inner surface 190A of the pipe 190.

[0031] In the present embodiment, as described above, the support portion 500 is connected to a location deviated from the central portion C in the radial direction of the image acquisition unit 200. Also, in the present embodiment, the inclined surface 205 is located on the side opposite to the deviated location with the central portion C in the radial direction of the image acquisition unit 200 interposed therebetween.

[0032] In the present embodiment, the connection location 900 between the image acquisition unit 200 and the support portion 500 is located at a location deviated from the central portion C in the radial direction of the image acquisition unit 200. In the present embodiment, the inclined surface 205 is located at the rear end of the image acquisition unit 200, on the side opposite to the side where the connection location 900 is located with the central portion C interposed therebetween. More specifically, in the present embodiment, the inclined surface 205 is located in the region R1, which is on the side opposite to the region R2 where the support portion 500 is located, of the two regions R1 and R2 that face each other with the electric wire 400 interposed therebetween.

[0033] The inclined surface 205 is formed so as to approach the central portion C side of the image acquisition unit 200 as it goes toward the upstream side in the moving direction of the image acquisition unit 200. Also, this inclined surface 205 is formed so as to connect the outer peripheral surface 201 of the image acquisition unit 200 formed in a substantially cylindrical shape and the end surface 203 located on the rear end side of the image acquisition unit 200.

[0034] Also, the inclined surface 205 is provided in a shape inclined with respect to the moving direction of the image acquisition unit 200, and the inclined surface 205 is provided in a shape inclined with respect to the radial direction of the image acquisition unit 200. In addition, in the present embodiment, chamfering is performed on a corner portion 211 located on the rear end side of the substantially columnar formed video acquisition unit 200, and an inclined surface 205 is provided on the rear end side of the video acquisition unit 200 by this chamfering.

[0035] In the present embodiment, in a bent portion 190X such as an elbow provided in the pipe 190, the video acquisition unit 200 may attempt to move in the direction of arrow 3A in the figure. In this case, when the inclined surface 205 is provided, the video acquisition unit 200 moves smoothly compared to the case where the inclined surface 205 is not provided. More specifically, when the inclined surface 205 is provided on the opposite side of the rear end portion from the side where the support portion 500 is provided, when the video acquisition unit 200 passes through the bent portion 190X, interference between the corner portion on the rear end side of the video acquisition unit 200 and the inner surface 190A of the pipe 190 is less likely to occur, and the video acquisition unit 200 moves smoothly.

[0036] Here, for example, as shown in FIG. 4 (a diagram showing another configuration example of the video acquisition unit 200 etc.), assume a mode in which both the electric wire 400 and the support portion 500 are provided outside the central portion C in the radial direction of the video acquisition unit 200. In this case, it becomes difficult to secure the inclined surface 205, and as a result, interference between the video acquisition unit 200 and the inner surface 190A of the pipe 190 is likely to occur. On the other hand, when one of the electric wire 400 and the support portion 500 is connected to the central portion C of the video acquisition unit 200, it becomes easier to secure the inclined surface 205, and the video acquisition unit 200 moves more smoothly in the bent portion 190X of the pipe 190.

[0037] From the viewpoint of securing the inclined surface 205, the support portion 500 may be connected to the central portion C of the video acquisition unit 200, and the electric wire 400 may be connected to a location outside the central portion C in the radial direction of the video acquisition unit 200. That is, from the perspective of ensuring the inclined surface 205, one of the electric wire 400 and the support portion 500 may be connected to the central portion C in the radial direction of the video acquisition unit 200, and the other may be connected to a location deviated from the central portion C.

[0038] Moreover, a more preferable embodiment is, as shown in FIG. 3, an embodiment in which the electric wire 400 is connected to the central portion C of the video acquisition unit 200, and the support portion 500 is connected to a location deviated from the central portion C in the radial direction of the video acquisition unit 200. Here, for example, as shown in FIG. 5 (a diagram showing another configuration example such as the video acquisition unit 200), assume an embodiment in which the support portion 500 is connected to the central portion C in the radial direction of the video acquisition unit 200, and the electric wire 400 is connected to a location deviated from the central portion C of the video acquisition unit 200. In this embodiment, the movement of the video acquisition unit 200 in the direction indicated by the arrow 5A in FIG. 5 becomes difficult to occur. In other words, it becomes difficult for the orientation of the video acquisition unit 200 to change such that the video acquisition unit 200 faces downward in the figure.

[0039] Conversely, in the embodiment shown in FIG. 5, the movement of the video acquisition unit 200 in the direction indicated by the arrow 5B in FIG. 5 becomes likely to occur. In other words, it becomes likely for the orientation of the video acquisition unit 200 to change such that the video acquisition unit 200 faces upward in the figure. In this case (when the video acquisition unit 200 moves in the direction indicated by the arrow 5B), the corner portion 200Z indicated by the reference sign 5C of the video acquisition unit 200 is likely to be caught by the pipe 190 at the bent portion of the pipe 190 (not shown in FIG. 5). Also, in this case, although the inclined surface 205 is provided, this inclined surface 205 is located inside, and the inclined surface 205 cannot be utilized.

[0040] Here, as shown in FIG. 5, in the embodiment in which the support portion 500 is connected to the central portion C in the radial direction of the video acquisition unit 200, and the electric wire 400 is connected to a location deviated from the central portion C of the video acquisition unit 200, the electric wire 400 is unlikely to bulge upward. Specifically, the electric wire 400 is unlikely to have the shape indicated by the broken line 5E. More specifically, in this case, when both the support portion 500 and the electric wire 400 are convex upward and curvatures are imparted to both of them, the bending of the electric wire 400 located on the side closer to the center of curvature is more likely to be restricted by the support portion 500 located on the side farther from the center of curvature. In this case, as described above, it becomes less likely that the orientation of the video acquisition unit 200 changes so that the video acquisition unit 200 faces downward in the figure.

[0041] In the aspect shown in FIG. 5, when both the support portion 500 and the electric wire 400 are convex downward, the support portion 500 does not restrict the bending of the electric wire 400. Specifically, when both the support portion 500 and the electric wire 400 are convex downward and curvatures are imparted to both of them, there is no support portion 500 outside the electric wire 400 that attempts to restrict the swelling of the electric wire 400, and the bending of the electric wire 400 is not restricted by the support portion 500. As a result, in the aspect shown in FIG. 5, as described above, it becomes likely that the orientation of the video acquisition unit 200 changes so that the video acquisition unit 200 faces upward in the figure. In this case, as described above, the corner portion 200Z indicated by the reference numeral 5C in the video acquisition unit 200 is likely to be caught by the bent portion of the pipe 190 at the bent portion of the pipe 190. Also, in this case, although the inclined surface 205 is provided, the inclined surface 205 is not utilized.

[0042] On the other hand, as shown in FIG. 3, when the electric wire 400 is located at the central portion C in the radial direction of the video acquisition unit 200 and the support portion 500 is located at a position deviated from the central portion C, the electric wire 400 is likely to bulge upward in the figure. In this case, it becomes likely that the orientation of the video acquisition unit 200 changes so that the video acquisition unit 200 faces downward in the figure. In other words, in this case, it becomes likely that the video acquisition unit 200 faces toward the side where the support portion 500 is located. And at this time, the inclined surface 205 becomes useful, and the video acquisition unit 200 can easily pass through the bent portion 190X of the pipe 190.

[0043] Figs. 6(A) and (B) are diagrams showing the state of the pipe device 1 in the pipe 190. Note that in Figs. 6(A) and (B), unlike Fig. 3, the pipe 190 is bent upward in the figure. In the present embodiment, as shown in Fig. 6(A), when the video acquisition unit 200 reaches the bent portion 190X of the pipe 190, the operator changes the state of the pipe device 1 from the state shown in Fig. 6(A) to the state shown in Fig. 6(B), for example. The operator is viewing the situation ahead of the video acquisition unit 200 via the screen of the PC 720 (see Fig. 1). When the video acquisition unit 200 reaches the bent portion 190X of the pipe 190, the operator changes the state of the pipe device 1 from the state shown in Fig. 6(A) to the state shown in Fig. 6(B).

[0044] Specifically, as shown in Fig. 6(A), when the support portion 500 is in a state of being located on the side opposite to the side in which it is about to bend, the operator rotates the liquid supply pipe 600 (see Fig. 1) in the circumferential direction so that the support portion 500 is located on the side in which it is about to bend, as shown in Fig. 6(B). This makes it easier for the video acquisition unit 200 to pass through the bent portion 190X. Specifically, as described above, in the present embodiment, the video acquisition unit 200 tends to face the side where the support portion 500 is located. Therefore, as described above, when the liquid supply pipe 600 is rotated in the circumferential direction so that the support portion 500 is located on the side in which it is about to bend, the video acquisition unit 200 can more easily pass through the bent portion 190X.

[0045] Fig. 7 is a perspective view of the video acquisition unit 200. In the present embodiment, a lens 207 is provided in the video acquisition unit 200. This lens 207 is a wide-angle lens. In the present embodiment, the angle of view of this lens 207 is 170°. Note that the angle of view of the lens 207 is preferably 150° to 200°. When the lens 207 is a wide-angle lens, it becomes easier to acquire an image of the inner surface 190A of the pipe 190 (see Fig. 1) compared to when the lens 207 is not a wide-angle lens.

[0046] Also, in this embodiment, although not shown in the drawings, a light receiving unit for receiving the light condensed by the lens 207 is provided inside the video acquisition unit 200. This light receiving unit is composed of an existing photoelectric conversion device such as a CCD (Charge Coupled Device) or a CMOS (Complementary Metal - Oxide Semiconductor).

[0047] Also, in this embodiment, two light sources 800 are provided. In this embodiment, the light source 800 irradiates light on the area where the video is acquired by the video acquisition unit 200. Specifically, in this embodiment, the video acquisition unit 200 acquires the video on the downstream side in the moving direction of the video acquisition unit 200. The light source 800 irradiates light toward the downstream side in this moving direction of the video acquisition unit 200.

[0048] The type of the light source 800 is not particularly limited as long as it emits light. The light source 800 in this embodiment is composed of an LED (Light Emitting Diode). Also, the number of the light sources 800 is not limited. In this embodiment, the number of installed light sources 800 is 2, but the number of installed light sources 800 may be 1 or 3 or more.

[0049] More preferably, the number of installations may be increased as the outer diameter of the video acquisition unit 200 increases. For example, for the video acquisition unit 200 used in the pipe 190 with a diameter of 40 mm, the number of installed light sources 800 is, for example, 2. Also, for example, for the video acquisition unit 200 used in the pipe 190 with a diameter of 75 mm, which has a larger outer diameter than the video acquisition unit 200 used in the pipe 190 with a diameter of 40 mm, the number of installed light sources 800 is, for example, 4.

[0050] FIG. 8 is a view when the image acquisition unit 200 is viewed from the direction indicated by the arrow VIII in FIG. 7. Note that FIG. 8 shows the cross-sectional state of the image acquisition unit 200. The image acquisition unit 200 has a downstream end portion 209 on the downstream side in the moving direction of the image acquisition unit 200. In the present embodiment, when comparing the positions in the moving direction of the image acquisition unit 200, the light source 800 is located upstream of this downstream end portion 209 of the image acquisition unit 200.

[0051] Thereby, in the present embodiment, compared with the case where the position of the light source 800 and the position of the downstream end portion 209 of the image acquisition unit 200 are aligned, the outer diameter at the tip of the image acquisition unit 200 becomes smaller. When the outer diameter at the tip of the image acquisition unit 200 is small, when the image acquisition unit 200 moves in the pipe 190, the image acquisition unit 200 is less likely to get caught on the pipe 190.

[0052] FIG. 8 shows a state when the image acquisition unit 200 is viewed from the side opposite to the side where the support unit 500 is provided, with the central portion C (see FIG. 7) in the radial direction of the image acquisition unit 200 interposed therebetween. When the image acquisition unit 200 is viewed from the side opposite to the side where the support unit 500 is provided, in the present embodiment, as shown in FIG. 8, an inclined surface 205 is provided at the rear end of the image acquisition unit 200, similarly to the above. This inclined surface 205 is provided in each of two regions R3 and R4 facing each other with the electric wire 400 interposed therebetween. Further, this inclined surface 205 approaches the central portion C (see FIG. 7) in the radial direction of the image acquisition unit 200 as it goes upstream in the moving direction of the image acquisition unit 200, similarly to the above.

Explanation of Reference Numerals

[0053] 1... pipe device, 100... liquid injection unit, 190... pipe, 190A... inner surface, 200... image acquisition unit, 205... inclined surface, 209... downstream end portion, 400... electric wire, 500... support unit, 800... light source, C... central portion

Claims

1. An injection unit that moves along the pipe inside the pipe and injects an ejecta onto the inner surface of the pipe; An image acquisition unit that moves inside the pipe together with the injection unit and acquires an image inside the pipe; An electric wire connected to the image acquisition unit and extending along the pipe; A support unit connected to the image acquisition unit, extending in the direction in which the electric wire faces, and supporting the image acquisition unit; Comprising: The electric wire is connected to the central portion in the radial direction of the image acquisition unit; The support unit is connected to a portion of the image acquisition unit that is deviated from the central portion; The image acquisition unit moves in a direction opposite to the direction in which the electric wire and the support unit extend; At the rear end of the image acquisition unit, at a portion located on the opposite side of the deviated portion with the central portion interposed therebetween, an inclined surface is provided that approaches the central portion side as it goes upstream in the moving direction of the image acquisition unit; On the side where the inclined surface is provided, rather than the electric wire extending from the central portion upstream in the radial direction of the image acquisition unit, the support unit is not provided; Since the support unit is not provided on the side where the inclined surface is provided, the electric wire extending from the central portion upstream is likely to bulge toward the side where the inclined surface is provided; A pipe device.

2. Further comprising a light source that irradiates light onto the area where the image is acquired by the image acquisition unit; The image acquisition unit has a downstream end on the downstream side in the moving direction of the image acquisition unit; The pipe device according to claim 1, wherein when comparing the positions in the moving direction of the image acquisition unit, the light source is located upstream of the downstream end of the image acquisition unit.

3. The pipe device according to claim 1, wherein when comparing the positions in the moving direction of the image acquisition unit, the injection unit is located upstream of the image acquisition unit.

4. The pipe device according to claim 1, wherein the support unit can be attached to and detached from the image acquisition unit by a screw.

5. Outside the electric wire and the support unit, a covering member is provided that covers the electric wire and the support unit and improves the sliding between the electric wire and the support unit and the inner surface compared to the case where the electric wire and the support unit directly contact the inner surface of the pipe. The pipe device according to claim 1.

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